CN111469680A

CN111469680A - Freight device, automatic freight method and system, and automatic driving method and device

Info

Publication number: CN111469680A
Application number: CN202010448097.8A
Authority: CN
Inventors: 张大朋
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-05-25
Filing date: 2020-05-25
Publication date: 2020-07-31
Anticipated expiration: 2040-05-25
Also published as: CN111469680B

Abstract

The invention relates to the technical field of logistics, and provides a freight device, an automatic freight method and system, and an automatic driving method and device. The cargo conveyance device includes: the electric vehicle comprises an electric vehicle, wherein a bearing surface of the electric vehicle is provided with a fixed frame, and the fixed frame is provided with a sliding channel and a switch for at least controlling the sliding channel; the container box is pushed into the fixed frame through the sliding channel, the switch at least partially closes the sliding channel along with the pushing of the container box into the fixed frame, and the container box is fixed on the bearing surface. The invention can realize full-automatic, high-efficiency, high-accuracy, low-cost and high-safety cargo transportation.

Description

Freight device, automatic freight method and system, and automatic driving method and device

Technical Field

The invention relates to the technical field of logistics, in particular to a freight device, an automatic freight method and system, and an automatic driving method and device.

Background

In the logistics transportation industry, intelligent transport vehicles are beginning to be applied step by step. The intelligent transport vehicle can realize services such as automatic delivery, automatic meal delivery and the like.

However, the existing intelligent transport vehicle cannot realize whole-course automatic transport, can only realize single point-to-point transport, and has low efficiency and high cost. Specifically, when transporting an article, the conventional intelligent transport vehicle delivers the article to a specified location according to an input specified destination. When transporting next time, the next article needs to be put into the intelligent transport vehicle again manually and the next appointed destination is input. The cycle is high in time cost and labor cost, and errors caused by human factors are easy to generate.

In addition, in a conventional logistics transportation system, a label including user information such as a recipient and a recipient address is attached to an article, the article is transported a plurality of times, and the article is taken off from one transport vehicle, loaded on another transport vehicle, and loaded a plurality of times to finally reach a destination. User's information is in the state of exposing all the time in whole logistics transportation process, and information leakage is serious, brings the potential safety hazard.

It is to be noted that the information applied in the above background section is only for enhancing the understanding of the background of the present invention, and thus may include information that does not constitute prior art known to those of ordinary skill in the art.

Disclosure of Invention

The invention provides a freight device, an automatic freight method and system, and an automatic driving method and equipment, which can realize full-automatic, high-efficiency, high-accuracy, low-cost and high-safety freight transportation.

A first aspect of the present invention provides a cargo conveyance device comprising: the electric vehicle comprises an electric vehicle, wherein a bearing surface of the electric vehicle is provided with a fixed frame, and the fixed frame is provided with a sliding channel and a switch for at least controlling the sliding channel; the container box is pushed into the fixed frame through the sliding channel, the switch at least partially closes the sliding channel along with the pushing of the container box into the fixed frame, and the container box is fixed on the bearing surface.

In some embodiments, a plurality of storage lattices with different capacities are arranged in the container box, and each storage lattice stores goods through a container; the goods container is provided with a first storage, the first storage stores user information and storage paths of each piece of goods, the user information indicates a target user and a target address of the goods, and the storage paths indicate storage lattices and goods frames corresponding to the goods.

In some embodiments, the storage path of each piece of goods is generated according to the first identification code of the container box, the second identification code of the storage grid corresponding to the goods and the third identification code of the container frame corresponding to the goods.

In some embodiments, the switch is a split switch comprising a first switch contact disposed on the container box and a second switch contact disposed on the fixed frame; when the container box is pushed into the fixed frame, the split type switch is closed, and the first memory exchanges data with the electric vehicle.

In some embodiments, the fixed frame comprises a plurality of right-angle upright columns connected with each other and side plates providing the sliding channels, the container box is pushed into the fixed frame from the side plates, and partial side edges of the container box are embedded in the inner walls of the right-angle upright columns; the switch is an electric control switch or a telescopic switch arranged on the side plate.

In some embodiments, a plurality of rotatable cameras for detecting the surrounding environment and an antenna for communicating the cameras with the electric vehicle are arranged on the fixed frame; the cameras are at least arranged at the front end, the rear end and the side surface of the electric vehicle along the advancing direction, and the antenna is arranged at the top of the fixed frame; and one or more scanners are also arranged on the fixed frame.

In some embodiments, the chassis of the electric vehicle is provided with a battery slot, and a battery pack of the electric vehicle is detachably installed in the battery slot; the bearing surface is located on the upper surface of the chassis.

In some embodiments, the shipping apparatus further comprises: the plurality of groups of wheel assemblies are arranged on the lower surface of a chassis of the electric vehicle and are mutually independent, and each group of wheel assembly comprises a wheel, a driving device for driving the wheel to rotate and a displacement device for driving the wheel to move along the width direction of a vehicle body of the electric vehicle; each group of wheel assemblies is connected with the chassis through a lifting device.

In some embodiments, one or more sides of the container box are provided with electronic display screens for playing mobile advertisements.

A second aspect of the present invention provides an automatic shipping method applied to the shipping apparatus according to any of the above embodiments, the automatic shipping method including the steps of: receiving first goods to be delivered in a goods receiving area of a distribution center, and obtaining user information of each piece of the first goods; loading each piece of the first goods into a correspondingly sized goods frame according to the size of each piece of the first goods; automatically conveying the goods frame and the first goods to a goods discharging area of the collecting and distributing center, wherein the goods discharging area is provided with a plurality of empty container boxes and a plurality of full-power electric vehicles; respectively loading the goods frame and the first goods into storage lattices of the container box, enabling the first goods in each container box to have the same target area, and obtaining a storage path of each piece of the first goods; the container is boxed with the electric vehicle to form the freight device, and the memory of the freight device stores the user information and the storage path of each piece of the first cargo; and controlling the electric vehicle to automatically distribute the first goods in the container box.

