CN109533046A - Unmanned haulage vehicle and its system - Google Patents
Unmanned haulage vehicle and its system Download PDFInfo
- Publication number
- CN109533046A CN109533046A CN201811236445.4A CN201811236445A CN109533046A CN 109533046 A CN109533046 A CN 109533046A CN 201811236445 A CN201811236445 A CN 201811236445A CN 109533046 A CN109533046 A CN 109533046A
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- CN
- China
- Prior art keywords
- chassis
- railway carriage
- control device
- haulage vehicle
- unmanned
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D33/00—Superstructures for load-carrying vehicles
- B62D33/077—Superstructures for load-carrying vehicles characterised by the connection of the superstructure to the vehicle frame
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
Abstract
The present invention relates to unmanned vehicle arts field more particularly to a kind of unmanned haulage vehicle and its systems.The unmanned haulage vehicle includes chassis and railway carriage；Railway carriage removable can be connected on chassis；Control device, energy storage equipment, driving device and positioning device are provided in chassis；Energy storage equipment, driving device and positioning device are electrically connected with control device, and control device supplies power to driving device for controlling energy storage equipment, for controlling driving device driving chassis walking；Positioning device is used to monitor the location information on chassis and the location information is sent to control device；Chassis is provided at least one photographic device being electrically connected with control device, and photographic device is for monitoring road conditions and traffic information being sent to control device.The unmanned transportation system includes server and unmanned haulage vehicle.The purpose of the present invention is to provide unmanned haulage vehicle and its systems, to solve the technical issues of logistics intermediate transportation link existing in the prior art needs pilot steering.
Description
Technical field
The present invention relates to unmanned vehicle arts field more particularly to a kind of unmanned haulage vehicle and its systems.
Background technique
Automatic driving vehicle is also referred to as wheeled mobile robot, relies primarily on the interior intelligence based on computer system
Control loop realizes unpiloted target, perceives using onboard sensor vehicle-periphery, and obtained according to perception
Road, vehicle location and the obstacle information obtained, controls the steering and speed of vehicle, to enable the vehicle to reliably and securely
It is travelled on road.
With the rise of shopping online, nowadays logistic industry is rapidly developed.In logistics intermediate transportation link,
Such as one or more than one piece of the B such as addressee, market, supermarket, downstream plant point are sent to from the A such as consignor, supplier, warehouse point
Cargo needs personnel to drive, to complete daily duplicate, inefficient transport.
With gradualling mature for unmanned technology, how to complete to repeat daily using unmanned means of transport substitution personnel
, the transhipment work of inefficient intermediate transportation link, it has also become the technical issues of urgent need to resolve.
Summary of the invention
The purpose of the present invention is to provide unmanned haulage vehicles, to solve logistics intermediate transportation ring existing in the prior art
The technical issues of section needs pilot steering.
The object of the invention is also to provide unmanned transportation systems, to solve logistics intermediate transportation existing in the prior art
Link needs the technical issues of pilot steering.
Based on above-mentioned first purpose, unmanned haulage vehicle provided by the invention, including chassis and railway carriage；The railway carriage can
It is removable to be connected on the chassis；
Control device, energy storage equipment, driving device and positioning device are provided in the chassis；
The energy storage equipment is electrically connected with the control device, and the control device is provided for controlling the energy storage equipment
Power gives the driving device；
The driving device is electrically connected with the control device, and the control device is for controlling the driving device driving
The chassis walking；
The positioning device is electrically connected with the control device, and the positioning device is used to monitor the position letter on the chassis
It ceases and the location information is sent to the control device；
The chassis is provided at least one photographic device, and the photographic device is electrically connected with the control device, described
Photographic device is for monitoring road conditions and traffic information being sent to the control device.
Optional technical solution of the invention is that the railway carriage includes railway carriage ontology and railway carriage chamber door；The railway carriage chamber door with
The railway carriage ontology is hinged, and is provided with chamber door lifting device between the railway carriage chamber door and the railway carriage ontology；
The chamber door lifting device is electrically connected with the control device, and the control device is for controlling the chamber door lifting
Device lifts the railway carriage chamber door, to open the railway carriage chamber door.
