CN219194394U

CN219194394U - Cargo carrying vehicle

Info

Publication number: CN219194394U
Application number: CN202223602675.2U
Authority: CN
Inventors: 路威; 李陆洋; 方牧; 鲁豫杰; 杨建辉
Original assignee: Visionnav Robotics Shenzhen Co Ltd
Current assignee: Visionnav Robotics Shenzhen Co Ltd
Priority date: 2022-12-29
Filing date: 2022-12-29
Publication date: 2023-06-16
Anticipated expiration: 2032-12-29

Abstract

The application discloses a cargo vehicle, including automobile body and detection subassembly. The vehicle body is provided with a vehicle body top part, a vehicle body bottom part and a vehicle body side part positioned between the vehicle body top part and the vehicle body bottom part; the detection component is arranged on the vehicle body; the detection assembly comprises an upward-looking camera and a laser radar sensor; the upward-looking camera and the laser radar sensor are arranged on the vehicle body at intervals; the laser radar sensor is arranged towards the bottom of the vehicle body and is used for detecting the environment outside the side part of the vehicle body so as to acquire first positioning information; the lens of the upward-looking camera is arranged towards the upper part of the top of the car body in the height direction of the car body and is used for shooting an upper image of the top of the car body so as to acquire second positioning information; the first positioning information and the second positioning information are used together for positioning the vehicle body. Through the mode, the accuracy of positioning the cargo carrier vehicle can be improved.

Description

Cargo carrying vehicle

Technical Field

The application relates to the technical field of cargo vehicles, in particular to a cargo vehicle.

Background

Along with the development of communication technology, internet of things technology and intelligent manufacturing technology, intelligent carrying equipment gradually becomes a good helper for work and life. The cargo carrier vehicle can realize automatic carrying of cargoes in unmanned scene through remote control.

Due to the diversity and complexity of the working environment, the positioning requirements for the cargo carrier vehicle are high. However, in the process of carrying cargoes, the detection of the surrounding environment of the conventional cargo carrier is insufficient, so that the positioning of the cargo carrier is not accurate enough, and the obstacle is inconvenient to avoid in the running process of the cargo carrier.

Disclosure of Invention

The technical problem that this application mainly solves is to provide the cargo carrying vehicle, can improve the accuracy to the cargo carrying vehicle location.

In order to solve the technical problems, one technical scheme adopted by the application is as follows: a cargo vehicle is provided that includes a body and a detection assembly. The vehicle body is provided with a vehicle body top part, a vehicle body bottom part and a vehicle body side part positioned between the vehicle body top part and the vehicle body bottom part; the detection component is arranged on the vehicle body; the detection assembly comprises an upward-looking camera and a laser radar sensor; the upward-looking camera and the laser radar sensor are arranged on the vehicle body at intervals; the laser radar sensor is arranged towards the bottom of the vehicle body and is used for detecting the environment outside the side part of the vehicle body so as to acquire first positioning information; the lens of the upward-looking camera is arranged towards the upper part of the top of the car body in the height direction of the car body and is used for shooting an upper image of the top of the car body so as to acquire second positioning information; the first positioning information and the second positioning information are used together for positioning the vehicle body.

The beneficial effects of this application are: unlike the prior art, a cargo vehicle includes a body and a detection assembly. The vehicle body is provided with a vehicle body top part, a vehicle body bottom part and a vehicle body side part positioned between the vehicle body top part and the vehicle body bottom part, and the detection component is arranged on the vehicle body. The detection assembly is arranged on the vehicle body, so that the detection assembly detects the environment around the vehicle body, and the vehicle body is conveniently positioned. Specifically, the detection assembly comprises an upward-looking camera and a laser radar sensor, and the upward-looking camera and the laser radar sensor are arranged on the vehicle body at intervals. The laser radar sensor is arranged towards the bottom of the vehicle body and is used for detecting the environment outside the side part of the vehicle body so as to acquire first positioning information. The lens of the upward-looking camera is arranged towards the upper part of the top of the car body in the height direction of the car body and is used for shooting an upper image of the top of the car body so as to acquire second positioning information. The first positioning information and the second positioning information are obtained through the upward-looking camera and the laser radar sensor based on the environment outside the side part of the vehicle body and the environment at the top of the vehicle body respectively, and the vehicle body is positioned by utilizing the first positioning information and the second positioning information together, so that the vehicle body can be positioned based on the environment with a plurality of angles, the accuracy of positioning the vehicle body is improved, and the accuracy of avoiding obstacles in the running process and the safety of the cargo carrier in the running process are improved.