In some embodiments, the step of controlling the electric vehicle to automatically dispense the first cargo within the container box comprises: generating a distribution path, a pickup time and a pickup place of each piece of the first goods and a pickup code related to a storage path of each piece of the first goods according to the target address of each piece of the first goods in the container box; sending the distribution path to the electric vehicle, and sending pickup time and pickup code to a target user of each piece of the first goods; when the freight device arrives at a pickup location, a pickup code is obtained through a scanner of the freight device, whether the pickup code is correct or not is confirmed, if yes, the position of a storage lattice corresponding to the pickup code is informed to the target user, and the container box is informed to open the storage lattice corresponding to the pickup code so that the target user can pick up the first goods; and detecting whether the doors of the storage compartments are closed or not, and if not, sending a return notification to the target user until the freight device continues to move forward after the doors of the storage compartments are detected to be closed.

In some embodiments, the method of automated shipping further comprises: receiving a sending request, wherein the sending request comprises sender information and recipient information, and the sender information at least comprises a sending user, a sending user address and the size of a second cargo; obtaining a freight device with an empty storage grid with the size matched with the second goods in a target area where the mail user address is located; sending a sending time, a sending place and a sending code to the sending user; and sending an consignee route to the consignment location to the shipping device.

In some embodiments, the method of automated shipping further comprises: when the freight device arrives at the mail sending place, the mail sending code is obtained through the scanner, the position of the empty storage lattice is informed to the mail sending user, and the container box is informed to open the empty storage lattice; detecting whether the doors of the empty storage compartments are closed or not, if not, sending a return notification to the mail user until the freight device continues to move forwards after the doors of the storage compartments are detected to be closed; when the freight device is full of second goods, controlling the freight device to travel to the unloading area of the hub; unloading the container box, a container frame and second goods in the container box, and returning the electric vehicle and the container box to the delivery area; automatically conveying the goods frame and the second goods to a corresponding transfer area according to the recipient information of each piece of the second goods; taking down the second cargo for transferring, and returning the cargo frames to the cargo receiving area; and the second cargo in the transfer area is collected in a transport vehicle and is transported to a hub of a corresponding destination city or is transferred to a hub of a remote place through an airport.

A third aspect of the present invention provides an automatic freight transportation system for implementing the automatic freight transportation method according to any of the above embodiments, the automatic freight transportation system including: a plurality of electric vehicles and a plurality of container boxes; the control cluster is in communication connection with the electric vehicle and the container box; and a hub including automated equipment for automated handling and automated transfer.

A fourth aspect of the present invention provides an automatic driving method applied to the cargo transporting apparatus according to any of the above embodiments, the automatic driving method including: obtaining the running condition of the electric vehicle; when the electric vehicle runs in a straight line, the wheels are controlled to rotate at the same speed through the driving devices, the wheel track in the width direction of the vehicle body is controlled to increase along with the increase of the vehicle speed through the displacement devices, and the height of the vehicle body of the electric vehicle 11 from the ground is controlled to decrease along with the increase of the vehicle speed through the lifting devices; when the electric vehicle is turned, the rotating speed of the non-turning side wheel is controlled to be higher than that of the turning side wheel through each driving device, the non-turning side wheel is controlled to move outwards relative to the turning side wheel along the width direction of the vehicle body through each displacement device, and the height of the vehicle body above the ground on the non-turning side is controlled to be higher than that of the vehicle body above the turning side through each lifting device; and when the electric vehicle passes through the slope, controlling the height of the vehicle body above the slope to be lower than the height of the vehicle body below the slope by each lifting device so as to reduce the inclination degree of the automatic freight device.

In some embodiments, each of the wheel assemblies includes at least two wheels aligned in the vehicle body width direction, and the automatic driving method further includes: when the electric vehicle 11 passes through the concave hole, the wheel track between a plurality of wheels of the wheel assembly positioned at the concave hole along the width direction of the vehicle body is increased through a displacement device of the wheel assembly positioned at the concave hole so as to avoid the concave hole; or, when the electric vehicle 11 passes through the cavity, the wheels of the wheel assemblies located in the cavity are driven to extend and retract along the width direction of the vehicle body by the displacement device of the wheel assemblies located in the cavity so as to avoid the cavity.

A fifth aspect of the present invention provides an electronic apparatus comprising: a processor; a memory having stored therein executable instructions for execution by the processor; the processor is configured to perform the autopilot method of any of the embodiments described above via execution of the executable instructions; the electronic device is configured to the electric vehicle.

Compared with the prior art, the invention has the beneficial effects that at least:

the electric vehicle and the container box can be arranged separately, the container box can be easily assembled on and disassembled from the electric vehicle, and the whole freight device has simple structure and convenient installation;

the electric vehicle can rapidly replace a new fully charged battery pack, and the taken battery pack can be sent to a charging center for charging for standby, so that the use efficiency is high;

the electric vehicle can transport goods in a plurality of container boxes in a grading way, so that the cost is saved, and the efficiency is improved;

the freight device can realize full-automatic, high-efficiency, high-accuracy, low-cost and high-safety freight transportation without errors and information leakage caused by human factors.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.

FIG. 1 is a schematic diagram of an electric vehicle and a container box assembled into a cargo device according to an embodiment of the present invention;

FIG. 2 is a schematic view showing a structure in which an electric vehicle and a container box are separated according to an embodiment of the present invention;

FIG. 3 shows an enlarged schematic view of area A of FIG. 2;

FIG. 4 is a schematic view showing the structure of an electric vehicle according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of a container having multiple storage compartments according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of a hub according to an embodiment of the present invention;

FIGS. 7 and 8 are schematic diagrams illustrating steps of a delivery process of an automatic freight method according to an embodiment of the present invention;

FIGS. 9 and 10 are schematic diagrams illustrating steps of a receiving process of an automatic freight method according to an embodiment of the present invention;

fig. 11 is a schematic structural view showing a chassis of an electric vehicle in the embodiment of the invention;

FIG. 12 is a schematic diagram illustrating the steps of an automated driving method in an embodiment of the present invention;

FIG. 13 is a schematic front view of a cargo conveyance device in a straight-ahead condition in accordance with an embodiment of the present invention;

FIG. 14 is a schematic front view of a cargo conveyance device in a left turn condition in accordance with an embodiment of the present invention;

FIG. 15 is a schematic front view of a cargo conveyance device under a downhill condition in accordance with an embodiment of the present invention;

fig. 16 is a schematic structural view showing a chassis of an electric vehicle according to another embodiment of the present invention; and

fig. 17 is a schematic structural diagram of an electronic device in an embodiment of the present invention.