Optional technical solution of the invention, which is that the railway carriage ontology is provided with the chamber door being electrically connected with the control device, to be known
Other device；
The chamber door identification device is for sending identification information to the control device, the corresponding control institute of the control device
State chamber door lifting device.
Optional technical solution of the invention, which is that the energy storage equipment is removable, to be connected in the chassis；
The energy storage equipment includes at least one rechargeable battery；The weight of the rechargeable battery is not more than 20kg.
Optional technical solution of the invention is that the railway carriage and the chassis pass through the removable connection of vehicle connecting device.
Optional technical solution of the invention is that the vehicle connecting device includes recognizer component, the first matable assembly and
Two matable assemblies；First matable assembly and second matable assembly are separately positioned on unmanned haulage vehicle corresponding two
End；
The recognizer component includes identifier and identification label；The identifier is fixedly connected with the chassis, the knowledge
Distinguishing label is fixedly connected with the railway carriage；Alternatively, the identification label is fixedly connected with the chassis, the identifier with it is described
Railway carriage is fixedly connected；
First matable assembly include the first chassis fit connection being fixedly connected with the chassis and with the vehicle
The first railway carriage fit connection that case is fixedly connected；
Second matable assembly include the second chassis mating connection structure being fixedly connected with the chassis and with it is described
The second railway carriage mating connection structure that railway carriage is fixedly connected；
First chassis fit connection can be fastened with the first railway carriage fit connection, and second chassis is matched
Closing connection structure can be fixedly connected on chassis with the second railway carriage mating connection structure grafting so that railway carriage is removable,
And so that the identifier can identify the identification label.
Optional technical solution of the invention is that the identifier includes RFID identification device；
The identification label includes RFID label tag.
Optional technical solution of the invention is that first chassis fit connection includes being fixedly connected with the chassis
Electronic lock, the first railway carriage fit connection include the fixed ring being fixedly connected with the railway carriage；The electronic lock can be locked
State fixed ring in residence.
The identifier and the electronic lock are electrically connected with the control device respectively, when being lockked for the electronic lock,
The control device is corresponding to control the identifier identification identification label.
Optional technical solution of the invention is that the second chassis mating connection structure is tongue-and-groove, and the tongue-and-groove setting exists
On chassis；The second railway carriage mating connection structure is fourth of the twelve Earthly Branches head, and the fourth of the twelve Earthly Branches head is fixed on railway carriage；
Alternatively, the second chassis mating connection structure is fourth of the twelve Earthly Branches head, the fourth of the twelve Earthly Branches head is arranged on chassis；Second railway carriage
Mating connection structure is tongue-and-groove, and the tongue-and-groove is fixed on railway carriage.
Based on above-mentioned second purpose, unmanned transportation system provided by the invention, including server and unmanned haulage vehicle；
The server and the unmanned haulage vehicle are wirelessly connected.
Beneficial effects of the present invention:
Unmanned haulage vehicle provided by the invention, including chassis and railway carriage；Removable bottom can be connected to by railway carriage
On disk, railway carriage can be replaced according to the performance of cargo, so that the more generalization of unmanned haulage vehicle；By energy storage equipment, drive
Dynamic device, positioning device and photographic device are electrically connected with control device respectively, so that control device can obtain unmanned transport vehicle
Location information and traffic information, according to the corresponding control energy storage equipment of the information such as location information and traffic information to provide power
Chassis walking is driven to driving device, and by control driving device.The unmanned haulage vehicle can substitute personnel for cargo
It is transported to default destination from default starting point, releases related personnel's intermediate transportation link duplicate, inefficient daily
Transport work.