Drawings

FIG. 1 is a first structural schematic illustration of an embodiment of a load carrier of the present application;

FIG. 2 is a second structural schematic diagram of an embodiment of the load carrier of the present application;

FIG. 3 is an enlarged schematic view of portion A of FIG. 2 of an embodiment of a load carrier vehicle of the present application;

fig. 4 is an enlarged schematic view of portion B of fig. 2 of an embodiment of a load carrier of the present application.

Reference numerals illustrate: 1. cargo carrier vehicles; 11. a vehicle body; 111. a vehicle body; 112. a roof rack; 113. a main control box; 114. a vehicle body top; 115. the bottom of the vehicle body; 116. a vehicle body side portion; 12. a fork mechanism; 13. a wheel; 2. a detection assembly; 21. a top view camera; 22. a lidar sensor; 23. a carrier; 231. a frame body; 2311. fixing the rib frame; 2312. upright rib frame; 2313. an extension rib frame; 232. a carrying plate; 2321. fixing the plate body; 2322. a vertical plate body; 2323. extending the plate body; 2324. embedding grooves; 233. supporting rib plates; 24. a fixing plate; 25. a fastener; 26. a buffer member; 27. a top box.

Detailed Description

The following description of the technical solutions in the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.

The inventor discovers that the positioning requirement on the cargo carrier vehicle is higher due to the diversity and complexity of the working environment through long-term research. However, in the process of carrying cargoes, the detection of the surrounding environment of the conventional cargo carrier is insufficient, so that the positioning of the cargo carrier is not accurate enough, and the obstacle is inconvenient to avoid in the running process of the cargo carrier. In order to solve the above technical problems, the present application proposes the following embodiments.

As shown in fig. 1, a description of an embodiment of a load carrier vehicle of the present application may be found in the following description of a load carrier vehicle 1. The following description of an exemplary configuration of a load carrier 1 is provided in connection with the load carrier embodiments of the present application. The cargo vehicle 1 can automatically carry cargo by remote control. Specifically, the load carrier 1 may include a vehicle body 11 and wheels 13. The wheels 13 may be disposed at the bottom of the vehicle body 11, and during the running process of the cargo vehicle 1, the wheels 13 may be controlled to rotate to drive the vehicle body 11 to move.

The vehicle body 11 may include a vehicle body 111 and a roof frame 112, and specifically, the roof frame 112 is fixedly connected to the vehicle body 111, and the fixed connection may be a fixed connection manner such as welding. Because the cargo vehicle 1 runs through remote control, the cargo vehicle 1 may further include a main control box 113, and the main control box 113 is fixedly disposed in a driving cab enclosed by the roof rack 112. After the cargo vehicle 1 is started, a user can control the remote equipment in communication connection with the main control box 113 to control the cargo vehicle 1 to work without the need of controlling the cargo vehicle 1 in a driving cab by the user, thereby improving the convenience of remote operation and realizing unmanned operation so as to improve the working efficiency.

In one implementation, the vehicle body 11 may have a vehicle body top 114, a vehicle body bottom 115, and a vehicle body side 116 between the vehicle body top 114 and the vehicle body bottom 115. Wherein the roof 114 may be a top of the roof rack 112. That is, the vehicle body 111 may be enclosed by the roof frame 112, the vehicle body bottom 115, and the vehicle body side 116. The vehicle body bottom 115, the vehicle body side 116, and the roof frame 112 may be connected by welding to improve the stability of the connection between the respective parts.