Detailed Description

Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and thus their repetitive description will be omitted.

Furthermore, the drawings are merely schematic illustrations of the invention and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus their repetitive description will be omitted. Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.

Fig. 1 shows a structure in which an electric vehicle and a container box are assembled into a cargo device in the embodiment, and fig. 2 shows a structure in which an electric vehicle and a container box are separated in the embodiment. As shown in fig. 1 and 2, the cargo device 1 of the present embodiment includes: the electric vehicle 11, the bearing surface 11a of the electric vehicle 11 is provided with a fixed frame 112, the fixed frame 112 is provided with a sliding channel 1120 and a switch 113 for controlling at least the sliding channel 1120; container 12, container 12 is pushed into fixed frame 112 via sliding channel 1120, and with container 12 pushed into fixed frame 112, switch 113 at least partially closes sliding channel 1120, and container 12 is secured to bearing surface 11 a.

Referring to fig. 2, the fixed frame 112 includes a plurality of connected right-angle posts 1121 and side plates 1122 providing sliding channels 1120, for example, five right-angle posts 1121 and two side plates 1122 are shown in fig. 2. The container box 12 is pushed into the fixing frame 112 from the side plate 1122, and a part of the side edge of the container box 12 is embedded in the inner wall of the right-angle pillar 1121. The side of the portion of the container box 12 at the side panel 1122 is retained by the switch 113. Thus, the container box 12 can be stably inserted into the fixing frame 112 to move together with the electric vehicle 11. One or more sides of the container box 12 may be provided with electronic display screens 120, for example, both sides of the container box 12 are provided with electronic screens 120 as shown in fig. 2. The electronic display 120 is used to display the mobile advertisement so that the container box 12 becomes a mobile billboard.

FIG. 3 shows a drawing2, and in particular, the switch 113. The switch 113 may be an electrically controlled switch or a telescopic switch provided on the side plate 1122. Referring to fig. 2 and 3, in a first state where the container box 12 is not loaded on the electric vehicle 11, the switch 113 may be operated in a first direction X shown in fig. 3 under a first control signal₁Moves to provide a sliding channel 1120 at the side panel 1122 through which the supply cabinet 12 is pushed into the fixed frame 112. Referring to fig. 1 and 3, when the container 12 is pushed into the fixing frame 112, the switch 113 may be driven by a second control signal along a second direction X shown in fig. 3₂Telescopes to partially close the slide channel 1120 and secure the container box 12. One or more switches 113 may be provided on each side panel 1122 as desired. The first control signal and the second control signal for controlling the switch 113 may be provided by a control cluster, the content of which will be explained in detail below in connection with the method of automatic freight transportation.

Fig. 4 shows the structure of the electric vehicle in the embodiment. Referring to fig. 4, a plurality of rotatable cameras 114 for detecting the surrounding environment and an antenna 115 for the cameras 114 to communicate with the electric vehicle 11 are disposed on a fixed frame 112 of the electric vehicle 11; wherein the camera 114 is at least arranged at the front end F of the electric vehicle 11 along the advancing direction F₁Rear end F₂And a side surface, the antenna 115 is provided on the top of the fixed frame 112. The electric vehicle 11 has an automatic driving function, and the electric vehicle 11 performs automatic driving based on the surrounding environment detected by the camera 114. In some embodiments, the cameras 114 are respectively disposed at four corners of the electric vehicle 11 to assist the automatic driving of the electric vehicle 11. One or more scanners 13 are further disposed on the fixed frame 112 for scanning corresponding pickup codes and delivery codes when a user picks up and delivers articles. The scanners 13 may be located at the four corners of the fixed frame 112 for convenient use by the user, and the scanning function of the cargo conveyance may not be affected by damage to some of the scanners 13. In some embodiments, the scanner may also be located on the container box.

Further, referring to fig. 4, the chassis 111 of the electric vehicle 11 is provided with a battery container 116, and a battery pack of the electric vehicle 11 is detachably mounted in the battery container 116. The battery pack can be flexibly inserted into the battery container 116 and pulled out from the battery container 116. Thus, when the electric quantity of the electric vehicle 11 is used up, the battery pack can be replaced quickly, so that the electric vehicle 11 can keep a long-term endurance function.

As shown in fig. 2 and 4, the bearing surface 11a of the electric vehicle 11 is located on the upper surface of the chassis 111. On the lower surface of the chassis 111, a plurality of sets of wheel assemblies 117 independent of each other are mounted. The specific structure of the wheel assembly 117 will be described in detail below.

Fig. 5 shows a structure in which the container box has a plurality of storage compartments in the embodiment. Referring to fig. 5, a plurality of storage compartments 121 of different capacities are provided in the container box 12, for example, four storage compartments 121 of different sizes are shown in fig. 5, so that the container box 12 can accommodate the storage requirements of different sizes of goods. Each storage compartment 121 stores goods therein via a goods shelf. The container box is provided with a first storage, user information and a storage path of each piece of goods are stored in the first storage, the user information indicates a target user and a target address of the goods, and the storage path indicates storage lattices and goods frames corresponding to the goods. Part matter storage lattice 121 can also have the heat preservation function to and the alarm function of whether detection door is closed.

In some embodiments, the storage path of each piece of goods is generated according to the first identification code of the container box, the second identification code of the storage grid corresponding to the goods and the third identification code of the container frame corresponding to the goods. Each container box has a first identification code, each storage cell in the container box has a second identification code, and the container in each storage cell has a third identification code. The storage path of the goods is generated according to the first identification code of the container box, the second identification code of the storage lattice corresponding to the goods and the third identification code of the goods frame corresponding to the goods, so that each piece of goods can only correspond to one goods frame in one storage lattice in one container box.

