CN108958259A - A kind of automatic cart of wisdom formula and shared system and business model - Google Patents
A kind of automatic cart of wisdom formula and shared system and business model Download PDFInfo
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- CN108958259A CN108958259A CN201810830063.8A CN201810830063A CN108958259A CN 108958259 A CN108958259 A CN 108958259A CN 201810830063 A CN201810830063 A CN 201810830063A CN 108958259 A CN108958259 A CN 108958259A
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- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
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Abstract
The present invention specifically discloses a kind of automatic cart of wisdom formula and shared system, the automatic cart of wisdom formula, which includes at least, chassis and vehicle body, shelf for depositing one's luggage are set on vehicle body, shelf lifting motor control module, pallet height monitoring modular is arranged in shelf, shelf lifting motor control module and pallet height monitoring modular are electrically connected main control processor, and main control processor is also connected with the vision camera mould group of ticket information for identification and carries out the bill printer of bill and document printing；It further include battery capacity management module and voice interaction module, battery capacity management module includes battery pack, charging module, charge and discharge electrical chip and electric quantity monitoring chip.It by mobile device and the intelligent terminal data exchange between Cloud Server between the two, realizes in addition to goods transportation circulation is outer, moreover it is possible to be used as mobile items sold vehicle, create the business model that one kind novel sale and logistics be combined with each other with intercommunication.
Description
Technical field
The invention belongs to public place logistics distribution technical field, a kind of automatic cart of wisdom formula is refered in particular to, and is established
Shared system and business model on the automatic cart basis of the wisdom formula.
Background technique
With the development of society, travelling has become essential a part in people's life, therefore the carrying of luggage
Have become an important part for travelling, the technology of forefront is that have that passenger is facilitated to exist in airport or railway station place at present
Movable hand towed or hand propelled luggage truck in place, but at present compared with the luggage truck in forward position still there are many need to improve it is perfect
Point: 1. passengers find corresponding Luggage Check-in according to billing information and there is certain difficulty in boarding gate position, and waste is a large amount of
Time；2. hand towed or hand propelled luggage truck, no intelligence, user experience is poor, women especially smaller to strength
Or the elderly or minor.
With carrier machine substitute human labor trend of the times, for public place luggage transport also there is an urgent need to one kind can
The artificial system for realizing automatic transportation luggage is got rid of, and establishes a kind of completely new business model using the system.
Summary of the invention
The object of the present invention is to provide a kind of transport vehicle that can be realized automatic transportation for public place luggage and articles, with
And the shared system based on this transport vehicle.
The object of the present invention is achieved like this: a kind of automatic cart of wisdom formula, including at least having chassis and vehicle body, vehicle
It is provided on chassis for unpiloted automatic running system, the shelf for depositing one's luggage, shelf setting is set on vehicle body
For two or more layers, shelf lifting motor control module, pallet height monitoring modular is arranged in shelf, and shelf lifting motor controls mould
Block and pallet height monitoring modular are electrically connected main control processor, and shelf needed for pallet height monitoring module monitors put luggage are high
Degree information simultaneously transmits main control processor, and main control processor assigns instruction and give shelf lifting motor control module by information analysis
Shelf described in motor driven are adjusted to the height of needs, and main control processor is also connected with the vision camera mould of ticket information for identification
Group and the bill printer for carrying out bill and document printing；Unmanned automatically walk drive system is arranged in chassis, further includes
Battery capacity management module, battery capacity management module include battery pack, charging module, charge and discharge electrical chip and electric quantity monitoring core
Piece.
Further, shelf include the column for being set to vehicle body quadrangle, and the multi-layered storage rack plate being socketed on column, and every layer
Range sensor and pushing block or pusher cylinder for adjusting shelf height be set between goods shelf plate, pushing block or described is pushed away
Cylinder of taking offence is connected to driving motor, and driving motor is connected to main control processor, range sensor by shelf lifting motor control module
It is connected to main control processor by pallet height monitoring modular, range sensor and pushing block are sheathed on column, and column is set as
Stud pushes the internal screw thread of fast setting with stud cooperation.
Further, charging module includes solar recharging module for charging to battery pack and by generator reality
Existing wired charging module, solar recharging module include telescopic solar charging panel, and solar charging panel is arranged in vehicle
Body week surveys and upper surface, and electric quantity monitoring chip includes CPU, voltage monitoring unit, current monitoring unit, battery status monitoring list
Member and bus communication unit；It is additionally provided with camera and locating module on vehicle body, Identification of Images module is provided in camera.
Further, unpiloted automatic running system includes drive module, path navigation module, obstacle avoidance module and leads to
Interrogate module and data processing module；Drive module is used to control travel speed and the direction of vehicle, and path navigation module is used for root
Path is calculated automatically according to starting point and destination；Obstacle avoidance module is used on the path planned according to the feelings of public place road
Condition avoiding barrier and public place fence；Communication module with cloud service center, terminal of delivering and terminal mutual of receiving for disappearing
Cease simultaneously feedback data；Data processing module is for calculating the number that path navigation module, obstacle avoidance module and communication module pass back
According to and draw a conclusion and pass through drive module and control vehicle driving.
Further, obstacle avoidance module includes public place fence identification module, the identification of public place fence
Module includes video identification device for shooting vehicle front road picture, differentiate front with the presence or absence of public place fence or
Designated lane, while according to public place fence in video pictures or the calculated for pixel values vehicle distances public place of designated lane
The real-time space length of fence or designated lane, and the space length value continuously shortened between the two is sent to data processing mould
Block；Data processing module determines whether to adjust the drive module according to the critical value of setting space length and then adjusts vehicle
Travel speed and direction and carry out obstacle evacuation；Video identification device includes video acquiring module and video identification module, video
The road ahead picture that module is used to shoot vehicle is obtained, video identification module is used to carry out analytical calculation to the picture of acquisition；
Obstacle avoidance module includes obstacle recognition module, and obstacle recognition module includes the spy for detecting obstacle distance
Device is surveyed, for the roadblock information-storing device of storage detection roadblock object space position distance properties, for storing avoidance operation coding
Avoidance operation coding storage device, for by storage detection roadblock information-storing device and be stored in avoidance operation coding storage
It is compared in device, the comparator of substitution control signal input apparatus instruction vehicle obstacle-avoidance movement；Detection device is that setting exists
At least one transmitting unit and receiving unit of carbody Zhou Yan；Transmitting unit includes ultrasonic wave radiated element and triggering electricity
Road, connecing member includes ultrasonic wave receiving element and frontend amplifying circuit.
Further, data processing module is also connected with drive module, and drive module includes ECU, if data processing module
Judge vehicle will strikes obstacles, then vehicle is controlled by ECU；Data processing module is also connected in cloud service
The heart, data processing module can by vehicle whether can the judging results of strikes obstacles be sent to cloud service center, cloud service center
It can be instructed to data processing module feedback command, ECU be connected by data processing module, vehicle is controlled.
Further, data processing module is also connected with image, vocal print and fingerprint processor, makes to absorb by camera module
Image information be uploaded to data processing module by data filtering, or pass through the voiceprint acquired by microphone array
Voice data processing is transmitted to data module, analyzes through data, assigns instruction to terminal is executed, and makes drive module starting, stops
Or avoidance, electric lockset is unlocked or closure；Unmanned article vehicle also sets up intelligent machine arm, for pasting the bill to luggage
The bill or carry luggage that printer is got also set up SOS emergency circuit module.