One side of the vehicle body side 116 may be extended with a fork mechanism 12 for carrying the cargo, and in the process of carrying the cargo by the cargo carrying vehicle 1, the cargo carrying vehicle 1 may be controlled to move by placing the cargo on the fork mechanism 12, so as to carry the cargo.

In order to improve the accuracy of positioning the load carrier 1 during the transport of the load carrier 1, a detection assembly 2 for detecting the surroundings of the load carrier 1 may be provided at the vehicle body 11. Specifically, the detecting component 2 may be disposed on the roof rack 112, so as to facilitate the detection of the surrounding environment of the cargo vehicle 1 from a high place, which is beneficial to improving the comprehensiveness of the detection, and meanwhile, the detecting component 2 can be prevented from being damaged due to collision with other obstacles during the running process of the cargo vehicle 1.

As shown in fig. 1 and 2, the detection assembly 2 may include a head-up camera 21 and a lidar sensor 22. Specifically, the upward-looking camera 21 may be a 2D camera or a 3D camera. The lidar sensor 22 may be a 2D lidar sensor or a 3D lidar sensor. Specifically, the upward-looking camera 21 and the lidar sensor 22 are provided at a distance from the vehicle body 11. The lidar sensor 22 is disposed toward the vehicle body bottom 115 for detecting an environment outside the vehicle body side 116 to acquire first positioning information. The lens of the upward-looking camera 21 is disposed toward the upper side of the vehicle body top 114 in the height direction of the vehicle body 11 for taking an upper image of the vehicle body top 114 to acquire second positioning information. Through setting up the top view camera 21 and the laser radar sensor 22 simultaneously, can acquire the surrounding environment of automobile body lateral part 116 and automobile body top 114 simultaneously to utilize to fix a position automobile body 11 jointly based on the first positioning information and the second positioning information that the image formation that top view camera 21 and laser radar sensor 22 took, realize fixing a position automobile body 11 from a plurality of positions, be favorable to improving the accuracy to automobile body 11 location, and then improve the security of cargo carrier vehicle 1 in the accuracy and the operation in-process of dodging the barrier in the operation.

As shown in fig. 1, 2 and 3, the detection assembly 2 may further include a carrier 23, specifically, the carrier 23 is fixedly connected to the vehicle body 11, and extends out of the vehicle body side 116 toward the vehicle body side 116, and the lidar sensor 22 may be disposed on the carrier 23. The laser radar sensor 22 is disposed on the carrier 23 extending out of the vehicle body side 116, thereby facilitating detection of the environment outside the vehicle body side 116 by the laser radar sensor 22.

In one implementation, the carrier 23 may include a frame 231 and a carrier plate 232. The carrier plate 232 and the frame 231 may be fixedly connected to the vehicle body 11, or may be fixedly connected to the vehicle body 11 via the frame 231, and the carrier plate 232 may be fixedly connected to the frame 231, where the above-mentioned fixed connection may include a fixed connection manner such as welding, bolting, etc. The frame 231 and the bearing plate 232 are at least partially nested with each other, so that stability of fixed connection between the frame 231 and the bearing plate 232 is improved.

In particular, the frame 231 may include a fixed rib frame 2311, an upstanding rib frame 2312, and an extending rib frame 2313 that are flexibly connected to one another. The fixed and extending

rib brackets

2311, 2313 are offset from one another, for example, the extending rib brackets 2313 may be disposed on a side of the fixed rib brackets 2311 facing away from the vehicle body bottom 115. The upright rib frame 2312 is connected between the fixed rib frame 2311 and the extended rib frame 2313 and connects the fixed rib frame 2311 and the extended rib frame 2313 near one end to each other. The carrier plate 232 may include a fixing plate body 2321, an upstanding plate body 2322, and an extension plate body 2323, which are bent and connected to each other. The fixing plate 2321 and the extending plate 2323 may be disposed at intervals and staggered, for example, the extending plate 2323 may be disposed on a side of the fixing plate 2321 facing away from the vehicle body bottom 115. The standing plate 2322 is connected between the fixing plate 2321 and the extending plate 2323, and is connected to one ends of the fixing plate 2321 and the extending plate 2323, which are close to each other. The upright plate 2322 may be provided with an embedded groove 2324 penetrating through two sides of the upright plate 2322, and the upright rib plate frame 2312 is embedded in the embedded groove 2324 so as to be capable of being penetrated in the upright plate 2322, so that the frame 231 and the bearing plate 232 are at least partially nested with each other. The fixed plate 2321 and the fixed rib frame 2311 may be fixedly connected to the vehicle body 11, or may be fixedly connected to the vehicle body 11 through the fixed rib frame 2311, and the fixed plate 2321 is fixedly connected to the fixed rib frame 2311, where the fixed connection may include a fixed connection manner such as welding, bolting, and the like. Through setting up support body 231 and loading board 232 that mutually nest set up, can provide the support for loading board 232 through support body 231 to improve loading board 232's structural stability, avoid loading board 232 to take place the condition of rupture because the loading weight is great.

In one implementation, a plurality of support braces 233 may be provided in each of the fixed braces 2311, the upright braces 2312, and the extension braces 2313, and in particular, the support braces 233 may be fixedly connected to the middle of the fixed braces 2311, the upright braces 2312, and the extension braces 2313, respectively. By providing the support rib plate 233, the structural stability of the fixed rib plate frame 2311, the upright rib plate frame 2312 and the extended rib plate frame 2313 is improved, and the supporting effect of the fixed rib plate frame 2311, the upright rib plate frame 2312 and the extended rib plate frame 2313 on the bearing plate 232 is further improved.

As shown in fig. 1, 2 and 4, the detecting assembly 2 may further include a fixing plate 24, wherein a part of a plate body of the fixing plate 24 is fixedly connected to one end of the carrier 23 extending out of the side portion 116 of the vehicle body, and another part of the fixing plate 24 is disposed outwardly of the carrier 23. Specifically, the fixing plate 24 is fixedly coupled to a side of the extension plate 2323 remote from the vehicle body bottom 115. The lidar sensor 22 may be fixedly disposed on another part of the plate body of the fixing plate 24, that is, the lidar sensor 22 may be fixedly disposed on a part of the plate body of the fixing plate 24 extending toward the carrier 23, and located on a side of the fixing plate 24 facing the vehicle bottom 115. By arranging the laser radar sensor 22 on the fixing plate 24 which is arranged outside the bearing frame 23, the distance between the laser radar sensor 22 and the side part 116 of the vehicle body can be increased, and the detection range of the laser radar sensor 22 is prevented from being blocked by the side part 116 of the vehicle body, so that the detection range of the laser radar sensor 22 on the periphery of the side part 116 of the vehicle body is enlarged, and the positioning accuracy of the vehicle body 11 is improved.

In the process of fixedly connecting the laser radar sensor 22 and the fixing plate 24, the other part of the plate body of the fixing plate 24 and the laser radar sensor 22 can be connected through a fastener 25, and the fixing plate 24 and the laser radar sensor 22 are arranged at intervals. Specifically, the number of the fasteners 25 may be plural, and the plural fasteners 25 may be disposed at intervals. For example, the fasteners 25 may be bolts, and the number of the fasteners 25 may be 4, symmetrically distributed at two ends of the fixing plate 24. The fixing plate 24 may be provided with a hole for the bolt to pass through, and the lidar sensor 22 may be provided with a threaded hole for the bolt to be mounted. The laser radar sensor 22 is mounted by inserting a bolt through the hole and connecting the bolt to the threaded hole.

