CN208722052U - Unmanned logistics vehicle - Google Patents
Unmanned logistics vehicle Download PDFInfo
- Publication number
- CN208722052U CN208722052U CN201820811984.5U CN201820811984U CN208722052U CN 208722052 U CN208722052 U CN 208722052U CN 201820811984 U CN201820811984 U CN 201820811984U CN 208722052 U CN208722052 U CN 208722052U
- Authority
- CN
- China
- Prior art keywords
- electric
- control system
- vehicle body
- chassis
- unmanned logistics
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The application provides an unmanned logistics vehicle. This unmanned logistics vehicle includes: a chassis; a cargo handling section mounted on the chassis; and the electric control system is assembled on the body of the vehicle and controls the running of the vehicle, and the electric control system is electrically connected with the cargo handling part so as to control the cargo handling part to handle cargos.
Description
Technical field
This application involves unmanned technical field more particularly to a kind of unmanned logistics vehicles.
Background technique
Currently, the development of logistics distribution industry is very swift and violent, due to its daily production and operating activities and people with enterprise
Daily life it is closely bound up, therefore logistics distribution industry development so that enterprises and individuals all obtain it is more and more just
Benefit.However, at present the problem of there is also inefficiency for many links in logistics distribution field, cause human and material resources, when
Between etc. costs waste.
Unmanned technology is also the hot spot of Recent study, relies primarily on the control equipment based on computer system
To realize unpiloted target.Such as unmanned technical application to logistics distribution field can will be greatlyd improve logistics
Operating efficiency in delivery process, and reduce manpower and time cost.
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 system
System 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 for
The 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 height
Setting.
According to one embodiment, the detecting means include: multiple binocular cameras, are respectively arranged at the front end of the vehicle body
The 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 multiple
Ultrasonic 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 body
End.
According to one embodiment, unmanned logistics vehicles further include: satellite navigation aerial is set to the vehicle body
Top.
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 or
It 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 system
Switch between position.
According to one embodiment, unmanned logistics vehicles further include: one or more anticollision portions are installed on described
The 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 body
On, 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 stopping
The only driving motor；Power switch button is electrically connected with the battery on the chassis, to control the battery on the chassis
On-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 body
On, 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 button
Emergency brake operations.
According to one embodiment, unmanned logistics vehicles further include: loudspeaker is set on the vehicle body.
Detailed description of the invention
By reading the following detailed description of the preferred embodiment, various other advantages and benefits are common for this field
Technical staff will become clear.The drawings are only for the purpose of illustrating a preferred embodiment, and is not considered as to the application
Limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings:
Fig. 1 shows the perspective view of the unmanned logistics vehicles according to one embodiment of the application；
Fig. 2 shows the perspective views according to the unmanned logistics vehicles of the application another embodiment；
Fig. 3 shows the perspective view of another angle of unmanned logistics vehicles shown in Fig. 2；
Fig. 4 shows the perspective view that the unmanned logistics vehicles of container are mounted with according to another embodiment of the application.
Specific embodiment
Presently filed embodiment is described in detail referring to the drawings.It should be noted that only example is described below
Property, 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 numerals
In the same or similar component.Different characteristic in different embodiments described below can be bonded to each other, to form this
Other 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 on
On 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 vehicle
Traveling.Electric-control system 130 is electrically connected with cargo handling portion 120, with various when controlling 120 handling goods of cargo handling portion
Operation.
As a result, in unmanned logistics vehicles, cargo handling portion can be controlled by the electric-control system of vehicle, to cargo
It 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 real
The 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, and
Water 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 set
It 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, from
And electric-control system 130 is enabled to be analyzed and handled by the data to vehicle-periphery, control the speed of vehicle driving
Degree, 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, nothing
The detecting means that people drives logistics vehicles 100 may include multiple monocular cameras 151.Multiple monocular cameras 151 can be in identical height
It 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 target
Identification 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 radars
153.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 distinguished
It 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 end
Binocular camera 152 can be respectively set in lower part, so as to the vision SLAM (simultaneous for vehicle front and rear
Localization and mapping, immediately positioning and map structuring) and middle short distance target recognition and classification.In vehicle
3D 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 function
Energy.
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 and
Rear 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 front
It 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 end
Middle 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 area
Short 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 camera
156 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 body
Focal 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, barrier
Hinder 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 sense
Data, 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 means
Except, unmanned logistics vehicles 100 may also include satellite navigation aerial 160.Satellite navigation aerial 160 may be disposed at vehicle body
140 top, so as to the positioning for outdoor depletion region, and the region that 3D laser radar 153 can not also be covered
Positioning 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, goods
Object 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 from
Dynamic handling.
