CN109146361A - A kind of unmanned goods stock of wisdom formula, shared system and business model - Google Patents

A kind of unmanned goods stock of wisdom formula, shared system and business model Download PDF

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Publication number
CN109146361A
CN109146361A CN201810830064.2A CN201810830064A CN109146361A CN 109146361 A CN109146361 A CN 109146361A CN 201810830064 A CN201810830064 A CN 201810830064A CN 109146361 A CN109146361 A CN 109146361A
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China
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module
vehicle
goods stock
unmanned goods
unmanned
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江正云
孙启红
柏天鹏
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Smart Holdings Ltd
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Smart Holdings Ltd
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    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06QDATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00Administration; Management
    • G06Q10/08Logistics, e.g. warehousing, loading, distribution or shipping; Inventory or stock management, e.g. order filling, procurement or balancing against orders
    • G06Q10/083Shipping
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06QDATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q30/00Commerce, e.g. shopping or e-commerce
    • G06Q30/06Buying, selling or leasing transactions
    • G06Q30/0645Rental, i.e. leasing

Abstract

The invention discloses a kind of unmanned goods stock of wisdom formula, shared system and business models, including at least having chassis and vehicle body, it is provided on chassis for unpiloted automatic running system, freight house for loading cargo is set on vehicle body, and unpiloted automatic running system includes drive module, path navigation module, obstacle avoidance module and communication module and data processing module;It further include sensor module, intelligent identifying system, monitoring and detection system, monitoring system and main control processor;Main control processor, which is analyzed according to acquisition information and controls vehicle, takes corresponding actions, guarantees the safety and normal operation of vehicle;It further include battery capacity management module, battery capacity management module includes battery pack, charging module, charge and discharge electrical chip and electric power detection chip.The present invention realizes the unmanned of truck by unmanned technology, realizes really unmanned transport, and the basis based on unmanned goods stock, the comercial operation mode of framework entirety.

Description

A kind of unmanned goods stock of wisdom formula, shared system and business model
Technical field
The invention belongs to logistics distribution technical field, refer in particular to a kind of unmanned goods stock of wisdom formula, and establish this one Shared system and corresponding business model on the unmanned goods stock basis of kind wisdom formula.
Background technique
China's development speed in this year is swift and violent, and logistics and transportation industry development is also continuous enlargement, all kinds of logistics companies and express delivery The presence and development of company change people's lives, and the mode of logistics transportation still uses goods stock, railway, steamer and fly The main stream traffics tool such as machine, but present transport product be it is ever-changing, especially electronic product is more and more, railway fortune All there are many limitations in defeated and air transport, relatively fewer in the usage amount of the logistics transportation steamer in China native country, so Main means of transport or lorry.But the general transportation range of present goods stock is longer, cargo dead-weight is also very big, many Truck driver can have the behavior of fatigue driving and over loading and excessive speed traveling, bring very big security risk.
Summary of the invention
The main object of the present invention be by unmanned technology realize truck it is unmanned, realize really nobody Change transport, and the basis based on unmanned goods stock, the comercial operation mode of framework entirety.
The object of the present invention is achieved like this: a kind of unmanned goods stock of wisdom formula, a kind of unmanned freight of wisdom formula Including at least has chassis and vehicle body, is provided on chassis for unpiloted automatic running system, is arranged on vehicle body For loading the freight house of cargo, unpiloted automatic running system include drive module, path navigation module, obstacle avoidance module and Communication 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 Path is calculated automatically according to starting point and destination;Obstacle avoidance module on the path planned according to the case where road for evading Barrier and fence;Communication module is used for and cloud computing system, terminal of delivering and receive terminal mutual message and feedback data;Number It is used to calculate data that path navigation module, obstacle avoidance module and communication module pass back according to processing module and draws a conclusion and lead to Module of overdriving controls vehicle driving;It further include sensor module, intelligent identifying system, monitoring and detection system, monitoring system And main control processor;Sensor module for acquire, detect the freight house temperature and humidity information for surveying unmanned goods cloud vehicle, cargo height, Weight information, oil mass, information about power, vehicle tyre pressure information, engine temperature and the unobstructed information of pipeline, fire hazard information, danger Dangerous product smell, composition information, and it is uploaded to main control processor and cloud computing system, main control processor is according to sensor die block message Carry out freight house temperature and humidity adjustment, the unmanned goods stock of control to service area progress oil mass, electricity or tire pressure supplement, engine cooling Or traveling repairs or issues danger alarm signal to nearest maintenance station, and is uploaded to cloud computing system, intelligent identifying system For intelligent recognition recipient, and the recipient information for judging whether and being uploaded to cloud computing system is coincide, and is also used to identify fortune Defeated goods information, and be uploaded to cloud computing system and form database, it is readily transported distribution;Monitoring and detection system, with sensing Device module cooperatively forms monitoring and detection to information of vehicles, guarantees vehicle safety;Monitoring system is used for in freight house and vehicle Surrounding environment is monitored in real time and is uploaded to cloud computing system;Main control processor is used to be analyzed and be controlled according to acquisition information Vehicle processed takes corresponding actions, guarantees the safety and normal operation of vehicle;It further include battery capacity management module, battery capacity pipe Managing module includes battery pack, charging module, charge and discharge electrical chip and electric power detection chip.
