阅读说明：本技术 桁架装车卸货方法、坐标系构建方法及桁架装车卸货系统 (Truss loading and unloading method, coordinate system construction method and truss loading and unloading system ) 是由 涂翔宇 覃皓乾 岑华 廖琼章 吴红生 邓广 陈田波 岑土恩 于 2020-04-28 设计创作，主要内容包括：本发明属于货物装卸技术领域,具体涉及一种桁架装车方法、卸货方法及装卸货物系统,其中桁架装车方法或卸货方法包括：构建桁架坐标系和车辆坐标系,并获取桁架坐标系和车辆坐标系之间的偏移角度；根据偏移角度调整夹爪,并在夹爪调整后获取坐标偏移值；以及根据坐标偏移值获取货物在桁架坐标系中的坐标,以装载货物或卸载货物,实现了获取各个货物的精确位置,并根据各货物的精确位置进行装卸,提高了车辆的装卸效率。(The invention belongs to the technical field of cargo loading and unloading, and particularly relates to a truss loading method, an unloading method and a cargo loading and unloading system, wherein the truss loading method or the unloading method comprises the following steps: constructing a truss coordinate system and a vehicle coordinate system, and acquiring an offset angle between the truss coordinate system and the vehicle coordinate system; adjusting the clamping jaw according to the offset angle, and acquiring a coordinate offset value after the clamping jaw is adjusted; and the coordinates of the cargos in the truss coordinate system are obtained according to the coordinate deviation value so as to load or unload the cargos, so that the accurate positions of the cargos are obtained, the cargos are loaded and unloaded according to the accurate positions of the cargos, and the loading and unloading efficiency of the vehicle is improved.)

1. A truss loading and unloading method is characterized by comprising the following steps:

constructing a truss coordinate system XOY according to the truss;

constructing a vehicle coordinate system X ' O ' Y ' according to the vehicle;

the truss coordinate system and the vehicle coordinate system both take the vertical moving direction of the clamping jaw as a Z axis;

when the clamping jaw moves downwards along the Z axis, the distance between two points on the side wall corresponding to the clamping jaw and the carriage front wall is obtained at preset time intervals, and the median value or the average value is respectively obtained to obtain the distance L between two points on the side wall corresponding to the clamping jaw and the carriage front wall₁And L₂；

The offset angle α between the vehicle coordinate system X ' O ' Y ' and the truss coordinate system XOY is:

wherein H is the distance between two points;

and judging whether the vehicle deflects leftwards or rightwards relative to the truss according to the offset angle alpha.

2. The truss loading and unloading method as claimed in claim 1,

when the vehicle deflects leftwards relative to the truss, the clamping jaw is controlled to rotate anticlockwise by alpha degrees, and each side wall of the clamping jaw is parallel to the corresponding compartment wall; and

when the vehicle deflects rightwards relative to the truss, the clamping jaw is controlled to rotate clockwise by alpha degrees, so that each side wall of the clamping jaw is parallel to the corresponding compartment wall;

after the clamping jaw is adjusted, the central point of the clamping jaw is P;

when the carriage door is closed, the clamping jaw moves linearly for a preset distance along the Y 'axis by taking the P as a starting point, the distance between each side wall of the clamping jaw and the corresponding carriage wall is obtained at preset time intervals, and the median value or the average value is respectively obtained to obtain the distance C between the side wall of the clamping jaw close to the Y' axis and the left wall of the carriage₁And the distance C of the side wall of the clamping jaw away from the Y' axis from the right wall of the carriage₃；

Taking P as a starting point, enabling the clamping jaw to move linearly for a preset distance along the X 'axis, obtaining the distance between each side wall of the clamping jaw and the corresponding carriage wall at preset time intervals, and respectively taking a median value or an average value to obtain the distance K between the side wall of the clamping jaw close to the X' axis and the rear wall of the carriage₃And the distance K of the side wall of the clamping jaw away from the X' axis from the front wall of the carriage₁；

The coordinate of the clamping jaw central point P in an X ' O ' Y ' coordinate system is as follows:

wherein, C₂Is the width of the jaw; k₂Is the length of the jaw;

the coordinate offset values (A, B) are:

wherein A is an abscissa offset value; b is a vertical coordinate offset value; x is the abscissa of the clamping jaw central point P in a truss coordinate system XOY; y is the ordinate of the centre point P of the clamping jaw in the truss coordinate system XOY

The length of the carriage is as follows: k₁+K₂+K₃；

The width of the carriage is: c₁+C₂+C₃。

3. The truss loading and unloading method as claimed in claim 2,

when the vehicle deflects leftwards relative to the truss, the clamping jaw is controlled to rotate anticlockwise by alpha degrees, and each side wall of the clamping jaw is parallel to the corresponding compartment wall; and

when the vehicle deflects rightwards relative to the truss, the clamping jaw is controlled to rotate clockwise by alpha degrees, so that each side wall of the clamping jaw is parallel to the corresponding compartment wall;

after the clamping jaw is adjusted, the central point of the clamping jaw is P;

when the compartment door is opened, the clamping jaw is made to move towards the rear wall of the compartment along the Y 'axis by taking the P as a starting point, the distance between each side wall of the clamping jaw and the compartment wall is obtained at preset time intervals until a falling edge appears, and the median value or the average value is respectively taken to obtain the distance C between the side wall of the clamping jaw close to the Y' axis and the left wall of the compartment₁And the distance C of the side wall of the clamping jaw away from the Y' axis from the right wall of the carriage₃The central point of the clamping jaw is q;

taking q as a starting point, enabling the clamping jaw to move linearly for a preset distance along the X' axis, obtaining the length of the side wall corresponding to the front wall of the carriage from the front wall of the carriage at preset time intervals, and taking a median value or an average value to obtain the length K of the side wall corresponding to the front wall of the carriage from the front wall of the carriage₁；