Wherein the user information of the goods is transported along with the goods. For example, a label is attached to the goods, the label stores user information of the goods correspondingly, and the user information can be stored in an encrypted manner as long as the user information can be read by a computer of the control cluster. The encryption storage mode can improve the confidentiality of information and prevent user information from being leaked. The storage path of the goods is generated in stages according to the transportation state of the goods. The transport state of the cargo includes at least: goods are loaded into the container and the goods are loaded into the storage compartment of the container box together with the container. When goods are loaded into the goods frame, a temporary storage path is generated according to the third identification code of the goods frame, such as' goods number one: a first cargo box ". Secondly, when goods and a container are put into the storage grids of the container box, a complete storage path is generated according to the third identification code of the container, the second identification code of the storage grids and the first identification code of the container box, such as' goods number one: the first container → the first storage grid → the first cargo frame ". Finally, the storage path and the user information of each cargo are stored in the first memory of the container box. Thus, the first memory obtains the user information and the storage path of each item.

In some embodiments, the switch is a split switch comprising a first switch contact disposed on the container and a second switch contact disposed on the stationary frame; when the container box is pushed into the fixed frame, the split switch is closed, and the first memory exchanges data with the electric vehicle. Specifically, the first memory exchanges data with the electric vehicle through the control cluster. When the container box is pushed into the fixed frame to complete assembly, the first switch contact contacts with the second switch contact, so that the split switch is closed to generate an electric signal to be transmitted to the control cluster. The electric signal carries the fourth identification code of the electric vehicle and the first identification code of the container box. The control cluster can know that the electric vehicle and the container box are assembled after receiving the electric signal, so that the user information and the storage path of each piece of goods stored in the first storage device associated with the first identification code are obtained, distribution information can be generated according to the user information and the storage path of each piece of goods stored in the first storage device, and then the distribution information is sent to the electric vehicle associated with the fourth identification code. The electric vehicle is provided with an automatic driving module, and when the automatic driving module receives distribution information, the goods in the container box can be automatically distributed.

The embodiment of the invention also provides an automatic freight system which comprises a plurality of electric vehicles and a plurality of container boxes, wherein the electric vehicles and the container boxes are in communication connection with the control cluster, and automatic freight is realized under the control of the control cluster.

The automatic freight system also comprises a distribution center, and the distribution center is provided with two freight channels which are an inward freight channel and an outward freight channel respectively. The inward freight passage is used for distributing the goods transferred from other hub centers to the destination; outward shipping lanes are used to transfer the picked-up cargo to other hubs. The hub center may be set according to the amount of freight, for example, for a city with a small amount of freight, one hub center may be set in units of the city; for a city with a large freight volume, a plurality of hub centers may be respectively arranged in different areas of the city.

The hub is provided with automation equipment for automatic loading and unloading and automatic transfer. The robot is, for example, a belt conveyor with a movable robot arm and an automatic code scanner. The automation device can automatically load goods into the container, unload goods from the container, load the container together with goods into the compartments of the container, load the container together with goods out of the compartments of the container, load the container onto the electric vehicle, and unload the container from the electric vehicle. The automatic equipment can be communicated with the inward freight channel and the outward freight channel, so that the electric vehicle, the container box and the goods frame can flow to the corresponding freight channels respectively according to the goods transportation requirements. The automatic device can also scan and obtain the third identification code of the goods frame, the second identification code of the storage grid and the first identification code of the container box at each stage of transporting goods, so as to obtain the storage path of the goods.

Fig. 6 shows a schematic view of a hub. Referring to fig. 6, in the hub 3, an inward freight passage 31 and an outward freight passage 32 are provided. The inward freight passage 31 includes a receiving area 311 and a delivery area 312, the receiving area 311 receives the first goods 41 transferred, the first goods 41 are loaded into the corresponding container 5 by the automatic device 6 and transported to the delivery area 312, then the container 5 is loaded into the corresponding container box 12 together with the first goods 41, and the container box 12 is loaded with the electric vehicle 11 for automatic distribution. Outward freight path 32 includes an unloading area 321 and a transfer area 322, where unloading area 321 receives freight device 1, and where freight device 1 contains second freight 42 to be transferred to another area. The container box 12 and the container frame 5 with the second goods 42 in the container box 12 are unloaded in turn by the robot 6. Then, the container box 12 and the electric vehicle 11 may return to the discharge area 312 to continue to deliver the first cargo 41. The electric vehicle 11 may also arrive at a battery center, automatically replace the fully charged battery pack and then return to the discharging area 312, and the replaced battery pack is automatically fully charged at the charging center for standby. The container 5 with the second cargo 42 is transported to the transfer area 322 by the robot 6, and the second cargo 42 is taken out of the container 5 and waits to be transferred to the corresponding other hub. The second cargo 42 may be transferred by any existing means of transport. The container 5 is returned to the receiving area 311 by the robot 6.

The following specifically describes the delivery process and the delivery process in the automatic freight method with reference to two embodiments. The steps of the automatic freight method of the following embodiment are mainly implemented by a control cluster.

Fig. 7 and 8 show the main steps of the delivery process of the automatic freight method in the embodiment. Referring to fig. 7, the automatic freight method includes: step S710, receiving first goods to be delivered in a goods receiving area of the distribution center, and obtaining user information of each piece of first goods; step S720, loading each piece of first goods into a goods frame according to the size of each piece of first goods, wherein the first goods can be loaded into the goods frame through the automatic equipment; step 730, automatically conveying the goods frame and the first goods to a goods discharging area of the collecting and distributing center, wherein the goods discharging area is provided with a plurality of empty container boxes and a plurality of full-power electric vehicles; step S740, respectively loading the container frames and the first goods into the container boxes, enabling the first goods in each container box to have the same target area, and obtaining the storage path of each piece of first goods; step S750, installing the electric vehicle on the container to form a freight device, wherein the user information and the storage path of each piece of first goods are stored in a memory of the freight device; and step S760, controlling the electric vehicle to automatically distribute the first goods in the container box.

The target area belongs to a distribution range of the distribution center, and is a small-range distribution area pointed by the target address of the first goods. That is, the hub corresponds to a large distribution area, and a large number of small distribution areas are included in the range of the large distribution area of the hub. When distributing goods, the goods pointing to the same small distribution area are distributed into the same group of container boxes, and one or more electric vehicles are distributed into the same group of container boxes. Therefore, the electric vehicle is provided with the container box every time, the first goods can be distributed in a small distribution area in a concentrated mode, resources are saved, and efficiency is improved.