Further, a manned room or people's housing chair is at least arranged in unmanned goods stock, while realizing loading There can be the cargo for manually escorting requirement that there can also be personnel's follow the bus while may be implemented remotely to escort for some with manned It is responsible for;Charging module includes for the solar recharging module to battery pack charging and by the wired of generator realization Charging module, solar recharging module include telescopic solar charging panel, and solar charging panel setting is in the vehicle body week Survey and upper surface, electric power detection chip include CPU, voltage monitoring unit, current monitoring unit, battery status detection unit 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, obstacle avoidance module includes fence identification module, and fence identification module includes that video identification device is used In shooting vehicle front road picture, differentiating front whether there is fence or designated lane, while according to fence in video pictures Designated lane calculated for pixel values vehicle distances fence or designated lane real-time space length, and will continuously contract between the two Short space length value is sent to data processing module;The data processing module determines according to the critical value of setting space length Whether adjust drive module so that adjust vehicle travel speed and direction and carry out obstacle evacuation;Video identification device includes view Frequency obtains module and video identification module, and video acquiring module is used to shoot the road ahead picture of vehicle, video identification module For carrying 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 with cloud computing system System, data processing module can by vehicle whether can the judging results of strikes obstacles be sent to cloud computing system, cloud computing system 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 the data module, analyzes through data, assigns instruction to terminal is executed, start drive module, Stop or avoidance, electric lockset are unlocked or be closed;Unmanned goods stock also sets up intelligent machine arm, is used for automatic transporting row Lee, or the sorting and carrying of cargo are carried out to wisdom formula miniature self-service haulage vehicle automatically;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 car lane and non-motorized lane;Automatically Navigation control module, 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 it is identical and respectively with each driving wheel transmission connection driving motor;Driving motor side is also connected with control signal and connects By device and control signal input apparatus;Battery pack is additionally provided on chassis, the upper end of vehicle body is additionally provided with optical energy power mould Block or wind power generation module, optical energy power module or wind power generation module are connected with battery pack for charging for it;Vehicle body it is upper End is additionally provided with barcode scanning cog region, and for facilitating delivery terminal and terminal of receiving to carry out, barcode scanning places an order and barcode scanning is paid.
A kind of shared system, including cloud computing system, a kind of unmanned goods stock of several wisdom formulas and it is distributed in use The terminal device of person;Cloud computing system manages a kind of unmanned goods stock of wisdom formula for planning as a whole distribution and will distinguish for information about Feed back to unmanned goods stock and terminal device;Terminal device, which includes at least, the delivery terminal and confession used for cargo sender Terminal that cargo recipient used receive.
A kind of business model, the shared system including a kind of unmanned goods stock of wisdom formula at least further include having to pass through benefit With a kind of shared system of unmanned goods stock of wisdom formula, other related industries of user-association are guided, specific method is:
S1: placing an order in user mobile phone, plate, PC either other intelligent terminals enterprising crudely-made articles fortune, unmanned goods stock and System can drive the businessman in other electricity pin businessmans and small-sized wholesale market to make in this way by realizing order on line With access Courier Service and lot item transport class enterprise;
S2: according to demand of the big data analysis system user before and after using business model, and these demands are also led to Cross the integration that shared business model carries out full industrial chain;The industrial chain include unmanned goods stock lease, purchase and The shared model;By the way that freight all kinds station, express station can be grafted in unmanned goods stock and system;
It further include that a certain proportion of commission is extracted with the name of platform, obtains one in this way after completing transaction Income;Or before transaction starts, user is needed to pay the cash pledge of certain number, all cash pledges are collected into up composition one The injected volume that certain proportion is used to expand product is extracted from cash pledge pond in a cash pledge pond;Certain proportion is extracted again is used for financial investment, For increasing the utilization rate of cash pledge and increasing a extra returns;Retain Reserve Fund of the certain proportion as user's return of down payment; It further include businessman's purchase or lease for supplying to dispersion user automatic transportation;Or investment leases city with twice lease or multistage ?;
The execution step of business model includes:
1) user or buyer of user's registration, unmanned goods stock and system, are submitted by network-termination device After data passes through background system audit logging, become the user of unmanned goods stock and system;
2) when registers user using unmanned goods stock and system, specified by using unmanned goods stock and system Software program such as APP or pc client, and install and realize that the personnel's publication for having cargo transport demand needs to transport on mobile terminals Information, the unmanned goods stock administrative power owner of platform registration can with order on line, offer and collect freight;
3) registers user on the basis of completing step 2), and the administrative power owner of unmanned goods stock can pass through APP It inputs the origin of this batch transport cargo and reaches in ground;
4) the unmanned goods stock of has a freight house function, after the logistics information that user is issued by APP, unmanned goods stock Reach the loading that designated place waits cargo;
5) the unmanned goods stock of and system are planned by the path navigation module realizing route on vehicle, while unmanned goods The large data center of the cloud computing system of vehicle is transported according to the path of planning, carries out real-time road information transmission with vehicle, i.e., When adjust;
6) cargo of the unmanned goods stock of loads early period, and wisdom formula miniature self-service haulage vehicle can be used and carry out remotely Calling and automatic transhipment, are carried out the sorting and carrying of cargo automatically by wisdom formula miniature self-service haulage vehicle, are sent to nothing after being sent to On people's goods stock, this realizes automatic freight information transmitting, logistics transportation and carrying in the process;
7) the unmanned goods stock of is sent by the large data center of cloud computing system to consignee when arriving at the destination It receives information, or automatically unloading cargo, automatic sorting and automatic transportation is realized by wisdom formula miniature self-service transport vehicle, directly It is transported in manpower of receiving;
8) the dynamical system group of the unmanned goods stock of becomes engine power system, and the energy is at least fuel oil either electricity The power energy in the process of moving in real time monitors the oil mass or electricity of unmanned goods stock itself in real time, and is led to The energy auxiliary point in the large data center calculating path of cloud computing system is crossed, is refueled or is charged automatically;
9) under the unmanned goods stock standby mode of and operating status still can self-test itself oil mass or electricity, if energy deficiency, It then carries out entering oiling automatically or charged area is refueled or charged to supplement the energy, after the completion of supplementing the energy, unmanned shipping Vehicle automatic running returns position of readiness;
10) the unmanned goods stock of is in traveling either under ideal case, by be mounted on tire, engine, oil circuit or Sensor on route and complete vehicle structure component carries out real-time monitoring to the overall condition of unmanned goods stock;
11) the unmanned goods stock of is when finding that fire hazard occurs for freight house or vehicle itself, to electrical fire and its He is monitored open fire, prevents on fire in vehicle or container;
12) for when transporting chemical industry either dangerous material, freight house will use different freight houses according to the difference of transport article, The high sensor that corresponding article safety detection is loaded on different freight houses carries out effectively for that can generate dangerous factor Monitoring, judgement and in time processing;
Unmanned goods stock, by software technology, realizes visitor other than the function that unmanned goods stock itself has A wide range of connection of the family --- vehicle --- between consignee three, then by the sorting of minitype carrier vehicle, formed effective Logistics transportation and sorting system promote logistics speed by big data analysis, while by intelligent identifying system, accurately judging Consignee realizes one-to-one effective identification and management.
