WO2019213902A1 - 货物装卸车、货物转运系统和自动调整货物布局的方法 - Google Patents

货物装卸车、货物转运系统和自动调整货物布局的方法 Download PDF

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Publication number
WO2019213902A1
WO2019213902A1 PCT/CN2018/086346 CN2018086346W WO2019213902A1 WO 2019213902 A1 WO2019213902 A1 WO 2019213902A1 CN 2018086346 W CN2018086346 W CN 2018086346W WO 2019213902 A1 WO2019213902 A1 WO 2019213902A1
Authority
WO
WIPO (PCT)
Prior art keywords
cargo
handling vehicle
goods
movable chassis
cargo handling
Prior art date
Application number
PCT/CN2018/086346
Other languages
English (en)
French (fr)
Inventor
蓝幸彬
黎尧
Original Assignee
深圳蓝胖子机器人有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳蓝胖子机器人有限公司 filed Critical 深圳蓝胖子机器人有限公司
Priority to CN201880003622.6A priority Critical patent/CN109789904B/zh
Priority to PCT/CN2018/086346 priority patent/WO2019213902A1/zh
Publication of WO2019213902A1 publication Critical patent/WO2019213902A1/zh

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
    • B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
    • B60P1/48—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading using pivoted arms raisable above load-transporting element
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S9/00—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks
    • B60S9/02—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting
    • B60S9/10—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting by fluid pressure
    • B60S9/12—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting by fluid pressure of telescopic type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D21/00—Understructures, i.e. chassis frame on which a vehicle body may be mounted
    • B62D21/18—Understructures, i.e. chassis frame on which a vehicle body may be mounted characterised by the vehicle type and not provided for in groups B62D21/02 - B62D21/17
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
    • B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
    • 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
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
    • B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
    • 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
    • B65G67/00—Loading or unloading vehicles
    • B65G67/02—Loading or unloading land vehicles
    • 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
    • B65G67/00—Loading or unloading vehicles
    • B65G67/02—Loading or unloading land vehicles
    • B65G67/24—Unloading land vehicles

Definitions

  • the present application relates to the field of logistics and transportation, and in particular to a cargo handling vehicle, a cargo transfer system and a method for automatically adjusting the layout of goods.
  • the application provides a cargo handling vehicle, a cargo transfer system and a method for automatically adjusting the layout of the cargo to solve the problem of low cargo loading efficiency of the cargo handling vehicle.
  • the cargo handling vehicle includes a movable chassis, a placement adjustment device and a control system, the movable chassis being divided into first and second ends opposite to each other, and a cargo buffer region between the first end and the second end;
  • the adjusting device is disposed at the first end of the movable chassis for adjusting the position of the goods input from the first end in the cargo buffer area;
  • the control system is connected with the position adjusting device signal, and according to the cargo buffer area
  • the layout of the existing goods controls the placement adjustment device, thereby adjusting the placement position of the subsequently input goods.
  • the cargo transfer system includes the above cargo handling vehicle, cargo delivery device and cargo container.
  • Another technical solution adopted by the present application is to provide a method for automatically adjusting the layout of goods.
  • the method comprises collecting image information of a cargo buffer area, and according to the image information, controlling the swing rod device to make the goods layout in the cargo buffer area reasonable, determining whether the conveying condition is satisfied according to the image information, and controlling the transmission belt to the second end after satisfying the conveying condition Transport a distance.
  • the beneficial effects of the present application are: Different from the prior art, the present application discloses a cargo handling vehicle, a cargo transfer system, and a method of automatically adjusting the layout of goods.
  • the cargo handling vehicle includes a movable chassis, a placement adjustment device and a control system, the movable chassis being divided into first and second ends opposite to each other, and a cargo buffer region between the first end and the second end;
  • the adjusting device is disposed at the first end of the movable chassis for adjusting the position of the goods input from the first end in the cargo buffer area;
  • the control system is connected with the position adjusting device signal, and according to the cargo buffer area
  • the layout of the existing goods controls the placement adjustment device, thereby adjusting the placement position of the subsequently input goods.
  • the placement position of the goods in the cargo buffer area is reasonable, so as to fully utilize the cargo area of the cargo buffer area, thereby improving the cargo loading efficiency of the cargo loading and unloading vehicle.
  • FIG. 1 is a schematic structural view of an embodiment of a cargo handling vehicle provided by the present application.
  • FIG. 2 is a schematic structural view of a movable chassis, a driving wheel set, a first driven wheel set, a second driven wheel set, and an auxiliary bearing chassis in the cargo handling vehicle of FIG. 1;
  • Figure 3 is a side view of the cargo handling vehicle of Figure 1;
  • Figure 4 is a schematic structural view of a placing adjustment device and a conveying device in the cargo handling vehicle of Figure 1;
  • Figure 5 is a partial structural view of the I region in the placement adjusting device of Figure 4.
  • Figure 6 is a schematic view showing the structure of the swing lever in the adjusting device of Figure 4.
  • Figure 7 is a side view showing the structure of the cargo handling vehicle of Figure 1;
  • Figure 8 is a schematic view showing the flow of the horizontal shift bar overturning goods in the cargo handling truck of Figure 1;
  • FIG. 9 is a schematic structural view of an embodiment of a cargo transfer system provided by the present application.
  • FIG. 10 is a schematic structural view of another embodiment of a cargo transfer system provided by the present application.
  • Figure 11 is a schematic view of a state of the cargo transfer system of Figure 10.
  • FIG. 12 is a schematic flow chart of an embodiment of a method for automatically adjusting a cargo layout provided by the present application.
  • FIG. 1 a schematic structural view of an embodiment of a cargo handling vehicle provided by the present application.
  • the cargo handling vehicle includes a movable chassis 10, a drive wheel set 20, a first driven wheel set 21, a second driven wheel set 22, a radar sensor 30, and a control system 40.
  • the movable chassis 10 is divided along the length direction into a first end 11 and a second end 12 opposite to each other, and a cargo buffer area 13 between the first end 11 and the second end 12; the driving wheel set 20
  • the first driven wheel set 21 is disposed below the second end 12 of the movable chassis 10
  • the second driven wheel set 22 is disposed at the first end of the movable chassis 10.
  • Below the 11 a radar sensor 30 is disposed at the second end 12 of the movable chassis 10 to detect spatial information directly in front of the second end 12
  • the control system 40 is signally coupled to the drive wheel set 20 to detect the space according to the radar sensor 30.
  • the information control drive wheel set 20 is rotated to adjust the travel path of the movable chassis 10.
  • the radar sensor 30 is a laser radar that detects spatial information in the direction of motion including the orientation of the target location, the distance, and obstacle information on the travel path, etc., and the control system 40 performs path planning based on the spatial information to avoid the obstacle. And control the cargo handling vehicle to travel along a reasonable path to the target location.
  • the control system 40 controls the steering and rotational speed of the driving wheel set 20, and the movable chassis 10 travels toward the target position under the driving of the driving wheel set 20, and the first driven wheel set 21 and the second driven wheel set 22 follow the movable chassis 10 to move. Make the cargo loader run smoothly.
  • the movable chassis 10 is a rectangular frame, and the first end 11 and the second end 12 are respectively opposite ends in the longitudinal direction of the rectangular frame; the rectangular frame is, for example, formed by welding a plurality of rectangular squares, and is disposed thereon
  • the structure and mounting plate are reinforced such that the strength of the movable chassis 10 conforms to requirements and other components are mounted to the rectangular frame, such as the drive wheel set 20, the first driven wheel set 21, the second driven wheel set 21, and the like.
  • the driving wheel set 20 includes at least two driving wheels 201 that are spaced apart from each other along the width direction of the movable chassis 10.
  • the driving wheel set 20 includes two driving wheels 201 spaced apart from each other, the two driving wheels 201 being coaxial, the axial direction of which is perpendicular to the spacing direction of the first end 11 and the second end 12; or the driving wheel set 20 includes the spacing
  • the four driving wheels 201 are disposed, and the four driving wheels 201 are correspondingly disposed at intervals below the cargo buffering area 13.
  • the axial directions of the two correspondingly spaced driving wheels 201 are perpendicular to the first end 11 and the second end 12. The direction of the interval.
  • the driving wheel set 20 further includes a motor 202.
  • One motor 202 correspondingly drives a driving wheel 201.
  • the control system 40 is coupled to the motor 202 to control the motor 202 to drive the driving wheel 201 to rotate.
  • the control system 40 controls the driving wheel set 20.
  • the method includes at least controlling the driving wheel 201 of the at least two interval settings for differential rotation to adjust the traveling direction of the movable chassis 10.
  • the driving wheel 201 is an in-wheel motor, and the control system 40 controls the differential rotation of the hub motors provided at two corresponding intervals.
  • the first driven wheel set 21 includes at least two first driven wheels 211 spaced apart from each other along the width direction of the movable chassis 10, and/or the second driven wheel set 22 includes at least two spaced apart from each other along the width direction of the movable chassis 10.
  • the specific number of the first driven wheel 211 and the second driven wheel 221 may be set according to the spacing between the first end 11 and the second end 12, so that the movable chassis 10 is reasonably supported, and the movable chassis 10 is smoothed. mobile.
  • the span between the first driven wheel set 21, the second driven wheel set 22 and the driving wheel set 20 is too large, and the number of the first driven wheel 211 and the second driven wheel 221 can be increased.
  • at least one first driven wheel 211 and one second driven wheel 221 are added to reduce the span between the first driven wheel set 21, the second driven wheel set 22 and the driving wheel set 20, so that the movable chassis 10 is smoothed. mobile.
  • first driven wheel 211 and the second driven wheel 221 are universal driven wheels provided with a damper mechanism (not shown), and the damper mechanism is, for example, a spring damper mechanism.
  • the cargo handling vehicle further includes a plurality of distance sensors 31 disposed on opposite sides of the moving chassis 10 in the width direction, and the distance sensor 31 is configured to detect the spacing between the movable chassis 10 and the lateral obstacles, and the control system 40 adjusts the travel path of the movable chassis 10 in accordance with the distance detected by the distance sensor 31.