Further, referring to fig. 8, the process of controlling the electric vehicle to automatically distribute the first cargo in the container box in step S760 specifically includes: and S760-2, generating a distribution path, the pickup time and the pickup location of each piece of first goods and the pickup code related to the storage path of each piece of first goods according to the target address of each piece of first goods in the container box. And S760-4, sending the distribution path to the electric vehicle, and sending the pickup time, the pickup place and the pickup code to the target user of each piece of first goods. The pickup location is a pickup point which is arranged near the target address and appointed with the target user, and at the appointed pickup time, the freight transportation device arrives at the pickup location, and the target user also goes to the pickup location to pick up the goods. For example, if the target address of the target user is at 15 th of a building, the pickup location may be agreed with the target user as the doorway of the building, i.e., the doorplate address of the building on the map. And S760-6, when the freight device arrives at a pickup location, recognizing the pickup code through a scanner of the freight device, transmitting the pickup code back to the control cluster by the freight device, after the control cluster confirms that the pickup code is correct, transmitting a notification short message indicating the position of the storage lattice corresponding to the pickup code to a target user, and simultaneously transmitting an unlocking instruction corresponding to the storage lattice to the container box, so that the container box opens the storage lattice corresponding to the pickup code for the target user to pick up the first goods. And step S760-8, detecting whether the doors of the storage compartments are closed or not, and if not, sending a return notification to the target user to notify the target user to return to close the doors until the freight device continues to move forward after the doors of the storage compartments are detected to be closed. That is, when the target user closes the door of the storage compartment after receiving the first cargo, the cargo device continues to move forward.

Through foretell delivery process, can realize at every collection and distribution center, the first goods of automatic delivery, whole journey need not artifical the participation, greatly accelerates freight transportation efficiency, and does not have error and information leakage that human factor caused.

Fig. 9 and 10 show the main steps of the receiving process of the automatic freight method in the embodiment. Referring to fig. 9, the automatic freight method further includes: step S810, receiving a sending request, wherein the sending request comprises sender information and recipient information, the sender information at least comprises a sending user, a sending user address and the size of a second cargo, and the sender information and the recipient information are information filled by the sender on the Internet; step S820, obtaining a freight device with empty storage grids matched with the size of the second goods in a target area where the address of the mail sending user is located; step S830, sending a sending time, a sending place and a sending code to a sending user; and step S840, sending the receiving path pointing to the sending time and the sending place to the freight device. The sending location is a sending location which is arranged near a sending user address and appointed by a sending user, the freight transportation device arrives at the sending location at the appointed sending time, and the sending user also goes to the sending location to send the sending location.

Further, the receiving process further comprises: and S850, when the freight device arrives at a sending place, identifying a sending code through the scanner, controlling the cluster to confirm the sending code sent back by the scanner, sending notification information indicating the position of the empty storage grid to a sending user, and sending an unlocking instruction to the container box to enable the container box to open the door of the empty storage grid so that the sending user can place a second cargo in a cargo frame of the empty storage grid. And step S860, detecting whether the doors of the empty storage compartments are closed or not, and if not, sending a return notification to the mail sending user to notify the mail sending user to return to the closing of the doors of the storage compartments until the freight device continues to move forward after the doors of the storage compartments are detected to be closed. Step S870, when the freight device is full of the second goods, controlling the freight device to travel to the unloading area of the hub; step S880, unloading the container box, a container frame and second goods in the container box, and returning the electric vehicle and the container box to the goods outlet area; the electric vehicle can reach the battery center first to replace a fully charged battery pack, and the replaced battery pack can be automatically charged; step 890, automatically conveying the goods frame and the second goods to a corresponding transfer area according to the recipient information of each piece of second goods, and automatically conveying the goods frame and the second goods through the automatic equipment; and step S8910, the second cargo is taken down for transferring, and the cargo frame returns to the cargo receiving area. The second cargo in the transfer area may be transported by truck to other hubs and, if far, to airports to remote hubs. In other hub centers, the large truck may return the first cargo to the receiving area of the transfer center.

Through the goods receiving process, automatic butt joint with the goods delivering process is realized. Therefore, the first goods are automatically delivered and the second goods are automatically collected in each distribution center, manual participation is not needed in the whole process, the freight efficiency is greatly accelerated, and errors and information leakage caused by human factors are avoided.

Fig. 11 shows the structure of the chassis of the electric vehicle in the embodiment. Referring to fig. 11, the electric vehicle of the present embodiment further includes: and a plurality of sets of wheel assemblies 14 provided on a lower surface of a chassis 111 of the electric vehicle. The electric vehicle 1 will usually be provided with four sets of wheel assemblies 14, although the number of wheel assemblies 14 can be adjusted according to actual needs. Each set of wheel assemblies 14 includes a wheel 141, a driving device 142 for driving the wheel 141 to rotate, and a displacement device 143 for driving the wheel 141 to move in the body width direction "W" of the electric vehicle, and each set of wheel assemblies 14 is connected to the chassis 111 by a lifting device (not specifically shown in fig. 11). The chassis 111 of the electric vehicle is further provided with a battery pack 15, and the battery pack 15 is electrically connected to each wheel assembly 14 for supplying electric energy required for the running of the electric vehicle. The chassis 111 of the electric vehicle is further provided with a control module (not specifically shown in fig. 11), which is electrically connected to each wheel assembly 14 and is in communication connection with a camera and an antenna of the electric vehicle, for controlling the automatic driving of the electric vehicle.

In each set of wheel assemblies 14, the displacement device 143, the drive device 142, and the wheels 141 are arranged in this order from the inside to the outside in the vehicle body width direction "W". The driving device 142 may be formed of an electric motor, and the driving device 142 is connected to and drives the wheel 141 through a rotation bearing 144. The displacement device 143 may also be formed by an electric motor, and the displacement device 143 is connected to the driving device 142 through a telescopic bearing 145, and drives the driving device 142 and the wheel 141 to extend and retract through the telescopic bearing 145. After the displacement device 143, the driving device 142 and the wheel 141 are sequentially assembled, the driving device 142 drives the wheel 141 to rotate through the rotating bearing 144, and each driving device 142 independently drives the wheel 141 to rotate and controls the rotating speed of the wheel 141; the displacement device 143 drives the driving device 142 and the wheel 141 to move along the width direction "W" of the vehicle body through the telescopic bearing 145, so that the wheel 141 is stretched inwards and outwards, and the wheel track is adjusted.