Further, business model further includes the mode for having following depth to run:
1) user utilizes shipping order under unmanned goods stock and shared system, and clear departure place and mesh in order Ground;
2) cloud computing system according to the classification for transporting article and sets out the order that each needs transports according to algorithm The difference on ground and destination, taxonomic revision go out the order that unified dispatching can be realized on same motor vehicle;And to the order The motor dolly at place assigns path planning instruction;
3) is placed goods onto the unmanned goods stock and system, is directly transported by unmanned goods stock and system To near destination, then sorting is carried out by artificial or other small-sized motor dollies and is dispensed one by one;
Business model, which includes at least, a big data analysis system;The big data analysis system need current by analysis crowd It asks, by the way that several advertisement positions are arranged in delivery terminal and terminal of receiving for accurately launching advertisement, by collecting advertisement Expense or the mode by clicking charge collect advertising expense;Or product is shared by the guidance other downstreams of user-association.
The present invention is prominent and beneficial compared with prior art to be had the technical effect that
1, the logistics demand of any distribution form can be satisfied with, the R. concomitans concept of " internet+", sharing under line Resource is launched onto line, is facilitated on-line search selection in delivery side's that can use unmanned goods stock, and whole without hand haulage, is protected The time of delivery and the efficiency of delivery are demonstrate,proved.The time of logistics can further be shortened.So as to further speed up cargo stream Dynamic speed, power-assisted national economic development.
2, this shared system can fundamentally change the confusion of current logistics and transportation industry, uniform price, unified industry mark Standard is reduced artificially to the influence of carrier.Can allow carrier the more stable and more benign health of operation development.
3, 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.
4, 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 manual or automated side after analyzing this kind of situation in period market Formula dynamic, which is sent, is able to satisfy the vehicle for transporting requirement to demand concentrated area.Pass through more careful analysis in this way, so that it may most The optimization resource of big degree, reduces waste.
5, the present invention can greatly increase the conevying efficiency and work convenience of article, liberate bulk production to a certain extent Vehicle driver releases artificial fatigue driving and over loading and excessive speed long-distance transport bring itself harm and social danger, improves transport peace Total index number;Simultaneously based on unmanned goods stock shared system of the invention and business model to a certain extent to electricity pin businessman, small Businessman in type wholesale market to user and accesses industries and the industry side of link such as Courier Service and lot item transport class enterprise Formula is reshuffled, and rule is reformulated, and can derive many related industries, such as all kinds of new-type goods stations, express station, Automatic supply station of the energy etc., while manual labor is reduced, make a plurality of related industry chain that the industry of artificial intelligence all be added, it is whole Promote the big step development of society.This reality invention simultaneously is further reduced by increasing battery capacity management module because of battery exception Cause the influence to the stability of work.
Detailed description of the invention
Fig. 1 is the structural schematic block diagram of battery capacity management module of the present invention;
Fig. 2 is the structural schematic block diagram of main control processor of the present invention.
Specific embodiment
The present invention is described further with specific embodiment below.
A kind of unmanned goods stock of wisdom formula, a kind of unmanned goods stock of wisdom formula, which includes at least, chassis and vehicle body, It is provided on chassis for unpiloted automatic running system, the freight house for loading cargo is set on vehicle body, further includes Sensor module, intelligent identifying system, monitoring and detection system, monitoring system and main control processor;Sensor module is for adopting Collection, detection survey freight house temperature and humidity information, cargo height, weight information, the oil mass, information about power, vehicle tire of unmanned goods cloud vehicle Information, engine temperature and the unobstructed information of pipeline, fire hazard information, dangerous material smell, composition information are pressed, and is uploaded to master control Processor and cloud computing system, main control processor carry out freight house temperature and humidity adjustment, the unmanned goods of control according to sensor die block message Fortune vehicle to service area carry out oil mass, electricity or tire pressure supplement, engine cooling or travel repaired to nearest maintenance station or Danger alarm signal is issued, and is uploaded to cloud computing system, intelligent identifying system is used for intelligent recognition recipient, and judges whether It coincide with the recipient information for being uploaded to cloud computing system, is also used to identify freight information, and be uploaded to cloud computing system System forms database, is readily transported distribution;Monitoring and detection system, cooperatively form the monitoring to information of vehicles with sensor module And detection, guarantee vehicle safety;Monitoring system is used to be monitored in real time with vehicle's surroundings environment in freight house and be uploaded to cloud Computing system;Main control processor, which is used to be analyzed according to acquisition information and control vehicle, takes corresponding actions, guarantees vehicle Safety and normal operation;A manned room or people's housing chair is at least arranged in unmanned goods stock, goes back while realizing loading Can be manned, there is the cargo for manually escorting requirement that there can also be personnel's follow the bus negative while may be implemented remotely to escort for some Duty;
Then a kind of unmanned goods stock of wisdom formula of the technical program is due to using electrical energy drive, and has again higher Energy demand, therefore the technical program provides a kind of perfect battery capacity administrative skill.By charging module realize wind energy, Luminous energy even includes the functions such as fossil energy power generation.Realize that optimization is realized in the charge and discharge to battery by charge and discharge electrical chip Control, as far as possible raising battery;Electric power detection chip can also be realized each to battery by a variety of detection means The detection of aspect can know the operation conditions of battery pack at the first time.
Ambient temperature and humidity detection module 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 as shown in Figure 1, electric power detection chip includes CPU, voltage monitoring unit, current monitoring unit, battery State detection unit and bus communication unit;Charging module includes that setting is arranged in the survey of vehicle body week and upper surface for battery Group charging solar recharging module and/or wind energy charging module or and by generator realize wired charging module, the sun Energy, wind energy and electrical power generators are passed through by energy converter using super capacitor management of charging and discharging and battery power supply together Voltage regulator circuit supplies electricity 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 In the solar recharging module to charge to the battery pack and the wired charging module realized by generator.
A kind of structure type of electric power detection chip is specifically illustrated in the technical program.Preferably this battery detecting chip Model can be used are as follows: the chip of BQ27510.Bus communication unit described in the technical program, can be with reference to [China is practical new Type] disclosed lithium battery management system for electric vehicle described in CN201220020977.6.Electricity described in the technical program Pond state detection unit can be with reference to a kind of battery intelligent management disclosed in [Chinese utility model] CN201020199399.8 System.