  • the cargo handling vehicle enters the container, the distance sensor 31 detects the distance between the movable chassis 10 and the side wall of the container, and the control system 40 adjusts the traveling path of the movable chassis 10 to move the movable chassis 10 to the opposite side walls of the container.
  • the distance is equal to facilitate the subsequent transfer of goods by the cargo handling vehicle.
  • the distance sensor 31 is also disposed at the second end 12 of the movable chassis 10 to perform secondary calibration of the obstacle information directly in front of the second end 12.
  • the radar sensor 30 is disposed in the middle of the second end 12, and two distance sensors 31 are disposed on both sides of the radar sensor 30 to assist in detecting the distance between the movable chassis 10 and the obstacle directly in front of the second end 12.
  • the control system 40 is made to more precisely regulate the travel path of the movable chassis 10.
  • the cargo handling vehicle also includes an auxiliary carrier chassis 14 that is coupled to the first end 11 of the movable chassis 10, such as for welding; the control system 40 is at least partially disposed on the secondary carrier chassis 14, for example, the control system 40 includes various controls The device, each control device correspondingly controls a certain function on the cargo handling vehicle, such as the central control computer 41, for processing the radar sensor 30, the data fed back by the distance sensor 31, planning the travel path, controlling the movement of the cargo handling vehicle, etc.;
  • the width of the movable chassis 10 is greater than the width of the auxiliary carrier chassis 14 in the same direction, so that when the movable chassis 10 is turned, the auxiliary carrier chassis 14 can be prevented from colliding with obstacles, and the length of the auxiliary carrier chassis 14 is determined by the equipment carried by the chassis. .
  • the cargo handling vehicle further includes a third driven wheel set 23 disposed at an end of the auxiliary carrying chassis 14 away from the first end 11 and including at least spaced apart from each other along the width direction of the movable chassis 10. Two third driven wheels 231.
  • the opposite sides of the auxiliary carrier chassis 14 are provided with a distance sensor 31 for detecting the spacing between the auxiliary bearing chassis 14 and the lateral obstacles to further avoid the auxiliary bearing chassis 14 and lateral obstacles. Object collision.
  • the cargo handling vehicle further includes an industrial robot 50 disposed at the second end 12 of the movable chassis 10 for picking up cargo from the cargo buffer area 13 after the movable chassis 10 is parked. Handle and release to the default loading and unloading location.
  • the action performed by the industrial robot 50 is to unload the cargo relative to the cargo transfer vehicle, and the action performed by the industrial robot 50 is to load the cargo from the viewpoint of the cargo assembly device such as a container.
  • the industrial robot 50 includes a robot arm 51 and an end effector 52 disposed on the robot arm 51.
  • the control system 40 is also in signal connection with the industrial robot 50, and the control robot arm 51 moves the end effector 52 to pick up or release the cargo.
  • the present application does not limit the number of industrial robots 50, for example, two sets of industrial robots 50 are provided at the second end 12 to speed up the unloading of cargo by the cargo handling vehicle.
  • the end effector 52 is a suction cup device
  • the movable chassis 10 is provided with a pneumatic storage device 53 for performing air pressure compensation adjustment on the suction cup device, so that the suction device has sufficient suction force to avoid occasional suction device operation.
  • Insufficient air pressure makes it difficult to pick up the goods.
  • the air pressure of the suction device is introduced from the external air supply device, and the air suction sensor is provided with a pressure sensor.
  • the air pressure storage device 53 supplies air pressure to the suction device.
  • the end effector 52 is further provided with a pressure sensor 54 which is in signal connection with the control system 40.
  • the control system 40 also controls the end effector 52 to pick up or release the cargo based on the magnitude of the pressure detected by the pressure sensor 54. For example, when the end effector 52 is ready to pick up the cargo or is ready to release the cargo, the pressure sensor 54 detects that the pressure value experienced by the end effector 52 has reached a set threshold, and the control system 40 controls the end effector 52 to perform an action of picking up or releasing the cargo.
  • the cargo handling vehicle also includes a hydraulic support system 60.
  • the hydraulic support system 60 is disposed on the movable chassis 10 for elongating to support between the movable chassis 10 and the lower support surface after the movable chassis 10 is parked, so that the driving wheel set 20 and the first driven wheel set 21 are provided. And the second driven wheel set 22 is suspended.
  • the control system 40 is also signally coupled to the hydraulic support 60 system to dynamically adjust the support of the hydraulic support system 60 to the movable chassis 10 during movement of the industrial robot 50 based on changes in the gravity distribution of the cargo handling vehicle.
  • the hydraulic support system 60 can include a plurality of leg assemblies 61, each leg assembly including a hydraulic leg 611 and a hydraulic cylinder 612 that is in signal communication with a control system 40 that controls hydraulic pressure by a hydraulic cylinder 612 The urging force of the leg 611 adjusts the supporting force of the leg assembly 61 to the movable chassis 10.
  • At least a portion of the leg assembly 61 is provided with a pressure sensor 62 that is coupled to the control system 10 for detecting a change in pressure experienced by the leg assembly 61 to detect changes in the gravity distribution of the cargo handling vehicle.
  • the hydraulic support system 60 includes four leg assemblies 61 that are disposed in pairs between the first end 11 and the second end 12 to smoothly support the movable chassis 10.
  • the present application does not limit the number of leg assemblies 61, and it is only necessary to ensure that the movable chassis 10 is supported so that it does not undergo significant deformation. If a plurality of leg assemblies 61 are provided at the same support position, a pressure sensor 62 can be provided on one of the leg assemblies 61.
  • control system 40 is configured to dynamically adjust the supporting force of the leg assembly 61 according to the pressure change such that the pressure received by the leg assembly 61 is equal to the supporting force and opposite in direction.
  • the industrial robot 50 affects the gravity distribution of the cargo handling truck during the handling of the cargo, causing the pressures of the respective leg assemblies 61 to be different, and the control system 40 dynamically adjusts the hydraulic cylinder according to the pressure changes experienced by the respective leg assemblies 61.
  • the 612 pushes the hydraulic leg 611 to adjust the supporting force of the leg assembly 61 to the movable chassis 10 to balance the pressure and the supporting force, thereby ensuring that the hydraulic support system 60 can smoothly support the movable chassis 10
  • the support surface is, for example, a bottom surface.
  • the control system 40 further dynamically adjusts the amount of extension of the leg assembly 61 to adjust the angle of inclination of the movable chassis 10 relative to the support surface, such as leveling the movable chassis.
  • the movable chassis 10 is provided with a level sensor 63, the level sensor 63 is in signal connection with the control system 40, the level sensor 62 is used to detect the levelness of the movable chassis 10, and the control system 40 adjusts the leg assembly 61 according to the level.
  • the amount of elongation For example, the control system 40 adjusts the amount of elongation of the leg assembly 61 in accordance with the level of level to level the movable chassis 10.
  • the movable chassis 10 or the leg assembly 61 is provided with a distance sensor 64, the distance sensor 64 is connected to the control system 10, and the distance sensor 64 is used for detecting the distance between the movable chassis 10 and the support surface, and the control system 40 The amount of elongation of the leg assembly 61 is adjusted in accordance with the pitch.
  • each leg assembly 61 may vary, and the elongation of the leg assembly 61 is limited, in the movable chassis 10 or A distance sensor 64 is disposed on the leg assembly 61 to assist the control system 40 in adjusting the amount of elongation of the leg assembly 61.
  • the control system 40 still increases its elongation. The situation has occurred.
  • the control system 40 correspondingly increases or decreases the elongation of each leg assembly 61 based on the amount of elongation of each leg assembly 61 detected by the distance sensor 64 and the level of the movable chassis 10 to move the chassis 10 leveling.
  • the cargo handling vehicle further includes a placement adjustment device 70 disposed at the first end 11 of the movable chassis 10 for adjusting the pendulum of the cargo input from the first end 11 in the cargo buffer area 13 Put the position.
  • the control system 40 is in signal connection with the placement adjustment device 70, and controls the placement adjustment device 70 in accordance with the placement layout of the existing cargo in the cargo buffer area 13, thereby adjusting the placement of the subsequently input goods.
  • the placement adjustment device 70 includes a slide 71 and a swing device 72 that is configured to allow the cargo placed thereon to slide down the slide 71 to the cargo buffer 13 under its own weight.
  • the swing lever device 72 is arranged to change the slip path of the cargo by swinging, thereby adjusting the position of the cargo after it has been slid down to the cargo buffer area 13.
  • the swing lever assembly 72 is in signal communication with the control system 40, and the control system 40 controls the swing lever assembly 72 to change the slip path of the cargo by swinging.
  • the swing lever device 72 includes a power source 721 and a swing lever 722.
  • the power source 721 is, for example, a cylinder, and the swing swing lever 722 swings on the surface of the slide rail 71, thereby causing the cargo to slide down the swing lever 722.
  • the swing rod 722 is hinged to the slide 71 such that the swing rod 722 is swung around the hinge when driven.
  • the swinging rod 722 is provided with a guide rail 723.
  • the guide rail 723 is, for example, a linear guide rail.
  • the drive shaft of the power source 721 is hinged with a slider 724.
  • the slider 724 is coupled with the guide rail 723.
  • the power source 721 is, for example, a cylinder, and the power source 721.
  • the swing lever 722 is swung by driving the slider 724 to move along the guide rail 723.
  • the power source 721 is disposed on the same side of the slide 71 as the hinge position of the corresponding swing rod 722, and the power source 721 is appropriately inclined with respect to the side of the slide to facilitate the swing of the swing lever.
  • the slide rails 71 are provided with swinging rod devices 72 at opposite side edges in the width direction of the movable chassis 10, and the combined swinging range of the two swing lever devices 72 covers at least the shipping side of the slide rails 71. 711.
  • the slide 71 is provided with a rocker device 72 at one side in the width direction of the movable chassis 10.
  • the swing rod 722 is further provided with a plurality of rollers 725 to reduce the frictional force when the goods slide down the swing rod 722.
  • a plurality of rollers 725 are coupled to the two opposite mounting blocks 726.
  • the two mounting blocks 726 are slidably engaged with the swinging rods 722, and the mounting blocks 726 are restrained on the swinging rods 722 by the fixing members or the end caps, so that the goods can be along The rollers 725 slide down.
  • the placement adjustment device 70 further includes a lifting device (not shown), and the slide 71 is coupled to the lifting device for adjusting the slope of the slide 71 relative to the movable chassis 10.
  • the cargo handling vehicle further includes a conveyor 73 in the cargo buffer 13 for transporting cargo between the first end 11 and the second end 12.
  • the control system 40 is in signal communication with the conveyor 73, the cargo slides onto the conveyor 73, and is conveyed by the conveyor 73 to the second end 12.
  • One arrangement of the conveying device 73 is to cover the cargo buffer area 13 in a comprehensive manner, and the conveying width is close to the width of the movable chassis 10, so that the goods sliding on the cargo buffering area 13 are transported by the conveying device 73.
  • the control system 40 further controls the industrial robot 50 to selectively pick up the goods on the conveying device 73 according to the cargo stacking environment, carry out the stacking of the goods, and more rationally utilize the stacking cargo space.
  • the conveyor 73 includes a conveyor belt 731 for transporting and carrying cargo.
  • the conveying device 73 further includes a motor 732 and a roller 733 that drives the roller 733 to rotate to drive the conveyor belt 731 to move.
  • the present application does not limit the driving device for driving the conveyor belt 731.
  • the driving device includes, for example, a motor 732 and a chain sprocket assembly, and can drive the conveyor belt 731 to move to realize related functions.
  • the conveying device 73 further includes a mounting seat 734 on which the motor 732 and the roller 733 are disposed, the conveyor belt 731 is disposed on the roller 733, and the mounting seat 734 forms a baffle outside the conveyor belt 731 to prevent the cargo from coming off the conveyor belt 731.
  • the placement adjustment device 70 is also disposed on the mount 734, that is, the slide 71 is coupled to the mount 734 to facilitate the sliding of the cargo onto the transport device 73.
  • the mount 734 is coupled to the movable chassis 10 and is disposed in an area where the cargo buffer 13 and the first end 11 are located.
  • the cargo handling vehicle further includes a first visual inspection system 80 that is coupled to the control system 40 for image capture of existing cargo in the cargo buffer area 13.
  • the control system 40 identifies the placement layout of the existing goods in the cargo buffer area 13 based on the image acquired by the first visual inspection system 80, and determines the free area in the cargo buffer area 13, and controls the swing lever device 72. Subsequent input goods slip into the free area.
  • the first visual inspection system 80 is configured to perform image acquisition on the existing goods on the conveyor belt 731, and the control system 40 identifies the layout of the existing goods on the conveyor belt 731 based on the images collected by the first visual inspection system 80, and further Whether the first conveying condition is satisfied is determined according to the layout of the existing goods on the conveyor belt 731, and after the first conveying condition is satisfied, the driving belt 731 is controlled to convey a distance to the second end 12 to further form a cargo capable of receiving the goods on the conveyor belt 731. Free area.
  • the first conveying condition is that the area on the conveyor belt 731 that is immediately adjacent to the placement adjustment device 70 is full of cargo. If the placement layout of the existing goods does not satisfy the first conveying condition, the free area in the area of the conveyor belt 731 adjacent to the placement adjusting device 70 is identified, and the subsequent input goods are slipped to the idle state by controlling the swing lever device 72. region.
  • the control system 40 further determines whether the second conveying condition is satisfied based on the layout of the existing goods on the conveyor belt 731, and controls the movable chassis 10 to move to the loading and unloading point after the second conveying condition is satisfied.
  • This second transport condition is that the load bearing area on the conveyor belt 731 is fully loaded with cargo.
  • the first visual inspection system 80 performs image acquisition on all of the load bearing areas on the conveyor belt 731, and the control system 40 determines whether the placement layout of the existing cargo satisfies the second delivery condition.
  • the first visual inspection system 80 performs image acquisition only on a portion of the carrying area of the conveyor belt 731, such as an area on the conveyor belt 731 that is adjacent to the placement adjustment device 70, while simultaneously detecting and recording the conveyance distance of the conveyor belt 731, in combination with the placement of existing goods.
  • the layout and the conveyance distance of the conveyor belt 731 determine whether or not the load bearing area on the conveyor belt 731 is completely loaded with goods. If the load bearing area on the conveyor belt 731 is not fully loaded, the control system 40 determines whether the placement layout of the existing goods satisfies the first delivery condition.
  • the first visual inspection system 80 includes a bracket 801 and a camera 802 disposed on the bracket 801.
  • the camera 802 is, for example, one of an RGBD sensor, a three-dimensional camera, and a binocular camera.
  • the bracket 801 is an adjustable bracket, and the control system 40 The height of the bracket 801 is adjusted according to the height of the cargo in the cargo buffer area 13, thereby adjusting the relative height of the camera 802 and the movable chassis 10.
  • the bracket 801 is coupled to the movable chassis 10 and is located in the cargo buffer area 13 of the movable chassis 10, at least surrounding a portion of the conveyor 73 adjacent to the placement adjustment device 70.
  • the bracket 801 is provided with a plurality of cameras 802.
  • the camera 802 is, for example, a depth camera for image capturing of existing goods on the conveyor belt 731 from a plurality of angles.
  • the plurality of cameras 802 cooperate to carry out the entire goods on the conveyor belt 731. Shooting without a dead angle.
  • the cargo loading and unloading vehicle is further provided with a light strip 803.
  • the movable chassis 10 is further provided with a light strip 803 for providing illumination to the cargo buffer area 13, thereby forming a shadowless area in the cargo buffer area 13 so that Image acquisition is performed on the cargo buffer area 13 by the first visual inspection system 80.
  • the light strip 803 is disposed along the bracket 801 to form a stereoscopic light source, thereby forming a shadowless area in the cargo buffer area 13.
  • the cargo handling vehicle further includes a lateral bar 74 disposed at the first end 11, the height of the lateral bar 74 being set to be smaller than the first direction 741 of the cargo and greater than the second direction 742 of the cargo, such that The cargo vertically disposed in the first direction 741 is turned upside down by the lateral bar 74 to be vertically disposed in the second direction 742 and passes through the lateral bar 74 to enter the chute 71.
  • the cargo has a rectangular parallelepiped shape, and the posture of the placement is unreasonable, and the dimension vertically disposed in the first direction 741 is much larger than the dimension vertically disposed in the second direction 742, such as the first direction 741 thereof.
  • the size is three times or more of the size of the second direction 742, so that when it is placed on the chute 71, it is easily turned over on the chute 71, and thus cannot be adjusted by the placement adjusting device 70 at the conveying device 73.
  • the top surface area may be too small to be picked up by the industrial robot 50.
  • the lateral bar 74 is disposed on the bracket 801, and the stabilizer bar 74 is adjustably fixed at a certain height.
  • the set height of the lateral bar 74 is manually adjusted to adjust the placement posture of the cargo.
  • the cargo handling vehicle further includes a second visual inspection system 81, the second visual inspection system 81 is in signal connection with the control system 40, and the second visual inspection system 81 is configured to image the goods to be placed directly in front of the first end 11.
  • the acquisition, control system 40 identifies the size of the cargo in the first direction and the second direction based on the image acquired by the second visual inspection system 81, and determines the size of the cargo in the first direction and its dimensional relationship in the second direction,
  • the placement posture of the cargo is adjusted by dynamically controlling the set height of the shift lever 74.
  • the two ends of the lateral bar 74 are provided with a linear motor, a rack and pinion mechanism or a sprocket chain mechanism, and the control system 40 dynamically adjusts the set height of the stabilizer bar 74.
  • the second visual inspection system 81 is further configured to perform image acquisition on the front space of the first end 11 , and the control system 40 adjusts the travel path of the movable chassis 10 according to the image acquired by the second visual inspection system 81 to make the slide track 71 alignment of goods delivery.
  • the control system 40 controls the movable chassis 10 to the front loading machine so that the slide 71 is aligned with the conveyor belt on the loading machine to facilitate the delivery of the goods on the conveyor belt to the slide 71.
  • the second visual inspection system 81 includes a camera 811 disposed on the bracket 801 and located above the first end 11 to facilitate image acquisition of the space directly in front of the first end 11.
  • the control system 40 is further configured to acquire the layout of the goods in the cargo buffer area 13 according to the image acquired by the first vision system 80, and further determine the picking position of the goods by the industrial robot 50 so that the industrial robot 50 picks up the goods.
  • the control system 40 also determines whether it meets the third conveying condition according to the layout of the existing goods on the belt 731, and after the third conveying condition is satisfied, controls the belt 731 to convey a distance to the second end 12 to The goods are transported to the industrial robot 50 within the pick-up range on the conveyor belt 731.
  • the third conveying condition is that the industrial robot 50 has no goods within the pick-up range on the conveyor belt 731.
  • the control system 40 further determines whether the fourth conveyance condition is satisfied based on the layout of the existing goods on the conveyor belt 731, and controls the movable chassis 10 to move to the loading place after the fourth conveyance condition is satisfied.
  • the fourth conveying condition is that there is no cargo in the carrying area on the conveyor belt 731.
  • the control system 40 when the cargo handling vehicle loads the cargo, the control system 40 generates the cargo placement layout information on the conveyor belt 731, and combines the position information of the cargo picked up from the conveyor belt 731 by the industrial robot 50 to generate a new cargo placement layout information. It is judged whether the new cargo placement layout information satisfies the fourth conveying condition and the third conveying condition.
  • the first visual inspection system 80 performs image acquisition of the cargo in the cargo buffer area 13 when the cargo handling vehicle is unloading.
  • the cargo handling vehicle includes a third visual inspection system 82 for image acquisition of existing cargo at the loading and unloading location, and the control system 40 acquires loading and unloading based on images acquired by the third visual system 82.
  • control system 40 also determines whether the current loading and unloading area of the loading and unloading location is full of goods according to the layout of the existing goods at the loading and unloading place, and controls the movable chassis 10 to deviate from the loading and unloading after the current loading and unloading area is full of the goods.
  • the location moves a distance to form a new loading and unloading area.
  • the loading and unloading location is a cargo loading area within the container. After the current cargo loading area in the container is full of cargo, the movable chassis 10 needs to be moved a distance to the tank opening to form a new unloaded cargo area.
  • the cargo loading and unloading truck gradually fills the cargo loading area of the container, and also arranges the goods in a neat manner, and rationally utilizes the space inside the container.
  • the unloading location is the cargo unloading area in the container.
  • the movable chassis 10 needs to be moved a distance into the box to unload the goods from the unloaded area.
  • the third vision system 82 includes two cameras 821.
  • the two cameras 821 are disposed on the bracket 801 at opposite sides of the opposite side of the industrial robot 50, and the detection range of the camera 821 faces the front of the second end 12 to cross the pair.
  • the front space of the second end 12 performs image acquisition to avoid visual blocking of the single robot 821 by the industrial robot 50. This application does not limit the number of cameras 821.
  • the cargo handling vehicle further includes a fourth visual inspection system 83 for performing image acquisition on the industrial robot 50, and the control system 40 acquires the pose information of the industrial robot 50 according to the image acquired by the fourth visual system 83.
  • the motion path of the industrial robot 50 is further planned based on the pickup position, the release position, and the pose information.
  • the fourth vision system 83 includes a camera 831 disposed on the movable chassis 10 or the cradle 801, and the visual range of the one or more cameras 831 covers at least the range of motion of the industrial robot 50.
  • the control system 40 further determines the actual pose information of the cargo during the transport process according to the image acquired by the fourth vision system 83, and determines the target pose information of the cargo after the release according to the image acquired by the third vision system 82, further The position of the cargo is adjusted before release so that the cargo is placed smoothly in the release position.
  • control system 40 can include central control computer 41, vision system controller 42, hydraulic system controller 43, and industrial robot controller 44.
  • the central control computer 41 is used for calculating and analyzing data collected by sensors, radars, cameras, etc., and giving execution instructions, the central control computer 41 is disposed on the movable chassis 10; the visual system controller 42 and the hydraulic system controller 43 And an industrial robot controller 44 is disposed on the auxiliary carrier chassis 14.
  • FIG. 9 a schematic structural diagram of an embodiment of a cargo transfer system provided by the present application.
  • the cargo transfer system includes a cargo handling vehicle 100, a cargo loading device 110, and a cargo container device 120 as described above. Among them, the cargo handling vehicle 100 loads the goods from the cargo placing device 110 and transports the goods into the cargo container device 120, and the cargo handling vehicle 100 places the cargo code in the cargo container device 120.
  • the cargo loading device 110 is a mobile loading machine, and the cargo handling vehicle 100 loads goods from the mobile loading machine and transports them to the cargo container device 120, such as a container or a container truck.
  • the cargo handling vehicle 100 neatly places the goods in the cargo container assembly 120 without the need for manual secondary placement.
  • Another embodiment of the cargo transfer system includes a cargo handling vehicle 100, a cargo dispenser 110, and a cargo container 120 as described above. Among them, the cargo handling vehicle 100 moves to the cargo container assembly 120, transports the cargo from the cargo loading device 110 to the cargo handling vehicle 100, and the cargo handling vehicle 100 places the cargo code in the cargo container assembly 120.
  • the cargo loading device 110 is a mobile loading machine
  • the cargo container device 120 is a container
  • the cargo handling vehicle 100 is driven into the container
  • the mobile loading machine is towed to the cargo handling vehicle 100.
  • the cargo handling vehicle 100 stores the goods conveyed from the mobile loading machine in the container, and after the current unloading area in the container is full of goods, moves to the box opening for a distance to be placed in the new unloading area.
  • the cargo while the mobile loading machine moves the same distance to the tank with the cargo handling vehicle 100, gradually makes the container full of cargo. After the container is full of cargo, the container is checked and the next container to be loaded is transported to the same location for loading.
  • the cargo loading device 110 is coupled to the placement adjustment device 70 of the cargo handling vehicle 100, and the cargo handling vehicle 100 pulls the cargo delivery device 110 into the cargo container assembly 120.
  • the radar sensor 30 detects spatial information in the direction of motion, which includes the hatch position, shape, specification, and cabin space information of the cargo container device 120, and the distance sensor 31 assists in detecting the body of the cargo handling vehicle 100.
  • the distance from the bulkhead to adjust the travel path of the cargo handling vehicle 100, and the control system 40 controls the cargo handling vehicle 100 to stop at a suitable position in the cabin based on the information detected by the radar sensor 30 and the distance sensor 31, which is suitable for industrial robots.
  • the goods are picked up from the conveyor 73, transported and released to the loading position, for example, the entire line of goods is placed in the tank.
  • the control system 40 controls the hydraulic support system 60 to be supported on the bilge, so that the driving wheel set 20, the first driven wheel set 21 and the second driven wheel set 22 are suspended, so that the cargo loading and unloading vehicle 100 can unload the cargo. .
  • the control system 40 dynamically leveles the cargo handling vehicle 100 based on data fed back by the pressure sensor 62, the level sensor 63, and the distance sensor 64.
  • the cargo delivery device 110 delivers cargo from the first end 11 to the placement adjustment device 70
  • the second visual inspection system 81 performs image acquisition of the cargo on the cargo delivery device 110
  • the control system 40 controls the lateral bar 74 based on the acquired image.
  • Selectively adjust the attitude of the cargo The first visual inspection system 80 performs image acquisition of the cargo of the transport device 73
  • the control system 40 controls the conveyor belt 731 to convey a distance to the second end 12 based on the acquired image, or to identify a free area on the conveyor belt 731 that is adjacent to the placement adjustment device 70.
  • the swing lever device 72 is controlled to cause the cargo to slip to the free area.
  • the control system 40 also determines the picking position of the article by the industrial robot 50 based on the image acquired by the first visual inspection system 80, and controls the industrial robot 50 to pick up the cargo.
  • the third visual inspection system 82 performs image acquisition on the unloading position in the cabin, and the control system 40 acquires the layout of the cargo at the unloading position based on the acquired image, and determines the release position of the picked up cargo. For example, referring to Figure 10, in the first row of the first row of spaces in the in-cabin unloading position, the control system 40 will determine the release position of the cargo from the end of the second row of spaces in the first row (Fig.
  • the dotted line position), the first row space and the second row space are descriptions of the position of the goods in the vertical direction from the cabin.
  • the control system 40 also controls the cargo handling vehicle 100 to retreat a distance toward the door in accordance with the acquired image to facilitate the industrial robot 50 to load the cargo in the second column space.
  • the outline, volume, weight, and the like of the goods are different.
  • the control system 40 further identifies the information carried by the barcode through the first visual inspection system 80, and further The information optimizes the strategy of the control system 40 for loading goods, for example, placing a heavy cargo code at the lowest level, adjusting the position of the goods, and the like.
  • the fourth visual inspection system 83 is configured to perform image acquisition on the industrial robot 50, and the control system 40 acquires the pose information of the industrial robot 50 according to the image acquired by the fourth visual system 83, and further according to the pickup position, the release position, and the pose information.
  • the movement path of the industrial robot 50 is planned, and the posture of the cargo is adjusted before release so that the cargo is smoothly placed in the release position.
  • the cargo container 120 After the cargo container 120 is loaded with the cargo, the cargo container 120 is transported or removed, and the next cargo container 120 is transported to or toward the loading position, so that the cargo launching device 110 and the cargo handling vehicle 100
  • the cargo container assembly 120 is loaded with cargo.
  • the above application scenarios are all based on the flexible use of the cargo handling vehicle 100.
  • the cargo handling vehicle 100 can also have other application methods for carrying and loading and unloading the cargo. This application does not limit this.
  • FIG. 12 a schematic flowchart of an embodiment of a method for automatically adjusting a cargo layout provided by the present application is provided.
  • Step 11 Collect image information of the cargo buffer area.
  • Step 12 According to the image information, the pendulum device is controlled to make the goods layout in the cargo buffer area reasonable.
  • the free area in the cargo buffer is determined, and the swing device is controlled such that the subsequently input goods slip to the free area.
  • Step 13 judging whether the conveying condition is satisfied according to the image information, and controlling the transmission belt to convey a distance to the second end after satisfying the conveying condition.
  • the present application discloses a cargo handling vehicle, a cargo transfer system, and a method of automatically adjusting the layout of the cargo.
  • the cargo handling vehicle includes a movable chassis, a placement adjustment device and a control system, the movable chassis being divided into first and second ends opposite to each other, and a cargo buffer region between the first end and the second end;
  • the adjusting device is disposed at the first end of the movable chassis for adjusting the position of the goods input from the first end in the cargo buffer area;
  • the control system is connected with the position adjusting device signal, and according to the cargo buffer area
  • the layout of the existing goods controls the placement adjustment device, thereby adjusting the placement position of the subsequently input goods.
  • the placement position of the goods in the cargo buffer area is reasonable, so as to fully utilize the cargo area of the cargo buffer area, thereby improving the cargo loading efficiency of the cargo loading and unloading vehicle.