Further, path navigation module includes memory, input/output port and processor；Processor includes: navigation
Data obtaining module, for obtaining navigation pattern-information and cooking up the driving path of non-motorized lane；Self-navigation controls mould
Block, for controlling vehicle driving parameter according to navigation pattern-information acquired in navigation information acquisition module.
Further, the driving wheel and quantity and drive that at least two are respectively arranged on chassis two sides are provided in drive module
Driving wheel quantity is identical and the driving motor with each driving wheel transmission connection respectively；Driving motor side is also connected with control letter
Number receiving device and control signal input apparatus；Battery pack is additionally provided on chassis, the upper end of vehicle body is additionally provided with luminous energy hair
Electric module or wind power generation module, optical energy power module or wind power generation module are connected with battery pack for charging for it.
A kind of shared system, including cloud service center, any one of the automatic cart of wisdom formula and be distributed in end of user
End equipment；Cloud service center is for planning as a whole the automatic cart of the intelligent formula of distribution pipe reason and will feed back to unmanned article respectively for information about
Vehicle and terminal device；Terminal device, which includes at least, the delivery terminal used for luggage sender.
A kind of business model, the shared system including the automatic cart of wisdom formula described in any of the above item at least further include
Have through the shared system using the automatic cart of wisdom formula, after completing transaction, is extracted with the name of platform a certain proportion of
Commission, in this way obtain an income, can also platform cooperate to be sold with businessman, earn profit on sales；It further include quotient
Family's purchase is leased for supplying to dispersion client's automatic transportation；Or it puts into and twice lease or multistage leasing market；It can be straight
Outbound sells to all kinds of enterprises and institutions or individual client as special-purpose vehicle, earns 0vehicle marketing profit, the replacement dimension of components
Repair expense and working hour, material, maintenance expense etc.；
The execution step of the business model includes:
1) user's registration, uplink data is through system audit, by then becoming shared user；User can inquire fortune and sell vehicle
Information, cloud service center show that attachment transports car sale information；
2) registers user when needing the automatic fortune of reservation to sell vehicle, determines use scope, confirmation reservation places an order and branch payment
, the cloud service center distributes automatic fortune automatically according to reservation information and sells vehicle, and fortune sells vehicle order；
3) is transported automatically sells vehicle arrival designated place, and delivery side logs in APP, carries out subscriber authentication, and verifying identity is logical
It crosses, the automatic fortune sells vehicle automatic unlocking；
4) after loads kinds of goods, start after automatic article lock is fixed and transport, after automatic running to destination, this is ordered
Unijunction beam；
5) after the shared transaction of, automatic fortune sells vehicle automatic running and returns the on-call uses such as position of readiness.
6) self-test self electric quantity if not enough power supply voluntarily drives to charging zone when automatic article vehicle standby mode described in
Charging, after charging complete, the automatic fortune sells vehicle automatic running and returns the on-call uses such as position of readiness.
Preferably, advertising platform is arranged in the automatic cart of the wisdom formula, is at least used to dock with all kinds of businessmans and advertisement is declared
Pass, by be pumped into or advertising expenditure profit；Airport, motor-car station and all kinds of shopping mall supermarket conducts can be thrown to by platform
Shared vehicle uses, and collects shared expense；Third-party enterprises and institutions or individual can also be sold to, sold
Profit.
The present invention is prominent and beneficial compared with prior art to be had the technical effect that
1, vehicle is sold by the unmanned small-sized fortune of a kind of new energy, automation, in certain regional scope, realized short
The cargo fast transportation of distance improves the rapidity and accuracy of small article transport, can be carried out by mobile application terminal
Directly calling fortune sells vehicle, and origin and destination and consignee's information, Ke Yishi are directly inputted in mobile solution platform
Now digitlization logistics information transmitting reduces the printing of express delivery list, and then reduces the waste of paper, protects environment.
2, meet the freight shipments demand of any type of any distribution, sufficiently combine the concept of " Internet of Things+", pass through one
Kind novel fortune sells vehicle and realizes making full use of and issuing for logistic resources under line, then these resources are issued by internet makes
With on the carry-on mobile terminal of crowd, facilitate user select and use and payment expense.And entire logistics progress all by
Fortune sells the planning of the automatic realizing route of vehicle and the control of vehicle,
3, unmanned automatic retail may be implemented in this system, realizes novel unmanned shop mode, article purchase from
Dynamic supply of visiting is selected, and market can be promoted to disappear fastly the sales quota and marketing method of product, even more started except online sale, line
Intelligent mobile except lower entity sale sells new model.Sufficiently combine sale under e-commerce, line, entity shops, consumption
The direct relationship of more persons such as person, courier or take-away person, vehicle and realizing gives full play to, promote all kinds of resources maximization and
Unmanned utilization rate.
4, the system passes through between mobile terminal data-link dynamic processing logistics goods and surrounding unmanned vehicle and mating motor vehicle
Distribution, thus it is creative with cloud algorithm instead of inefficient logistics Distribution Center, accelerate logistics speed, reduce into
This.Simultaneously can specification logistic industry price and transport ag(e)ing condition, by transportation range, transport type of items and transport when
The modes such as effect rationalize specification logistics and transportation industry price.
5, the fortune, which sells vehicle and system, can whether there is the state that client uses by cloud service center exact knowledge, same
The fortune travelled on path in one range sells vehicle, and the centralized planning in path can be carried out by background system, realizes that the fortune is sold
The maximum resource of vehicle uses, and reduces the wasting of resources.
6, the fortune, which sells vehicle, can carry out large-scale construction net in remote area and the underground parking position Deng Xianxia
Point is launched vehicle and is shared, and can realize profit by collecting logistics transportation expense in shared procedure, can also pass through moving pin
Profit is realized in the sale that the mode sold carries out commodity, while can realize unmanned buy on behalf according to the individual demand of user
It sells on a commission basis.Such mobile sale mode can also become the special mobile car for selling of certain merchant products simultaneously, collect rent realization
Profit,
7, when selling function using fortune, the commodity that user buys needed for being directly viewable from mobile solution platform are believed in detail
Breath, realizes the purchase that directly places an order on mobile phone, which sells vehicle and quickly deliver goods to the customers.Can also user call fortune to sell and carry out after vehicle is visited
It visits and chooses.Realization chooses online, delivers goods to the customers and movable automatic sells three-in-one overall fusion.
8, by cloud big data analysis, system can find a certain area in room and time dimension in time, a certain
To the concentration demand of some function, system passes through the automatic mode dynamic of system after analyzing this kind of situation in period market
It sends transport and sells vehicle to demand concentrated area.Pass through more careful analysis in this way, so that it may optimize resource to the greatest extent,
Reduce waste.
9, the extensive investment and use of vehicle are sold by transporting, fortune, which is sold, can set up muti-piece electronics or billboard exhibition on vehicle vehicle
Plate forms movable-type intelligent advertisement position, realizes profit by the lease of advertisement position, while can also improve the product popularity of itself
And occupation rate of market.
10, the present invention can greatly increase the running efficiency of commodity, the goods formulated by the application specifically for commodity
The structure technology scheme in storehouse, diversity and unique progress Sort Customization for commodity, fully takes into account commodity of all categories and exists
Fixed form, space utilization rate, conevying efficiency, vibrationproof, anticollision and the design of moisture resistance structure in freight house, while arranging thing
Product state recognition, monitoring device are in transport article under real time monitoring, so as to according to the spy of the transport article of user
Property carry out precisely distribution and precisely transport, reduce the invalid wasting of resources, reduce user's cost of use, increase the experience sense of user
By.