Fig. 12 shows the main steps of the automatic driving method in the embodiment. Referring to fig. 12, the automatic driving method of the cargo device according to the present embodiment using the electric vehicle equipped with a plurality of sets of wheel assemblies includes: step S910, obtaining the running condition of the electric vehicle, wherein the running condition of the electric vehicle can be obtained through an antenna and a camera; step S920, when the electric vehicle runs in a straight line, the wheels are controlled to rotate at the same speed through each driving device, the wheel track along the width direction of the vehicle body is controlled to increase along with the increase of the vehicle speed through each displacement device, and the height of the vehicle body of the electric vehicle from the ground is controlled to decrease along with the increase of the vehicle speed through each lifting device; step S930, when the electric vehicle is steered, controlling the rotating speed of the non-steering side wheel to be larger than that of the steering side wheel through each driving device, controlling the non-steering side wheel to move outwards along the width direction of the vehicle body relative to the steering side wheel through each moving device, and controlling the height of the vehicle body above the ground of the non-steering side to be larger than that of the vehicle body above the ground of the steering side through each lifting device; and a step S940 of controlling the height of the vehicle body above the slope to be lower than the height of the vehicle body below the slope by each lifting device when the electric vehicle passes through the slope, so as to reduce the inclination degree of the automatic freight device.

Referring to fig. 13, in the embodiment, a front view of the cargo device in a straight driving mode is shown, in which when the electric vehicle 11 travels straight, each wheel 141 is controlled by each driving device 142 to have the same rotation speed, so that the electric vehicle 11 can smoothly travel with the cargo box 12, and when the speed of the electric vehicle 11 exceeds a certain threshold, the cargo device is easily laterally turned due to centrifugal force, so that the wheels 141 are driven to extend outward in the vehicle width direction "W" by the displacement devices 143 of the respective wheel assemblies 14, and the wheel spacing "L" is increased to improve the stability of the cargo device, when the speed of the electric vehicle 11 is less than a certain threshold, the wheels 141 are driven to contract inward in the vehicle width direction "W" by the displacement devices 143, and the wheel spacing "L" is reduced to save energy consumption in low-speed traveling, and the floor space of the wheels 141 is reduced to facilitate passage through a narrow passage.

Fig. 14 shows a front view of the cargo device in the exemplary embodiment in a left-turn operating condition. Referring to fig. 14, when the electric vehicle 11 is steered to the left with the container box 12 mounted thereon in the direction of arrow "R1", the rotation speed of the non-steered side wheel 141 'is controlled to be greater than that of the steered side wheel 141 "by the driving device 142, and a difference in wheel speed is generated between the steered side wheel 141" and the non-steered side wheel 141', thereby achieving steering. Neither the turning-side wheels 141 "nor the non-turning-side wheels 141' need to be curved, and the forward traveling direction is maintained, so that the stability of the electric vehicle 11 during turning is increased. Further, to assist steering, the non-steering side wheel 141' is controlled by the displacement device 143 to move outward in the vehicle width direction "W" relative to the steering side wheel 141 "to make the steering process smoother. For example, the non-steering side wheels 141 'are moved outward in the vehicle width direction "W", or the steering side wheels 141 "are moved inward in the vehicle width direction" W ", or both the non-steering side wheels 141' are moved outward in the vehicle width direction" W "and the steering side wheels 141" are moved inward in the vehicle width direction "W", to assist steering. During the steering process, the height H1 of the vehicle body on the non-steering side is controlled to be larger than the height H2 of the vehicle body on the steering side through the lifting device, and the steering is further assisted. Specifically, the vehicle body height H1 on the non-steering side can be controlled to be increased by the lifting device on the non-steering side, the vehicle body height H2 on the steering side can be controlled to be decreased by the lifting device on the steering side, or the vehicle body height H1 on the non-steering side can be controlled to be increased by the lifting device on the non-steering side and the vehicle body height H2 on the steering side can be controlled to be decreased by the lifting device on the steering side, so that the entire cargo carrying device is slightly inclined to the steering side to assist steering. Of course, it is necessary to control the tilting procedure of the freight device within certain safety limits to ensure that the freight device remains stable when turning.

Fig. 15 shows a front view of the cargo device in the exemplary embodiment in a downhill operating condition. Referring to fig. 14, when the electric vehicle 11 runs down a slope with the container box 12, the vehicle body height H3 upstream of the slope is controlled to be lower than the vehicle body height H4 downstream of the slope by the elevating device to reduce the inclination of the automatic cargo device, so that the electric vehicle 11 and the container box 12 are kept stable while running through the slope. For example, the vehicle body ground clearance H3 upstream of the slope may be lowered by the lifting device of the wheel assembly located upstream of the slope (i.e., at the height of the slope), or the vehicle body ground clearance H4 downstream of the slope may be raised by the lifting device of the wheel assembly located downstream of the slope (i.e., at the height of the slope), or the vehicle body ground clearance H3 upstream of the slope may be lowered by the lifting device of the wheel assembly located upstream of the slope (i.e., at the height of the slope) and the vehicle body ground clearance H4 downstream of the slope may be raised by the lifting device of the wheel assembly located downstream of the slope (i.e., at the height of the slope), so that the vehicle body ground clearance H3 upstream of the slope may be lower than the vehicle body ground clearance H4 downstream of the slope, thereby reducing the degree. The lifting device can be connected with the chassis of the electric vehicle 11 through a damping mechanism so as to smoothly adjust the height of the vehicle body from the ground.

When the electric vehicle is matched with the container box to ascend, the height of the vehicle body above the slope (the height of the slope) is controlled to be lower than that of the vehicle body below the slope (the lower part of the slope) through each lifting device, so that the inclination degree of the automatic freight device is reduced.

In the automatic driving method, the driving device, the displacement device and the lifting device in each group of wheel assemblies independently control the wheels, so that the flexibility of the electric vehicle is improved, and the electric vehicle is suitable for different running conditions. When the freight transportation device runs at a high speed, the wheel track is controlled to be increased through the displacement device so as to improve the stability and the safety; when the freight device runs at low speed, the track is controlled to be reduced by the displacement device so as to save energy consumption. When the freight device turns, a wheel speed difference is generated between the wheels on the turning side and the wheels on the non-turning side through the driving device, so that the turning is realized. Meanwhile, the height of the truck body above the ground is adjusted through the lifting device, and the safety, stability and maneuverability of the freight device are further improved.