The coordinates of the point q in the X ' O ' Y ' coordinate system are:

wherein, C₂Is the width of the jaw;

the coordinate offset values (A, B) are:

wherein A is an abscissa offset value; b is a vertical coordinate offset value; x₁The abscissa of the point q in the truss coordinate system XOY; y is₁Is the ordinate of the point q in the truss coordinate system XOY;

the length of the carriage is as follows:

the width of the carriage is: c₁+C₂+C₃。

4. The truss loading and unloading method according to claim 2 or 3,

according to the length and width of the carriage, m rows and n rows of cargos are loaded in the carriage, and the coordinate of the first cargo in the vehicle coordinate system X ' O ' Y ' is p₀(x₀′,y₀') cargo is spaced at a distance f from the long side wall of the vehicle and at a distance e from the wide side wall, the coordinates of the garage position i in the vehicle coordinate system X' O 'Y' are:

(x_i′＝x₀′+[(i-1)％m]*e,y_i′＝y₀′+[(i-1)/m]*f)；

wherein i belongs to [1, m.n ], i belongs to Z;

the coordinates of the library position i in the truss coordinate system XOY are:

according to the coordinates of the warehouse location i in the truss coordinate system XOY, the goods are conveyed to the corresponding coordinate position, so that the goods are loaded; or

And moving the goods in the storage position out according to the coordinates of the storage position i in the truss coordinate system XOY so as to realize unloading the goods.

5. A coordinate system construction method adopted by the truss loading and unloading method of claim 1, comprising:

constructing a truss coordinate system XOY according to the truss;

constructing a vehicle coordinate system X ' O ' Y ' according to the vehicle;

the truss coordinate system and the vehicle coordinate system both take the vertical moving direction of the clamping jaw as a Z axis;

when the clamping jaw moves downwards along the Z axis, the distance between two points on the side wall corresponding to the clamping jaw and the carriage front wall is obtained at preset time intervals, and the median value or the average value is respectively obtained to obtain the distance L between two points on the side wall corresponding to the clamping jaw and the carriage front wall₁And L₂；

The offset angle α between the vehicle coordinate system X ' O ' Y ' and the truss coordinate system XOY is:

wherein H is the distance between two points;

and judging whether the vehicle deflects leftwards or rightwards relative to the truss according to the offset angle alpha.

6. A truss loading and unloading system, wherein the truss loading and unloading system is suitable for the truss loading and unloading method according to claim 1.

Technical Field

The invention belongs to the technical field of cargo loading and unloading, and particularly relates to a truss loading method, a truss unloading method and a cargo loading and unloading system.

Background

A large amount of manpower and material resources are needed in the loading and unloading process of the goods, the goods can be automatically loaded and unloaded, a large amount of cost can be saved, the loading and unloading positions of all the goods need to be accurately acquired in the automatic loading and unloading process of the goods, the goods can be loaded and unloaded by the truck, and the efficiency is improved.

Therefore, in view of the above technical problems, it is desirable to design a new method for loading and unloading a truss, and a cargo loading and unloading system.

Disclosure of Invention

The invention aims to provide a truss loading method, a truss unloading method and a truss cargo loading and unloading system.

In order to solve the technical problem, the invention provides a truss loading method, which comprises the following steps:

constructing a truss coordinate system and a vehicle coordinate system, and acquiring an offset angle between the truss coordinate system and the vehicle coordinate system;

adjusting the clamping jaw according to the offset angle, and acquiring a coordinate offset value after the clamping jaw is adjusted; and

and acquiring the coordinates of the cargo in the truss coordinate system according to the coordinate offset value so as to load the cargo.

In a second aspect, the present invention further provides a method for unloading a truss, including:

constructing a truss coordinate system and a vehicle coordinate system, and acquiring an offset angle between the truss coordinate system and the vehicle coordinate system;

adjusting the clamping jaw according to the offset angle, and acquiring a coordinate offset value after the clamping jaw is adjusted; and

and acquiring the coordinates of the cargo in the truss coordinate system according to the coordinate offset value so as to unload the cargo.

Further, the method for constructing the truss coordinate system and the vehicle coordinate system and acquiring the offset angle between the truss coordinate system and the vehicle coordinate system comprises the following steps:

constructing a truss coordinate system XOY according to the truss;

constructing a vehicle coordinate system X ' O ' Y ' according to the vehicle;

the truss coordinate system and the vehicle coordinate system both take the vertical moving direction of the clamping jaw as a Z axis;

when the clamping jaw moves downwards along the Z axis, the distance between two points on the side wall corresponding to the clamping jaw and the carriage front wall is obtained at preset time intervals, and the median value or the average value is respectively obtained to obtain the distance L between two points on the side wall corresponding to the clamping jaw and the carriage front wall₁And L₂；