It 11, in non-motorized lane, and can be internal passageway in all kinds of places the present invention provides a kind of small-sized
Sold with the fortune travelled in floor road vehicle realize automatically receive and delivery and automatically sale, efficiency both can be improved, transport
The quantity of the thing sent can increase, and also be avoided that stranger enters bring security risk in family.In addition the present invention passes through increasing
Added battery capacity management module be further reduced because battery extremely caused by influence to the stability of work.
12, the present invention is by the sensor of each section on vehicle body, reasonably adjust speed and direction, and detection front is on both sides of the road
Distance, keeps position traveling in road, and control vehicle not go out road surface；On turning road surface, angle of turn and vehicle speed are calculated
The equilibrium relation of degree, automatic uniform speed is equilibrated curved, realizes Anti-inclining and rollover, realizes the traveling peace sold in vehicle driving process in fortune
Entirely, vehicle rollover is prevented.
13, the present invention has technically carried out further raising to safety, sells in the fortune and has installed electrical fire on vehicle additional
Calamity detection device and fire detecting arrangement, once discovery circuit, there are failure, temperature, smog, flame etc. exist in surrounding enviroment
Hidden danger can evacuate to safety zone automatically.
14, the present invention technically may be implemented to carry out each components and systemic function self detection, pass through to
Each function constituting parts sends sense command, and receives testing result data, is compared, and determines that transporting the function of selling vehicle is
No normal realization, if there are failures, and failure is then alarmed to platform and maintenance personnel is notified to repair if it exists.
15, the calculating that the present invention can be intelligent uses the time, and proposes fixed clearance time requirement, reaches clearance time
When, it automatically controls fortune and sells vehicle control and drive to designated position and swept and sterilized, requirement is cleaned to it are as follows: clean up, kill
Bacterium disinfection.The fortune for providing neat and tidy for client sells vehicle.
16, it by mobile device and the intelligent terminal data exchange between Cloud Server between the two, realizes in addition to object
Product transport circulation is outer, moreover it is possible to use as mobile items sold vehicle, create one kind novel sale and logistics and mutually tie
Close the business model with intercommunication.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is the schematic block diagram for the treatment of mechanism of the present invention；
Fig. 3 is the structural schematic block diagram of main control processor of the present invention；
In figure: 1- chassis；2- vehicle body；21- shelf；22- column；23- goods shelf plate；24- range sensor.
Specific embodiment
The present invention is described further with specific embodiment below.
As shown in Figure 1-3, a kind of automatic cart of wisdom formula, the automatic cart of wisdom formula, which includes at least, chassis 1 and vehicle body
2, the shelf 21 for depositing one's luggage are set on vehicle body 2, and shelf 21 are set as two or more layers, and shelf 21 are arranged shelf and go up and down electricity
Machine control module, pallet height monitoring modular, shelf lifting motor control module and pallet height monitoring modular are electrically connected master control
Processor, pallet height information needed for pallet height monitoring module monitors put luggage simultaneously transmits main control processor, at master control
Device is managed by information analysis, assigns the height that instruction is adjusted to needs to shelf described in shelf lifting motor control module motor driven
Degree, main control processor are also connected with the vision camera mould group of ticket information for identification and carry out the bill that bill and document print and beat
Print machine；Unmanned automatically walk drive system is arranged in chassis 1, further includes battery capacity management module, battery capacity management
Module includes battery pack, charging module, charge and discharge electrical chip and electric quantity monitoring chip.Shelf 21 include being set to 2 four jiaos of vehicle body
Column 22, and the multi-layered storage rack plate 23 being socketed on column 22 is arranged range sensor 24 between every layer of goods shelf plate 23 and uses
In the pushing block of adjustment shelf height, pushing block is connected to driving motor, and driving motor passes through shelf lifting motor control module
It is connected to main control processor, range sensor is connected to main control processor by pallet height monitoring modular, range sensor 24 and pushes away
Motion block is sheathed on column 22, and column is set as stud, pushes the internal screw thread of fast setting with stud cooperation.
Then the automatic cart of wisdom formula described in the technical program is due to using electrical energy drive, and has higher energy again
It needs, therefore the technical program provides a kind of perfect battery capacity administrative skill.Wind energy, light are realized by charging module
It can, even include the functions such as fossil energy power generation.Realize that the control optimized is realized in the charge and discharge to battery by charge and discharge electrical chip
System, as far as possible raising battery；Electric quantity monitoring chip can also be realized by various monitoring measures to battery each side
The monitoring in face can know the operation conditions of battery pack at the first time.
Ambient temperature and humidity monitoring modular can also be arranged in certain the technical program, can be passed using temperature sensor and humidity
Two in sensor or a Temperature Humidity Sensor realization, and the model of Temperature Humidity Sensor can be with SHT20's.
Preferably, electric quantity monitoring chip includes CPU, voltage monitoring unit, current monitoring unit, battery status monitoring list
Member and bus communication unit；Charging module includes that the survey of vehicle body week and upper surface setting is arranged in for charging too to battery pack
It is positive can charging module and/or wind energy charging module or and the wired charging module realized by generator, solar energy, wind energy and hair
Electric power generation is powered with battery using super capacitor management of charging and discharging and is powered together by voltage regulator circuit by energy converter
To CPU and each functional module；The charging module includes that setting is used in survey in the vehicle body 2 weeks and upper surface to the battery
The solar recharging module of group charging and the wired charging module realized by generator.
A kind of structure type of electric quantity monitoring chip is specifically illustrated in the technical program.Preferably this battery detection chip
Model can be used are as follows: the chip of BQ27510.Bus communication unit described in the technical program can refer to [Chinese invention]
Disclosed lithium battery management system for electric vehicle described in CN201220020977.6.Battery shape described in the technical program
State monitoring unit can be with reference to a kind of battery intelligent management system disclosed in [Chinese invention] CN201020199399.8.
Preferably, it is additionally provided with camera and locating module on the vehicle body 2, is provided with Identification of Images in the camera
Module.
Preferably, drive module, path navigation module, obstacle avoidance module and communication module sum number are provided on the chassis
According to processing module；The path navigation module is used to calculate path automatically according to starting point and destination；Obstacle avoidance module is used for
According to avoiding barrier the case where road and traffic signals on the path planned；The communication module is used for and the cloud service
System, terminal of delivering and receive terminal mutual message and feedback data；The data processing module is led for calculating the path
Data that model plane block, obstacle avoidance module and communication module pass back and analysis of drawing a conclusion.Further, obstacle avoidance module includes
Public place fence identification module, public place fence identification module include video identification device for shooting vehicle
Road ahead picture, differentiating front whether there is public place fence or designated lane, while according to public in video pictures
The real-time space length of the calculated for pixel values vehicle distances public place fence or designated lane of place fence or designated lane, and
The space length value continuously shortened between the two is sent to data processing module；Data processing module is according to setting space length
Critical value determine whether to adjust the drive module so that adjust vehicle travel speed and direction and carry out obstacle evacuation；Depending on
Frequency identification device includes video acquiring module and video identification module, and the road ahead that video acquiring module is used to shoot vehicle is drawn
Face, video identification module are used to carry out analytical calculation to the picture of acquisition；
Obstacle avoidance module includes obstacle recognition module, and obstacle recognition module includes the spy for detecting obstacle distance
Device is surveyed, for the roadblock information-storing device of storage detection roadblock object space position distance properties, for storing avoidance operation coding
Avoidance operation coding storage device, for by storage detection roadblock information-storing device and be stored in avoidance operation coding storage
It is compared in device, the comparator of substitution control signal input apparatus instruction vehicle obstacle-avoidance movement；Detection device is that setting exists
At least one transmitting unit and receiving unit of carbody Zhou Yan；Transmitting unit includes ultrasonic wave radiated element and triggering electricity
Road, connecing member includes ultrasonic wave receiving element and frontend amplifying circuit.