122 plane as locating for cargo handling portion 120 of cargo guide-localization portion is convex or recessed.In the process of cargo handling
In, 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 not
Really, 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 skill
Art personnel are appreciated that, in order to reach better guide-localization effect, the bottom of cargo (such as container) may also set up relatively
The 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 bit
It sets and switches between unlocked position.When vehicle approach roughness pavement, it is possible to jolt, be clamped due to being provided with cargo
It 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 position
Position 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 170
It 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 100
When 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 control
Driving system emergency stop processed, and anticollision portion 170 may also function as anticollision beam action protects chassis 110 and whole under emergency case
A 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 controlled
Except system 130, vehicle body 140, detecting means, satellite navigation aerial 160, anticollision portion 170, unmanned logistics vehicles 100 may be used also
Including electric power operation panel 180.Electric power operation panel 180 is set on vehicle body 140, and can include: one or more debugging connects
The 181, first charging interface 182 of mouth, the second charging interface 183, solution band-type brake button 184, power switch button 185, electricity are shown
Unit 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 180
HDMI debugging interface, another can be USB debugging interface, to carry out debugging test to vehicle for developer.First fills
Electrical interface 182 is electrically connected with the battery (not shown) on chassis 110, for charging to the battery.Second charging
Mouth 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, from
And 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 storage
The 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 electricity
The 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 promptly
Stop button 190.Emergency stop button 190 is set on vehicle body 140, and is electrically connected with electric-control system 130.When in emergency
Under when pressing emergency stop button 190, electric-control system 130 may be in response to the operation of emergency stop button 190, execute vehicle
Emergency 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 led
Except space flight line 160, anticollision portion 170, electric power operation panel 180, emergency stop button 190, unmanned logistics vehicles 100 are also
It 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 that
Number is merely illustrative the embodiment of the application.This should not be taken as the limitation to the application range.Art technology
Personnel 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.
Claims (13)
1. a kind of unmanned logistics vehicles characterized by comprising
Chassis；
Cargo handling portion is installed on the chassis；
Electric-control system is assemblied on the vehicle body of the vehicle, and controls the traveling of vehicle, and the electric-control system and the cargo fill
Portion's electrical connection is unloaded, to control cargo handling portion handling goods.
2. unmanned logistics vehicles according to claim 1, which is characterized in that the electric-control system is located at the vehicle
Headstock or chassis.
3. unmanned logistics vehicles according to claim 2, which is characterized in that further include:
Detecting means are located on the vehicle body, and for obtaining the sensing data of external environment, and the sensing data that will acquire is transmitted to
The electric-control system.
4. unmanned logistics vehicles according to claim 3, which is characterized in that the detecting means include:
Multiple monocular cameras are arranged in identical height around the vehicle body.
5. unmanned logistics vehicles according to claim 3, which is characterized in that the detecting means include:
Multiple binocular cameras are respectively arranged at the front-end and back-end of the vehicle body；
Multiple 3D laser radars, are respectively arranged at the front-end and back-end of the vehicle body.
6. unmanned logistics vehicles according to claim 3, which is characterized in that the detecting means include:
2D laser radar is set to the front end of the vehicle body；
Multiple ultrasonic sensors are respectively arranged at the front-end and back-end of the vehicle body.
7. unmanned logistics vehicles according to claim 3, which is characterized in that the detecting means include:
Focal length camera and middle Jiao Xiangji, are set to the front end of the vehicle body.
8. unmanned logistics vehicles according to claim 2, which is characterized in that further include:
Satellite navigation aerial is set to the top of the vehicle body.
9. unmanned logistics vehicles according to claim 1, which is characterized in that the cargo handling portion includes:
Cargo lifting unit is electrically connected with the electric-control system, and 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 are convex or 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 system
Switch between position.
10. unmanned logistics vehicles according to claim 1, which is characterized in that further include:
One or more anticollision portions are installed on the front end and/or rear end on the chassis, and are electrically connected with the electric-control system.
11. unmanned logistics vehicles according to claim 2, which is characterized in that further include:
Electric power operation panel is set on the vehicle body, and the electric power operation panel includes:
One or more debugging interfaces are electrically connected with the electric-control system；
First charging interface is electrically connected with the battery on the chassis；
Second charging interface is electrically connected, for the battery for container with the third charging interface in the cargo handling portion
Charging；
Band-type brake button is solved, is electrically connected with the driving motor on the chassis, for starting or stoping the driving motor；
Power switch button is electrically connected with the battery on the chassis, to control the on-off of the battery on the chassis；
Electricity display unit is electrically connected with the battery on the chassis, to show the remaining capacity of the battery on the chassis.
