WO2019213903A1 - Freight loading and unloading vehicle, freight transport system, and unloading method of freight loading and unloading vehicle - Google Patents

Abstract

A freight loading and unloading vehicle, a freight transport system, and an unloading method of the freight loading and unloading vehicle. The freight loading and unloading vehicle comprises a movable chassis (10), an industrial robot (50), a first visual inspection system (80), and a control system (40). The movable chassis (10) is divided into a first end (11) and a second end (12) opposite to each other as well as a temporary freight storage area (13) between the first end (11) and the second end (12); the industrial robot (50) is disposed at the second end (12) of the movable chassis (10) and is configured to pick up freight from the temporary freight storage area (13), and transport and release the freight to a preset loading and unloading location; the first visual inspection system (80) is configured to acquire images of the freight in the temporary freight storage area (13); the control system (40) is configured to obtain the layout of the freight in the temporary freight storage area (13) according to the images acquired by the first visual system (80) and further determine the position from which the industrial robot picks up the freight. By means of the present application, the capability of the freight loading and unloading vehicle to automatically unload the freight can be improved.

Description

Cargo handling vehicle, cargo transfer system and method of unloading same

[Technical Field]

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 unloading the same.

 【Background technique】

In the field of modern logistics, the automation of freight warehouses is getting higher and higher. The ability of cargo handling vehicles to actively unload cargo is often insufficient, and its ability to accurately capture goods needs to be improved.

 [Summary of the Invention]

The present application provides a cargo handling vehicle, a cargo transfer system and a method for unloading the same to solve the problem of insufficient capacity of the cargo handling vehicle to automatically unload cargo.

In order to solve the above technical problems, one technical solution adopted by the present application is to provide a cargo handling vehicle. The cargo handling vehicle includes a movable chassis, an industrial robot, a first visual inspection system, and a control system, the movable chassis being divided into first and second ends opposite to each other, and cargo between the first end and the second end a buffer area; the industrial robot is disposed at the second end of the movable chassis for picking up the goods from the cargo buffer, carrying and releasing the goods to a preset loading and unloading location; the first visual inspection system is for performing the goods in the cargo buffer area Image acquisition; the control system is configured to obtain the layout of the goods in the cargo buffer area according to the image acquired by the first vision system, and further determine the picking position of the goods by the industrial robot.

In order to solve the above technical problem, another technical solution adopted by the present application is to provide a cargo transfer system. The cargo transfer system includes the above cargo handling vehicle, cargo conveying device and cargo container.

In order to solve the above technical problem, another technical solution adopted by the present application is to provide a method for unloading cargo handling vehicles. The method comprises: acquiring first image information in the cargo buffer area and a pose of the industrial robot; acquiring second image information of the loading and unloading location; controlling the industrial robot to pick up the goods from the cargo buffer area, transporting and releasing to the loading and unloading location.

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 transferring the same. The cargo handling vehicle includes a movable chassis, an industrial robot, a first visual inspection system, and a control system, the movable chassis being divided into first and second ends opposite to each other, and cargo between the first end and the second end a buffer area; the industrial robot is disposed at the second end of the movable chassis for picking up the goods from the cargo buffer, carrying and releasing the goods to a preset loading and unloading location; the first visual inspection system is for performing the goods in the cargo buffer area Image acquisition; the control system is configured to obtain the layout of the goods in the cargo buffer area according to the image acquired by the first vision system, and further determine the picking position of the goods by the industrial robot. By setting up the industrial robot and the first visual inspection system on the cargo handling vehicle, the first visual inspection system is used to collect the goods in the cargo buffer area to determine the picking position of the industrial robot, which effectively improves the industrial robot autonomy. The ability to grab cargo, which in turn improves the automatic unloading capacity of cargo handling vehicles.

 [Description of the Drawings]

1 is a schematic structural view of an embodiment of a cargo handling vehicle provided by the present application;

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;

9 is a schematic structural view of an embodiment of a cargo transfer system provided by the present application;

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 showing the state of the cargo transfer system of Figure 10;

FIG. 12 is a schematic flow chart of an embodiment of a method for unloading a cargo handling vehicle provided by the present application.

【detailed description】

Referring to 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.

Referring to FIG. 2, 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.

For example, 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.

For example, 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. For example, 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.

For example, 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. Alternatively, 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 second driven wheel 221.

Specifically, 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. For example, 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. For example, 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.

Alternatively, the 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.

Optionally, 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.

For example, 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. For example, 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. .

Further, 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.

Optionally, 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.

Referring to Figures 2 and 3, 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. It can be understood that 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. Specifically, 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.

Optionally, the end effector 52 is a suction cup device, and 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. For example, 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. When the air pressure supply of the suction device is detected to be insufficient, the air pressure storage device 53 supplies air pressure to the suction device.

Further, 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.