The technical program specifically discloses one kind and carries out automatic dispatching luggage in public place by certain vehicle application
To thoroughly change existing public place logistics distribution system at present.And pass through cloud service center, motor dolly and end
The function of being sent to, be sent to automatically in limited time is realized in the design of program in end equipment, this is unapproachable by manually dispensing at present
Effect.About being related to such as during transportation in motor dolly: antitheft, waterproof, fire prevention, overturn-preventing, leakproof, anti-
The safety problems such as thunder, anti-electric can refer to [Chinese invention] CN201120389056.2；A kind of disclosed anti-theft alarm system
And the automobile using the anti-theft alarm system；It can also refer to [Chinese invention patent] patent No.: 201510883169.0, institute is public
A kind of novel anti-roller devices of overturn-preventing opened.Communication module described in the technical program can using 4G communication by the way of into
Row, not only technology maturation but also transmission speed is fast.Simultaneously by giving one 4G card of each motor dolly, it is equivalent to every
A motor dolly has an independent identity, thus can preferably allow cloud service center and terminal device to automatic fortune
Defeated vehicle is controlled.The difference that article can also be transported simultaneously, customizes some motor dollies, for example need the object of transport refrigeration
Product, that motor dolly just need to meet the logistics transportation standard of whole cold chain.Data processing module described in the technical program
Preferably a kind of programmable controller preferably can also use S3C2440 chip controls using mcu programming control.
Preferably, the obstacle avoidance module can also include traffic marking identification module, make article vehicle of the invention can be with
Outer traveling in public places accepts the luggage traffic reservation of user.Traffic marking identification module includes that video identification device is used
In shooting vehicle front road picture, differentiating front whether there is traffic lights and zebra stripes, and identify traffic lights
State, while according to the real-time space length of the calculated for pixel values vehicle distances zebra stripes of zebra stripes in video pictures, and by two
The space length value continuously shortened between person is sent to the data processing module；The data processing module combination upcoming traffic
The status information of signal lamp is compared and is continuously shortened between vehicle and zebra stripes according to making a dash across the red light of pre-seting apart from critical value
Space length value, judges whether vehicle can make a dash across the red light；The video identification device includes video acquiring module and video identification mould
Block, the video acquiring module are used to shoot the road ahead picture of vehicle, and the video identification module is used for the picture to acquisition
Face carries out analytical calculation；The video identification module includes traffic lights identification module and zebra stripes identification module, the traffic lights
Identification module is used for the traffic signal light condition in the picture of acquisition；The zebra stripes identification module is used for the picture to acquisition
In space length of the zebra stripes apart from vehicle carry out analytical calculation.
A kind of technical solution of obstacle avoidance module is specifically illustrated in the technical program.By installing camera shooting dress in chassis
It sets, shoots road ahead picture, identify traffic lights and zebra stripes in picture, obtained according to picture pixel value analytical calculation
The real-time space length of zebra stripes in front of vehicle distances, and identify the state of traffic lights, and by space length value and
The status information of traffic lights is sent to host；As vehicle constantly moves forward, zebra stripes distance in front of the vehicle distances
Also increasingly closer, host constantly obtains the real-time space length value of consecutive variations, while sentencing to whether vehicle can make a dash across the red light
It is disconnected, if can make a dash across the red light, speed limit or car locking are carried out to vehicle by ECU, the behavior that motor dolly makes a dash across the red light is prevented
And prevention, be conducive to safeguard traffic order.Photographic device described in the technical program, can be by using camera lens and Charged Couple
Element (CCD) obtains the navigation pattern-information and road conditions real time information, or is partly led using camera lens and Complimentary Metal-Oxide
Body (CMOS) obtains the navigation pattern-information.
Data processing module can also connect image, vocal print and fingerprint processor, make the figure absorbed by camera module
Pass through data filtering as information and be uploaded to data processing module, or the voiceprint acquired by microphone array is made to pass through sound
Data processing is transmitted to data module, analyzes through data, assigns instruction to terminal is executed, and makes drive module starting, stops or keep away
Barrier, electric lockset is unlocked or closure；Unmanned article vehicle also sets up intelligent machine arm, for pasting the bill printing to luggage
The bill or carry luggage that machine is got also set up SOS emergency circuit module.
It should be strongly noted that navigation pattern-information can also be obtained by two kinds of different modes, such as pass through camera lens
With charge coupled cell (CCD, Charge-coupled Device), it can optionally pass through camera lens and complementary oxidation for another example
Metal semiconductor (CMOS, Complementary Metal-Oxide Semiconductor).Pass through these sensors, vehicle
Navigation equipment can shoot navigation pattern-information.
Preferably, the data processing module is also connected with ECU, if to judge that vehicle will be rushed red for the data processing module
Lamp then controls vehicle by ECU；The data processing module is also connected with cloud service center, the data processing module
The judging result whether vehicle can make a dash across the red light can be sent to cloud service center, the cloud service center can be to data processing module
Feedback command instruction connects ECU by data processing module and controls vehicle.
The technical program specifically discloses a kind of effect of ECU during avoidance.ECU described in the technical program is
Refer to, ECU (Electronic Control Unit) electronic control unit, also known as " car running computer ", " vehicle-mounted computer " etc..From with
It is said on way, is automobile specified microcomputerized controller.It as common computer, by microprocessor (CPU), memory (ROM,
RAM), the large scale integrated circuits such as input/output interface (I/O), analog-digital converter (A/D) and shaping, driving composition.With one
Sentence simple simon says describes exactly " brain that ECU is exactly automobile ".
Preferably, the obstacle avoidance module includes obstacle recognition module, and obstacle recognition module includes for detecting barrier
The detection device for hindering object distance, for the roadblock information-storing device of storage detection roadblock object space position distance properties, for storing
The avoidance operation coding storage device of avoidance operation coding, for storage detection roadblock information-storing device and avoidance will to be stored in
It is compared in operation coding storage device, the comparator of substitution control signal input apparatus instruction vehicle obstacle-avoidance movement；It is described
Detection device is at least one transmitting unit and receiving unit that motor dolly chassis Zhou Yan is arranged in；The transmitting is single
Member includes ultrasonic wave radiated element and trigger circuit, and the receiving unit includes ultrasonic wave receiving element and frontend amplifying circuit.
The technical program specifically discloses a kind of technical solution of obstacle recognition module, for identification in driving process
In pedestrian or other vehicles or other barriers.The information and roadblock information-storing device fed back by detection device it
Between information crawl, then by comparator, according to advancing after the mode and avoidance of the parameter value judgement avoidance being previously set
Route.Comparator described in the technical program is by comparing the size of the current or voltage of two input terminals, in output end
Export the electronic component of different voltages result.Comparator described in the technical program can refer to [Chinese invention]
CN201521020832.6, disclosed vehicle dynamic speed limiting system and vehicle.It is sent out as ultrasonic wave described in the technical program
It penetrates element, trigger circuit, ultrasonic wave receiving element and frontend amplifying circuit and belongs to the prior art, do not repeat here.
The mode of avoidance is in actual use: it is surveyed in the week of motor dolly and several ultrasonic wave radiated elements is set,
Wherein at least on front side of motor dolly be arranged three ultrasonic wave radiated elements, be respectively used to monitoring left side barrier distance,
The distance of front side barrier and the distance of right side barrier, and calculated according to the data that feedback obtains by comparator, it closes
Comparator described in the technical program preferably can use arduin single-chip microcontroller array and send steering or retreat instruction,
Namely advance towards selection towards apart from remote side.
In actual use, due to the numerical value sensed be it is multiple, can be by the way that each inductor be felt every
A data all putting in order from small to large respectively, then therefrom select minimum value, then again by the minimum of multiple directions again
Numerical value compares, and selects expression apart from the biggish direction of depth to be turned to.Be about avoidance concrete principle, first by
CAN bus be transmitted to CAN bus expand plate be transmitted to again arduin single-chip microcontroller array be transmitted to again AQMD6030BLS_P motor drive
Dynamic device analyzes data, and converts the data into the speed of the angle of hub motor rotation.
Preferably, the transmitting unit is arranged in car body surrounding and further includes having infrared sensor and millimetre-wave radar.It is red
The mature use in running car and reversing of outer sensor and millimetre-wave radar, does not repeat here.
Preferably, the path navigation module includes memory, input/output port and processor；The processor packet
Include: navigation information obtains module, navigates pattern-information for obtaining and cooks up the driving path of non-motorized lane；Self-navigation
Control module, for controlling vehicle driving ginseng according to the navigation pattern-information acquired in navigation information acquisition module
Number.
The technical program specifically discloses a kind of implementation of path navigation module, and the realization of the technical program, which is seen, asks
Topic is with specific reference to [Chinese invention] CN201210235759.9, a kind of specifically disclosed vehicle automatic navigation method of institute, navigation picture
Case information preparation method and its apparatus for vehicle navigation.
Preferably, the freight house is provided on the vehicle body；There are four be respectively arranged on the vehicle for setting on the chassis
The driving wheel and quantity of chassis two sides be identical as the driving wheel quantity and the driving with each driving wheel transmission connection respectively
Motor；The driving motor side is also connected to control signal receiving device and control signal input apparatus repeatedly.
A kind of structure for driving chassis is specifically illustrated in the technical program.Driving motor is the traveling of motor dolly
Power is provided, control signal receiving device is used to receive the avoidance that obstacle avoidance module transmits and instructs and pass through control signal input apparatus
Parameter by controlling driving motor realizes avoidance and normally travel.
Preferably, battery pack is additionally provided on the chassis, the upper end of the vehicle body is additionally provided with optical energy power module
Or wind power generation module, the optical energy power module or wind power generation module are connected with the battery pack for charging for it.
The technical program is specifically illustrated a kind of energy resource supply mode of motor dolly and during routine use
A kind of bank settlement and delivery and delivery handover mode.Also disclose a kind of side of the battery energy management of motor dolly
Formula is realized in the way of a variety of points of battery, solar energy, wind-force, automatic charging etc. to charge to battery pack, it is ensured that motor dolly exists
There is sufficient electricity to realize transportation function in driving process.
Preferably, the main control processor of the technical program includes data processing module, mainly includes EPS32 wireless on hardware
Processor, image/vocal print and fingerprint processor, power amplifier, ambient temperature and humidity monitoring modular, acceleration and attitude monitoring mould
Block, the shelf lifting motor control module of control shelf driving motor state, pallet height monitoring modular, vision camera mould group,
6811 processor 1-2 of motor driven, 6811 processor 3-4 of motor driven, Internet of Things mould group, Beidou mould group and electromagnetic monitoring management
Mould group etc., SOS emergency circuit, face recognition module and bill printer；Wherein Beidou antenna is arranged in Beidou mould group；Internet of Things mould
Group setting Internet of Things antenna；EPS32 wireless processor carries out signal transmission by antenna, power amplifier, WIFI signal and BLE signal；
The audio input for the microphone array that image/vocal print and fingerprint processor acquisition are handled through voice data, while passing through not photoproduction
Photoelectric subassembly is connected with power amplifier at circuit；Image/vocal print and fingerprint processor carry out sending focal length to camera module
The image data of the instruction of control, camera module acquisition is uploaded to image/vocal print and fingerprint processor through data filtering；Avoidance
Module be ultrasonic transmitter by being connect with main control processor or infrared transmitter by power amplification transmitting ultrasonic wave or
Emit infrared light, ultrasonic wave or infrared light are met barrier and reflected, the ultrasonic receiver being connect with main control processor
Or infrared remote receiver receives, and is uploaded to main control processor by signal processing.About drive module, mainly pass through two electricity
Machine driving 6811 processor 1-2 and 6811 processor 3-4 of motor driven pass through three-phase drive bridge circuit and rotation speed monitoring electricity respectively
Road, driving stage, counter electromotive force observation circuit and driving boostrap circuit carry out control to driving motor and achieve the purpose that automatically walk；
Main control processor also sets up shelf direction steering engine control module, by the corner and the rate control transport vehicle side that control driving motor
To.By above-mentioned main control processor, realize data acquisition, back-end data analytical calculation and instruction issuing: wherein number of terminals it is believed that
The acquisition of breath includes: to be stored in the ordering information of data center and distribute information, road information and complaint message, upload in real time
Location information, transport destination and picking people information, product storage information and volume residual information, payment information and storage letter
Breath, article placement status and monitoring safety status information etc.；Back-stage management and instruction issuing include: by background control center into
Control, the modification of backstage position and management, Item Information increase and decrease and modification, order status prison are remotely recalled and recalled to row transport vehicle
Control, transport courses management control and the control of hand automatic charging；The information exchange of above- mentioned information acquisition and background control center is main
By the transmission of network connecting module, locating module, electromagnetic lock module and signal, empty van and close case signal identification module, fixed point letter
Number identifing source module and the specific implementation of monitoring cell electricity quantity module.
The mechanism design of the transport vehicle of the technical program mainly includes the following: independent shelf structure is arranged, shelf are certainly
Dynamic lifting structure, public place fence recognition mechanism, indoor electronic map function and fixed point orientation cruise mechanism, ticketing service letter
It is (such as frangible to cease recognition mechanism, the printing of delivery document and paste functionality, the identification of special demands information, reading, printing and paste functionality
Product etc.), traffic and corridor walking mechanism, remotely call mechanism, breakables memory mechanism, GPRS location fix and path rule
It draws, road vision identification compares, infrared obstacle detection and scanning, complete machine function and failure self-monitoring, sun flexible are filled
Battery plate, light perception, road traffic laws and regulations read and execute.The technical essential of the technical program mainly includes that navigation mould is 1. added
Block, locating module use Beidou positioning and GPS using internet networking technology (including the big mainstream classification of GPRS, 4G, 5G tri-)
Location technology.Using zeggbi/433/bule short distance communication technology, using http/482/TCP data transmission technology, 2. count
According to switching technology, 3. breakables transport method, 4. face recognition technology, 5. two-dimensional barcode information identification technology, 6. mobile payment
With remote payment technology, 7. Orientation on map technology, floor and underground airmanship, 8. counter singlechip technology, 9. data point
Analysis: data classification and summary are carried out using distributed computing technology；The wherein reference flowchart of data analysis are as follows:
Data acquire the storage of --- data classification (video data, voice print database, planning walking path) --- data classification
Deposit --- data classification is transferred --- called data analysis --- judging data type (invalidating) --- clear up invalid data
Deng.