12. unmanned logistics vehicles according to claim 2, which is characterized in that further include:
Emergency stop button is set on the vehicle body, and is electrically connected with the electric-control system, for responding electric-control system
In the operation of the emergency stop button, the emergency brake operations of vehicle are executed.
13. unmanned logistics vehicles according to claim 2, which is characterized in that further include:
Loudspeaker is set on the vehicle body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820811984.5U CN208722052U (en) | 2018-05-25 | 2018-05-25 | Unmanned logistics vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820811984.5U CN208722052U (en) | 2018-05-25 | 2018-05-25 | Unmanned logistics vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208722052U true CN208722052U (en) | 2019-04-09 |
Family
ID=65970908
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820811984.5U Active CN208722052U (en) | 2018-05-25 | 2018-05-25 | Unmanned logistics vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208722052U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111568324A (en) * | 2020-05-15 | 2020-08-25 | 弗徕威智能机器人科技（上海）有限公司 | Deceleration strip passing method and device |
| WO2022063116A1 (en) * | 2020-09-27 | 2022-03-31 | 长沙行深智能科技有限公司 | Unmanned vehicle with detachable functional module |
| CN114379675A (en) * | 2020-10-02 | 2022-04-22 | 丰田自动车株式会社 | Logistics robot and logistics system |
-
2018
- 2018-05-25 CN CN201820811984.5U patent/CN208722052U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111568324A (en) * | 2020-05-15 | 2020-08-25 | 弗徕威智能机器人科技（上海）有限公司 | Deceleration strip passing method and device |
| WO2022063116A1 (en) * | 2020-09-27 | 2022-03-31 | 长沙行深智能科技有限公司 | Unmanned vehicle with detachable functional module |
| EP4206061A4 (en) * | 2020-09-27 | 2024-01-03 | Changsha Xingshen Intelligent Technology Co., Ltd | Unmanned vehicle with detachable functional module |
| JP7449524B2 (en) | 2020-09-27 | 2024-03-14 | 長沙行深智能科技有限公司 | Unmanned vehicle with removable functional modules |
| CN114379675A (en) * | 2020-10-02 | 2022-04-22 | 丰田自动车株式会社 | Logistics robot and logistics system |
| CN114379675B (en) * | 2020-10-02 | 2024-02-02 | 丰田自动车株式会社 | Logistics robot and logistics system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN208722052U (en) | Unmanned logistics vehicle | |
| EP3905215B1 (en) | Precise truck parking method, device, and system in quayside container crane area | |
| US11948370B2 (en) | Precise parking method, apparatus and system of truck in shore-based crane area | |
| US9697606B2 (en) | Methods and systems for object detection using laser point clouds | |
| US11079768B2 (en) | Use of a reference image to detect a road obstacle | |
| CN112767540A (en) | Automatic loading method for AGV | |
| US20220371199A1 (en) | System and method for connection of service lines to trailer fronts by automated trucks | |
| US11372423B2 (en) | Robot localization with co-located markers | |
| US11250276B2 (en) | Object height determination for automated vehicle steering control system | |
| CN113169569A (en) | Charging coupling and method for automatically charging a vehicle battery | |
| US20200180924A1 (en) | Autonomous Truck Loading for Mining and Construction Applications | |
| US10852740B2 (en) | Determining the orientation of flat reflectors during robot mapping | |
| US20220009748A1 (en) | Loading A Container On A Landing Target | |
| US11774583B2 (en) | Methods and systems for filtering vehicle self-reflections in radar | |
| CN111717843A (en) | Logistics carrying robot | |
| CN110929475B (en) | Annotation of radar profiles of objects | |
| EP3418244B1 (en) | Loading a container on a landing target | |
| CN209409876U (en) | Unmanned transport capacity device | |
| JP2020190814A (en) | Trajectory generation device | |
| EP3842888A1 (en) | Pixelwise filterable depth maps for robots | |
| CN110502002B (en) | Vehicle guidance system, loading and unloading equipment control system and vehicle control system | |
| CN113759906B (en) | Vehicle alignment method and device, computer equipment and storage medium | |
| US20230341859A1 (en) | Autonomous vehicle for airports | |
| CN216561004U (en) | Guide detection system of bidirectional positioning hub | |
| US20230401680A1 (en) | Systems and methods for lidar atmospheric filtering background |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |