Utility model content
This application provides a kind of unmanned logistics vehicles.
According to a first aspect of the present application, a kind of unmanned logistics vehicles are provided, comprising: chassis；Cargo handling portion,It is installed on the chassis；Electric-control system is assemblied on the vehicle body of the vehicle, and controls the traveling of vehicle, the automatically controlled systemSystem is electrically connected with the cargo handling portion, to control cargo handling portion handling goods.
According to one embodiment, the electric-control system is located at headstock or the chassis of the vehicle.
According to one embodiment, unmanned logistics vehicles further include: detecting means are located on the vehicle body, are used forThe sensing data of external environment is obtained, and the sensing data that will acquire is transmitted to the electric-control system.
According to one embodiment, the detecting means include: multiple monocular cameras, surround the vehicle body in identical heightSetting.
According to one embodiment, the detecting means include: multiple binocular cameras, are respectively arranged at the front end of the vehicle bodyThe rear end and；Multiple 3D laser radars, are respectively arranged at the front-end and back-end of the vehicle body.
According to one embodiment, the detecting means include: 2D laser radar, are set to the front end of the vehicle body；It is multipleUltrasonic sensor is respectively arranged at the front-end and back-end of the vehicle body.
According to one embodiment, the detecting means include: focal length camera and middle Jiao Xiangji, before being set to the vehicle bodyEnd.
According to one embodiment, unmanned logistics vehicles further include: satellite navigation aerial is set to the vehicle bodyTop.
According to one embodiment, the cargo handling portion includes: cargo lifting unit, is electrically connected with the electric-control system,And it is gone up and down under the control of the electric-control system；Cargo guide-localization portion, the plane as locating for the cargo handling portion it is convex orIt is recessed；Cargo clamping part is electrically connected with the electric-control system, and in latched position and unlock under the control of the electric-control systemSwitch between position.
According to one embodiment, unmanned logistics vehicles further include: one or more anticollision portions are installed on describedThe front end and/or rear end on chassis, and be electrically connected with the electric-control system.
According to one embodiment, unmanned logistics vehicles further include: electric power operation panel is set to the vehicle bodyOn, the electric power operation panel includes: one or more debugging interfaces, is electrically connected with the electric-control system；First charging interface,It is electrically connected with the battery on the chassis；Second charging interface is electrically connected with the third charging interface in the cargo handling portion,For the battery charging for container；Band-type brake button is solved, is electrically connected with the driving motor on the chassis, for starting or stoppingThe only driving motor；Power switch button is electrically connected with the battery on the chassis, to control the battery on the chassisOn-off；Electricity display unit is electrically connected with the battery on the chassis, to show the remaining capacity of the battery on the chassis.
According to one embodiment, unmanned logistics vehicles further include: emergency stop button is set to the vehicle bodyOn, and be electrically connected with the electric-control system, to execute vehicle for making electric-control system in response to the operation of the emergency stop buttonEmergency brake operations.
According to one embodiment, unmanned logistics vehicles further include: loudspeaker is set on the vehicle body.
Specific embodiment
Presently filed embodiment is described in detail referring to the drawings.It should be noted that only example is described belowProperty, and it is not intended to limit the application.In addition, in the following description, will adopt and different attached drawings be indicated with like reference numeralsIn the same or similar component.Different characteristic in different embodiments described below can be bonded to each other, to form thisOther embodiments in application range.
Fig. 1 shows the perspective view of the unmanned logistics vehicles according to one embodiment of the application.As shown in Figure 1,Unmanned logistics vehicles 100 include chassis 110, cargo handling portion 120, electric-control system 130.Cargo handling portion 120 is installed onOn chassis 110, to be loaded or unload to cargo in the predetermined area, and can also in vehicle travel process bearing goods.Electric-control system 130 is assemblied on the vehicle body of vehicle (for example, headstock or chassis that electric-control system can be located at vehicle), for controlling vehicleTraveling.Electric-control system 130 is electrically connected with cargo handling portion 120, with various when controlling 120 handling goods of cargo handling portionOperation.
As a result, in unmanned logistics vehicles, cargo handling portion can be controlled by the electric-control system of vehicle, to cargoIt is loaded and unloaded, so that the automatic Pilot of vehicle can not only be realized, additionally it is possible to automatic loading and unloading and the transport of cargo are completed, thus realThe function of vehicle needed for existing logistics field, improves logistics distribution efficiency.
Fig. 2 shows the perspective views according to the unmanned logistics vehicles of the application another embodiment.As shown in Fig. 2,Vehicle body 140 is mounted on chassis 110, to form vehicle modeling, and plays the role of protecting each component in electric-control system, andWater proof and dust proof.