By above-mentioned technical essential and mechanism designing points, the technical program mainly realizes following functions:
1, frame structure designs, and placement falls, and is put according to luggage and highly automated shelf is raised and lowered.According to user demand
Automatically reach leads user to specified check-in region after specifying reservation position, luggage to put according to the travel information of user, completes
After check-in, user is led to reach specified luggage delivery sales counter；
2, on-line payment, safety problem (antitheft, waterproof, fire prevention, overturn-preventing, leakproof, lightning protection, anti-electric) are sent to automatically, limit
When be sent to, object post take, people connects or the realization of automatic vehicle automatic access method, nobody connect goods situation can authorize into family or
It is put into cargo destined case；
3, automatic vehicle is with reference to the automatic planning operation path, automatic obstacle-avoiding (mobile barrier and static barrier) of navigating
(providing principle and precedent), automatic identification are simultaneously observed traffic rules and regulations, road conditions identification (range sensor and machine vision) (offer original
Reason and precedent)；
4, automatic vehicle way to take power (battery, solar energy, wind-force, automatic charging), automatic vehicle fault self-checking automatic alarm, electricity
Pond energy management, function realize (remote control, automatic Pilot, long-range calling)；
5, it realizes that the whole people share, automatic vehicle possesses identity-independent, support user identity identification (speech recognition+voice control
System), cargo transmitting-receiving time reservation, remind (short message, wechat), transportational process node remind and inquiry (map path is shown)；
6, automatic vehicle is bought on behalf automatically, remotely controls automatic payment, self-service dining car (automatic vending), automatic selling lorry (automatically
Sell), food automatic selling send (food and drink)；
7, user identity identification supports recognition of face+fingerprint+identity card barcode scanning+number verification.
A kind of shared system, including cloud service center, several automatic carts of wisdom formula and the terminal for being distributed in user
Equipment；The cloud service center is for planning as a whole distribution management motor dolly and will feed back to motor dolly respectively for information about
And terminal device；The terminal device, which includes at least, the delivery terminal used for luggage sender.
The technical program specifically discloses a kind of a kind of shared system based on the automatic cart of wisdom formula.Pass through cloud service
Center carry out big data analysis so that utmostly rationalize using this motor dolly can unmanned delivery the characteristics of.Simultaneously originally
Delivery terminal described in technical solution and terminal of receiving refer to a kind of software program for facilitating consignee and consignor to operate and/or
Hardware device.That is delivery terminal and terminal of receiving can be mobile phone, plate and the computer for possessing customization APP, can also be with
It is the mobile device that other facilitate consignor and consignee to operate.
During transportation, the driving path of motor dolly can also be manipulated by delivery terminal remote and can will be automatic
Transport vehicle is remotely called and is gone back for cancelling an order.The profit model for summarizing shared system is by dispatching number+weight charge
Can be by dispatching mileage charge, can also contract special dispatching with businessman, operation payment deduction；It can also lease, it can also be wide
Position charge to be accused, facilitates personnel's purchase, Sales Channel integration for entire industry, the time is saved in scattered comprehensive utilization of resources,
Raising efficiency promotes consumption.
A kind of business model, the shared system including the automatic cart of wisdom formula described in any of the above item at least further include
Have through the shared system using the automatic cart of wisdom formula, after completing transaction, is extracted with the name of platform a certain proportion of
Commission, in this way obtain an income, can also platform cooperate to be sold with businessman, earn profit on sales；It further include quotient
Family's purchase is leased for supplying to dispersion client's automatic transportation；Or it puts into and twice lease or multistage leasing market；It can be straight
Outbound sells to all kinds of enterprises and institutions or individual client as special-purpose vehicle, earns 0vehicle marketing profit, the replacement dimension of components
Repair expense and working hour, material, maintenance expense etc.；The execution step of the business model includes:
1) user's registration, uplink data is through system audit, by then becoming shared user；User can inquire fortune and sell vehicle
Information, cloud service center show that attachment transports car sale information；
2) registers user when needing the automatic fortune of reservation to sell vehicle, determines use scope, confirmation reservation places an order and branch payment
, the cloud service center distributes automatic fortune automatically according to reservation information and sells vehicle, and fortune sells vehicle order；
3) is transported automatically sells vehicle arrival designated place, and delivery side logs in APP, carries out subscriber authentication, and verifying identity is logical
It crosses, the automatic fortune sells vehicle automatic unlocking；
4) after loads kinds of goods, start after automatic article lock is fixed and transport, after automatic running to destination, this is ordered
Unijunction beam；
5) after the shared transaction of, automatic fortune sells vehicle automatic running and returns the on-call uses such as position of readiness.
6) self-test self electric quantity if not enough power supply voluntarily drives to charging zone when automatic article vehicle standby mode described in
Charging, after charging complete, the automatic fortune sells vehicle automatic running and returns the on-call uses such as position of readiness.
Preferably, advertising platform is arranged in the automatic cart of the wisdom formula, is at least used to dock with all kinds of businessmans and advertisement is declared
Pass, by be pumped into or advertising expenditure profit；Airport, motor-car station and all kinds of shopping mall supermarket conducts can be thrown to by platform
Shared vehicle uses, and collects shared expense；Third-party enterprises and institutions or individual can also be sold to, sold
Profit.
Embodiment two, the present embodiment and embodiment one are almost the same, and difference is: described to transport each class formation for selling vehicle
Cargo box structure in addition to can satisfy logistics transportation use and merchandise sales has the characteristics that same and function and protecting, so institute
The shop use that unmanned place is also used as sports type is stated, by using purposes difference, the fortune is sold in vehicle freight house and can be put
Into all kinds of commodity, the end APP provides the product details introduction of e-commerce type again, and user can arbitrarily browse commodity and carry out
It selects, buy, and by reserved specific address, the fortune sells vehicle and reaches buyer position, confirmation buyer's identity letter automatically
After breath, freight house automatic spring corresponds to the commodity of model and dimensions.
The automatic cart of wisdom formula realizes that the calling of user uses by APP, and consignee sells vehicle in the fortune and reaches
Afterwards, unpack password or number of picking up goods are inputted by cell phone application, when determining that password or number are correct, freight house is automatically opened,
If consignee not when, express delivery cabinet or the place received of authorization or individual can be put into automatically.Not obtaining backstage authorization sells fortune
The personnel of vehicle do not provide the functions such as unpacking picking or unpacking goods putting.Fortune, which sells vehicle and is transported to article, specified receiving a little and being closed
After managing picking, the fortune sells vehicle for automatic returning to specified parking position.The fortune sells what vehicle was used in parking waiting client
In the process, automatic transportation and driving system are in suspend mode or closed state；It is additionally provided with camera and locating module on vehicle body, takes the photograph
As being provided with Identification of Images module in head, freight house and vehicle body periphery are equipped with warning device, if unnormal unlocking alarms triggering
Device, and trigger Identification of Images module automatic video recording and retain evidence.