Unmanned transportation system provided by the invention, including server and unmanned haulage vehicle, pass through unmanned haulage vehicle energy
Enough cargo is transported to default destination from default starting point by substitution personnel, and it is duplicate, inefficient daily to release related personnel
Intermediate transportation link transhipment work.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is the first structure diagram for the unmanned haulage vehicle that the embodiment of the present invention one provides；
Fig. 2 is the second structural schematic diagram of the unmanned haulage vehicle that the embodiment of the present invention one provides；
Fig. 3 is the structural schematic diagram of the railway carriage for the unmanned haulage vehicle that the embodiment of the present invention one provides；
Fig. 4 is the structural schematic diagram on the chassis for the unmanned haulage vehicle that the embodiment of the present invention one provides；
Fig. 5 is the third structural schematic diagram for the unmanned haulage vehicle that the embodiment of the present invention one provides；
Fig. 6 is the 4th structural schematic diagram of the unmanned haulage vehicle that the embodiment of the present invention one provides；
Fig. 7 is the 5th structural schematic diagram of the unmanned haulage vehicle that the embodiment of the present invention one provides.
Icon: the first matable assembly of 100-；The first chassis 110- fit connection；120- the first railway carriage fit connection；
The second matable assembly of 200-；210- the second chassis mating connection structure；220- the second railway carriage mating connection structure；300- identification group
Part；310- identifier；320- identifies label；The chassis 400-；410- track；500- railway carriage；510- idler wheel；520- railway carriage ontology；
530- railway carriage chamber door；540- chamber door lifting device；600- control device；700- energy storage equipment.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
Embodiment one
Refer to figures 1-7, Fig. 1 is the first structure diagram of unmanned haulage vehicle provided in this embodiment；Fig. 2-
Fig. 4 is the second structural schematic diagram of unmanned haulage vehicle provided in this embodiment, wherein Fig. 2 shows chassis and is arranged the bottom of at
A railway carriage on disk, Fig. 3 are the bottom views structural schematic diagram of railway carriage；Fig. 4 is the top viewing angle constructions schematic diagram on chassis；Figure
5- Fig. 7 is the third structural schematic diagram of unmanned haulage vehicle provided in this embodiment to the 5th structural schematic diagram, wherein Fig. 5 institute
It is provided with 1 railway carriage on the chassis shown, 2 railway carriages are provided on chassis shown in fig. 6, are provided with 4 on chassis shown in Fig. 7
Railway carriage.
Unmanned haulage vehicle provided in this embodiment is suitable for storage transport, is particularly suitable for logistics intermediate transportation link
In point-to-point transport.
Refer to figures 1-7, the unmanned haulage vehicle includes chassis 400 and railway carriage 500；Railway carriage 500 can be removable
Dress is connected on chassis 400；
Control device 600, energy storage equipment 700, driving device (not shown) and positioning device are provided in chassis 400
(not shown)；
Energy storage equipment 700 is electrically connected with control device 600, and control device 600 provides power for controlling energy storage equipment 700
To driving device；Energy storage equipment 700 is, for example, rechargeable battery, gasoline, diesel oil etc.；Optionally, energy storage equipment 700 is charging electricity
The rechargeable batteries such as pond, such as ni-Cd, ni-mh, lithium ion, lead storage, iron lithium.
Driving device is electrically connected with control device 600, and control device 600 is for controlling driving device driving 400 row of chassis
It walks；
Positioning device is electrically connected with control device 600, and positioning device is used to monitor the location information on chassis 400 and by the position
Confidence breath is sent to control device 600；
Chassis 400 is provided at least one photographic device (not shown), and photographic device is electrically connected with control device 600
It connects, photographic device is for monitoring road conditions and traffic information being sent to control device 600.Such as photographic device is to look around camera shooting
Head, such as the camera of photographic device can control 320 degree, upper and lower 60 degree of rotations monitoring, in order to acquire unmanned haulage vehicle
The traffic information on periphery.Optionally, at least one photographic device is respectively arranged in the front, rear, left and right on chassis 400.Optionally, railway carriage
At least one photographic device is respectively arranged in the front, rear, left and right at 500 top, more clearly to acquire unmanned haulage vehicle periphery
Traffic information.