The offset angle α between the vehicle coordinate system X ' O ' Y ' and the truss coordinate system XOY is:

wherein H is the distance between two points;

and judging whether the vehicle deflects leftwards or rightwards relative to the truss according to the offset angle alpha. Further, the method for adjusting the clamping jaw according to the offset angle and acquiring the coordinate offset value after the clamping jaw is adjusted comprises the following steps:

when the vehicle deflects leftwards relative to the truss, the clamping jaw is controlled to rotate anticlockwise by alpha degrees, and each side wall of the clamping jaw is parallel to the corresponding compartment wall; and

when the vehicle deflects rightwards relative to the truss, the clamping jaw is controlled to rotate clockwise by alpha degrees, so that each side wall of the clamping jaw is parallel to the corresponding compartment wall;

after the clamping jaw is adjusted, the central point of the clamping jaw is P;

when the carriage door is closed, the clamping jaw moves linearly for a preset distance along the Y 'axis by taking the P as a starting point, the distance between each side wall of the clamping jaw and the corresponding carriage wall is obtained at preset time intervals, and the median value or the average value is respectively obtained to obtain the distance C between the side wall of the clamping jaw close to the Y' axis and the left wall of the carriage₁And the distance C of the side wall of the clamping jaw away from the Y' axis from the right wall of the carriage₃；

Taking P as a starting point, enabling the clamping jaw to move linearly for a preset distance along the X 'axis, obtaining the distance between each side wall of the clamping jaw and the corresponding carriage wall at preset time intervals, and respectively taking a median value or an average value to obtain the distance K between the side wall of the clamping jaw close to the X' axis and the rear wall of the carriage₃And the distance K of the side wall of the clamping jaw away from the X' axis from the front wall of the carriage₁；

The coordinate of the clamping jaw central point P in an X ' O ' Y ' coordinate system is as follows:

wherein, C₂Is the width of the jaw; k₂Is the length of the jaw;

the coordinate offset values (A, B) are:

wherein A is an abscissa offset value; b is a vertical coordinate offset value; x is the abscissa of the clamping jaw central point P in a truss coordinate system XOY; y is the ordinate of the clamping jaw central point P in a truss coordinate system XOY;

the length of the carriage is as follows: k₁+K₂+K₃；

The width of the carriage is: c₁+C₂+C₃。

Further, the method for adjusting the clamping jaw according to the offset angle and acquiring the coordinate offset value after the clamping jaw is adjusted comprises the following steps:

when the vehicle deflects leftwards relative to the truss, the clamping jaw is controlled to rotate anticlockwise by alpha degrees, and each side wall of the clamping jaw is parallel to the corresponding compartment wall; and

when the vehicle deflects rightwards relative to the truss, the clamping jaw is controlled to rotate clockwise by alpha degrees, so that each side wall of the clamping jaw is parallel to the corresponding compartment wall;

after the clamping jaw is adjusted, the central point of the clamping jaw is P;

when the compartment door is opened, the clamping jaw is made to move towards the rear wall of the compartment along the Y 'axis by taking the P as a starting point, the distance between each side wall of the clamping jaw and the compartment wall is obtained at preset time intervals until a falling edge appears, and the median value or the average value is respectively taken to obtain the distance C between the side wall of the clamping jaw close to the Y' axis and the left wall of the compartment₁And the distance C of the side wall of the clamping jaw away from the Y' axis from the right wall of the carriage₃The central point of the clamping jaw is q;

taking q as a starting point, enabling the clamping jaw to move linearly for a preset distance along the X' axis, obtaining the length of the side wall corresponding to the front wall of the carriage from the front wall of the carriage at preset time intervals, and taking a median value or an average value to obtain the length K of the side wall corresponding to the front wall of the carriage from the front wall of the carriage₁；

The coordinates of the point q in the X ' O ' Y ' coordinate system are:

wherein, C₂Is the width of the jaw;

the coordinate offset values (A, B) are:

wherein A is an abscissa offset value; b is a vertical coordinate offset value; x₁The abscissa of the point q in the truss coordinate system XOY; y is₁Is the ordinate of the point q in the truss coordinate system XOY;

the length of the carriage is as follows:

the width of the carriage is: c₁+C₂+C₃。

Further, the method for acquiring the coordinates of the cargo in the truss coordinate system according to the coordinate offset value comprises the following steps:

m rows of n rows of cargos are loaded in the carriage according to the length and the width of the carriage, and the coordinate of the first cargo in the vehicle coordinate system X 'O' Y 'is p0 (X'₀,y′₀) If the distance between the goods on the long side wall of the vehicle is f and the distance between the wide side wall of the vehicle is e, the coordinates of the warehouse location i in the vehicle coordinate system X ' O ' Y ' are as follows:

(x_i′＝x₀′+[(i-1)％m]*e,y_i′＝y₀′+[(i-1)/m]*f)；

wherein i belongs to [1, m.n ], i belongs to Z;

the coordinates of the library position i in the truss coordinate system XOY are:

according to the coordinates of the warehouse location i in the truss coordinate system XOY, the goods are conveyed to the corresponding coordinate position, so that the goods are loaded; or

And moving the goods in the storage position out according to the coordinates of the storage position i in the truss coordinate system XOY so as to realize unloading the goods.

In a third aspect, the present invention also provides a jaw comprising:

the clamping jaw control module, the connecting block and the detection module are electrically connected with the clamping jaw control module;

the detection module is arranged on the side wall of the connecting block;

the detection module is suitable for detecting the distance between each side wall of the connecting block and the corresponding carriage wall and the distance between the connecting block and the bottom surface of the carriage;

the clamping jaw control module is suitable for sending each distance data.