Preferably, it is additionally provided with camera and locating module on the vehicle body, 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 Fence identification module, fence identification module include video identification device for shooting vehicle front road picture, Differentiating front whether there is fence or designated lane, while according to fence in video pictures or the calculated for pixel values vehicle of designated lane Data are sent to apart from fence or the real-time space length of designated lane, and by the space length value continuously shortened between the two Processing module;Data processing module determines whether to adjust 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, depending on Frequency obtains the road ahead picture that module is used to shoot vehicle, and video identification module is used to carry out analysis meter to the picture of acquisition It calculates;
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 by certain vehicle application in remote truck logistics distribution body System.And by the design of program in cloud computing system, unmanned goods stock and terminal device, realization is sent to automatically, send in limited time The function of reaching avoids at present by artificial long-distance transportation, fatigue driving, the high problem of danger coefficient.About in motor dolly Being related to such as during transportation: antitheft, waterproof, fire prevention, overturn-preventing, leakproof, lightning protection, anti-electric safety problem, it can be with With reference to [Chinese utility model] CN201120389056.2;A kind of disclosed anti-theft alarm system and apply the burglar alarm system The automobile of system;It can also refer to [Chinese utility model patent] patent No.: 201510883169.0, disclosed one kind is novel The anti-roller devices of overturn-preventing.Communication module described in the technical program can using 4G communication by the way of carry out, not only technology at Ripe and transmission speed is fast.Simultaneously by giving one 4G card of each motor dolly, it is equivalent to each motor dolly There is an independent identity, thus can preferably allow cloud computing system and terminal device to control motor dolly System.The difference that article can also be transported simultaneously, customizes some motor dollies, for example need the article of transport refrigeration, that is automatic Transport vehicle just needs to meet the logistics transportation standard of whole cold chain.Data processing module described in the technical program is preferably one Kind 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 It is travelled on car lane and non-motorized lane, accepts the cargo transport reservation of user.Traffic marking identification module includes view For frequency identification device for shooting vehicle front road picture, differentiating front whether there is traffic lights and zebra stripes, and identify The state of traffic lights, while according to the real-time space of the calculated for pixel values vehicle distances zebra stripes of zebra stripes in video pictures Distance, and the space length value continuously shortened between the two is sent to the data processing module;The data processing module In conjunction with the status information of upcoming traffic signal lamp, made a dash across the red light according to what is pre-seted apart from critical value, compare vehicle and zebra stripes it Between the space length value that continuously shortens, judge whether vehicle can make a dash across the red light;The video identification device includes video acquiring module With video identification module, the video acquiring module is used to shoot the road ahead picture of vehicle, and the video identification module is used In the picture progress analytical calculation to acquisition;The video identification module includes traffic lights identification module and zebra stripes identification mould Block, the traffic lights identification module are used for the traffic signal light condition in the picture of acquisition;The zebra stripes identification module is used Space length of the zebra stripes apart from vehicle in the picture to acquisition carries 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.
It should be noted that the unmanned goods stock of the present embodiment is also used in and travels on a highway, carries out lane and distinguish To know, speed matching, simultaneously standard is kept for traffic mark identification, such as in highway driving, a kind of unmanned goods of wisdom formula of the present embodiment The travel of fortune vehicle can be maintained at outermost traveling, maximum travelling speed according to road Control for Speed Limitation in 80km/h or It is 100km/h.
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 goods stock also sets up intelligent machine arm, beats for pasting the bill to luggage The bill or carry luggage that print 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 computing system, the data processing module The judging result whether vehicle can make a dash across the red light can be sent to cloud computing system, the cloud computing system 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 the unmanned goods stock chassis Zhou Yan is arranged in;Transmitting unit Including ultrasonic wave radiated element and trigger circuit, 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 utility model] 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 detection 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, transmitting unit is arranged in car body surrounding and further includes having infrared sensor and millimetre-wave radar.Infrared biography The mature use in running car and reversing of sensor and millimetre-wave radar, does not repeat here.
Preferably, path navigation module includes memory, input/output port and processor;The processor includes: to lead Navigate data obtaining module, navigates pattern-information for obtaining and cooks up the driving path of non-motorized lane;Self-navigation control Module, for controlling vehicle driving parameter according to the navigation pattern-information acquired in navigation information acquisition module.
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 with specific reference to [Chinese utility model] CN201210235759.9, lead by a kind of specifically disclosed vehicle automatic navigation method of institute Chart case information preparation method and its apparatus for vehicle navigation.
Preferably, freight house is provided on vehicle body;There are four be respectively arranged on the chassis two sides for setting on the chassis Driving wheel and quantity is identical as the driving wheel quantity and the driving motor with each driving wheel transmission connection respectively;It is described 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;Institute The upper end for stating vehicle body is additionally provided with barcode scanning cog region, places an order and barcode scanning branch for facilitating delivery terminal to carry out barcode scanning with terminal of receiving It pays.
The technical program is specifically illustrated a kind of energy resource supply mode of unmanned goods stock and in routine use process One of bank settlement and delivery and delivery handover mode.Bank settlement and delivery and delivery handover are realized by two dimensional code barcode scanning It is the prior art, does not repeat here.The mode for also disclosing a kind of battery energy management of unmanned goods stock utilizes The a variety of points of modes such as battery, solar energy, wind-force, automatic charging are realized to charge to battery pack, it is ensured that motor dolly is being run over There is sufficient electricity to realize transportation function in journey.