In one implementation, the probe assembly 2 may also include a bumper 26. The buffer 26 is connected between another part of the plate body of the fixing plate 24 and the lidar sensor 22. Specifically, the buffer 26 is provided in a sleeve shape and is sleeved on the outer periphery of the fastener 25. The number of the cushioning members 26 may be plural correspondingly, and the plural cushioning members 26 are provided in one-to-one correspondence with the plural fastening members 25. By providing the buffer 26 between the lidar sensor 22 and the fixed plate 24, the relative movement between the lidar sensor 22 and the fixed plate 24 can be buffered, thereby avoiding damage to the lidar sensor 22 due to collision between the lidar sensor 22 and the fixed plate 24 caused by jolt of the vehicle body 11.

As shown in fig. 1 and 2, the detection assembly 2 may further include a top box 27. Specifically, the top case 27 is disposed on a side of the fixed plate 2321 facing away from the vehicle bottom 115, and is disposed at a distance from the upright plate 2322. At least part of the upward-looking camera 21 is fitted and fixed to the top case 27. By embedding at least part of the upward-looking camera 21 in the top case 27, the upward-looking camera 21 can be protected on the one hand, and damage caused by collision with an obstacle in the moving process of the vehicle body 11 due to excessive protrusion of the upward-looking camera 21 can be avoided. On the other hand, the second positioning information obtained by photographing the surrounding environment of the vehicle body top 114 with the upward-looking camera 21 can further improve the accuracy of positioning the vehicle body 11 in the case where the vehicle body 11 is positioned with the first positioning information obtained by photographing the surrounding environment of the vehicle body side 116 with the laser radar sensor 22.

In summary, the load carrier 1 comprises a body 11 and a detection assembly 2. The vehicle body 11 has a vehicle body top 114, a vehicle body bottom 115, and a vehicle body side 116 between the vehicle body top 114 and the vehicle body bottom 115, and the probe assembly 2 is provided to the vehicle body 11. The positioning of the vehicle body 11 is facilitated by providing the detection assembly 2 to the vehicle body 11 such that the detection assembly 2 detects the environment surrounding the vehicle body 11. Specifically, the detection assembly 2 includes an upward-looking camera 21 and a lidar sensor 22, and the upward-looking camera 21 and the lidar sensor 22 are provided at a distance from the vehicle body 11. The lidar sensor 22 is disposed toward the vehicle body bottom 115 for detecting an environment outside the vehicle body side 116 to acquire first positioning information. The lens of the upward-looking camera 21 is disposed toward the upper side of the vehicle body top 114 in the height direction of the vehicle body 11 for taking an upper image of the vehicle body top 114 to acquire second positioning information. The first positioning information and the second positioning information are obtained through the upward-looking camera 21 and the laser radar sensor 22 based on the environment outside the side part 116 of the vehicle body and the environment at the top 114 of the vehicle body respectively, and the vehicle body 11 is positioned together by utilizing the first positioning information and the second positioning information, so that the vehicle body 11 can be positioned based on the environment with a plurality of angles, the positioning accuracy of the vehicle body 11 is improved, and the avoidance accuracy of the obstacle of the cargo carrier 1 in the running process and the safety in the running process are improved.

The foregoing description is only exemplary embodiments of the present application and is not intended to limit the scope of the present application, and all equivalent structures or equivalent processes using the descriptions and the drawings of the present application, or direct or indirect application in other related technical fields are included in the scope of the present application.

Claims

1. A cargo vehicle, comprising:

a vehicle body having a vehicle body top, a vehicle body bottom, and a vehicle body side located between the vehicle body top and the vehicle body bottom;

the detection assembly is arranged on the vehicle body; the detection assembly comprises an upward-looking camera and a laser radar sensor; the upward-looking camera and the laser radar sensor are arranged on the vehicle body at intervals; the laser radar sensor is arranged towards the bottom direction of the vehicle body and is used for detecting the environment outside the side part of the vehicle body so as to acquire first positioning information; the lens of the upward-looking camera is arranged towards the upper part of the top of the car body in the height direction of the car body and is used for shooting an upper image of the top of the car body so as to acquire second positioning information; the first positioning information and the second positioning information are used together for positioning the vehicle body.