According to one embodiment of the application, unmanned logistics vehicles 100 may also include detecting means.The detecting means can be setIt is placed on vehicle body 140, electric-control system 130 is transmitted to the sensing data that obtains the sensing data of external environment, and will acquire, fromAnd electric-control system 130 is enabled to be analyzed and handled by the data to vehicle-periphery, control the speed of vehicle drivingDegree, direction and track etc., and scheduling decision is made, to complete the operation such as the automatic Pilot of vehicle, automatic loading and unloading.
Fig. 3 shows the perspective view of another angle of unmanned logistics vehicles shown in Fig. 2.As shown in Figures 2 and 3, nothingThe detecting means that people drives logistics vehicles 100 may include multiple monocular cameras 151.Multiple monocular cameras 151 can be in identical heightIt is arranged around vehicle body 140.For example, a monocular camera 151 can be assembled respectively on the front side of vehicle body 140, rear side, left side, right side(as shown in Figures 2 and 3) so that the video monitoring of 360 degree of vehicle periphery coverings can be realized, while can also be used in close-in targetIdentification and detection.In one embodiment, each monocular camera 151 can be assemblied in respectively at the identical height in lower part of vehicle body 140,So it is beneficial to the identification and detection to close-in target.
The detecting means of unmanned logistics vehicles 100 may also include multiple binocular cameras 152 and multiple 3D laser radars153.Multiple binocular cameras 152 can be respectively arranged at the front-end and back-end of vehicle body 140, and multiple 3D laser radars 153 can also be distinguishedIt is set to the front-end and back-end of vehicle body 140.As shown in Figures 2 and 3, in the upper and lower part and rear end of vehicle body 140 front endBinocular camera 152 can be respectively set in lower part, so as to the vision SLAM (simultaneous for vehicle front and rearLocalization and mapping, immediately positioning and map structuring) and middle short distance target recognition and classification.In vehicle3D laser radar 153 can be respectively set in the top of 140 front end of body and the lower part of rear end, to complete overall situation SLAM and positioning functionEnergy.
The detecting means of unmanned logistics vehicles 100 may also include 2D laser radar 154 and multiple ultrasonic sensors 155.2D laser radar 154 may be disposed at the front end of vehicle body 140, multiple ultrasonic sensors can be respectively arranged at vehicle body 140 front end andRear end.As shown in Figures 2 and 3, in the settable 2D laser radar 154 in lower part of 140 front end of vehicle body, for vehicle frontIt is middle to be detected apart from avoidance.Multiple 155 (Fig. 2 of ultrasonic sensor can be respectively set in the lower part of 140 front end of vehicle body and the lower part of rear endMiddle front of the car is arranged 4, and rear vehicle end is arranged 4 in Fig. 3), within the scope of vehicle front and rear large areaShort distance avoidance detection.
The detecting means of unmanned logistics vehicles 100 may also include focal length camera 156 and middle burnt camera 157.Focal length camera156 and middle burnt camera 157 may be disposed at the front end of vehicle body 140.It as shown in Figures 2 and 3, can on the top of 140 front end of vehicle bodyFocal length camera 156 and middle burnt camera 157 are set so that focal length camera 156 can be used for distant signal lamp, vehicle, pedestrian,The identification and detection of the targets such as barrier, and middle burnt camera 157 can be used for middle short distance distance signal lamp, vehicle, pedestrian, barrierHinder the identification and detection of the targets such as object.
As described above, the detecting means of unmanned logistics vehicles can to electric-control system provide video monitoring data,Global SLAM data, the identification of nearly medium and long distance target and detection data, middle short distance avoidance detection data etc. comprehensively senseData, in order to which electric-control system is analyzed and processed these data, to realize unmanned function.
As shown in Figures 2 and 3, in addition to chassis 110, cargo handling portion 120, electric-control system 130, vehicle body 140 and detecting meansExcept, unmanned logistics vehicles 100 may also include satellite navigation aerial 160.Satellite navigation aerial 160 may be disposed at vehicle body140 top, so as to the positioning for outdoor depletion region, and the region that 3D laser radar 153 can not also be coveredPositioning supplement is done, does global merge with the positioning of 3D laser radar.
As shown in Figure 1 to Figure 3, cargo handling portion 120 may include cargo lifting unit 121, cargo guide-localization portion 122, goodsObject clamping part 123.Cargo lifting unit 121 is electrically connected with electric-control system 130, so as to go up and down under the control of electric-control system 130.In this way, electric-control system can realize raising and reducing for cargo by the lifting of control cargo lifting unit, with complete cargo fromDynamic handling.
122 plane as locating for cargo handling portion 120 of cargo guide-localization portion is convex or recessed.In the process of cargo handlingIn, position it is inaccurate etc. due to, it is very smart for often making the relative position between cargo and the vehicle body of vehicle notReally, it is possible to the cargo being loaded on vehicle is caused to be not in its desired locations.Due to being provided with cargo guide-localization portion,, by convex or recessed shape, cargo can be guided to fall on desired position in the loading process of cargo.This field skillArt personnel are appreciated that, in order to reach better guide-localization effect, the bottom of cargo (such as container) may also set up relativelyThe fovea superior answered or under convex shape, to cooperate with the cargo guide-localization portion on vehicle.
Cargo clamping part 123 is electrically connected with electric-control system 130, so as under the control of electric-control system 130 in locking bitIt sets and switches between unlocked position.When vehicle approach roughness pavement, it is possible to jolt, be clamped due to being provided with cargoIt portion can be in the position of vehicle locking order object, so that cargo is unlikely to that mistake occurs when cargo clamping part is in the locked positionPosition is even fallen from vehicle.
As shown in Figure 1 to Figure 3, in addition to chassis 110, cargo handling portion 120, electric-control system 130, vehicle body 140, detecting means,Except satellite navigation aerial 160, unmanned logistics vehicles 100 may also include one or more anticollision portions 170.Anticollision portion 170It is installed on the front end and/or rear end on chassis 110, and is electrically connected with electric-control system 130.When preventing for unmanned logistics vehicles 100When hitting portion 170 and touching barrier, electric signal can be provided to electric-control system 130, electric-control system 130 will be according to the electric signal controlDriving system emergency stop processed, and anticollision portion 170 may also function as anticollision beam action protects chassis 110 and whole under emergency caseA vehicle 100 is not damaged.
Fig. 4 shows the perspective view that the unmanned logistics vehicles of container are mounted with according to another embodiment of the application.As shown in figure 4, being mounted with container 200 on unmanned logistics vehicles 100.In addition to chassis 110, cargo handling portion 120, automatically controlledExcept system 130, vehicle body 140, detecting means, satellite navigation aerial 160, anticollision portion 170, unmanned logistics vehicles 100 may be used alsoIncluding electric power operation panel 180.Electric power operation panel 180 is set on vehicle body 140, and can include: one or more debugging connectsThe 181, first charging interface 182 of mouth, the second charging interface 183, solution band-type brake button 184, power switch button 185, electricity are shownUnit 186.
As shown in figure 4, there are two debugging interfaces 181, one of debugging interface can be for tool on electric power operation panel 180HDMI debugging interface, another can be USB debugging interface, to carry out debugging test to vehicle for developer.First fillsElectrical interface 182 is electrically connected with the battery (not shown) on chassis 110, for charging to the battery.Second chargingMouth 183 is electrically connected with the third charging interface (not shown) in cargo handling portion 120, for the battery charging for container.Solution band-type brake button 184 is electrically connected with the driving motor (not shown) on chassis 110, to be used to start or stop the driving motor, fromAnd convenient for the movement of vehicle under case of emergency.Power switch button 185 is electrically connected with the battery on chassis 110, to control the storageThe on-off of battery, to realize the power on/off of vehicle.Electricity display unit 186 is electrically connected with the battery on chassis 110, in electricityThe remaining capacity of the battery is shown on power operation panel 180.
Refer again to Fig. 3 and Fig. 4, in addition to chassis 110, cargo handling portion 120, electric-control system 130, vehicle body 140, detecting means,Except satellite navigation aerial 160, anticollision portion 170, electric power operation panel 180, unmanned logistics vehicles 100 may also include promptlyStop button 190.Emergency stop button 190 is set on vehicle body 140, and is electrically connected with electric-control system 130.When in emergencyUnder when pressing emergency stop button 190, electric-control system 130 may be in response to the operation of emergency stop button 190, execute vehicleEmergency braking.
Fig. 2 is referred again to, in addition to chassis 110, cargo handling portion 120, electric-control system 130, vehicle body 140, detecting means, satellite are ledExcept space flight line 160, anticollision portion 170, electric power operation panel 180, emergency stop button 190, unmanned logistics vehicles 100 are alsoIt may include loudspeaker 195.Loudspeaker 195 is set on vehicle body 140, so as to realize the human-computer interactions such as voice prompting.
Although above narration includes many specific arrangements and parameter, these specific arrangements and ginseng should be noted thatNumber is merely illustrative the embodiment of the application.This should not be taken as the limitation to the application range.Art technologyPersonnel are appreciated that in the case where not departing from the application scope and spirit, can carry out various modifications, increase and replace to it.Therefore, scope of the present application should be explained based on the claim.