Further, the detection module includes: the system comprises a first ranging sensor, a second ranging sensor, a third ranging sensor, a fourth ranging sensor, a fifth ranging sensor and a sixth ranging sensor;

the first distance measuring sensor, the second distance measuring sensor, the third distance measuring sensor and the fourth distance measuring sensor are arranged on the side walls of the corresponding connecting blocks so as to detect the distance between each side wall of the connecting block and the corresponding carriage wall;

the fifth distance measuring sensor and the first distance measuring sensor are arranged on the side wall of the same connecting block so as to detect the distance between two points on the side wall of the connecting block and the corresponding carriage wall;

and the sixth distance measuring sensor is arranged on the side wall of the connecting block to detect the distance between the connecting block and the bottom surface of the carriage.

In a fourth aspect, the present invention also provides a truss comprising:

the device comprises a truss control module, a truss track A, a truss track B, a first bar code, a second bar code, a clamping jaw, a first bar code sensor, a second bar code sensor and a lifting mechanism, wherein the clamping jaw, the first bar code sensor, the second bar code sensor and the lifting mechanism are connected with the truss control module;

the clamping jaw is arranged on the lifting mechanism;

the lifting mechanism is arranged on the truss track B;

the truss track A is suitable for being arranged along the goods conveying direction;

the truss track B is erected on the truss track A and is suitable for sliding on the truss track A so as to drive the clamping jaw to move along the truss track A;

the lifting mechanism is suitable for sliding on the truss track B so as to drive the clamping jaw to move along the truss track B;

constructing a truss coordinate system XOY by taking the truss track A as an Y axis, the truss track B as an X axis and a connection point of the truss track A and the truss track B on the left side of the cargo conveying direction as an origin O;

the first bar code is arranged on the truss track A;

the first bar code sensor is arranged on the truss track B to identify the first bar code and acquire a vertical coordinate of the clamping jaw in a truss coordinate system XOY;

the second bar code is arranged on the truss track B;

the second bar code sensor is arranged on the lifting mechanism to identify the second bar code and acquire the abscissa of the clamping jaw in the truss coordinate system XOY;

the truss control module is suitable for acquiring the position of the clamping jaw in a truss coordinate system according to the identified abscissa and ordinate of the clamping jaw;

the truss control module is suitable for receiving and sending data sent by the clamping jaws, and the truss control module is suitable for sending the positions of the clamping jaws in a truss coordinate system;

the truss control module is suitable for controlling the clamping jaws to clamp the goods according to the data sent by the clamping jaws and the positions of the clamping jaws in a truss coordinate system so as to load or unload the goods.

In a fifth aspect, the present invention also provides a cargo handling system for a truss, comprising:

the system comprises a main control module, a production line and a truss, wherein the production line and the truss are controlled by the main control module;

the main control module is suitable for controlling the assembly line to convey goods;

the truss is arranged in the direction of conveying goods on the production line;

after the vehicle enters the truss, the main control module is suitable for controlling the truss to load or unload the goods conveyed by the assembly line.

The method has the beneficial effects that the truss coordinate system and the vehicle coordinate system are constructed, and the offset angle between the truss coordinate system and the vehicle coordinate system is obtained; adjusting the clamping jaw according to the offset angle, and acquiring a coordinate offset value after the clamping jaw is adjusted; and the coordinates of the cargos in the truss coordinate system are acquired according to the coordinate deviation value so as to load and unload the cargos, so that the accurate positions of the cargos are acquired, the cargos are loaded and unloaded according to the accurate positions of the cargos, and the loading and unloading efficiency of the vehicle is improved.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

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

Fig. 1 is a flow chart of a truss loading method or a truss unloading method according to the present invention; FIG. 2 is a coordinate plane view of an offset angle in accordance with the present invention;

FIG. 3 is a coordinate plan view of a coordinate offset value when the car door is closed in accordance with the present invention;

FIG. 4 is a coordinate plan view of a coordinate offset value when the door is open in accordance with the present invention;

FIG. 5 is a coordinate plane view of cargo in accordance with the present invention;

FIG. 6 is a schematic view of a jaw according to the present invention;

FIG. 7 is a functional block diagram of a jaw in accordance with the present invention;

FIG. 8 is a schematic structural view of a truss according to the present invention;

FIG. 9 is a functional block diagram of a truss in accordance with the present invention;

fig. 10 is a schematic structural view of a rotary mechanism according to the present invention;

FIG. 11 is a schematic structural view of a truss cargo handling system in accordance with the present invention;

fig. 12 is a functional block diagram of a truss cargo handling system in accordance with the present invention.

In the figure:

1 is a clamping jaw, 11 is a connecting block, 12 is a detection module, 121 is a first ranging sensor, 122 is a second ranging sensor, 123 is a third ranging sensor, 124 is a fourth ranging sensor, 125 is a fifth ranging sensor, 126 is a sixth ranging sensor, and 13 is a clamp;

2 is a truss, 21 is a truss track A, 22 is a truss track B, 23 is a first bar code, 24 is a first bar code sensor, 25 is a column, 26 is a lifting mechanism, 27 is a rotating mechanism, 271 is a motor, 272 is a gear, 273 is a rotary table, 28 is a second bar code, and 29 is a second bar code sensor;

3 is a production line;

4 is a main control module;

5 is a camera;

and 6 is goods.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example 1

Fig. 1 is a flowchart of a truss loading method or a truss unloading method according to the present invention.

As shown in fig. 1, embodiment 1 provides a truss loading method, including: constructing a truss 2 coordinate system and a vehicle coordinate system, acquiring an offset angle between the truss 2 coordinate system and the vehicle coordinate system, and adjusting the clamping jaw 1 according to the offset angle; obtaining a coordinate deviation value after the clamping jaw 1 is adjusted; and the coordinates of the cargos 6 in the coordinate system of the truss 2 are obtained according to the coordinate deviation value so as to load the cargos 6, the accurate positions of the cargos 6 are obtained, the cargos are loaded according to the accurate positions of the cargos 6 to prevent the cargos from being placed eccentrically, the loading efficiency of the vehicle is improved, and the automatic loading cost is reduced.

As shown in fig. 1, this embodiment 1 further provides a method for unloading a truss, including: constructing a truss 2 coordinate system and a vehicle coordinate system, acquiring an offset angle between the truss 2 coordinate system and the vehicle coordinate system, and adjusting the clamping jaw 1 according to the offset angle; obtaining a coordinate deviation value after the clamping jaw 1 is adjusted; and the coordinates of the cargos 6 in the truss 2 coordinate system are obtained according to the coordinate deviation value so as to unload the cargos 6, the accurate positions of the cargos 6 are obtained, unloading is carried out according to the accurate positions of the cargos 6, the clamping jaws 1 are prevented from being deflected and colliding, the unloading efficiency of the vehicle is improved, and the automatic unloading cost is reduced.

Fig. 2 is a coordinate plane view of an offset angle according to the present invention.

In this embodiment, the following method may be adopted as the method for loading or unloading: as shown in fig. 2, the method for constructing the truss 2 coordinate system and the vehicle coordinate system and acquiring the offset angle between the truss coordinate system and the vehicle coordinate system includes: constructing a truss coordinate system XOY according to the truss 2 (the truss track in the length direction of the truss 2 is taken as a Y axis, the truss track in the width direction of the truss 2 is taken as an X axis, and a connection point of the truss 2 on the left side in the cargo conveying direction is taken as an origin O to construct the truss coordinate system XOY); constructing a vehicle coordinate system X ' O ' Y ' according to a vehicle (the carriage wall with a longer carriage is an axis Y ', the carriage wall with a shorter carriage is an axis X ', the intersection point of the two carriage walls close to the origin of the truss coordinate system is an origin O ', constructing a vehicle coordinate system X ' O ' Y ', namely constructing a vehicle coordinate system X ' O ' Y ' by taking the carriage left wall as the axis Y ' and the carriage outer wall as the axis X ', and taking the intersection point of the carriage left wall and the carriage outer wall as the origin O '; the truss coordinate system and the vehicle coordinate system can both use the vertical moving direction of the clamping jaw 1 as a Z axis (the direction of the clamping jaw 1 vertical to the ground is the Z axis), and lift the clamping jaw 1 to a proper position (for example, a small distance from the upper edge of the front wall of the carriage to the back); the wall of the carriage close to the head of the carriage is taken as the front wall of the carriage, the wall of the carriage corresponding to the front wall of the carriage is taken as the rear wall of the carriage, the wall of the carriage on the left side in the direction of looking at the front wall of the carriage through the rear wall of the carriage is taken as the left wall of the carriage, and the wall of the carriage on the right side is taken as the right wall of the carriage;

when the clamping jaw 1 moves downwards along the Z axis, the distance between two points on the side wall of the clamping jaw close to the front wall of the carriage and the front wall of the carriage is obtained at preset time intervals (namely, the distance is obtained at regular time or in real time), and the median value or the average value is respectively obtained to obtain the distance L between two points on the side wall corresponding to the clamping jaw 1 and the front wall of the carriage₁And L₂；

The offset angle α between the vehicle coordinate system X ' O ' Y ' and the truss coordinate system XOY is:

wherein, the initial state of each side wall of the clamping jaw 1 is parallel to the X, Y axis in the corresponding XOY coordinate system, and H is the distance between the two points; judging whether the vehicle deflects leftwards or rightwards relative to the truss according to the deflection angle alpha; such as L₁Corresponding point on the side wall of the clamping jaw 1 is L₂On the left side of the point on the side wall of the corresponding clamping jaw 1, when alpha is a positive value, the vehicle deflects leftwards relative to the truss 2, and when alpha is a negative value, the vehicle deflects rightwards relative to the truss 2; the error can be reduced by taking the median or the average value, and the accuracy of the offset angle alpha is improved.

In the present embodiment, the method of adjusting the jaw 1 according to the offset angle comprises: when the vehicle deflects leftwards relative to the truss 2, the clamping jaw 1 is controlled to rotate anticlockwise by alpha degrees, and each side wall of the clamping jaw 1 is parallel to the corresponding compartment wall; and when the vehicle deflects rightwards relative to the truss 2, controlling the clamping jaw 1 to rotate clockwise by alpha degrees, so that each side wall of the clamping jaw 1 is parallel to the corresponding compartment wall.

Fig. 3 is a coordinate plan view of the coordinate offset value when the car door according to the present invention is closed.