Abstract

一种货物装卸车，包括可移动底盘（10）、摆放调节装置（70）和控制系统（40），可移动底盘（10）划分成彼此相对的第一端（11）和第二端（12），以及位于第一端（11）和第二端（12）之间的货物缓存区（13）；摆放调节装置（70）设置于可移动底盘（10）的第一端（11），用于调整从第一端（11）输入的货物在货物缓存区（13）内的摆放位置；控制系统（40）与摆放调节装置（70）信号连接，且根据货物缓存区（13）中的已有货物的摆放布局控制摆放调节装置（70），进而调整后续输入的货物的摆放位置。还涉及一种货物转运系统和自动调整货物布局的方法。通过上述方式，本申请能够提高货物装卸车的载货效率。

Description

货物装卸车、货物转运系统和自动调整货物布局的方法
【技术领域】
本申请涉及物流运输领域，特别是涉及一种货物装卸车、货物转运系统和自动调整货物布局的方法。
【背景技术】
在现代物流领域，货运仓库的自动化程度越来越高。而货物装卸车用于运输货物时，其货物缓存区的货物布局往往不够合理，留有大片的空闲区域未装载货物，导致货物装卸车的载货能力未完全利用，使得货物装卸车的载货效率降低。
【发明内容】
本申请提供一种货物装卸车、货物转运系统和自动调整货物布局的方法，以解决货物装卸车的载货效率低的问题。
为解决上述技术问题，本申请采用的一个技术方案是：提供一种货物装卸车。该货物装卸车包括可移动底盘、摆放调节装置和控制系统，可移动底盘划分成彼此相对的第一端和第二端，以及位于第一端和第二端之间的货物缓存区；摆放调节装置设置于可移动底盘的第一端，用于调整从第一端输入的货物在货物缓存区内的摆放位置；控制系统与摆放调节装置信号连接，且根据货物缓存区中的已有货物的摆放布局控制摆放调节装置，进而调整后续输入的货物的摆放位置。
为解决上述技术问题，本申请采用的另一个技术方案是：提供一种货物转运系统。该货物转运系统包括上述货物装卸车、货物投放装置和货物集装装置。
为解决上述技术问题，本申请采用的另一个技术方案是：提供一种自动调整货物布局的方法。该方法包括采集货物缓存区的图像信息，根据该图像信息，控制摆杆装置以使货物在货物缓存区布局合理，根据图像信息判断是否满足输送条件，在满足输送条件后控制传动带向第二端输送一段距离。
本申请的有益效果是：区别于现有技术的情况，本申请公开了一种货物装卸车、货物转运系统和自动调整货物布局的方法。该货物装卸车包括可移动底盘、摆放调节装置和控制系统，可移动底盘划分成彼此相对的第一端和第二端，以及位于第一端和第二端之间的货物缓存区；摆放调节装置设置于可移动底盘的第一端，用于调整从第一端输入的货物在货物缓存区内的摆放位置；控制系统与摆放调节装置信号连接，且根据货物缓存区中的已有货物的摆放布局控制摆放调节装置，进而调整后续输入的货物的摆放位置。通过在可移动底盘的第一端设置摆放调节装置，使得货物在货物缓存区内的摆放位置布局合理，以充分利用货物缓存区的载货面积，进而提高了货物装卸车的载货效率。
【附图说明】
图1是本申请提供的货物装卸车一实施例的结构示意图；
图2是图1货物装卸车中可移动底盘、主动轮组、第一从动轮组、第二从动轮组和辅承载底盘的结构示意图；
图3是图1货物装卸车的一侧视结构示意图；
图4是图1货物装卸车中的摆放调节装置和输送装置的结构示意图；
图5是图4摆放调节装置中的Ⅰ区域局部结构示意图；
图6是图4摆放调节装置中的摆杆结构示意图；
图7是图1货物装卸车的另一侧视结构示意图；
图8是图1货物装卸车中横向档杆翻倒货物的流程示意图；
图9是本申请提供的货物转运系统一实施例的结构示意图；
图10是本申请提供的货物转运系统另一实施例的结构示意图；
图11是图10货物转运系统一状态示意图；
图12是本申请提供的自动调整货物布局的方法一实施例的流程示意图。
【具体实施方式】
参阅图1，本申请提供的货物装卸车一实施例的结构示意图。
该货物装卸车包括可移动底盘10、主动轮组20、第一从动轮组21、第二从动轮组22、雷达传感器30和控制系统40。
结合参阅图2，可移动底盘10沿长度方向划分成彼此相对的第一端11和第二端12，以及位于第一端11和第二端12之间的货物缓存区13；主动轮组20设置于可移动底盘10上货物缓存区13的下方；第一从动轮组21设置于可移动底盘10上第二端12的下方；第二从动轮组22设置于可移动底盘10上第一端11的下方；雷达传感器30设置于可移动底盘10的第二端12，以检测第二端12正前方的空间信息；控制系统40与主动轮组20信号连接，以根据雷达传感器30检测的空间信息控制主动轮组20进行转动，进而调整可移动底盘10的行进路径。
例如，雷达传感器30为激光雷达，其检测运动方向上的空间信息包括目标位置的方位、距离及行进路径上的障碍物信息等，控制系统40根据该空间信息，进行路径规划，以避开障碍物和控制该货物装卸车沿合理的路径向目标位置行进。控制系统40控制主动轮组20的转向、转速，可移动底盘10在主动轮组20的驱动下朝目标位置行进，第一从动轮组21及第二从动轮组22跟随可移动底盘10移动，使得货物装卸车运行平稳。
例如，可移动底盘10为矩形框架，第一端11和第二端12分别为矩形框架长度方向上的相对两端；该矩形框架例如由多根矩形方通组焊而成，在其上设置加强结构和安装板，使得可移动底盘10的强度符合要求和其他部件安装于矩形框架，例如主动轮组20、第一从动轮组21、第二从动轮组21等。
主动轮组20包括至少两个沿可移动底盘10宽度方向彼此间隔设置的主动轮201。例如，主动轮组20包括两个彼此间隔设置的主动轮201，两主动轮201共轴线，其轴线方向垂直于第一端11和第二端12的间隔方向；或者，主动轮组20包括间隔设置的四个主动轮201，该四个主动轮201两两对应地间隔设置于货物缓存区13的下方，两对应间隔设置的主动轮201的轴线方向垂直于第一端11和第二端12的间隔方向。
例如，主动轮组20还包括电机202，一个电机202对应驱动一个主动轮201，控制系统40与电机202信号连接，以控制电机202驱动主动轮201转动；控制系统40对主动轮组20的控制方式至少包括控制至少两个间隔设置的主动轮201进行差速转动，以调整可移动底盘10的行进方向。或者，主动轮201为轮毂电机，控制系统40控制两对应间隔设置的轮毂电机进行差速转动。
第一从动轮组21包括至少两个沿可移动底盘10宽度方向彼此间隔设置的第一从动轮211，并且/或者第二从动轮组22包括至少两个沿可移动底盘10宽度方向彼此间隔设置的第二从动轮221。
具体地，可根据第一端11和第二端12的间距，设置第一从动轮211和第二从动轮221的具体数目，以使可移动底盘10得到合理的支撑，便于可移动底盘10平稳移动。例如，第一从动轮组21、第二从动轮组22与主动轮组20之间的跨距过大，可增加第一从动轮211和第二从动轮221的数目。例如增加至少一个第一从动轮211和一个第二从动轮221，以减小第一从动轮组21、第二从动轮组22与主动轮组20之间的跨距，使得可移动底盘10平稳移动。
可选地，第一从动轮211和第二从动轮221为设置有减震机构（未图示）的万向从动轮，该减震机构例如为弹簧减震机构。
可选地，货物装卸车还包括设置于移动底盘10上沿宽度方向相对两侧的多个距离传感器31，距离传感器31用于检测可移动底盘10与侧向障碍物之间的间距，控制系统40根据距离传感器31所检测的间距调整可移动底盘10的行进路径。
例如，货物装卸车驶入集装箱内，距离传感器31检测可移动底盘10与集装箱侧壁的间距，控制系统40调整可移动底盘10的行进路径，以使可移动底盘10到集装箱两相对侧壁的距离相等，便于货物装卸车后续转运货物。
距离传感器31还设置于可移动底盘10的第二端12，以对第二端12正前方障碍物信息进行二次校准。例如，雷达传感器30设于第二端12中部，另有两个距离传感器31设于雷达传感器30的两侧，以辅助检测可移动底盘10与第二端12正前方障碍物之间的间距，使得控制系统40更加精确调控可移动底盘10的行进路径。
货物装卸车还包括辅承载底盘14，辅承载底盘14与可移动底盘10的第一端11连接，例如焊接；控制系统40至少部分设置于辅承载底盘14上，例如控制系统40包括多种控制装置，各控制装置对应地控制货物装卸车上的某一功能，如包括中控计算机41，用于处理雷达传感器30、距离传感器31反馈回的数据，规划行进路径，控制货物装卸车移动等；可移动底盘10的宽度大于辅承载底盘14在同一方向上的宽度，使得可移动底盘10转向时，可避免辅承载底盘14碰撞到障碍物，辅承载底盘14的长度依其所承载的设备所定。
进一步地，货物装卸车还包括第三从动轮组23，第三从动轮组23设置于辅承载底盘14远离第一端11的一端，且包括沿可移动底盘10宽度方向上彼此间隔设置的至少两个第三从动轮231。
可选地，辅承载底盘14上相对的两侧设有距离传感器31，距离传感器31用于检测辅承载底盘14与侧向障碍物之间的间距，以进一步避免辅承载底盘14与侧向障碍物碰撞。
结合参阅图2、图3，货物装卸车还包括工业机器人50，工业机器人50设置于可移动底盘10的第二端12，用于在可移动底盘10驻停后从货物缓存区13拾取货物，搬运并释放至预设的装卸货地点。可以理解的是，相对货物转运车而言，工业机器人50执行的动作为卸载货物，而从集装箱等货物集装装置角度看，工业机器人50执行的动作为装载货物。具体地，工业机器人50包括机械臂51和设置于机械臂51上的末端执行器52，控制系统40还与工业机器人50信号连接，控制机械臂51移动末端执行器52拾取或释放货物。本申请对设置工业机器人50的数量不作限制，例如在第二端12设置两套工业机器人50，以加快货物装卸车卸载货物的速度。
可选地，末端执行器52为吸盘装置，可移动底盘10上设有气压储存装置53，气压储存装置53用于对吸盘装置进行气压补偿调节，使吸盘装置吸力充足，避免吸盘装置工作时偶尔气压不足，难以拾取货物。例如，吸盘装置的气压从外部供气装置引入，吸盘装置上设有气压传感器，当检测到吸盘装置的气压供给不足时，气压储存装置53向吸盘装置输送气压。
进一步地，末端执行器52上还设有压力传感器54，压力传感器54与控制系统40信号连接，控制系统40还根据压力传感器54检测的压力数值大小，控制末端执行器52拾取或者释放货物。例如，末端执行器52准备拾取货物时或准备释放货物时，压力传感器54检测到末端执行器52承受的压力数值达到设定阈值，控制系统40控制末端执行器52执行拾取或者释放货物的动作。
进一步地，货物装卸车还包括液压支撑系统60。液压支撑系统60设置于可移动底盘10上，用于在可移动底盘10驻停后伸长以支撑于可移动底盘10与下方支撑面之间，使得主动轮组20、第一从动轮组21和第二从动轮组22悬空。
控制系统40还与液压支撑60系统信号连接，以在工业机器人50的运动过程中，根据货物装卸车的重力分布变化，动态调整液压支撑系统60对可移动底盘10的支撑力。
例如，液压支撑系统60可包括多个支腿组件61，每个支腿组件包括液压支腿611和液压缸612，液压缸612与控制系统40信号连接，控制系统40通过调整液压缸612对液压支腿611的推动力，以调整支腿组件61对可移动底盘10的支撑力。
至少部分支腿组件61上设置有压力传感器62，压力传感器62与控制系统10信号连接，压力传感器62用于检测支腿组件61所承受的压力变化，进而检测货物装卸车的重力分布变化。
例如，液压支撑系统60包括四个支腿组件61，四个支腿组件61两两对应设置于第一端11和第二端12，以将可移动底盘10平稳地支撑起来。本申请不限制支腿组件61的数目，只需保证将可移动底盘10支撑起来后使其不发生明显形变即可。若同一个支撑位置设置有多个支腿组件61，则可在其中一个支腿组件61上设置压力传感器62。
进一步地，控制系统40用于根据压力变化动态调整支腿组件61的支撑力，以使得支腿组件61所承受的压力与支撑力大小相等且方向相反。工业机器人50在搬运货物的过程中会影响货物装卸车的重力分布，造成各支腿组件61受承受的压力不同，进而控制系统40根据各支腿组件61受承受的压力变化，动态调节液压缸612对液压支腿611的推动力，以调整支腿组件61对可移动底盘10的支撑力，使其所受的压力与支撑力达到平衡，保证液压支撑系统60能够平稳地支撑可移动底盘10于支撑面上，该支撑面例如为底面。
控制系统40进一步对支腿组件61的伸长量进行动态调节，以调节可移动底盘10相对于支撑面的倾斜角度，例如调平可移动底盘。
可选地，可移动底盘10上设有水平传感器63，水平传感器63与控制系统40信号连接，水平传感器62用于检测可移动底盘10的水平度，控制系统40根据水平度调整支腿组件61的伸长量。例如，控制系统40根据水平度调整支腿组件61的伸长量，以将可移动底盘10调平。
进一步地，可移动底盘10或支腿组件61上设有距离传感器64，距离传感器64与控制系统10信号连接，距离传感器64用于检测可移动底盘10与支撑面之间的间距，控制系统40根据间距调整支腿组件61的伸长量。
由于不能保证支撑面是平整的，为调平可移动底盘10，各支腿组件61的伸长量可能具有差异，以及支腿组件61的伸长量是有限的，在可移动底盘10或支腿组件61上设置距离传感器64，可辅助控制系统40调整支腿组件61的伸长量，避免一支腿组件61的伸长量达到极限时，控制系统40仍加大它的伸长量的状况发生。控制系统40根据距离传感器64检测到的各支腿组件61的伸长量和可移动底盘10的水平度，对应地加大或减小各支腿组件61的伸长量，以将可移动底盘10调平。
进一步地，货物装卸车还包括摆放调节装置70，摆放调节装置70设置于可移动底盘10的第一端11，用于调整从第一端11输入的货物在货物缓存区13内的摆放位置。
控制系统40与摆放调节装置70信号连接，且根据货物缓存区13中的已有货物的摆放布局控制摆放调节装置70，进而调整后续输入的货物的摆放位置。
具体地，结合参阅图4，摆放调节装置70包括滑道71和摆杆装置72，滑道71设置成允许投放在其上的货物在自身重力下沿滑道71滑落至货物缓存区13，摆杆装置72设置成通过摆动改变货物的滑落路径，进而调整货物在滑落至货物缓存区13后的摆放位置。摆杆装置72与控制系统40信号连接，控制系统40控制摆杆装置72通过摆动改变货物的滑落路径。
参阅图5，例如摆杆装置72包括动力源721和摆杆722，动力源721例如为气缸，驱动摆杆722在滑道71的表面上摆动，进而使得货物沿摆杆722滑落。
摆杆722一端铰接于滑道71上，使得摆杆722在被驱动下绕铰接处摆动。具体地，摆杆722上设有导轨723，导轨723例如为直线导轨；动力源721的驱动轴上铰接有滑块724，滑块724与导轨723配合，动力源721例如为气缸，动力源721通过驱动滑块724沿导轨723移动，以驱动摆杆722摆动。动力源721设置于滑道71上与对应的摆杆722铰接位置同侧，且动力源721相对滑道侧边适当地倾斜设置，以便于驱动摆杆摆动。
在一实施例中，滑道71沿可移动底盘10宽度方向上相对的两侧边处均设有摆杆装置72，该两摆杆装置72的合并摆动范围至少覆盖滑道71的出货边711。在另一实施例中，滑道71沿可移动底盘10宽度方向上一侧边处设有摆杆装置72。
可选地，参阅图6，摆杆722上还设有多个滚轮725，以降低货物沿摆杆722滑落时的摩擦力。多个滚轮725连接于两相对的安装块726上，两安装块726滑动卡合于摆杆722上，在通过固定件或端盖将安装块726限制于摆杆722上，使得货物可沿多个滚轮725滑落。
可选地，摆放调节装置70还包括升降装置（未图示），滑道71与升降装置连接，升降装置用于调节滑道71相对可移动底盘10的坡度。
再次参阅图3，货物装卸车进一步包括位于货物缓存区13中的输送装置73，输送装置73用于在第一端11与第二端12之间运输货物。具体地，控制系统40与输送装置73信号连接，货物滑落至输送装置73上，并由输送装置73向第二端12输送。输送装置73的一种设置方式是在货物缓存区13上全面覆盖，输送宽度趋近于可移动底盘10的宽度，以使滑落在货物缓存区13上的货物在输送装置73的作用下，输送到第二端12，且在可移动底盘10的宽度方向上至少存在两个货物，至少部分输送装置73在工业机器人50的可操作范围内。控制系统40进一步地根据货物堆放环境控制工业机器人50选择性地拾取输送装置73上的货物，进行码放货物，更加合理地利用堆放货物空间。
再次参阅图4，例如输送装置73包括传送带731，传动带731用于输送和承载货物。输送装置73还包括电机732和辊筒733，电机732驱动辊筒733转动，以带动传送带731移动。本申请对驱动传送带731的驱动装置不作限定，驱动装置例如包括电机732和链条链轮组件，能够驱动传送带731移动，实现相关功能即可。
例如，输送装置73还包括安装座734，电机732和辊筒733设置于安装座734上，传送带731设置于辊筒733上，安装座734在传送带731外侧形成挡板，以防止货物脱离传送带731。此外，摆放调节装置70还设置于安装座734上，即滑道71与安装座734连接，以便于货物滑落至输送装置73上。安装座734与可移动底盘10连接，并设置于货物缓存区13与第一端11所在的区域。
参阅图7，货物装卸车还包括第一视觉检测系统80，第一视觉检测系统80与控制系统40信号连接，第一视觉检测系统80用于对货物缓存区13中的已有货物进行图像采集；控制系统40根据第一视觉检测系统80所采集的图像，识别货物缓存区13中的已有货物的摆放布局，并判断货物缓存区13中的空闲区域，和通过控制摆杆装置72使得后续输入的货物滑落至空闲区域。
即第一视觉检测系统80用于对传送带731上的已有货物进行图像采集，控制系统40根据第一视觉检测系统80所采集的图像，识别传送带731上已有货物的摆放布局，并进一步根据传送带731上的已有货物的摆放布局判断是否满足第一输送条件，并在满足第一输送条件后控制传动带731向第二端12输送一段距离，以在传送带731上进一步形成能够接收货物的空闲区域。
该第一输送条件为传送带731上紧邻摆放调节装置70的区域全部载满货物。若已有货物的摆放布局不满足该第一输送条件，则识别传送带731上紧邻摆放调节装置70的区域内的空闲区域，并通过控制摆杆装置72使得后续输入的货物滑落至该空闲区域。
控制系统40进一步根据传送带731上的已有货物的摆放布局判断是否满足第二输送条件，并在满足第二输送条件后控制可移动底盘10向装卸货地点移动。
该第二输送条件为传送带731上的承载区域全部载满货物。例如，第一视觉检测系统80对传送带731上的全部承载区域进行图像采集，控制系统40判断已有货物的摆放布局是否满足第二输送条件。或者，第一视觉检测系统80仅对传送带731的部分承载区域进行图像采集，如传送带731上靠近摆放调节装置70的区域，同时检测并记录传送带731的传送距离，结合已有货物的摆放布局和传送带731的传送距离判断传送带731上的承载区域是否全部载满货物。若传送带731上的承载区域未全部载满货物，则控制系统40判断已有货物的摆放布局是否满足第一输送条件。
具体地，第一视觉检测系统80包括支架801以及设置于支架801的摄像头802，摄像头802例如为RGBD传感器、三维相机和双目摄像头等中的一种，支架801为可调支架，控制系统40根据货物缓存区13内货物的高度控制调节支架801的高度，进而调整摄像头802与可移动底盘10的相对高度。