The relatively described detachable split installation of vehicle body of the freight house facilitates and is replaced according to the type of transport article,
The automatic fortune sells the specification that the dimensions of vehicle freight house can be travelled fully according to country's allowance in urban road, the freight house
Can be set to different length, width and height according to size, each freight house has independent unique number, and freight house all has independent door,
Electromagnetic lock structure is used on door, the control device of electromagnetic lock and the data center of background system connect, by determining consignee
Identity information mode opens door.Determine the mode diversification of consignee's information, including recognition of face, fingerprint recognition, mobile phone indigo plant
Tooth, wechat, short message verification code etc..
The unpiloted automatic running system includes drive module, path navigation module, obstacle avoidance module and communication mould
Block and data processing module；Automated path calculating between the starting point and destination is also believed to user and places an order buy quotient
The path sold between the place of receipt of vehicle specified with user with parking of transporting is planned automatically when product.Passage path navigation mould
Block, the fortune sell the whole navigation that indoor and outdoors may be implemented in vehicle, and control the fortune and sell vehicle according to state's laws regulation rule
Fixed travel speed 15km/h is travelled on non-motorized lane, and Intra-cell road is travelled according to the speed of 5km/h, driving process
Middle evacuation pedestrian, other vehicles and the barrier for realizing automation.
The fortune sell be provided in drive module on vehicle at least two with driving motor and be distributed in the fortune with selling vehicle
The two sides of disk are simultaneously connect with driving wheel；The driving motor side is also connected with control signal receiving device and control signal input
Device；Battery pack is additionally provided on the chassis, the upper end of the vehicle body is additionally provided with optical energy power module or wind power generation
Module, the optical energy power module or wind power generation module are connected with the battery pack for charging for it.
Preferably, it is described fortune sell vehicle can be by background system and wisdom formula intelligent concentrator, wisdom formula intelligent concentrator
It can be sound equipment, and be attached by sound equipment, intelligent concentrator is equipped with multiple intelligent functions, and possesses together in the backstage APP
The commodity library of sample, user at home or in office by voice control, can say the service either needs of needs
The commodity of purchase, intelligent concentrator can choose the mode of projection, show commodity indoors for user, buy when user determines
When, it is only necessary to required sizes and types are said, complete payment, the fortune, which sells vehicle, quickly to deliver goods to the customers.The intelligence
The means of payment of concentrator can be bundled with wechat or payment and other intelligent means of payment, pass through concentrator intelligence
The modes such as the sound, face-image, fingerprint either password of user are read to complete to withhold.Preferably, the fortune sells all kinds of of vehicle
Structure has the characteristics that same and function and protecting, institute in addition to the cargo box structure that can satisfy logistics transportation use and merchandise sales
It is used with the shop that the unmanned place is also used as sports type.
Preferably, the automatic cart of wisdom formula realizes that the calling of user uses by APP, and consignee sells in the fortune
After vehicle arrival, unpack password or number of picking up goods are inputted by cell phone application, when determining that password or number are correct, freight house is certainly
It is dynamic to open, if consignee not when, express delivery cabinet can be put into automatically or place that authorization is received or individual.Backstage is not obtained to authorize
So that fortune is sold the personnel of vehicle, the functions such as unpacking picking or unpacking goods putting are not provided.Fortune sells vehicle and article is transported to specified receive a little
And by after reasonable picking, the fortune sells vehicle for automatic returning to specified parking position.The fortune sells vehicle in parking waiting client
During use, automatic transportation and driving system are in suspend mode or closed state；Camera and positioning are additionally provided on vehicle body
Module is provided with Identification of Images module in camera, and freight house and vehicle body periphery are equipped with warning device, if unnormal unlocking will touch
It transmits messages alarm device, and triggers Identification of Images module automatic video recording and retain evidence.
Preferably, by the sensor of each section on vehicle body, according to vehicle self weight, distance, road gradient and height at this time,
Vehicle body size, travel speed etc., the distance of detection front on both sides of the road, keep position traveling in road, reasonably adjust speed and direction,
Control vehicle does not go out road surface, equilibrated curved, realizes Anti-inclining and rollover.
Preferably, the technical program can also have automatic cleaning, cleaning and disinfection function, can guarantee vehicle in this way
Article in body itself and freight house during transportation will not there is a situation where mildew or other influences commercial quality hairs
It is raw.It further include battery capacity management module and voice interaction module, battery capacity management module includes battery pack, charging mould
Block, charge and discharge electrical chip and electric quantity monitoring chip.Pass through mobile device and the intelligent terminal number between Cloud Server between the two
It according to exchange, realizes other than goods transportation circulation, moreover it is possible to use, create a kind of novel as mobile items sold vehicle
The business model that sale and logistics be combined with each other with intercommunication.
Embodiment three, the present embodiment and embodiment one are almost the same, and difference is: the automatic cart of wisdom formula
The small-sized container of upper end can be accessory, can be used as cart when quotient purchases exceeding the amount stipulated object when installing shopping basket and use, mounting plate type is placed
When frame, it can be used under the environment such as airport as the automatic Luggage Cart of short distance.
Above-described embodiment is only presently preferred embodiments of the present invention, is not limited the scope of the invention according to this, therefore: it is all according to
The equivalence changes that structure of the invention, shape, principle are done, should all be covered by within protection scope of the present invention.
Claims (10)
1. a kind of automatic cart of wisdom formula, it is characterised in that: the automatic cart of wisdom formula, which includes at least, chassis and vehicle body,
It is provided on the chassis for unpiloted automatic running system, the goods for depositing one's luggage is set on the vehicle body
Frame, the shelf are set as two or more layers, and the shelf setting shelf lifting motor control module, pallet height monitor mould
Block, the shelf lifting motor control module and the pallet height monitoring modular are electrically connected main control processor, and the shelf are high
Pallet height information needed for degree monitoring module monitors put luggage is simultaneously transmitted to the main control processor, the main control processor
By information analysis, the height that instruction is adjusted to needs to shelf described in the shelf lifting motor control module motor driven is assigned
Degree, the main control processor are also connected with the vision camera mould group of ticket information for identification and carry out the ticket of bill and document printing
According to printer；Unmanned automatically walk drive system is arranged in the chassis, further includes battery capacity management module, battery electricity
Measuring management module includes battery pack, charging module, charge and discharge electrical chip and electric quantity monitoring chip.
2. a kind of automatic cart of wisdom formula according to claim 1, it is characterised in that: the shelf are described including being set to
Distance-sensing is arranged between every layer of goods shelf plate in the column of vehicle body quadrangle, and the multi-layered storage rack plate being socketed on the column
Device and pushing block or pusher cylinder for adjusting the shelf height, the pushing block or pusher cylinder connection driving
Motor, the driving motor are connected to the main control processor, the Distance-sensing by the shelf lifting motor control module
Device is connected to the main control processor by the pallet height monitoring modular, and the range sensor and the pushing block are sheathed on
On the column, the column is set as stud, the internal screw thread of the promotion fast setting and stud cooperation.
3. a kind of automatic cart of wisdom formula according to claim 1, it is characterised in that: the charging module includes to be used for
The solar recharging module to charge to the battery pack and the wired charging module realized by generator, the solar recharging
Module includes telescopic solar charging panel, and solar charging panel setting is being surveyed in the vehicle body week and upper surface, described
Electric quantity monitoring chip includes CPU, voltage monitoring unit, current monitoring unit, battery status monitoring unit and bus communication list
Member；It is additionally provided with camera and locating module on the vehicle body, Identification of Images module is provided in the camera.