Unmanned haulage vehicle described in the present embodiment, including chassis 400 and railway carriage 500；It can be removable by railway carriage 500
Be connected on chassis 400, with can according to the performance of cargo replace railway carriage 500 so that the more generalization of unmanned haulage vehicle；
It is electrically connected respectively with control device 600 by energy storage equipment 700, driving device, positioning device and photographic device, so that control fills
The location information and traffic information of unmanned haulage vehicle can be obtained by setting 600, according to information pair such as location information and traffic informations
Energy storage equipment 700 should be controlled to supply power to driving device, and drive chassis 400 to walk by control driving device.It should
Unmanned haulage vehicle can substitute personnel and cargo is transported to default destination from default starting point, and it is daily to release related personnel
The transhipment work of duplicate, inefficient intermediate transportation link.
Optionally, positioning device includes one of GPS module, GPRS module and big-dipper satellite locating module or a variety of；
Preferably, positioning device includes GPS module, GPRS module and big-dipper satellite locating module, to increase determining for unmanned haulage vehicle
Position mode, improves the reliability of unmanned haulage vehicle location information.Wherein, GPRS module carries out base station by GSM communications protocol
Positioning, GPS module carry out satellite positioning by GPS, and big-dipper satellite locating module carries out satellite by Beidou satellite navigation system
Positioning.
Specifically, GPS module utilizes existing GPS positioning satellite, real-time perfoming positioning, navigation in the world.
GPS full name is Global Positioning System, the i.e. abbreviation of global positioning system.GPRS module is by using existing
GPRS transmission technology；GPRS full name is General Packet Radio Service, i.e. general packet radio service technology
Abbreviation, be a kind of available mobile data services of gsm mobile telephone user.Gsm module is obtained by using existing GSM network
The location information of mobile terminal user is taken, to obtain cellular base station positioning service.GSM is European Committee for Standardization in 1992
The contracting of unified " Global System For Mobile Communication " standard (global system for mobile communications) released
It writes.Big-dipper satellite locating module is positioned by using existing Beidou satellite navigation system.
Shown in Figure 1, in the optinal plan of the present embodiment, railway carriage 500 includes railway carriage ontology 520 and railway carriage chamber door 530；
Railway carriage chamber door 530 and railway carriage ontology 520 are hinged, and chamber door lifting device is provided between railway carriage chamber door 530 and railway carriage ontology 520
540；
Chamber door lifting device 540 is electrically connected with control device 600, and control device 600 is for controlling chamber door lifting device 540
Railway carriage chamber door 530 is lifted, to open railway carriage chamber door 530.By chamber door lifting device 540, in order to automatically open railway carriage chamber door
530, pick and place the cargo in railway carriage 500.Optionally, chamber door lifting device 540 is air pressure, hydraulic or electric lifting rod.
In the optinal plan of the present embodiment, railway carriage ontology 520 is provided with the chamber door identification dress being electrically connected with control device 600
It sets；
For chamber door identification device for sending identification information to control device 600, control device 600 receives the identification information
Afterwards, identification information corresponding with what is prestored is compared, the corresponding control chamber door lifting device 540 if comparing successfully, if than
To unsuccessful, chamber door lifting device 540 is not controlled.Chamber door identification device is, for example, recognition of face camera, electronic password lock etc.
Deng.
In the optinal plan of the present embodiment, energy storage equipment 700 is removable to be connected in chassis 400；In order in accumulation of energy
When the energy of device 700 is inadequate, it can replace in time.
Optionally, energy storage equipment 700 includes at least one rechargeable battery；Power using electric energy as unmanned haulage vehicle
Source, price economy, good environmental protection.Optionally, the weight of rechargeable battery is not more than 20kg；In order to which personnel by hand can be more
Rechargeable battery is changed, without by other tools.
In the optinal plan of the present embodiment, railway carriage 500 and chassis 400 pass through the removable connection of vehicle connecting device.
Referring to fig. 2 shown in-Fig. 4, optionally, the vehicle connecting device includes recognizer component 300, the first matable assembly
100 and second matable assembly 200；First matable assembly 100 and the second matable assembly 200 are separately positioned on unmanned haulage vehicle phase
Corresponding both ends.First matable assembly 100 and the second matable assembly 200 can be separately positioned on along unmanned haulage vehicle length side
To both ends, can also be separately positioned on along the both ends of unmanned haulage vehicle width direction.Optionally, the first matable assembly 100
It is separately positioned on the second matable assembly 200 along the both ends of unmanned haulage vehicle width direction, with can be from unmanned haulage vehicle
Chassis 400 on integrally replace one or more railway carriage 500.
Recognizer component 300 includes identifier 310 and identification label 320；The chassis of identifier 310 and unmanned haulage vehicle
400 are fixedly connected, and identification label 320 is fixedly connected with the railway carriage 500 of unmanned haulage vehicle；Alternatively, identifying label 320 and nobody
The chassis 400 of haulage vehicle is fixedly connected, and identifier 310 is fixedly connected with the railway carriage 500 of unmanned haulage vehicle.Optionally, know
Other device 310 is fixedly connected with the chassis 400 of unmanned haulage vehicle, and the railway carriage 500 of identification label 320 and unmanned haulage vehicle is fixed
Connection；To reduce the cost of vehicle connecting device, it is also convenient for management railway carriage 500.
First matable assembly 100 includes that the first chassis being fixedly connected with the chassis 400 of unmanned haulage vehicle is cooperatively connected
Part 110 and the first railway carriage fit connection 120 being fixedly connected with the railway carriage 500 of unmanned haulage vehicle.
Second matable assembly 200 includes that the second chassis being fixedly connected with the chassis 400 of unmanned haulage vehicle is cooperatively connected
Structure 210 and the second railway carriage mating connection structure 220 being fixedly connected with the railway carriage 500 of unmanned haulage vehicle.
First chassis fit connection 110 can be fastened with the first railway carriage fit connection 120, and the second chassis is cooperatively connected
Structure 210 can with 220 grafting of the second railway carriage mating connection structure so that railway carriage 500 is removable to be fixedly connected on chassis 400
On, and so that identifier 310 can identify, read identification label 320.The vehicle connecting device, by being transported with unmanned
The the first chassis fit connection 110 and be fixedly connected with the railway carriage 500 of unmanned haulage vehicle that the chassis 400 of vehicle is fixedly connected
The first railway carriage fit connection 120 fasten, and be fixedly connected with the chassis 400 of unmanned haulage vehicle the second chassis cooperation
Connection structure 210 and 220 grafting of the second railway carriage mating connection structure being fixedly connected with the railway carriage 500 of unmanned haulage vehicle, with
Make railway carriage 500 is removable to be fixedly connected on chassis 400, improves firmness and safety that railway carriage 500 is connect with chassis 400
Property, also improve the being dismounted easily property of railway carriage 500 Yu chassis 400；When railway carriage 500 is mounted on chassis 400, label 320 is identified
Identification range in identifier 310 further improves vehicle so that identifier 310 can identify, read identification label 320
Safety between case 500 and chassis 400.
In the optinal plan of the present embodiment, identifier 310 includes RFID identification device；Identify that label 320 includes RFID label tag；
So that RFID identification device reads the information in RFID label tag by RFID technique.Optionally, RFID identification device is used for and unmanned fortune
The chassis 400 of defeated vehicle is fixedly connected, and RFID label tag with the railway carriage 500 of unmanned haulage vehicle for being fixedly connected.
It should be noted that Radio Frequency Identification Technology, also known as RFID (Radio Frequency Identification) skill
Art, radio RF recognition technology are a kind of communication technologys；Specific objective can be identified by radio signals and reads and writes dependency number
According to without establishing mechanical or optical contact between identifying system and specific objective.Microchip is embedded into product by RFID technique
In the middle, microchip can issue automatically the information such as the sequence number of product to scanner, and this process is not needed as bar codes technique
Either scans are carried out like that, are operable with various adverse circumstances, it is swift and convenient to operate.
The present embodiment recognizer component 300 can also be other technologies, such as infrared technology etc..
Referring to fig. 2 shown in-Fig. 4, in the optinal plan of the present embodiment, the first chassis fit connection 110 includes and nobody
The electronic lock that the chassis 400 of haulage vehicle is fixedly connected, the first railway carriage fit connection 120 include the vehicle with unmanned haulage vehicle
The fixed ring that case 500 is fixedly connected；Electronic lock can lock fixed ring.Fixed ring is lockked by electronic lock, by 500 jail of railway carriage
Solid be fixed on chassis 400.
In the optinal plan of the present embodiment, the first chassis fit connection 110 includes the chassis 400 with unmanned haulage vehicle
The electronic lock being fixedly connected, the first railway carriage fit connection 120 include the lock being fixedly connected with the railway carriage 500 of unmanned haulage vehicle
Slot；The lock tongue of electronic lock is inserted into locked groove, and railway carriage 500 is firmly fixed on chassis 400.
In the optinal plan of the present embodiment, identifier 310 and electronic lock are electrically connected with control device 600 respectively, for electricity
When son lock locks, identification label 320 is read in corresponding control identifier 310 identification of control device 600.By control device 600 with
It controls electronic lock to lock or open, so that railway carriage 500 can be fixed on chassis 400, or so that railway carriage 500 can be the bottom of from
It is dismantled on disk 400.
In the optinal plan of the present embodiment, the second chassis mating connection structure 210 is tongue-and-groove, and tongue-and-groove is for being arranged on chassis
On 400；Second railway carriage mating connection structure 220 is fourth of the twelve Earthly Branches head, and fourth of the twelve Earthly Branches head is fixed on railway carriage 500；As shown in Figures 2 and 3.
Alternatively, the second chassis mating connection structure 210 is fourth of the twelve Earthly Branches head, fourth of the twelve Earthly Branches head is arranged on chassis 400；The cooperation of second railway carriage connects
Binding structure 220 is tongue-and-groove, and tongue-and-groove is fixed on railway carriage 500.By tongue-and-groove and fourth of the twelve Earthly Branches head railway carriage 500 to be firmly fixed to
On chassis 400.
By tongue-and-groove and fourth of the twelve Earthly Branches head cooperation and electronic lock and fixed ring cooperation in the present embodiment, by economic, practical
Railway carriage 500 is firmly fixed on chassis 400 by mode.
Referring to fig. 2 shown in-Fig. 7, unmanned haulage vehicle provided in this embodiment, including railway carriage 500, chassis 400 and vehicle
Attachment device；Railway carriage 500 and chassis 400 pass through the removable connection of vehicle connecting device.Pass through the removable load of vehicle connecting device
Case 500 and chassis 400 are picked up, namely is cooperatively connected by the first chassis that the chassis 400 with unmanned haulage vehicle is fixedly connected
Part 110 and the first railway carriage fit connection 120 being fixedly connected with the railway carriage 500 of unmanned haulage vehicle fasten, and with nobody
The the second chassis mating connection structure 210 and consolidate with the railway carriage 500 of unmanned haulage vehicle that the chassis 400 of haulage vehicle is fixedly connected
Surely 220 grafting of the second railway carriage mating connection structure connected, is fixedly connected on chassis 400 so that railway carriage 500 is removable, improves
The firmness and safety that railway carriage 500 is connect with chassis 400, also improve the being dismounted easily property of railway carriage 500 Yu chassis 400；
When railway carriage 500 is mounted on chassis 400, identification label 320 is in the identification range of identifier 310, so that identifier 310 can
Identification label 320 is read in identification, further improves the safety between railway carriage 500 and chassis 400.
Referring to shown in Fig. 5-Fig. 7, in the optinal plan of the present embodiment, the quantity of vehicle connecting device is multiple；For example, vehicle
The quantity of attachment device is 2,3,5,6 etc..The particular number of vehicle connecting device can be according to railway carriage 500
Depending on the factors such as volume, the length on chassis 400, cargo type.
Optionally, length direction of multiple vehicle connecting devices along chassis 400 is set gradually；In order to along chassis 400
Width direction loads and unloads railway carriage 500.
In the optinal plan of the present embodiment, the quantity of railway carriage 500 is multiple；In order to which different businessmans can be given to supply,
It can also be using cargo different built in different railway carriages 500.
Optionally, the big ting model of multiple railway carriages 500 is identical and/or different；That is, the big ting model of multiple railway carriages 500
The big ting models of identical perhaps multiple railway carriages 500 is different or the big ting model part of multiple railway carriages 500 is identical and part not
Together.
Optionally, each railway carriage 500 can pass through vehicle connecting device and the removable connection in chassis 400.So that each
Railway carriage 500 can be mounted on chassis 400.
In the optinal plan of the present embodiment, railway carriage 500 is corresponding in the vehicle connecting device of integral multiple, in order to by vehicle
Case 500 is fixed on chassis 400.
In the optinal plan of the present embodiment, the top on chassis 400 is provided with multiple tracks 410；The bottom of railway carriage 500 is arranged
Having can be along the idler wheel 510 in group that track 410 rolls；Cooperated by idler wheel 510 and track 410, so that railway carriage 500 can edge
The direction of track 410 is mounted on chassis 400, in order to which railway carriage 500 is moved to the preset position in chassis 400, to improve dress
Unload the efficiency of railway carriage 500.
Optionally, width direction of the track 410 along chassis 400 extends, and multiple tracks 410 are along the length side on chassis 400
To setting gradually.
Optionally, multiple railway carriages 500 can pass through track 410 and the removable connection in chassis 400.
Optionally, every group of idler wheel 510 includes 3-8 idler wheel 510.
Embodiment two
Embodiment two provides a kind of unmanned transportation system, which includes unmanned transport vehicle described in embodiment one
, the technical characteristic of unmanned haulage vehicle disclosed in embodiment one is also applied for the embodiment, the published nothing of embodiment one
The technical characteristic of people's haulage vehicle is not repeated to describe.
Unmanned transportation system provided in this embodiment, including server and unmanned haulage vehicle；Server and unmanned transport
Automobile wireless connection.By Server remote monitoring, unmanned haulage vehicle is controlled, is met with can remotely handle unmanned haulage vehicle
The emergency situations arrived, to improve the security performance of unmanned haulage vehicle operation；Personnel can be substituted by unmanned haulage vehicle will
Cargo is transported to default destination from default starting point, releases related personnel's intermediate transportation ring duplicate, inefficient daily
The transhipment work of section.
Unmanned transportation system described in the present embodiment has the advantages that unmanned haulage vehicle described in embodiment one, embodiment one
The advantages of disclosed unmanned haulage vehicle, is not repeated to describe herein.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (10)
1. a kind of unmanned haulage vehicle, which is characterized in that including chassis and railway carriage；The railway carriage removable can be connected to institute
It states on chassis；
Control device, energy storage equipment, driving device and positioning device are provided in the chassis；
The energy storage equipment is electrically connected with the control device, and the control device provides power for controlling the energy storage equipment
To the driving device；
The driving device is electrically connected with the control device, and the control device is for controlling described in the driving device driving
Chassis walking；
The positioning device is electrically connected with the control device, and the positioning device is used to monitor the location information on the chassis simultaneously
The location information is sent to the control device；
The chassis is provided at least one photographic device, and the photographic device is electrically connected with the control device, the camera shooting
Device is for monitoring road conditions and traffic information being sent to the control device.
2. unmanned haulage vehicle according to claim 1, which is characterized in that the railway carriage includes railway carriage ontology and railway carriage case
Door；The railway carriage chamber door and the railway carriage ontology are hinged, and are provided with chamber door between the railway carriage chamber door and the railway carriage ontology
Lifting device；
The chamber door lifting device is electrically connected with the control device, and the control device is for controlling the chamber door lifting device
The railway carriage chamber door is lifted, to open the railway carriage chamber door.