例如，支架801与可移动底盘10连接，其位于可移动底盘10的货物缓存区13，至少将输送装置73靠近摆放调节装置70的部分区域包围。支架801上设有多个摄像头802，摄像头802例如为深度摄像头，以从多个角度对传送带731上的已有货物进行图像采集，多个摄像头802配合以对传送带731上的已有货物进行全方位无死角的拍摄。
货物装卸车上还设有灯带803，例如可移动底盘10上还设有灯带803，灯带803用于向货物缓存区13提供照明，进而在货物缓存区13内形成无影区，以便于第一视觉检测系统80对货物缓存区13进行图像采集。具体地，灯带803沿支架801设置，以形成立体光源，进而在货物缓存区13形成无影区。
可选地，货物装卸车还包括设置于第一端11的横向挡杆74，横向挡杆74的高度设置成小于货物的第一方向741的尺寸且大于货物的第二方向742的尺寸，使得以第一方向741竖直设置的货物在横向挡杆74的阻挡作用下，翻倒成以第二方向742竖直设置并经过横向挡杆74，进入滑道71。
例如，结合参阅图8，货物为长方体状，其放置的姿态不合理，其以第一方向741竖直设置的尺寸远大于其以第二方向742竖直设置的尺寸，如其第一方向741的尺寸为其第二方向742的尺寸的三倍及以上，因此在其被投放至滑道71上时，其容易在滑道71上发生翻转，进而无法被摆放调节装置70调整在输送装置73上的摆放位置，以及其沿第一方向741竖直设置时，其顶面面积可能过小，不易被工业机器人50拾取。其经横向档杆74阻挡后，翻倒成以第二方向742竖直设置，并经过横向挡杆74，进入滑道71而不易在滑道71上发生翻转，且其沿第二方向742竖直设置时，更容易被工业机器人拾取。
例如，横向挡杆74设置于支架801上，横向挡杆74可调节地固定在某一高度。例如人工调节横向挡杆74的设置高度，以调整货物的放置姿态。
可选地，货物装卸车还包括第二视觉检测系统81，第二视觉检测系统81与控制系统40信号连接，第二视觉检测系统81用于对第一端11正前方待投放的货物进行图像采集，控制系统40根据第二视觉检测系统81所采集的图像，识别货物在第一方向上和第二方向上的尺寸，并判断货物在第一方向的尺寸与其在第二方向的尺寸关系，通过动态控制横向档杆74的设置高度以调整货物的放置姿态。例如，横向挡杆74两端设有直线电机、齿轮齿条机构或链轮链条机构等机构的一种，控制系统40通过该机构动态调节横向档杆74的设置高度。
进一步地，第二视觉检测系统81还用于对第一端11正前方空间进行图像采集，控制系统40根据第二视觉检测系统81所采集的图像调整可移动底盘10的行进路径，使得滑道71对正货物投放处。例如，采用一装车机进行货物投放，控制系统40控制可移动底盘10对正装车机，以使滑道71对正装车机上的传输带，便于传输带上的货物投放至滑道71上。
具体地，第二视觉检测系统81包括摄像头811，摄像头811设置于支架801上，且位于第一端11的上方，以便于对第一端11正前方空间进行图像采集。
控制系统40还用于根据第一视觉系统80所采集的图像，获取货物缓存区13内的货物摆放布局，并进一步确定工业机器人50对货物的拾取位置，以便于工业机器人50拾取货物。同时，控制系统40还根据传动带731上已有货物的摆放布局，判断其是否满足第三输送条件，并在满足第三输送条件后，控制传动带731向第二端12输送一段距离，以将货物输送到工业机器人50在传送带731上的可拾取范围内。具体地，该第三输送条件为工业机器人50在传送带731上的可拾取范围内无货物。
控制系统40进一步根据传送带731上的已有货物的摆放布局判断是否满足第四输送条件，并在满足第四输送条件后控制可移动底盘10向装货地点移动。具体地，该第四输送条件为传送带731上的承载区域内无货物。
例如，在货物装卸车装载货物时，控制系统40生成传送带731上的货物摆放布局信息，结合工业机器人50从传送带731上拾取货物的位置信息，生成新的货物摆放布局信息，并以此判断新的货物摆放布局信息是否满足第四输送条件、第三输送条件。或者，第一视觉检测系统80在货物装卸车卸货时对货物缓存区13的货物进行图像采集。
以及，货物装卸车包括第三视觉检测系统82，第三视觉检测系统82用于对装卸货地点的已有货物进行图像采集，控制系统40根据第三视觉系统82所采集的图像，获取装卸货地点的已有货物的摆放布局，并进一步确定对被拾取货物的释放位置。
进一步地，控制系统40还根据装卸货地点已有货物的摆放布局，判断装卸货地点的当前装卸货区域是否载满货物，在当前装卸货区域载满货物后控制可移动底盘10背离装卸货地点移动一段距离，以形成新的装卸货区域。例如，装卸货地点为集装箱内的货物装载区，在集装箱内的当前载货区域载满货物后，可移动底盘10需得向箱口移动一段距离，以形成新的未载货的载货区域，使得货物装卸车将集装箱的货物装载区逐步地载满货物，且还将货物码放整齐，合理地利用集装箱内的空间。当从集装箱内卸货时，卸货地点为集装箱内的货物卸载区，在集装箱内的当前卸货区域货物清空后，可移动底盘10需得向箱内移动一段距离，以从未卸货的区域卸载货物。
具体地，第三视觉系统82包括两个摄像头821，两摄像头821设置于支架801上，位于工业机器人50相对的两侧后方，且摄像头821的检测范围朝向第二端12的前方，以交叉对第二端12的前方空间进行图像采集，避免工业机器人50对单一摄像头821视觉上的阻挡。本申请不限制摄像头821的数量。
货物装卸车还包括第四视觉检测系统83，第四视觉检测系统83用于对工业机器人50进行图像采集，控制系统40根据第四视觉系统83所采集的图像获取工业机器人50的位姿信息，并进一步根据拾取位置、释放位置以及位姿信息对工业机器人50的运动路径进行规划。
具体地，第四视觉系统83包括摄像头831，摄像头831设置于可移动底盘10或支架801上，一个或多个摄像头831的视觉范围至少覆盖工业机器人50的运动范围。
控制系统40进一步根据第四视觉系统83所采集的图像确定货物在搬运过程中的实际位姿信息，并根据第三视觉系统82所采集的图像确定货物在释放后的目标位姿信息，进一步在释放前对货物的位姿进行调整，使得货物平稳地放置于释放位置。
结合参阅图7、图2，控制系统40可包括中控计算机41、视觉系统控制器42、液压系统控制器43和工业机器人控制器44。其中，中控计算机41用于计算分析包括传感器、雷达、摄像头等采集的数据，并给出执行指令，中控计算机41设置于可移动底盘10上；视觉系统控制器42、液压系统控制器43和工业机器人控制器44设置于辅承载底盘14上。
参阅图9，本申请提供的货物转运系统一实施例的结构示意图。
请同时参阅上述实施例的零部件标号，以便于理解本实施例中的零部件名称及标号。
该货物转运系统包括如上述的货物装卸车100、货物投放装置110和货物集装装置120。其中，货物装卸车100从货物投放装置110处装运货物，并将货物运送到货物集装装置120内，且货物装卸车100将货物码放在货物集装装置120内。
例如，货物投放装置110为移动式装车机，货物装卸车100从移动式装车机装载货物，并运输至货物集装装置120，货物集装装置120例如为集装箱或带集装箱的运货车等，货物装卸车100将货物整齐地码放在货物集装装置120内，而无需人工进行二次码放。
该货物转运系统的另一种实施例，包括如上述的货物装卸车100、货物投放装置110和货物集装装置120。其中，货物装卸车100移动到货物集装装置120处，从货物投放装置110处输送货物到货物装卸车100上，且货物装卸车100将货物码放在货物集装装置120内。
例如，在另一应用场景中，货物投放装置110为移动式装车机，货物集装装置120为集装箱，货物装卸车100驶入集装箱内，移动式装车机牵引至货物装卸车100的第一端，货物装卸车100将从移动式装车机上输送来的货物，码放于集装箱内，并在集装箱内当前的卸货区域载满货物后，向箱口移动一段距离以在新的卸货区域码放货物，同时移动式装车机随货物装卸车100向箱口移动相同的距离，逐步地使得集装箱载满货物。在集装箱载满货物后，集装箱被托运走，下一待装货的集装箱被运输至同一位置进行装货。
参阅图10、图11，货物投放装置110与货物装卸车100的摆放调节装置70连接，进而货物装卸车100牵引货物投放装置110进入货物集装装置120内。在此过程中，雷达传感器30检测运动方向上的空间信息，该空间信息包括货物集装装置120的舱口位置、形状、规格及舱内空间信息等，距离传感器31辅助探测货物装卸车100车身距舱壁的距离，以调整货物装卸车100的行进路径，以及控制系统40根据雷达传感器30、距离传感器31探测的信息控制货物装卸车100在舱内的合适位置停止行进，该位置适合工业机器人50从输送装置73内拾取货物、搬运并释放至装货位置，例如将货物整排整列地码放在舱内。
货物装卸车100驻停后，控制系统40控制液压支撑系统60支撑于舱底上，使得主动轮组20、第一从动轮组21和第二从动轮组22悬空，便于货物装卸车100卸载货物。控制系统40根据压力传感器62、水平传感器63、距离传感器64反馈的数据动态调平货物装卸车100。
货物投放装置110从第一端11向摆放调节装置70输送货物，第二视觉检测系统81对货物投放装置110上的货物进行图像采集，控制系统40根据采集的图像，通过控制横向档杆74选择性调节货物的姿态。第一视觉检测系统80对输送装置73的货物进行图像采集，控制系统40根据采集的图像，控制传送带731向第二端12输送一端距离，或识别传送带731上紧邻摆放调节装置70的空闲区域并控制摆杆装置72使得货物滑落至该空闲区域。