As shown in fig. 3, in the present embodiment, whether the car door is closed or not may be determined by the fourth distance measuring sensor 124, so as to select different methods for acquiring the coordinate offset value; the method for acquiring the coordinate offset value after the clamping jaw is adjusted comprises the following steps: after the clamping jaw 1 is adjusted, the central point of the clamping jaw 1 is P; when the carriage door is closed, the clamping jaw 1 is linearly moved by a preset distance (the distance can be a section far larger than the distance between the concave and the convex parts of the carriage) along the Y 'axis by taking the P as a starting point, the distance between each side wall of the clamping jaw 1 and the corresponding carriage wall is obtained (namely, the distance is obtained at regular time or in real time) at preset time intervals, and the median value or the average value is respectively obtained to obtain the distance C between the side wall of the clamping jaw 1 close to the Y' axis and the left wall of the carriage₁And the distance C of the side wall of the clamping jaw 1 away from the Y' axis from the right wall of the carriage₃(ii) a Taking P as a starting point (if the clamping jaw 1 moves along the Y ' axis, the central point of the clamping jaw 1 returns to the point P), enabling the clamping jaw 1 to move linearly along the X ' axis for a preset distance (the distance can be a section of distance far larger than the distance between the concave and the convex of the carriage), acquiring (namely acquiring regularly or acquiring in real time) the distance between each side wall of the clamping jaw 1 and the corresponding carriage wall at preset time intervals, and respectively taking a median value or an average value to acquire the distance K between the side wall of the clamping jaw 1 close to the X ' axis and the rear wall of the carriage₃And the distance K of the side wall of the clamping jaw 1 away from the X' axis from the front wall of the carriage₁(ii) a The coordinate of the central point P of the clamping jaw 1 in the X ' O ' Y ' coordinate system is as follows:

wherein, C₂The width of the clamping jaw 1; k₂The length of the clamping jaw 1; width of carriage is C₁+C₂+C₃The length of the carriage is K₁+K₂+K₃；

The coordinate offset values (A, B) are:

wherein A is an abscissa offset value; b is a vertical coordinate offset value; x is the abscissa of the central point P of the clamping jaw 1 in a truss coordinate system XOY; y is the longitudinal coordinate of the central point P of the clamping jaw 1 in a truss coordinate system XOY; the ordinate of the point P in the truss coordinate system XOY can be read directly from the first bar code 23 arranged on the truss track in the length direction of the truss 2, and the abscissa can be read from the second bar code 28 arranged on the truss track in the width direction of the truss 2.

Fig. 4 is a coordinate plan view of a coordinate offset value when the car door according to the present invention is opened.

As shown in fig. 4, in the present embodiment, the method for obtaining the coordinate offset value after the adjustment of the clamping jaw 1 includes: after the clamping jaw 1 is adjusted, the central point of the clamping jaw 1 is P; when a compartment door is opened, the clamping jaw 1 is made to move towards the rear wall of the compartment along the Y 'axis by taking the P as a starting point, the distance between each side wall of the clamping jaw 1 and the compartment wall is obtained at preset time intervals (namely, the distance is obtained regularly or in real time) until a falling edge appears, and the median value or the average value is respectively obtained to obtain the distance C between the side wall of the clamping jaw 1 close to the Y' axis and the left wall of the compartment₁And the distance C of the side wall of the clamping jaw 1 away from the Y' axis from the right wall of the carriage₃The central point of the clamping jaw 1 is q;

taking q as a starting point, enabling the clamping jaw 1 to move linearly along the X' axis for a preset distance (the distance can be a section far larger than the distance between the concave and convex parts of the carriage), acquiring (namely acquiring at regular time or acquiring in real time) the length of the side wall of the clamping jaw 1 corresponding to the carriage front wall from the carriage front wall at preset time intervals, and taking a median value or an average value to acquire the length K of the side wall of the clamping jaw 1 corresponding to the carriage front wall from the carriage front wall₁；

The coordinates of the point q in the X ' O ' Y ' coordinate system are:

wherein, C₂Is the width of the jaw;

the coordinate offset values (A, B) are:

wherein A is an abscissa offset value; b is a vertical coordinate offset value; x₁The abscissa of the point q in the truss coordinate system XOY; y is₁Is the ordinate of the point q in the truss coordinate system XOY; the ordinate of the point q in the truss coordinate system XOY can be read directly from the first bar code 23 arranged on the truss track in the length direction of the truss 2, and the abscissa can be read from the second bar code 28 arranged on the truss track in the width direction of the truss 2; the length of the carriage is as follows:the width of the carriage is: c₁+C₂+C₃。

Fig. 5 is a coordinate plan view of cargo in accordance with the present invention.

As shown in fig. 5, in this embodiment, the method for obtaining the coordinates of the cargo 6 in the truss coordinate system according to the coordinate offset value includes: according to the length and the width of the carriage, m rows and n rows of cargos 6 are loaded in the carriage (the total length of the discharged rows of cargos 6 is less than or equal to the width of the carriage, and the total length of the discharged rows of cargos 6 is less than or equal to the length of the carriage), and the coordinate of the first cargo 6 in the vehicle coordinate system X ' O ' Y ' is p₀(x′₀,y′₀) If the distance between the cargo 6 on the long side wall of the vehicle is e and the distance between the wide side wall of the vehicle is f, the coordinates of the storage location i in the vehicle coordinate system X ' O ' Y ' are: (x)_i′＝x₀′+[(i-1)％m]*e,y_i′＝y₀′+[(i-1)/m]*f)；

Wherein i belongs to [1, m.n ], i belongs to Z;

the coordinates of the library position i in the truss coordinate system XOY are:

according to the coordinates of the library position i in the truss coordinate system XOY, the goods 6 are conveyed to the corresponding coordinate position, so that the goods 6 are loaded; the distance between each side wall of the clamping jaw 1 and the corresponding carriage wall is detected in real time in the process of placing the goods 6, the position of the goods 6 is adjusted in real time, the goods 6 are prevented from being placed partially, and the goods 6 can be prevented from colliding in the process of placing; and moving the goods 6 in the warehouse location out according to the coordinates of the warehouse location i in the truss coordinate system XOY so as to unload the goods 6.

Example 2

FIG. 6 is a schematic view of a jaw according to the present invention;

figure 7 is a functional block diagram of a jaw in accordance with the present invention.