3. unmanned haulage vehicle according to claim 2, which is characterized in that the railway carriage ontology is provided with and the control
The chamber door identification device of device electrical connection；
For the chamber door identification device for sending identification information to the control device, the control device is corresponding to control the case
Door lifting device.
4. unmanned haulage vehicle according to claim 1, which is characterized in that the energy storage equipment is removable to be connected to institute
It states in chassis；
The energy storage equipment includes at least one rechargeable battery；The weight of the rechargeable battery is not more than 20kg.
5. unmanned haulage vehicle according to claim 1, which is characterized in that the railway carriage and the chassis are connected by vehicle
The removable connection of connection device.
6. unmanned haulage vehicle according to claim 5, which is characterized in that the vehicle connecting device includes identification group
Part, the first matable assembly and the second matable assembly；First matable assembly and second matable assembly are separately positioned on nothing
The corresponding both ends of people's haulage vehicle；
The recognizer component includes identifier and identification label；The identifier is fixedly connected with the chassis, the identification mark
Label are fixedly connected with the railway carriage；Alternatively, the identification label is fixedly connected with the chassis, the identifier and the railway carriage
It is fixedly connected；
First matable assembly includes the first chassis fit connection being fixedly connected with the chassis and consolidates with the railway carriage
Surely the first railway carriage fit connection connected；
Second matable assembly include the second chassis mating connection structure being fixedly connected with the chassis and with the railway carriage
The second railway carriage mating connection structure being fixedly connected；
First chassis fit connection can be fastened with the first railway carriage fit connection, and the second chassis cooperation connects
Binding structure can be fixedly connected on chassis with the second railway carriage mating connection structure grafting so that railway carriage is removable, and
So that the identifier can identify the identification label.
7. unmanned haulage vehicle according to claim 6, which is characterized in that the identifier includes RFID identification device；
The identification label includes RFID label tag.
8. unmanned haulage vehicle according to claim 6, which is characterized in that first chassis fit connection include with
The electronic lock that the chassis is fixedly connected, the first railway carriage fit connection include the fixation being fixedly connected with the railway carriage
Ring；The electronic lock can lock the fixed ring；
The identifier and the electronic lock are electrically connected with the control device respectively, described when lockking for the electronic lock
Control device is corresponding to control the identifier identification identification label.
9. unmanned haulage vehicle according to claim 6, which is characterized in that the second chassis mating connection structure is tenon
Slot, the tongue-and-groove are arranged on chassis；The second railway carriage mating connection structure is fourth of the twelve Earthly Branches head, and the fourth of the twelve Earthly Branches head is fixed at railway carriage
On；
Alternatively, the second chassis mating connection structure is fourth of the twelve Earthly Branches head, the fourth of the twelve Earthly Branches head is arranged on chassis；The second railway carriage cooperation
Connection structure is tongue-and-groove, and the tongue-and-groove is fixed on railway carriage.
10. a kind of unmanned transportation system, which is characterized in that including the described in any item unmanned fortune of server and claim 1-9
Defeated vehicle；
The server and the unmanned haulage vehicle are wirelessly connected.
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| CN201811236445.4A CN109533046A (en) | 2018-10-23 | 2018-10-23 | Unmanned haulage vehicle and its system |
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| CN201811236445.4A CN109533046A (en) | 2018-10-23 | 2018-10-23 | Unmanned haulage vehicle and its system |
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| CN109533046A true CN109533046A (en) | 2019-03-29 |
Family
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| CN111492954A (en) * | 2020-04-24 | 2020-08-07 | 新石器慧通（北京）科技有限公司 | Liquid spraying device, carrier and liquid spraying method |
| CN112078689A (en) * | 2020-09-30 | 2020-12-15 | 黄勤达 | Mechanical unmanned vehicle |
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| CN112693389A (en) * | 2020-12-18 | 2021-04-23 | 北京云迹科技有限公司 | Box body fastening and locking system and distribution robot |
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| WO2022063116A1 (en) * | 2020-09-27 | 2022-03-31 | 长沙行深智能科技有限公司 | Unmanned vehicle with detachable functional module |
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Application publication date: 20190329 |