2. The cargo vehicle of claim 1, wherein the vehicle comprises a frame,

the detection assembly comprises a bearing frame, the bearing frame is fixedly connected with the vehicle body, the laser radar sensor is arranged on the bearing frame, and extends out of the side part of the vehicle body in the direction of the side part of the vehicle body.

3. The load carrier of claim 2, wherein the vehicle comprises,

the detection assembly comprises a fixed plate, a part of plate body of the fixed plate is fixedly connected with one end of the bearing frame extending out of the side part of the vehicle body, and the other part of plate body of the fixed plate extends out of the bearing frame; the laser radar sensor is fixedly arranged on the other part of the plate body of the fixing plate and is positioned on one side of the fixing plate, which faces to the bottom direction of the vehicle body.

4. The cargo vehicle of claim 3, wherein the vehicle comprises,

the detection assembly comprises a buffer piece, and the buffer piece is connected between the other part of the plate body of the fixed plate and the laser radar sensor so as to buffer the relative movement between the laser radar sensor and the fixed plate.

5. The cargo vehicle of claim 4, wherein the vehicle comprises a frame,

the other part of the plate body of the fixed plate is connected with the laser radar sensor through a fastener, and the fixed plate and the laser radar sensor are arranged at intervals; the buffer piece is in sleeve-shaped arrangement and is sleeved on the periphery of the fastener.

6. The cargo vehicle of claim 5, wherein the vehicle comprises a frame having a plurality of wheels,

the number of the fasteners is a plurality, and the fasteners are arranged at intervals; the number of the buffer pieces is correspondingly multiple, and the buffer pieces and the fasteners are arranged in one-to-one correspondence.

7. The cargo vehicle of claim 3, wherein the vehicle comprises,

the bearing frame comprises a frame body and a bearing plate, and the bearing plate and/or the frame body is/are fixedly connected with the vehicle body; the frame body is fixedly connected with the bearing plate, and the frame body and the bearing plate are at least partially nested; the fixed plate is fixedly connected with the bearing plate.

8. The cargo vehicle of claim 7, wherein the vehicle comprises a frame,

the frame body comprises a fixed rib plate frame, an upright rib plate frame and an extension rib plate frame which are connected with each other in a bending way; the fixed rib plate frames and the extending rib plate frames are arranged in a staggered mode at intervals, and the upright rib plate frames are connected between the fixed rib plate frames and the extending rib plate frames and are connected with one ends, close to each other, of the fixed rib plate frames and the extending rib plate frames; the bearing plate comprises a fixed plate body, an upright plate body and an extension plate body which are connected with each other in a bending way; the fixed plate body and the extension plate body are arranged in a staggered manner at intervals, and the upright plate body is connected between the fixed plate body and the extension plate body and is connected with one end, close to each other, of the fixed plate body and the extension plate body; the fixed plate body is arranged on one side of the fixed rib plate frame, which is far away from the bottom of the vehicle body; the vertical plate body is provided with an embedded groove penetrating through two sides of the vertical plate body, and the vertical rib plate frame is embedded in the embedded groove so as to be capable of penetrating through the vertical plate body; the extension plate body is fixedly arranged on one side, far away from the bottom of the vehicle body, of the extension rib plate frame; the fixed plate is fixedly connected to one side of the extension plate body, which is far away from the bottom of the vehicle body; the fixed plate body and/or the fixed rib frame are/is fixedly connected with the vehicle body.

9. The cargo vehicle of claim 8, wherein the vehicle comprises a frame,

the detection assembly further comprises a top box body, wherein the top box body is arranged on one side, away from the bottom of the vehicle body, of the fixed plate body, and is arranged at intervals with the vertical plate body; at least part of the upward-looking camera is embedded and fixed on the top box body.

10. The cargo vehicle of claim 1, wherein the vehicle comprises a frame,

the up-looking camera is a 2D camera or a 3D camera, and the laser radar sensor is a 2D laser radar sensor or a 3D laser radar sensor.