As shown in fig. 6 and 7, the present embodiment 2 further provides a clamping jaw 1 on the basis of embodiment 1, including: the clamping jaw control module, the connecting block 11 and the detection module 12 are electrically connected with the clamping jaw control module; the clamping jaw control module can adopt but not limited to STM32 series single-chip microcomputer; the detection module 12 is arranged on the side wall of the connecting block 11; the detection module 12 is adapted to detect a distance between each side wall of the connection block 11 and a corresponding car compartment wall (at this time, each side wall of the connection block 11 is parallel to the corresponding car compartment wall), and a distance between the connection block 11 and a bottom surface of the car compartment; the clamping jaw control module is suitable for sending data of each distance; the distance between the clamping jaw 1 and each compartment wall can be known through the detection module 12.

In this embodiment, the jaw 1 further comprises: a jig 13; the clamp 13 is arranged on the lower end face of the connecting block 11; the jaw control module is adapted to control the gripper 13 to grip the goods 6.

In this embodiment, the detection module includes: a first ranging sensor 121, a second ranging sensor 122, a third ranging sensor 123, a fourth ranging sensor 124, a fifth ranging sensor 125, and a sixth ranging sensor 126; each of the above distance measuring sensors can be but is not limited to adopt an OY2TA104P0150C high-precision distance measuring sensor; the first distance measuring sensor 121, the second distance measuring sensor 122, the third distance measuring sensor 123 and the fourth distance measuring sensor 124 are arranged on the side wall of the corresponding connecting block 11 to detect the distance between each side wall of the connecting block 11 and the corresponding car compartment wall (the laser emitting end of each distance measuring sensor faces the corresponding car compartment wall); the fifth distance measuring sensor 125 and the first distance measuring sensor 121 are disposed on the side wall of the same connecting block 11 to detect the distance between two points on the side wall of the connecting block 11 and the corresponding car compartment wall; the sixth distance measuring sensor 126 is disposed on the side wall of the connection block 11 to detect the distance between the connection block 11 and the floor of the vehicle compartment;

for example, the first and fifth ranging sensors 121 and 125 are provided on the side wall of the connection block 11 near the front wall of the vehicle compartment, and the first and fifth ranging sensors 121 and 125 are directed toward the side wall of the vehicle compartment (front wall) near the vehicle head to obtain the distance L between two points on the side wall of the connection block 11 and the front wall of the vehicle compartment₁And L₂(the first and fifth distance measuring sensors 121 and 125 obtain a distance K when the side wall of the connection block 11 is parallel to the corresponding compartment wall₁) (ii) a The side wall of the connection block 11 provided with the second distance measuring sensor 122 may correspond to a car wall (left car wall) corresponding to the Y ' axis in the vehicle coordinate system X ' O ' Y ' to obtain a distance (i.e. C) between the side wall and the Y ' axis₁) (ii) a A third distance measuring sensor 123 is disposed on a side wall of the connection block 11 opposite to the side wall of the connection block 11 on which the second distance measuring sensor 122 is disposed, and the side wall of the connection block 11 on which the third distance measuring sensor 123 is disposed may correspond to a wall of the car (right wall of the car) far from the Y' axis to obtain a distance therebetween (i.e., C)₃) (ii) a The fourth distance measuring sensor 124 is provided on the side wall of the joint block 11 near the X 'axis to obtain the distance (i.e., K) between the side wall of the joint block 11 and the X' axis (rear wall of the vehicle compartment)₃)。

Example 3

FIG. 8 is a schematic structural view of a truss according to the present invention;

fig. 9 is a schematic block diagram of a truss in accordance with the present invention.

As shown in fig. 8 and 9, in addition to embodiments 1 and 2, embodiment 3 further provides a truss 2, including: a truss control module, a truss track A21 (a truss track parallel to the length of the vehicle when the vehicle backs up into the truss 2), a truss track B22 (a truss track parallel to the width of the vehicle when the vehicle backs up into the truss 2), a first bar code 23, a second bar code 28, and a clamping jaw 1, a first bar code sensor 24, a second bar code sensor 29 and a lifting mechanism 26 which are connected with the truss control module; the first bar code sensor 24 and the second bar code sensor 29 may each, but are not limited to, employ a HOA6480 bar code sensor; the truss control module can be but is not limited to an STM32 series single chip microcomputer; the truss control module and the clamping jaw control module in the clamping jaw 1 can be connected by adopting a bus but not limited to be connected by adopting the bus so as to transmit data; the clamping jaw 1 is arranged on the lifting mechanism 26; the lifting mechanism 26 is arranged on the truss track B22; constructing a truss coordinate system XOY by taking the truss track A21 as an Y axis, the truss track B22 as an X axis and a connection point of the truss track A21 and the truss track B22 on the left side of the cargo 6 conveying direction as an origin O;