As shown in Figure 2, it is preferable that the main control processor of the technical program includes data processing module, is mainly wrapped on hardware Include EPS32 wireless processor, image/vocal print and fingerprint processor, power amplifier, ambient temperature and humidity detection module, acceleration And attitude detection module, the shelf lifting motor control module of control shelf driving motor state, pallet height detection module, depending on Feel 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 manages mould group etc., SOS emergency circuit, face recognition module and bill printer;Wherein Beidou is arranged in Beidou mould group Antenna;Internet of Things antenna is arranged in Internet of Things mould group;EPS32 wireless processor passes through antenna, power amplifier, WIFI signal and BLE signal Carry out signal transmission;The audio input for the microphone array that image/vocal print and fingerprint processor acquisition are handled through voice data, together When photoelectric subassembly connected with power amplifier by not only generative circuit;Image/vocal print and fingerprint processor are to camera module Issue the instruction of focus controlling, the image data of camera module acquisition is uploaded to image/vocal print through data filtering and refers to Line processor;Obstacle avoidance module is that the ultrasonic transmitter or infrared transmitter by connecting with main control processor pass through power amplification Emit ultrasonic wave or transmitting infrared light, ultrasonic wave or infrared light are met barrier and reflected, connect with main control processor Ultrasonic receiver or infrared remote receiver receive, and are uploaded to main control processor by signal processing.About drive module, mainly It is to pass through three-phase drive bridge circuit respectively by two 6811 processor 1-2 of motor driven and 6811 processor 3-4 of motor driven And Rotating speed measring circuit, driving stage, counter electromotive force detection circuit and driving boostrap circuit carry out control to driving motor and reach certainly The purpose of dynamic walking;Main control processor also sets up shelf direction steering engine control module, by the corner and speed that control driving motor Rate controls transport vehicle direction.By above-mentioned main control processor, data acquisition, back-end data analytical calculation and instruction issuing are realized: Wherein the acquisition of terminal data information includes: the ordering information and distribution information, road information and obstacle for being stored in data center Information, the location information uploaded in real time, transport destination and picking people information, product storage information and volume residual information, branch Pay information and storage information, article placement status and monitoring safety status information etc.;Back-stage management and instruction issuing include: to pass through Background control center carry out transport vehicle remotely recall and recall control, backstage position modification and management, Item Information increase and decrease and Modification, order status monitoring, transport courses management control and the control of hand automatic charging;Above- mentioned information acquisition and background control center Information exchange mainly pass through network connecting module, locating module, electromagnetic lock module and signal transmission, empty van and close case signal know Other module, set point signal identifing source module and the specific implementation of battery capacity detection module.
The mechanism design of the transport vehicle of the technical program mainly includes the following: independent warehouse structure, freight house goods is arranged Frame automatic lifting structure, fence recognition mechanism, indoor electronic map function and fixed point orientation cruise mechanism, ticket information are known Other mechanism, the identification of special demands information, reading, printing and paste functionality (such as fragile article) remotely call mechanism, breakables Memory mechanism, GPRS location fix and path planning, road vision identification comparison, infrared obstacle detection and scanning, complete machine function It can be read and executed with failure self detection, sun flexible charging panel, light perception, road traffic laws and regulations.The technical program Technical essential mainly include 1. addition navigation module, locating module, use internet networking technology (including GPRS, 4G, 5G Three big mainstream classifications), use Beidou positioning and GPS positioning technology.Using zeggbi/433/bule short distance communication technology, make With http/482/TCP data transmission technology, 2. Data Interchange Technology, 3. breakables transport method, 4. face recognition technology, The skill 5. two-dimensional barcode information identification technology, 6. mobile payment and remote payment technology, 7. Orientation on map technology, floor and underground are navigated Art, 8. counter singlechip technology, 9. data are analyzed: carrying out data classification and summary using distributed computing technology;Wherein data point The reference flowchart of 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 prevents from falling, and is put according to cargo and highly automated shelf is raised and lowered.
2, barcode scanning on-line payment, safety problem (antitheft, waterproof, fire prevention, overturn-preventing, leakproof, lightning protection, anti-electric);
3, unmanned goods stock is with reference to automatic planning operation path of navigating, automatic obstacle-avoiding (mobile barrier and static Barrier) (provide principle and precedent), automatic identification and observe traffic rules and regulations, road conditions identification (range sensor and machine vision) (principle and precedent are provided);
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 control is automatic pays;
7, user identity identification supports recognition of face+fingerprint+identity card barcode scanning+number verification.
A kind of shared system, including cloud computing system, a kind of unmanned goods stock of several wisdom formulas and it is distributed in use The terminal device of person;Cloud computing system manages a kind of unmanned goods stock of wisdom formula for planning as a whole distribution and will distinguish for information about Feed back to unmanned goods stock and terminal device;Terminal device, which includes at least, the delivery terminal and confession used for cargo sender Terminal that cargo recipient used receive.
A kind of business model, the shared system including a kind of unmanned goods stock of wisdom formula at least further include having to pass through benefit With a kind of shared system of unmanned goods stock of wisdom formula, other related industries of user-association are guided, specific method is:
S1: placing an order in user mobile phone, plate, PC either other intelligent terminals enterprising crudely-made articles fortune, unmanned goods stock and System can drive the businessman in other electricity pin businessmans and small-sized wholesale market to make in this way by realizing order on line With access Courier Service and lot item transport class enterprise;
S2: according to demand of the big data analysis system user before and after using business model, and these demands are also led to Cross the integration that shared business model carries out full industrial chain;The industrial chain include unmanned goods stock lease, purchase and The shared model;By the way that freight all kinds station, express station can be grafted in unmanned goods stock and system;
It further include that a certain proportion of commission is extracted with the name of platform, obtains one in this way after completing transaction Income;Or before transaction starts, user is needed to pay the cash pledge of certain number, all cash pledges are collected into up composition one The injected volume that certain proportion is used to expand product is extracted from cash pledge pond in a cash pledge pond;Certain proportion is extracted again is used for financial investment, For increasing the utilization rate of cash pledge and increasing a extra returns;Retain Reserve Fund of the certain proportion as user's return of down payment; It further include businessman's purchase or lease for supplying to dispersion user automatic transportation;Or investment leases city with twice lease or multistage ?;
The execution step of business model includes:
1) user or buyer of user's registration, unmanned goods stock and system, are submitted by network-termination device Data, phone number, ID card No. can be used for the mode of such as registration or other effective identifications are numbered and other Network account becomes the user of unmanned goods stock and system after background system audit logging;
2) when registers user using the unmanned goods stock and system, referred to by using unmanned goods stock and system Fixed software program such as APP or pc client, and it is mounted on mobile terminal, it also unmanned goods stock and system can be used to specify On other Intelligent mobile equipments, realizing has personnel's publication of cargo transport demand to need transit information, the unmanned shipping of platform registration Vehicle owner can with order on line, offer and collect freight;
3) registers user on the basis of completing step 2), and the possessor of unmanned goods stock can input this by APP Batch transports the origin of cargo and reaches in ground;
4) the unmanned goods stock of has a container function, after the logistics information that user is issued by APP, unmanned goods stock Reach the loading that designated place waits cargo.Container has a functions such as antitheft, shockproof, the quasi- loading capacity of container be at least 1t with On;
5) the unmanned goods stock of and system are planned, simultaneously by the route planning module realizing route being mounted on vehicle The backstage large data center of the unmanned goods stock carries out real-time road information with affiliated vehicle according to the path of planning Transmission adjusts immediately.