Further, 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.

For example, 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.

For example, 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.

Further, the 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 On the support surface, 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.

Optionally, 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.

Further, 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.

Since the support surface is not guaranteed to be flat, in order to level the movable chassis 10, the elongation of 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. When the amount of elongation of the leg assembly 61 reaches a limit, 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.

Further, 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.

Specifically, referring to FIG. 4, 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.

Referring to FIG. 5, for example, 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.

One end of the swing rod 722 is hinged to the slide 71 such that the swing rod 722 is swung around the hinge when driven. Specifically, 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.

In an embodiment, 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. In another embodiment, the slide 71 is provided with a rocker device 72 at one side in the width direction of the movable chassis 10.

Optionally, referring to FIG. 6, 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.

Optionally, 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.

Referring again to FIG. 3, 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. Specifically, 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. To the second end 12, and at least two cargoes are present in the width direction of the movable chassis 10, at least a portion of the conveyor 73 is within the operational range of the industrial robot 50. 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.

Referring again to Figure 4, for example, 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.

For example, 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. . In addition, 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.

Referring to Figure 7, 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.

That is, 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. In another embodiment, after the second delivery condition is met, the control system 40 controls the cargo delivery device 110 to stop delivering the cargo.

This second transport condition is that the load bearing area on the conveyor belt 731 is fully loaded with cargo. For example, 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. Alternatively, 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.

Specifically, 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.

For example, 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 handling vehicle is further provided with a light strip 803. For example, the movable chassis 10 and/or the bracket 801 is further provided with a light strip 803 for providing illumination to the cargo buffer area 13, thereby forming in the cargo buffer area 13. The shadowless area is provided for the first visual inspection system 80 to perform image acquisition on the cargo buffer area 13. Specifically, 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.

Optionally, 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.

For example, referring to FIG. 8, 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. When the upper position is placed and its vertical position is set in the first direction 741, the top surface area may be too small to be picked up by the industrial robot 50. After being blocked by the cross bar 74, it is turned upside down in the second direction 742, passes through the lateral bar 74, enters the chute 71 and is not easily flipped over the chute 71, and it is vertical in the second direction 742. When set straight, it is easier to pick up by industrial robots.

For example, the lateral bar 74 is disposed on the bracket 801, and the stabilizer bar 74 is adjustably fixed at a certain height. For example, the set height of the lateral bar 74 is manually adjusted to adjust the placement posture of the cargo.

Optionally, the cargo handling vehicle further includes a fourth visual inspection system 81, the fourth visual inspection system 81 is in signal connection with the control system 40, and the fourth 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 fourth 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. For example, 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.

Further, the fourth 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 fourth visual inspection system 81 to make the slide track 71 alignment of goods delivery. For example, using a loading machine for cargo placement, 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.

Specifically, the fourth 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. At the same time, 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. Specifically, 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. In another embodiment, after the fourth delivery condition is met, the control system 40 controls the cargo delivery device 110 to deliver the cargo. Specifically, the fourth conveying condition is that there is no cargo in the carrying area on the conveyor belt 731.

For example, 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. Alternatively, 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.

And, the cargo handling vehicle includes a second 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 second visual inspection system 82. The placement of existing goods at the place of delivery and further determination of the release position of the picked up goods.

Further, the 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. For example, 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. When unloading from the container, the unloading location is the cargo unloading area in the container. After the cargo in the current unloading area in the container is emptied, the movable chassis 10 needs to be moved a distance into the box to unload the goods from the unloaded area.

Specifically, the second visual inspection 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 Image acquisition is performed on the front space of the second end 12 to prevent the industrial robot 50 from visually blocking the single camera 821. This application does not limit the number of cameras 821.

The cargo handling vehicle further includes a third visual inspection system 83 for performing image acquisition on the industrial robot 50, and the control system 40 acquires pose information of the industrial robot 50 based on the image acquired by the third visual inspection system 83. And further planning the motion path of the industrial robot 50 based on the pickup position, the release position, and the pose information.

Specifically, the third visual inspection 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 third visual inspection system 83, and determines the target pose information of the cargo after the release according to the image collected by the second visual inspection system 82. The position of the cargo is further adjusted before release so that the cargo is placed smoothly in the release position.

Referring to Figures 7 and 2, 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.

Referring to FIG. 9, a schematic structural diagram of an embodiment of a cargo transfer system provided by the present application.

Please refer to the component numbers of the above embodiments for easy understanding of the component names and labels in this embodiment.

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.

For example, 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 trailer cabin, etc. The loader 100 places the goods neatly 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.

For example, in another application scenario, 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 cargo container device 120, and the mobile loading machine is towed to the cargo handling device. At the first end of the vehicle 100, the cargo handling vehicle 100 stores the goods transported from the mobile loading machine in the cargo container assembly 120, and after the current unloading area in the cargo container device 120 is full of cargo, The bins are moved a distance to load the cargo in the new unloading area, while the mobile loading machine moves the same distance to the bin as the cargo handling vehicle 100, progressively causing the cargo container 120 to be full of cargo. After the cargo container 120 is full of cargo, the cargo container 120 is checked and the next cargo container 120 to be loaded is transported to the same location for loading.

Referring to Figures 10 and 11, 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. In this process, 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.

After the cargo handling vehicle 100 is parked, 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 fourth 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, and 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. And 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 second 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. 10 outline of the cargo) 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. Referring to Figure 11, if the first column of space is full of cargo, 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. For example, if the barcode is provided on the goods, and the barcode carries the above information, 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 third 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 third 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.

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.

Referring to FIG. 12, a schematic flowchart of an embodiment of a method for unloading a cargo handling vehicle provided by the present application is provided.

Step 11: Acquire the first image information in the cargo buffer area and the pose of the industrial robot.

Step 12: Acquire second image information of the loading and unloading location.

Step 13: Control the industrial robot to pick up the goods from the cargo buffer area, carry them and release them to the loading and unloading location.

Specifically, determining a picking position of the cargo according to the first image information; determining a release position of the cargo according to the second image information; planning a motion path of the industrial robot according to the picking position, the releasing position, and the pose information; controlling the industrial robot from The goods are picked up in the cargo buffer area and transported along the planned movement path and released to the loading and unloading location.

In contrast to the state of the art, the present application discloses a cargo handling vehicle, a cargo transfer system, and a method of transferring the same. The cargo handling vehicle includes a movable chassis, an industrial robot, a first visual inspection system, and a control system, the movable chassis being divided into first and second ends opposite to each other, and cargo between the first end and the second end a buffer area; the industrial robot is disposed at the second end of the movable chassis for picking up the goods from the cargo buffer, carrying and releasing the goods to a preset loading and unloading location; the first visual inspection system is for performing the goods in the cargo buffer area Image acquisition; the control system is configured to obtain the layout of the goods in the cargo buffer area according to the image acquired by the first vision system, and further determine the picking position of the goods by the industrial robot. By setting up the industrial robot and the first visual inspection system on the cargo handling vehicle, the first visual inspection system is used to collect the goods in the cargo buffer area to determine the picking position of the industrial robot, which effectively improves the industrial robot autonomy. The ability to grab cargo, which in turn improves the automatic unloading capacity of cargo handling vehicles.

The above description is only the embodiment of the present application, and thus does not limit the scope of the patent application, and the equivalent structure or equivalent process transformation made by using the specification and the drawings of the present application, or directly or indirectly applied to other related technologies. The fields are all included in the scope of patent protection of this application.

Claims (20)

1. A cargo handling vehicle, characterized in that the cargo handling vehicle comprises:

   a movable chassis, the movable chassis being divided into first and second ends opposite to each other, and a cargo buffer area between the first end and the second end;

   An industrial robot disposed at the second end of the movable chassis for picking up cargo from the cargo buffer, transporting and releasing to a preset loading and unloading location;

   a first visual inspection system for performing image collection on goods in the cargo buffer area;

   And a control system, configured to acquire a placement layout of the goods in the cargo buffer area according to the image acquired by the first vision system, and further determine a picking position of the goods by the industrial robot.
2. The cargo handling vehicle according to claim 1, wherein said first visual inspection system comprises a bracket and a camera disposed on said bracket, said bracket being an adjustable bracket, said control system being cached according to said cargo The height control of the cargo in the zone adjusts the height of the bracket, thereby adjusting the relative height of the camera to the movable chassis.
3. A cargo handling vehicle according to claim 1 wherein said cargo handling vehicle further comprises a conveyor belt located in said cargo buffer, said cargo being placed on said conveyor belt, said control system further in accordance with said Determining whether the cargo placement on the conveyor belt satisfies the first conveying condition, and controlling the belt to convey a distance to the second end after satisfying the first conveying condition, so that the cargo on the conveyor belt is closer to the Second end.
4. The cargo handling vehicle according to claim 3, wherein said control system further determines whether said second conveying condition is satisfied based on a layout of the cargo on said conveyor belt, and controls said said after satisfying said second conveying condition The movable chassis moves to the loading and unloading location.
5. A cargo handling vehicle according to claim 1, wherein said cargo handling vehicle is further provided with a light strip for providing illumination to said cargo buffer area, thereby being in said cargo buffer area Form a shadowless area.
6. A cargo handling vehicle according to claim 1 wherein said cargo handling vehicle includes a second visual inspection system for image acquisition of existing cargo at said loading and unloading location, The control system acquires a placement layout of the existing goods at the loading and unloading location according to an image acquired by the second visual inspection system, and further determines a release position of the cargo.
7. The cargo handling vehicle according to claim 6, wherein the control system further determines whether the current 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 location. After the current unloading area is full of cargo, the movable chassis is controlled to move away from the loading and unloading location for a distance to form a new unloading area.
8. A cargo handling vehicle according to claim 6 wherein said cargo handling vehicle includes a third visual inspection system for image acquisition of said industrial robot, said control system being The image acquired by the third visual inspection system acquires pose information of the industrial robot, and further plans a motion path of the industrial robot according to the pickup position, the release position, and the pose information.
9. The cargo handling vehicle according to claim 8, wherein said control system further determines actual pose information of said cargo during handling according to an image acquired by said third visual inspection system, and according to said The image acquired by the second visual inspection system determines the target pose information of the cargo after release, and further adjusts the pose of the cargo before release.
10. A cargo handling vehicle according to claim 8 wherein said cargo handling vehicle includes a fourth visual inspection system for imageing a space directly in front of said first end of said cargo handling vehicle Collecting, the control system adjusts a travel path of the movable chassis according to an image acquired by the fourth visual inspection system, so that the first end aligns the delivery of the goods.
11. The cargo handling vehicle according to claim 1, wherein said cargo handling vehicle further comprises a placement adjustment device, said placement adjustment device being disposed at said first end of said movable chassis for adjustment a position of the cargo input from the first end in the cargo buffer area; the control system is further connected to the placement adjustment device and controlled according to the layout of the goods in the cargo buffer area The adjusting device is arranged to adjust the placement position of the subsequently input goods.
12. A cargo handling vehicle according to claim 11, wherein said placement adjustment means comprises a slide and a swing bar arrangement, said slide being arranged to allow the cargo placed thereon to slide along said self-gravity The track slides down to the cargo buffer area, and the swing lever device 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.
13. The cargo handling vehicle according to claim 1, wherein said cargo handling vehicle further comprises a radar sensor, said radar sensor being disposed at said second end of said movable chassis to detect said second end Spatial information of the front obstacle; the control system adjusts the travel path of the movable chassis according to the spatial information detected by the radar sensor.
14. The cargo handling vehicle of claim 13 wherein said cargo handling vehicle further comprises:

    a driving wheel set disposed below the cargo buffer area on the movable chassis;

    The control system is coupled to the driving wheel set signal to control the driving wheel set to rotate according to the spatial information detected by the radar sensor, thereby adjusting a traveling path of the movable chassis.
15. A cargo handling vehicle according to claim 13, wherein said cargo handling vehicle further comprises a plurality of distance sensors disposed on opposite sides of said movable chassis in the width direction, said distance sensor being used for detecting said The spacing between the movable chassis and the lateral obstacle, the control system adjusting the travel path of the movable chassis according to the distance detected by the distance sensor.
16. The cargo handling vehicle according to claim 1, wherein said cargo handling vehicle further comprises a hydraulic support system, said hydraulic support system being disposed on said movable chassis for parking in said movable chassis Stretching to support between the movable chassis and the lower support surface; the control system is in signal connection with the hydraulic support system to distribute gravity according to the cargo handling vehicle during movement of the industrial robot The change dynamically adjusts the supporting force of the hydraulic support system to the movable chassis.
17. A cargo handling vehicle according to claim 16 wherein said hydraulic support system includes a plurality of leg assemblies, each of said leg assemblies including a hydraulic leg and a hydraulic cylinder, said hydraulic cylinder and said control A system signal is coupled, the control system adjusting a propulsive force of the hydraulic cylinder to the hydraulic leg to adjust a supporting force of the leg assembly to the movable chassis.
18. A cargo transfer system, comprising: the cargo handling vehicle, the cargo conveying device and the cargo assembly device according to any one of claims 1-17;

    Wherein the cargo handling vehicle carries the cargo from the cargo transport device and transports the cargo to the cargo container; or the cargo truck moves to the cargo container from the cargo Delivering goods to the cargo handling vehicle at the delivery device;

    The cargo handling vehicle places the cargo code in the cargo container.
19. A method for unloading a cargo handling vehicle, characterized in that it comprises:

    Obtaining the first image information in the cargo buffer area and the pose of the industrial robot;

    Obtaining second image information of the loading and unloading location;

    The industrial robot is controlled to pick up the goods from the cargo buffer area, carry them and release them to the loading and unloading location.
20. The method according to claim 19, wherein said step of controlling said industrial robot to pick up cargo from said cargo buffer, transporting and releasing it to a loading and unloading location comprises:

    Determining a picking position of the goods according to the first image information;

    Determining a release position of the cargo based on the second image information;

    Planning a motion path of the industrial robot according to the pickup position, the release position, and the pose information;

    The industrial robot is controlled to pick up cargo from the cargo buffer area, carry it along the motion path and release it to a loading and unloading location.