In the automatic driving method, the sequence numbers of the steps are only used for indicating the control modes of the electric vehicle under different driving conditions, and the logical relationship and the execution sequence among the steps are not limited.

Fig. 16 shows the structure of a chassis of an electric vehicle in another embodiment. Referring to fig. 16, the present embodiment differs from the embodiment shown in fig. 11 in that each set of wheel assemblies 14 includes at least two wheels 141 arranged in the vehicle body width direction "W". In the wheel assembly 14, the wheels 141 are driven by the driving device 142 together and have the same rotating speed; each wheel 141 is individually driven by the displacement device 143 and can be individually extended and contracted in the vehicle width direction "W".

The automatic driving method further includes: when the electric vehicle passes through the concave hole, the wheel track between the wheels of the wheel assembly positioned at the concave hole along the width direction of the vehicle body is increased through the displacement device of the wheel assembly positioned at the concave hole so as to avoid the concave hole. The way of increasing the track width of the wheels of the wheel assembly located in the cavity along the width direction of the vehicle body may be to extend the outer wheels of the wheel assembly located in the cavity outward along the width direction of the vehicle body, or to retract the inner wheels of the wheel assembly located in the cavity inward along the width direction of the vehicle body, or to extend the outer wheels of the wheel assembly located in the cavity outward along the width direction of the vehicle body and retract the inner wheels inward along the width direction of the vehicle body, so that the track width is extended between the wheels of the wheel assembly located in the cavity to avoid the cavity. Or when the electric vehicle passes through the concave hole, the displacement device of the wheel assembly positioned at the concave hole drives the wheel of the wheel assembly positioned at the concave hole to stretch and retract along the width direction of the vehicle body so as to avoid the concave hole. That is, except for the way of pulling apart the wheel tread of the group wheel subassembly that is located the cave department and keeping away from the cave, can also keep away from the cave through the whole vehicle body width direction removal of the wheel of the group wheel subassembly that is located the cave department.

Embodiments of the present invention further provide an electronic device, including a processor and a memory, where the memory stores executable instructions, and the processor is configured to execute the steps of the automatic driving method in the foregoing embodiments by executing the executable instructions. The electronic equipment is configured in the electric vehicle, and the electronic equipment independently controls the wheels of each group of wheel assemblies through the driving device, the displacement device and the lifting device, so that automatic driving is assisted, and the flexibility, the stability and the safety of the electric vehicle are improved.

Fig. 17 is a schematic structural diagram of an electronic device in an embodiment of the present invention, and it should be understood that fig. 17 only schematically illustrates various modules, and these modules may be virtual software modules or actual hardware modules, and the combination, the splitting, and the addition of the remaining modules of these modules are within the scope of the present invention.

The electronic device 1700 of the present invention is described below with reference to fig. 17. The electronic device 1700 shown in fig. 17 is only an example and should not bring any limitation to the functions and the scope of use of the embodiments of the present invention.

As shown in fig. 17, electronic device 1700 is in the form of a general purpose computing device. Components of electronic device 1700 may include, but are not limited to: at least one processing unit 1710, at least one memory unit 1720, a bus 1730 connecting different platform components (including the memory unit 1720 and the processing unit 1710), a display unit 1740, and the like.

Wherein the storage unit stores program code that can be executed by the processing unit 1710 such that the processing unit 1710 performs the steps of the automatic driving method described in the above embodiments. For example, the processing unit 1710 may perform the steps shown in fig. 12.

The storage unit 1720 may include readable media in the form of volatile memory units, such as a random access memory unit (RAM)17201 and/or a cache memory unit 17202, and may further include a read only memory unit (ROM) 17203.

Storage unit 1720 may also include a program/utility 17204 having a set (at least one) of program modules 17205, such program modules 17205 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may comprise an implementation of a network environment.

Bus 1730 may be any of several types of bus structures including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

Electronic device 1700 may also communicate with one or more external devices 1800 (e.g., camera assembly, keyboard, pointing device, Bluetooth device, etc.), and may also communicate with one or more devices that enable a user to interact with the electronic device 1700, and/or with any device (e.g., router, modem, etc.) that enables the electronic device 1700 to communicate with one or more other computing devices.

In addition, the electronic device 1700 of the present invention can cooperate with a navigation system (e.g., GPS or beidou) and autopilot software to achieve autopilot of the electric vehicle.

The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.

Claims

1. A cargo conveyance apparatus, comprising:

the electric vehicle comprises an electric vehicle, wherein a bearing surface of the electric vehicle is provided with a fixed frame, and the fixed frame is provided with a sliding channel and a switch for at least controlling the sliding channel;

the container box is pushed into the fixed frame through the sliding channel, the switch at least partially closes the sliding channel along with the pushing of the container box into the fixed frame, and the container box is fixed on the bearing surface.

2. The cargo shipping device according to claim 1, wherein a plurality of storage compartments of different capacities are provided in the container box, each of the storage compartments storing cargo through the cargo box;

the goods container is provided with a first storage, the first storage stores user information and storage paths of each piece of goods, the user information indicates a target user and a target address of the goods, and the storage paths indicate storage lattices and goods frames corresponding to the goods.

3. The cargo shipping apparatus according to claim 2, wherein the storage route of each piece of cargo is generated based on the first identification code of the container box, the second identification code of the storage compartment corresponding to the cargo, and the third identification code of the container box corresponding to the cargo.

4. The cargo conveyance of claim 2, wherein the switch is a split switch comprising a first switch contact disposed on the container box and a second switch contact disposed on the fixed frame;

when the container box is pushed into the fixed frame, the split type switch is closed, and the first memory exchanges data with the electric vehicle.

5. The cargo shipping apparatus according to claim 1, wherein said fixed frame includes a plurality of connected right-angled columns and side panels providing said sliding channel, said container box being pushed into said fixed frame from said side panels, a portion of the sides of said container box being embedded in the inner walls of said right-angled columns;

the switch is an electric control switch or a telescopic switch arranged on the side plate.

6. The cargo conveyance device according to claim 1, wherein the fixed frame is provided with a plurality of rotatable cameras for detecting surroundings and an antenna for communicating the cameras with the electric vehicle;

the cameras are at least arranged at the front end, the rear end and the side surface of the electric vehicle along the advancing direction, and the antenna is arranged at the top of the fixed frame; and

one or more scanners are also arranged on the fixed frame.

7. The cargo transport apparatus according to claim 1, wherein the chassis of the electric vehicle is provided with a battery container in which a battery pack of the electric vehicle is detachably mounted;

the bearing surface is located on the upper surface of the chassis.

8. The cargo conveyance device of claim 1, further comprising:

the plurality of groups of wheel assemblies are arranged on the lower surface of a chassis of the electric vehicle and are mutually independent, and each group of wheel assembly comprises a wheel, a driving device for driving the wheel to rotate and a displacement device for driving the wheel to move along the width direction of a vehicle body of the electric vehicle;

each group of wheel assemblies is connected with the chassis through a lifting device.

9. The cargo conveyance apparatus of claim 1, wherein one or more sides of the container box are provided with electronic displays for displaying mobile advertisements.

10. An automatic freight transportation method applied to a freight transportation device according to any one of claims 2 to 9, the automatic freight transportation method comprising the steps of:

receiving first goods to be delivered in a goods receiving area of a distribution center, and obtaining user information of each piece of the first goods;

loading each piece of the first goods into a goods frame according to the size of each piece of the first goods;

automatically conveying the goods frame and the first goods to a goods discharging area of the collecting and distributing center, wherein the goods discharging area is provided with a plurality of empty container boxes and a plurality of full-power electric vehicles;

loading the container frame and the first goods into container boxes respectively, enabling the first goods in each container box to have the same target area, and obtaining a storage path of each piece of the first goods;

the container is boxed with the electric vehicle to form the freight device, and the memory of the freight device stores the user information and the storage path of each piece of the first cargo; and

and controlling the electric vehicle to automatically distribute the first goods in the container box.

11. The automated shipping method of claim 10, wherein the step of controlling the electric vehicle to automatically distribute the first cargo within the container box comprises:

generating a distribution path, a pickup time and a pickup place of each piece of the first goods and a pickup code related to a storage path of each piece of the first goods according to the target address of each piece of the first goods in the container box;

sending the distribution path to the electric vehicle, and sending pickup time and pickup code to a target user of each piece of the first goods;

when the freight device arrives at a pickup location, a pickup code is identified through a scanner of the freight device, and a storage lattice corresponding to the pickup code is opened for the target user to pick up the first goods; and

and detecting whether the doors of the storage compartments are closed or not, and if not, sending a return notification to the target user until the freight device continues to move forwards after the doors of the storage compartments are detected to be closed.

12. The automated shipping method of claim 10, further comprising:

receiving a sending request, wherein the sending request comprises sender information and recipient information, and the sender information at least comprises a sending user, a sending user address and the size of a second cargo;

obtaining a freight device with an empty storage grid with the size matched with the second goods in a target area where the mail user address is located;

sending a sending time, a sending place and a sending code to the sending user; and

and sending an consignee route pointing to the consignment location to the shipping device.

13. The automated shipping method of claim 12, further comprising:

when the freight device arrives at the mail sending place, the mail sending code is identified through the scanner, and the empty storage grid is opened;

detecting whether the doors of the empty storage compartments are closed or not, if not, sending a return notification to the mail user until the freight device continues to move forwards after the doors of the storage compartments are detected to be closed;

when the freight device is full of second goods, controlling the freight device to travel to the unloading area of the hub;

unloading the container box, a container frame and second goods in the container box, and returning the electric vehicle and the container box to the delivery area;

automatically conveying the goods frame and the second goods to a corresponding transfer area according to the recipient information of each piece of the second goods;

and taking down the second cargo for transferring, and returning the cargo frames to the cargo receiving area.

14. An automated freight transportation system for implementing the automated freight transportation method according to any one of claims 10 to 13, the automated freight transportation system comprising:

a plurality of electric vehicles and a plurality of container boxes;

the control cluster is in communication connection with the electric vehicle and the container box; and

a hub comprising automated equipment for automated handling and automated transfer.

15. An automatic driving method applied to the cargo conveyance device according to claim 8, the automatic driving method comprising:

obtaining the running condition of the electric vehicle;

when the electric vehicle runs in a straight line, the wheels are controlled to rotate at the same speed through the driving devices, the wheel track in the width direction of the vehicle body is controlled to increase along with the increase of the vehicle speed through the displacement devices, and the height of the vehicle body of the electric vehicle from the ground is controlled to decrease along with the increase of the vehicle speed through the lifting devices;

when the electric vehicle is turned, the rotating speed of the non-turning side wheel is controlled to be higher than that of the turning side wheel through each driving device, the non-turning side wheel is controlled to move outwards relative to the turning side wheel along the width direction of the vehicle body through each displacement device, and the height of the vehicle body above the ground on the non-turning side is controlled to be higher than that of the vehicle body above the turning side through each lifting device; and

when the electric vehicle passes through the slope, the height of the vehicle body above the slope from the ground is controlled to be lower than that of the vehicle body below the slope by the lifting devices, so that the inclination degree of the automatic freight device is reduced.

16. The autopilot method of claim 15 wherein each set of the wheel assemblies includes at least two wheels aligned in the width direction of the vehicle body, the autopilot method further comprising:

when the electric vehicle passes through the concave hole, the wheel track between a plurality of wheels of the wheel assembly positioned at the concave hole along the width direction of the vehicle body is increased through a displacement device of the wheel assembly positioned at the concave hole so as to avoid the concave hole; or

When the electric vehicle passes through the concave hole, the wheels of the wheel assemblies positioned at the concave hole are driven to stretch along the width direction of the vehicle body through the displacement device of the wheel assemblies positioned at the concave hole so as to avoid the concave hole.

17. An electronic device, comprising:

a processor;

a memory having stored therein executable instructions for execution by the processor;

the processor is configured to perform the autopilot method of any of claims 15-16 via execution of the executable instructions;

the electronic device is configured to the electric vehicle.