Such as the traffic congestion situation of current path, real-time road condition information, traffic lights information forbid walk information and speed-limiting messages Real-time speed control is carried out Deng, the unmanned goods stock according to these information, lane control and hides congestion etc..
6) cargo of the unmanned goods stock of loads early period, and wisdom formula miniature self-service haulage vehicle can be used and carry out remotely Calling and automatic transhipment, are carried out the sorting and carrying of cargo automatically by wisdom formula miniature self-service haulage vehicle, are sent to nothing after being sent to On people's goods stock, this realizes automatic freight information transmitting, logistics transportation and carrying etc. in the process.
7) at least one human body seat has also been devised on the unmanned goods stock of, it can be special with manned while realizing loading It is not some to have that manually to escort the cargo of requirement local while may be implemented remotely to escort can also to have personnel to be responsible for.
8) wisdom formula miniature self-service haulage vehicle in the process of moving, transfers national road by backstage large data center Traffic law is travelled and is transported according to national requirements.
Such as in highway driving, the travel of wisdom formula miniature self-service haulage vehicle can be maintained at outermost Traveling, maximum travelling speed is according to road Control for Speed Limitation in 80km/h either 100km/h.
9) wisdom formula miniature self-service haulage vehicle traveling can be obtained at urban road by the big plastic cement center in backstage The road as defined in laws and regulations and speed uplink may be implemented in traffic lights information on road, limit for height information of overpass etc. It sails.
10) the unmanned goods stock of sends letter of receiving to consignee by its backstage large data center when arriving at the destination Breath can also be realized automatically unloading cargo, automatic sorting and automatic transportation by wisdom formula miniature self-service transport vehicle, directly be transported Into manpower of receiving.
11) the dynamical system group of the unmanned goods stock of becomes engine power system, and the energy is fuel oil either electric power energy Source or other power source and system on vehicle can be used, in the process of moving all can be in real time to unmanned freight Itself oil mass either electricity monitored in real time, and pass through its backstage system-computed path in energy auxiliary point, Automatically it is refueled or is charged.
12) under the unmanned goods stock standby mode of and operating status still can self-test itself oil mass or electricity, if the energy is not Foot then carries out entering oiling automatically or charged area is refueled or charged to supplement the energy, after the completion of supplementing the energy, unmanned goods It transports vehicle automatic running and returns position of readiness.
13) the unmanned goods stock of is in traveling either under ideal case, by be mounted on tire, engine, oil circuit or Sensor on the vehicles structure component such as route carries out real-time monitoring to the overall condition of unmanned goods stock.
Such as vehicle tire pressure condition, engine temperature and the unobstructed situation of pipeline can be monitored etc.;
14) the unmanned goods stock of is when finding container either fire hazard occurring for vehicle itself, can to electrical fire and Other open fires are monitored, and are prevented on fire in vehicle or container.
15) for when transporting chemical industry either dangerous material, container will use different containers according to the difference of transport article, The high sensor that corresponding article safety detection is loaded on different containers carries out effectively for that can generate dangerous factor Monitoring, judgement and in time processing.
Unmanned goods stock, by software technology, realizes visitor other than the function that unmanned goods stock itself has A wide range of connection of the family --- vehicle --- between consignee three, then by the sorting of minitype carrier vehicle, formed effective Logistics transportation and sorting system promote logistics speed by big data analysis, while by intelligent identifying system, accurately judging Consignee realizes one-to-one effective identification and management.
Business model further includes the mode for having following depth to run:
1) user utilizes shipping order under unmanned goods stock and shared system, and clear departure place and mesh in order Ground;
2) cloud computing system according to the classification for transporting article and sets out the order that each needs transports according to algorithm The difference on ground and destination, taxonomic revision go out the order that unified dispatching can be realized on same motor vehicle;And to the order The motor dolly at place assigns path planning instruction;
3) is placed goods onto the unmanned goods stock and system, is directly transported by unmanned goods stock and system To near destination, then sorting is carried out by artificial or other small-sized motor dollies and is dispensed one by one;
Business model, which includes at least, a big data analysis system;The big data analysis system need current by analysis crowd It asks, by the way that several advertisement positions are arranged in delivery terminal and terminal of receiving for accurately launching advertisement, by collecting advertisement Expense or the mode by clicking charge collect advertising expense;Or product is shared by the guidance other downstreams of user-association.
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 unmanned goods stock of wisdom formula, it is characterised in that: a kind of unmanned goods stock of wisdom formula, which includes at least, to be had Chassis and vehicle body are provided on the chassis for unpiloted automatic running system, are arranged on the vehicle body and are used for Load cargo freight house, the unpiloted automatic running system include drive module, path navigation module, obstacle avoidance module and Communication module and data processing module;The drive module is used to control travel speed and the direction of vehicle, the path navigation Module is used to calculate path automatically according to starting point and destination;Obstacle avoidance module is used on the path planned according to road Situation avoiding barrier and fence;The communication module is used for and cloud computing system, terminal of delivering and terminal mutual message of receiving And feedback data;The data processing module is passed back to for calculating the path navigation module, obstacle avoidance module and communication module The data come simultaneously draw a conclusion and pass through drive module and control vehicle driving;It further include sensor module, intelligent identifying system, prison It surveys and detection system, monitoring system and main control processor;The sensor module is used to acquire, detect the goods of unmanned goods stock Storehouse temperature and humidity information, cargo height, weight information, oil mass, information about power, vehicle tyre pressure information, engine temperature and pipeline are logical Smooth information, fire hazard information, dangerous material smell, composition information, and it is uploaded to main control processor and cloud computing system, the master It controls processor and freight house temperature and humidity adjustment, the unmanned goods stock of control to service area progress is carried out according to the sensor die block message Oil mass, electricity or tire pressure supplement, engine cooling or traveling repair or issue danger alarm signal to nearest maintenance station, and It is uploaded to cloud computing system, intelligent identifying system is used for intelligent recognition recipient, and judges whether and be uploaded to cloud computing system Recipient information coincide, be also used to identify freight information, and be uploaded to the cloud computing system and form database, just It is distributed in transport;The monitoring and detection system cooperatively form monitoring and detection to information of vehicles with the sensor module, Guarantee vehicle safety;Monitoring system is used to be monitored in real time with vehicle's surroundings environment in the freight house and be uploaded to the cloud Computing system;The main control processor is used to be analyzed and be controlled according to acquisition information vehicle and takes corresponding actions, guarantees vehicle Safety and normal operation;It further include battery capacity management module, battery capacity management module includes battery pack, charging mould Block, charge and discharge electrical chip and electric power detection chip.