4. a kind of automatic cart of wisdom formula according to claim 1, it is characterised in that: the unpiloted automatic running
System includes drive module, path navigation module, obstacle avoidance module and communication module and data processing module；The drive module is used
Travel speed and direction in control vehicle, the path navigation module are used to calculate road automatically according to starting point and destination
Diameter；Obstacle avoidance module is used for avoiding barrier and public place on the path planned according to public place road the case where and encloses
Column；The communication module is used for and cloud service center, terminal of delivering and receive terminal mutual message and feedback data；The data
Processing module is used to calculate the data that the path navigation module, obstacle avoidance module and communication module pass back and draws a conclusion simultaneously
Vehicle driving is controlled by drive module.
5. a kind of automatic cart of wisdom formula according to claim 4, it is characterised in that: the obstacle avoidance module includes public
Place fence identification module, public place fence identification module include video identification device for before shooting vehicle
Fang Daolu picture, differentiating front whether there is public place fence or designated lane, while according to public place in video pictures
The real-time space length of the calculated for pixel values vehicle distances public place fence or designated lane of fence or designated lane, and by two
The space length value continuously shortened between person is sent to the data processing module；The data processing module is according to setting space
The critical value of distance determine whether to adjust the drive module so that adjust vehicle travel speed and direction and carry out obstacle and keep away
It allows；The video identification device includes video acquiring module and video identification module, and the video acquiring module is for shooting vehicle
Road ahead picture, the video identification module is used to carry out analytical calculation to the picture of acquisition；
The obstacle avoidance module includes obstacle recognition module, and obstacle recognition module includes the spy for detecting obstacle distance
Device is surveyed, for the roadblock information-storing device of storage detection roadblock object space position distance properties, for storing avoidance operation coding
Avoidance operation coding storage device, for by storage detection roadblock information-storing device and be stored in avoidance operation coding storage
It is compared in device, the comparator of substitution control signal input apparatus instruction vehicle obstacle-avoidance movement；The detection device is to set
Set at least one transmitting unit and receiving unit in carbody Zhou Yan；The transmitting unit includes ultrasonic wave radiated element
And trigger circuit, the member that connects includes ultrasonic wave receiving element and frontend amplifying circuit.
6. a kind of automatic cart of wisdom formula according to claim 5, it is characterised in that: the data processing module is also connected with
The drive module, drive module include ECU, if the data processing module judge vehicle will strikes obstacles,
Vehicle is controlled by ECU；The data processing module is also connected with cloud service center, and the data processing module can be by vehicle
Whether can the judging results of strikes obstacles be sent to cloud service center, the cloud service center can be anti-to data processing module
Command instruction is presented, ECU is connected by data processing module, vehicle is controlled.
7. a kind of automatic cart of wisdom formula according to claim 1, it is characterised in that: the data processing module is also connected with
Image, vocal print and fingerprint processor are uploaded to the image information absorbed by camera module at data by data filtering
Module is managed, or handles the voiceprint acquired by microphone array by voice data and is transmitted to the data module, is passed through
Data analysis assigns instruction to terminal is executed, so that drive module started, stopped or avoidance, and electric lockset is unlocked or closure；It is described
Unmanned article vehicle also sets up intelligent machine arm, for pasting the bill or carry row that the bill printer is got to luggage
Lee also sets up SOS emergency circuit module；The path navigation module includes memory, input/output port and processor；It is described
Processor includes: that navigation information obtains module, navigates pattern-information for obtaining and cooks up the driving path of non-motorized lane；
Self-navigation control module, for controlling vehicle according to the navigation pattern-information acquired in navigation information acquisition module
Driving parameters；Be provided in the drive module driving wheel that at least two are respectively arranged on the chassis two sides and quantity with
The driving wheel quantity is identical and the driving motor with each driving wheel transmission connection respectively；The driving motor side also connects
It is connected to control signal receiving device and control signal input apparatus；Battery pack is additionally provided on the chassis, the vehicle body
Upper end is additionally provided with optical energy power module or wind power generation module, and the optical energy power module or the connection of wind power generation module are
Battery pack is stated for charging for it.
8. a kind of shared system, it is characterised in that: including cloud service center, the described in any item intelligence of several claims 1 to 7
The intelligent automatic cart of formula and the terminal device for being distributed in user；The cloud service center manages the wisdom formula for planning as a whole distribution
Automatic cart simultaneously will feed back to unmanned article vehicle and terminal device respectively for information about；The terminal device, which includes at least, to be had for row
The delivery terminal that Lee sender uses.
9. a kind of business model, it is characterised in that: the shared system including the automatic cart of wisdom formula according to any one of claims 8, until
Less further include the shared system having by using the automatic cart of wisdom formula, after completing transaction, extracts one with the name of platform
The commission of certainty ratio, in this way obtain an income, can also platform cooperate to be sold with businessman, earn profit on sales；
It further include businessman's purchase or lease for supplying to dispersion client's automatic transportation；Or investment leases city with twice lease or multistage
?；All kinds of enterprises and institutions or individual client can be distributed directly to as special-purpose vehicle, earn 0vehicle marketing profit, components
Repair and replacement expense and working hour, material, maintenance expense etc.；
The execution step of the business model includes:
1) user's registration, uplink data is through system audit, by then becoming shared user；User can inquire fortune and sell information of vehicles,
Cloud service center shows that attachment transports car sale information；
2) registers user when the automatic fortune of needs reservation sells vehicle, determines use scope, the simultaneously payment that places an order, institute are reserved in confirmation
It states cloud service center and distributes automatic fortune automatically according to reservation information and sell vehicle, fortune sells vehicle order；
3) is transported automatically sells vehicle arrival designated place, and delivery side logs in APP, carries out subscriber authentication, and verifying identity passes through, institute
It states automatic fortune and sells vehicle automatic unlocking；
4) after loads kinds of goods, start after automatic article lock is fixed and transport, after automatic running to destination, this order knot
Beam；
5) after the shared transaction of, automatic fortune sells vehicle automatic running and returns the on-call uses such as position of readiness；
6) self-test self electric quantity voluntarily drives to charging zone and fills if not enough power supply when automatic article vehicle standby mode described in
Electricity, after charging complete, the automatic fortune sells vehicle automatic running and returns the on-call uses such as position of readiness.
10. business model according to claim 9, it is characterised in that: advertising platform is arranged in the automatic cart of wisdom formula,
At least for dock with all kinds of businessmans and advertising, by being pumped into or advertising expenditure profit；It can be thrown to by platform
Airport, motor-car station and all kinds of shopping mall supermarkets are used as shared vehicle, collect shared expense；Can also be sold to
The enterprises and institutions of tripartite or individual obtain sale margin.
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| CN201810830063.8A CN108958259A (en) | 2018-07-25 | 2018-07-25 | A kind of automatic cart of wisdom formula and shared system and business model |
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| CN201810830063.8A CN108958259A (en) | 2018-07-25 | 2018-07-25 | A kind of automatic cart of wisdom formula and shared system and business model |
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| CN112471787A (en) * | 2020-10-22 | 2021-03-12 | 包承宗 | Intelligence house kitchen locker for vegetable storage |
| CN113903158A (en) * | 2021-10-19 | 2022-01-07 | 苏州中科先进技术研究院有限公司 | Automatic alarm method and device for trolley overload |
| WO2023139281A1 (en) * | 2022-01-24 | 2023-07-27 | Beumer Group A/S | A transport load carrier for a baggage handling system |
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