控制系统40还根据第一视觉检测系统80采集的图像，确定工业机器人50对货物的拾取位置，并控制工业机器人50拾取货物。第三视觉检测系统82对舱内卸货位置进行图像采集，控制系统40根据采集的图像，获取卸货位置处的货物摆放布局，并确定被拾取货物的释放位置。例如，参阅图10，舱内卸货位置处第一列第一排空间全部码放了货物，则控制系统40将从第一列第二排空间的一端开始确定货物的释放位置（图10货物的轮廓虚线位置），第一排空间和第二排空间是从舱内竖直方向上对货物摆放位置的描述。参阅图11，若第一列空间全部堆满货物，控制系统40还根据采集的图像控制货物装卸车100向舱门方向后退一段距离，以利于工业机器人50在第二列空间码放货物。货物的轮廓、体积、重量等各有不同，例如货物上设有条码，该条码携带有上述信息，则进一步地控制系统40还通过第一视觉检测系统80识别条码所携带的信息，进而可根据该信息优化控制系统40码放货物的策略，例如将重量大的货物码放在最底层，调节货物的摆放姿态等。
第四视觉检测系统83用于对工业机器人50进行图像采集，控制系统40根据第四视觉系统83所采集的图像获取工业机器人50的位姿信息，并进一步根据拾取位置、释放位置以及位姿信息对工业机器人50的运动路径进行规划，以及在释放前对货物的位姿进行调整，使得货物平稳地放置于释放位置。
当货物集装装置120内载满货物后，货物集装装置120被运走或离开，下一货物集装装置120被运至或驶向该装货位置，使得货物投放装置110及货物装卸车100将该货物集装装置120载满货物。
以上应用场景均是基于货物装卸车100的灵活运用，货物装卸车100还可有其他的运载及装卸货物的应用方式，本申请对此不做限制。
参阅图12，本申请提供的自动调整货物布局的方法一实施例的流程示意图。
步骤11：采集货物缓存区的图像信息。
步骤12：根据所图像信息，控制摆杆装置以使货物在货物缓存区布局合理。
具体地，根据图像信息，确定货物缓存区中的空闲区域，控制摆杆装置使得后续输入的货物滑落至空闲区域。
步骤13：根据图像信息判断是否满足输送条件，在满足输送条件后控制传动带向第二端输送一段距离。
区别于现有技术的情况，本申请公开了一种货物装卸车、货物转运系统和自动调整货物布局的方法。该货物装卸车包括可移动底盘、摆放调节装置和控制系统，可移动底盘划分成彼此相对的第一端和第二端，以及位于第一端和第二端之间的货物缓存区；摆放调节装置设置于可移动底盘的第一端，用于调整从第一端输入的货物在货物缓存区内的摆放位置；控制系统与摆放调节装置信号连接，且根据货物缓存区中的已有货物的摆放布局控制摆放调节装置，进而调整后续输入的货物的摆放位置。通过在可移动底盘的第一端设置摆放调节装置，使得货物在货物缓存区内的摆放位置布局合理，以充分利用货物缓存区的载货面积，进而提高了货物装卸车的载货效率。
以上所述仅为本申请的实施例，并非因此限制本申请的专利范围，凡是利用本申请说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本申请的专利保护范围内。

Claims (20)

  1. 一种货物装卸车，其特征在于，所述货物装卸车包括：
    可移动底盘，所述可移动底盘沿长度方向划分成彼此相对的第一端和第二端，以及位于所述第一端和所述第二端之间的货物缓存区；
    摆放调节装置，所述摆放调节装置设置于所述可移动底盘的所述第一端，用于调整从所述第一端输入的货物在所述货物缓存区内的摆放位置；
    控制系统，所述控制系统与所述摆放调节装置信号连接，且根据所述货物缓存区中的已有货物的摆放布局控制所述摆放调节装置，进而调整后续输入的货物的摆放位置。
  2. 根据权利要求1所述的货物装卸车，其特征在于，所述摆放调节装置包括滑道和摆杆装置，所述滑道设置成允许投放在其上的货物在自身重力下沿所述滑道滑落至所述货物缓存区，所述摆杆装置设置成通过摆动改变所述货物的滑落路径，进而调整货物在滑落至所述货物缓存区后的摆放位置。
  3. 根据权利要求2所述的货物装卸车，其特征在于，所述摆杆装置包括动力源和摆杆，所述动力源驱动所述摆杆在所述滑道的表面上摆动，进而使得所述货物沿所述摆杆滑落。
  4. 根据权利要求3所述的货物装卸车，其特征在于，所述货物装卸车还包括第一视觉检测系统，所述第一视觉检测系统与所述控制系统信号连接，所述第一视觉检测系统用于对所述货物缓存区中的已有货物进行图像采集，所述控制系统根据所述第一视觉检测系统所采集的图像识别所述货物缓存区中的已有货物的摆放布局，并判断所述货物缓存区中的空闲区域，并通过控制所述摆杆装置使得后续输入的货物滑落至所述空闲区域。
  5. 根据权利要求4所述的货物装卸车，其特征在于，所述货物装卸车还包括位于所述货物缓存区中的输送装置，所述货物滑落至所述输送装置上，并由所述输送装置向所述第二端输送。
  6. 根据权利要求5所述的货物装卸车，其特征在于，所述输送装置包括传送带，所述控制系统进一步根据所述传送带上的已有货物的摆放布局判断是否满足第一输送条件，并在满足第一输送条件后控制所述传动带向所述第二端输送一段距离，以在所述传送带上进一步形成能够接收所述货物的空闲区域。
  7. 根据权利要求6所述的货物装卸车，其特征在于，所述控制系统进一步根据所述传送带上的已有货物的摆放布局判断是否满足第二输送条件，并在满足第二输送条件后控制所述可移动底盘向装卸货地点移动。
  8. 根据权利要求3所述的货物装卸车，其特征在于，所述摆杆一端铰接于所述滑道上，所述摆杆上设有导轨，所述动力源的驱动轴上铰接有滑块，所述滑块与所述导轨配合，所述动力源通过所述滑块驱动所述摆杆摆动。
  9. 根据权利要求8所述的货物装卸车，其特征在于，所述摆杆上还设有多个滚轮，以降低所述货物沿所述摆杆滑落时的摩擦力。
  10. 根据权利要求2所述的货物装卸车，其特征在于，所述货物装卸车还包括第二视觉检测系统，所述第二视觉检测系统用于对所述第一端正前方空间进行图像采集，所述控制系统根据所述第二视觉检测系统所采集的图像调整所述可移动底盘的行进路径，使得所述滑道对正货物投放处。
  11. 根据权利要求1所述的货物装卸车，其特征在于，所述货物装卸车还包括设置于所述第一端的横向挡杆，所述横向挡杆的高度设置成小于所述货物的第一方向的尺寸且大于所述货物的第二方向的尺寸，使得以所述第一方向竖直设置的货物在所述横向挡杆的阻挡作用下，翻倒成以第二方向竖直设置并经过所述横向挡杆。
  12. 根据权利要求1所述的货物装卸车，其特征在于，所述货物装卸车还包括雷达传感器，所述雷达传感器设置于所述可移动底盘的所述第二端，以检测所述第二端正前方障碍物的空间信息；所述控制系统根据所述雷达传感器检测的空间信息调整所述可移动底盘的行进路径。
  13. 根据权利要求12所述的货物装卸车，其特征在于，所述货物装卸车还包括：
    主动轮组，设置于所述可移动底盘上所述货物缓存区的下方；
    所述控制系统与所述主动轮组信号连接，以根据所述雷达传感器检测的空间信息控制所述主动轮组进行转动，进而调整所述可移动底盘的行进路径。
  14. 根据权利要求12所述的货物装卸车，其特征在于，所述货物装卸车还包括设置于所述可移动底盘上沿宽度方向相对两侧的多个距离传感器，所述距离传感器用于检测所述可移动底盘与侧向障碍物之间的间距，所述控制系统根据所述距离传感器所检测的间距调整所述可移动底盘的行进路径。
  15. 根据权利要求1所述的货物装卸车，其特征在于，所述货物装卸车还包括液压支撑系统，所述液压支撑系统设置于所述可移动底盘上，用于在所述可移动底盘驻停后伸长以支撑于所述可移动底盘与下方支撑面之间；所述控制系统与所述液压支撑系统信号连接，以在所述工业机器人的运动过程中，根据所述货物装卸车的重力分布变化，动态调整所述液压支撑系统对所述可移动底盘的支撑力。
  16. 根据权利要求15所述的货物装卸车，其特征在于，所述液压支撑系统包括多个支腿组件，每个所述支腿组件包括液压支腿和液压缸，所述液压缸与所述控制系统信号连接，所述控制系统通过调整所述液压缸对所述液压支腿的推动力，以调整所述支腿组件对所述可移动底盘的支撑力。
  17. 根据权利要求16所述的货物装卸车，其特征在于，所述可移动底盘上设有水平传感器，所述水平传感器与所述控制系统信号连接，所述水平传感器用于检测所述可移动底盘的水平度，所述控制系统根据所述水平度调整所述所述支腿组件的伸长量。
  18. 一种货物转运系统，其特征在于，包括如权利要求1-17所述的任一项货物装卸车、货物投放装置和货物集装装置；
    其中，所述货物装卸车从所述货物投放装置处装运货物，并将货物运送到所述货物集装装置处，或所述货物装卸车移动到所述货物集装装置处，从所述货物投放装置处输送货物到所述货物装卸车上；
    所述货物装卸车将货物码放在所述货物集装装置内。
  19. 一种自动调整货物布局的方法，其特征在于，包括：
    采集货物缓存区的图像信息；
    根据所述图像信息，控制摆杆装置以使货物在所述货物缓存区布局合理；
    根据所述图像信息判断是否满足输送条件，在满足输送条件后控制传动带向第二端输送一段距离。
  20. 根据权利要求19所述的方法，其特征在于，所述根据所述图像信息，控制摆杆装置以使货物在所述货物缓存区布局合理的步骤，包括：
    根据所述图像信息，确定所述货物缓存区中的空闲区域，控制所述摆杆装置使得后续输入的货物滑落至所述空闲区域。
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