2. a kind of unmanned goods stock of wisdom formula according to claim 1, it is characterised in that: the unmanned goods stock is extremely One manned room or people's housing chair are set less, and realizing while loading there can be artificial escort to want with manned for some The cargo asked can also have personnel's follow the bus to be responsible for while may be implemented remotely to escort;The charging module includes for institute The wired charging module stating the solar recharging module of battery pack charging and being realized by generator, the solar recharging module Including telescopic solar charging panel, the solar charging panel setting is in vehicle body week survey and upper surface, the electricity Detection chip includes CPU, voltage monitoring unit, current monitoring unit, battery status detection unit and bus communication unit;Institute It states and is additionally provided with camera and locating module on vehicle body, Identification of Images module is provided in the camera.
3. a kind of unmanned goods stock of wisdom formula according to claim 1, it is characterised in that: the obstacle avoidance module includes Fence identification module, fence identification module include video identification device for shooting vehicle front road picture, differentiate front It is enclosed with the presence or absence of fence or designated lane, while according to the calculated for pixel values vehicle distances of fence in video pictures or designated lane The real-time space length on column or designated lane, and the space length value continuously shortened between the two is sent to the data processing Module;The data processing module determines whether to adjust the drive module according to the critical value of setting space length and then adjusts Travel speed and the direction of vehicle and carry out obstacle evacuation;The video identification device includes video acquiring module and video identification Module, the video acquiring module are used to shoot the road ahead picture of vehicle, and the video identification module is used for acquisition Picture carries out analytical calculation;
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.
4. a kind of unmanned goods stock of wisdom formula according to claim 1, it is characterised in that: the data processing module is also The drive module is connected, drive module includes ECU, if the data processing module judges that vehicle will hit obstacle Object then controls vehicle by ECU;The data processing module is also connected with cloud computing system, the data processing module Can by vehicle whether can the judging results of strikes obstacles be sent to cloud computing system, the cloud computing system can be to data processing Module feedback command instruction connects ECU by data processing module and controls vehicle.
5. a kind of unmanned goods stock of wisdom formula according to claim 1, it is characterised in that: the data processing module is also Image, vocal print and fingerprint processor are connected, the image information absorbed by camera module is made to be uploaded to number by data filtering According to processing module, or handles the voiceprint acquired by microphone array by voice data and be transmitted to the data mould Block is analyzed through data, is assigned instruction to terminal is executed, is made drive module starting, stopping or avoidance, electric lockset is unlocked or closed It closes;The unmanned goods stock also sets up intelligent machine arm, is used for automatic transporting luggage, or transport to wisdom formula miniature self-service Vehicle carries out the sorting and carrying of cargo automatically;Also set up SOS emergency circuit module.
6. a kind of unmanned goods stock of wisdom formula according to claim 1, it is characterised in that: the path navigation module packet Memory, input/output port and processor are included;The processor includes: that navigation information obtains module, for obtaining navigation picture Case information and the driving path for cooking up car lane and non-motorized lane;Self-navigation control module, for being led according to The navigation pattern-information acquired in data obtaining module navigate to control vehicle driving parameter.
7. a kind of unmanned goods stock of wisdom formula according to claim 1, it is characterised in that: be arranged in the drive module There are at least two driving wheels for being respectively arranged on the chassis two sides and quantity identical as the driving wheel quantity and respectively and respectively The driving motor of the driving wheel transmission connection;The driving motor side is also connected with control signal receiving device and control letter Number input unit;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 Energy electricity generation module, the optical energy power module or wind power generation module are connected with the battery pack for charging for it;The vehicle The upper end of body is additionally provided with barcode scanning cog region, and for facilitating delivery terminal and terminal of receiving to carry out, barcode scanning places an order and barcode scanning is paid.
8. a kind of shared system, it is characterised in that: including the described in any item cloud computing systems of claim 1 to 7, several institutes A kind of unmanned goods stock of wisdom formula stated and the terminal device for being distributed in user;The cloud computing system is for planning as a whole distribution It manages a kind of unmanned goods stock of wisdom formula and unmanned goods stock and terminal device will be fed back to respectively for information about;Institute Stating terminal device and including at least has the delivery terminal used for cargo sender and the terminal of receiving used for cargo recipient.