the truss track a21 is adapted to be disposed along the direction of travel of the cargo 6; the truss track B22 rides on the truss track A21, and the truss track B22 is adapted to slide on the truss track A21 to move the jaw 1 in the direction of the truss track A21; the lifting mechanism 26 is suitable for sliding on the truss track B22 so as to drive the clamping jaw 1 to move along the truss track B22; namely, the clamping jaw 1 is driven to move in the Y-axis direction of the truss coordinate system XOY through the truss track B22, and the clamping jaw 1 is driven to move in the X-axis direction of the truss coordinate system XOY through the lifting mechanism 26; the first bar code 23 is disposed on the truss track a 21; the first bar code sensor 24 is arranged on a truss track B22 (the first bar code sensor 24 moves along with the truss track B22) to identify the first bar code 23 and acquire the vertical coordinate of the clamping jaw 1 in a truss coordinate system XOY; the second bar code 28 is disposed on the truss track B22; the second bar code sensor 29 is arranged on the lifting mechanism 26 (the second bar code sensor 29 moves along with the lifting mechanism 26) to identify the second bar code 28 and acquire the abscissa of the clamping jaw 1 in the truss coordinate system XOY; the truss control module is suitable for acquiring the position of the clamping jaw 1 in a truss coordinate system according to the abscissa and the ordinate of the clamping jaw 1 (namely acquiring the abscissa X and the ordinate Y of the central point P of the clamping jaw 1 in the truss coordinate system XOY and the abscissa X of the point q in the truss coordinate system XOY₁And ordinate Y₁)，The distance from the clamping jaw 1 to the bottom surface of the carriage can be measured by a sixth distance measuring sensor 126 so as to adjust the height of the clamping jaw 1 in the Z-axis direction; the truss control module is suitable for receiving and sending data sent by the clamping jaw 1, and the truss control module is suitable for sending the position of the clamping jaw 1 in a truss coordinate system; the truss control module is suitable for controlling the clamping jaws 1 to clamp the goods 6 according to the data sent by the clamping jaws 1 and the positions of the clamping jaws 1 in the truss coordinate system so as to load or unload the goods 6 (the goods 6 can be loaded or unloaded by adopting the truss loading method or the truss unloading method in the embodiment 1).

In this embodiment, the holding jaw 1 is adapted to use the holding jaw 1 described in embodiment 2.

In this embodiment, the truss 2 further includes: a column 25, and a rotation mechanism 27 controlled by a truss control module; one end of the cylinder 25 is rotatably connected with the clamping jaw 1 through the rotating mechanism 27 (i.e. one end of the cylinder 25 is connected with the upper end face of the connecting block 11 in the clamping jaw 1 through the rotating mechanism 27); the other end of the column 25 is connected with the lifting mechanism; the truss control module is adapted to control the rotating mechanism 27 to drive the clamping jaw 1 to rotate according to the data sent by the clamping jaw 1 (so that each side wall of the connecting block 11 in the clamping jaw 1 is parallel to the corresponding compartment wall, and the rotating angle of the rotating mechanism 27 can be controlled by adopting the method adopted in embodiment 1); the truss control module is suitable for controlling the lifting mechanism 26 to drive the column 25 to lift according to the data sent by the clamping jaw 1 so as to drive the clamping jaw 1 to lift.

Fig. 10 is a schematic structural view of a rotary mechanism according to the present invention.

As shown in fig. 10, in the present embodiment, the rotation mechanism 27 includes: motor 271, gear 272, and turntable 273; the motor 271 is arranged on the column 25; one end of the cylinder 25 is connected with the upper end face of the connecting block 11 in the clamping jaw 1 through the rotating table 273; the motor 271 is connected with the rotating table 273 through a gear 272; the truss control module controls a motor 271 to drive a rotating table 273 to rotate through a gear 272 so as to drive the clamping jaw 1 to rotate.

Example 4

FIG. 11 is a schematic structural view of a truss cargo handling system in accordance with the present invention;

fig. 12 is a functional block diagram of a truss cargo handling system in accordance with the present invention.

As shown in fig. 11 and 12, in addition to embodiments 1, 2, and 3, the present embodiment 4 further provides a cargo handling system for a truss, including: a main control module 4, and a production line 3 and a truss 2 controlled by the main control module 4; the main control module 4 can be arranged in a control cabinet; the main control module 4 is adapted to control the flow line 3 to convey goods 6; the truss 2 is arranged in the direction of conveying goods 6 by the assembly line 3; after the vehicle enters the truss 2, the main control module 4 is adapted to control the truss 2 to load or unload the cargo 6 carried by the vehicle onto or from the flow line 3 (the coordinates of the cargo 6 carried by the flow line 3 in the truss coordinate system may be preset and fixed).

In this embodiment, the truss 2 according to embodiment 3 may be used as the truss 2.

In this embodiment, the main control module 4 may adopt the truss loading method or the truss unloading method according to embodiment 1 to load the cargo 6 or unload the cargo 6.

In this embodiment, the main control module 4 may replace a truss control module and a clamping jaw control module in the truss 2 to control the truss 2 and the clamping jaw 1; the main control module 4 can adopt a PLC, such as Siemens S7-1500 PLC; the main control module 4 can also perform data transmission communication with the truss control module and the clamping jaw control module to control the truss control module and the clamping jaw control module.

In this embodiment, the truss cargo handling system further comprises: a camera 5 controlled by the main control module 4; the camera 5 is arranged above the assembly line 3, shoots an image of the goods 6 to detect the offset angle of the goods 6, and controls the clamping jaw 1 to adjust the angle to clamp the offset goods 6 when the goods 6 are offset.

In summary, the truss coordinate system and the vehicle coordinate system are constructed, and the offset angle between the truss coordinate system and the vehicle coordinate system is obtained; adjusting the clamping jaw 1 according to the offset angle, and obtaining a coordinate offset value after the clamping jaw 1 is adjusted; and the coordinates of the cargos 6 in the truss coordinate system are obtained according to the coordinate deviation value so as to load or unload the cargos 6, so that the accurate positions of the cargos 6 are obtained, the cargos are loaded or unloaded according to the accurate positions of the cargos 6, and the loading and unloading efficiency of the vehicle is improved.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

In addition, the functional modules in the embodiments of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.