9. a kind of business model, it is characterised in that: including a kind of sharing for unmanned goods stock of wisdom formula according to any one of claims 8 System at least further includes the shared system having by using a kind of unmanned goods stock of wisdom formula, guides other phases of user-association Pass industry, specific method are:
S1: placing an order in the enterprising crudely-made articles fortune of user mobile phone, plate, PC either other intelligent terminals, unmanned goods stock and system The businessman in other electricity pin businessmans and small-sized wholesale market can be driven to use in this way, connect by realizing order on line Enter Courier Service and lot item transport class enterprise;
S2: according to demand of the big data analysis system user before and after using business model, and by these demands also by altogether The business model enjoyed carries out the integration of full industrial chain;The industrial chain includes the lease of unmanned goods stock, purchase and described Shared model;By the way that freight all kinds station, express station etc. can be grafted in unmanned goods stock and system;
Further include that a certain proportion of commission is extracted with the name of platform after completing transaction, obtains a receipts in this way Benefit;Or before transaction starts, user is needed to pay the cash pledge of certain number, all cash pledges are collected into up composition one signature Jin Chi extracts the injected volume that certain proportion is used to expand product from cash pledge pond;Certain proportion is extracted again for financial investment, is used for Increase the utilization rate of cash pledge and increases a extra returns;Retain Reserve Fund of the certain proportion as user's return of down payment;Also wrap It includes businessman's purchase or leases for supplying to dispersion user automatic transportation;Or it puts into and twice lease or multistage leasing market;
The execution step of the business model includes:
1) user or buyer of user's registration, unmanned goods stock and system, submit data by network-termination device After background system audit logging, become the user of unmanned goods stock and system;
2) when registers user using unmanned goods stock and system, by using the specified software of unmanned goods stock and system Program such as APP or pc client, and install and realize that the personnel's publication for having cargo transport demand need to transport letter on mobile terminals Breath, the unmanned goods stock administrative power owner of platform registration can with order on line, offer and collect freight;
3) registers user on the basis of completing step 2), and the administrative power owner of unmanned goods stock can be inputted by APP This batch transports the origin of cargo and reaches in ground;
4) the unmanned goods stock of has a freight house function, and after the logistics information that user is issued by APP, unmanned goods stock is reached The loading of designated place waiting cargo;
5) the unmanned goods stock of and system are planned by the path navigation module realizing route on vehicle, while unmanned freight Cloud computing system large data center according to the path of planning, carry out real-time road information transmission with vehicle, adjust immediately It is whole;
6) cargo of the unmanned goods stock of loads early period, and wisdom formula miniature self-service haulage vehicle can be used and remotely called With automatic transhipment, carries out the sorting and carrying of cargo after being sent to automatically by wisdom formula miniature self-service haulage vehicle, be sent to unmanned goods It transports on vehicle, this realizes automatic freight information transmitting, logistics transportation and carrying in the process;
7) the unmanned goods stock of is sent to consignee by the large data center of cloud computing system and is received when arriving at the destination Information, or automatically unloading cargo, automatic sorting and automatic transportation are realized by wisdom formula miniature self-service transport vehicle, directly transport Into manpower of receiving;
8) the dynamical system group of the unmanned goods stock of becomes engine power system, and the energy is at least fuel oil either electric power energy Source in the process of moving in real time monitors the oil mass or electricity of unmanned goods stock itself in real time, and passes through cloud The large data center of computing system calculates the energy auxiliary point in path, is refueled or is charged automatically;
9) under the unmanned goods stock standby mode of and operating status still can self-test itself oil mass or electricity, if energy deficiency, from It is dynamic refueled or charged into oiling or charged area to supplement the energy, after the completion of supplementing the energy, unmanned goods stock Automatic running returns position of readiness;
10) the unmanned goods stock of is under traveling either ideal case, by being mounted on tire, engine, oil circuit or route And the sensor on complete vehicle structure component, real-time monitoring is carried out to the overall condition of unmanned goods stock;
11) for the unmanned goods stock of when finding freight house either fire hazard occurring for vehicle itself, to electrical fire and other are bright Fire is monitored, and is prevented on fire in vehicle or container;
12) for when transporting chemical industry either dangerous material, freight house will use different freight houses according to the difference of transport article, different Freight house on load the high sensor of corresponding article safety detection, the factor that can generate dangerous is effectively supervised It surveys, judge and handles in time;
Unmanned goods stock, by software technology, realizes client --- vehicle other than the function that unmanned goods stock itself has --- a wide range of connection between consignee three, then by the sorting of minitype carrier vehicle, form effective logistics transportation With sorting system, logistics speed is promoted by big data analysis, while by intelligent identifying system, accurately judging consignee, Realize one-to-one effective identification and management.
10. business model according to claim 9, it is characterised in that: the business model further includes having following depth fortune Capable mode:
1) user utilizes shipping order under unmanned goods stock and shared system, and clear departure place and destination in order;
2) cloud computing system according to algorithm by each order for transporting of needs according to the classification of transport article and departure place and The difference of destination, taxonomic revision go out the order that unified dispatching can be realized on same motor vehicle;And to where the order Motor dolly assign path planning instruction;
3) is placed goods onto the unmanned goods stock and system, is directly taken mesh by unmanned goods stock and system Ground near, then carried out sorting by artificial or other small-sized motor dollies and one by one dispensed;
The business model, which includes at least, a big data analysis system;The big data analysis system need current by analysis crowd It asks, by the way that several advertisement positions are arranged in delivery terminal and terminal of receiving for accurately launching advertisement, by collecting advertisement Expense or the mode by clicking charge collect advertising expense;Or product is shared by the guidance other downstreams of user-association.
CN201810830064.2A 2018-07-25 2018-07-25 A kind of unmanned goods stock of wisdom formula, shared system and business model Pending CN109146361A (en)

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Publication number Priority date Publication date Assignee Title
CN110091906A (en) * 2019-04-28 2019-08-06 李佳 A kind of intelligence cart and its progress control method
CN110194095A (en) * 2019-06-28 2019-09-03 北京机械设备研究所 A kind of the automatic Pilot lorry and automatic Pilot control method of no driver's cabin
CN111047885A (en) * 2019-03-29 2020-04-21 杭州锣卜科技有限公司 Unmanned carrier loader with overweight alarm function
CN111252402A (en) * 2020-01-20 2020-06-09 浙江大工新能源有限公司 Intelligent transportation system
CN111462481A (en) * 2020-03-03 2020-07-28 北京理工大学 Cloud brain intelligent transportation system comprising multifunctional unmanned vehicle
CN111747134A (en) * 2020-07-14 2020-10-09 界首市鑫华装璜彩印有限公司 A decentralized control system for wrapping paper loads
CN111959499A (en) * 2019-05-20 2020-11-20 上海汽车集团股份有限公司 Vehicle control method and device
WO2021042293A1 (en) * 2019-09-04 2021-03-11 北京图森智途科技有限公司 Auto-driving vehicle service system and method

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111047885A (en) * 2019-03-29 2020-04-21 杭州锣卜科技有限公司 Unmanned carrier loader with overweight alarm function
CN110091906A (en) * 2019-04-28 2019-08-06 李佳 A kind of intelligence cart and its progress control method
CN111959499A (en) * 2019-05-20 2020-11-20 上海汽车集团股份有限公司 Vehicle control method and device
CN110194095A (en) * 2019-06-28 2019-09-03 北京机械设备研究所 A kind of the automatic Pilot lorry and automatic Pilot control method of no driver's cabin
WO2021042293A1 (en) * 2019-09-04 2021-03-11 北京图森智途科技有限公司 Auto-driving vehicle service system and method
CN111252402A (en) * 2020-01-20 2020-06-09 浙江大工新能源有限公司 Intelligent transportation system
CN111462481A (en) * 2020-03-03 2020-07-28 北京理工大学 Cloud brain intelligent transportation system comprising multifunctional unmanned vehicle
CN111747134A (en) * 2020-07-14 2020-10-09 界首市鑫华装璜彩印有限公司 A decentralized control system for wrapping paper loads
CN111747134B (en) * 2020-07-14 2021-09-21 界首市鑫华装璜彩印有限公司 A decentralized control system for wrapping paper loads

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