CN110843959A - Transport trolley - Google Patents

Transport trolley Download PDF

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Publication number
CN110843959A
CN110843959A CN201911250549.5A CN201911250549A CN110843959A CN 110843959 A CN110843959 A CN 110843959A CN 201911250549 A CN201911250549 A CN 201911250549A CN 110843959 A CN110843959 A CN 110843959A
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vehicle body
transport trolley
opening
connecting rod
trolley according
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莫卓亚
邓琳奎
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Guangdong Gongye Technology Co Ltd
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Guangdong Gongye Technology Co Ltd
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Priority to CN201911250549.5A priority Critical patent/CN110843959A/en
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    • 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
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Acoustics & Sound (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

本发明涉及运输工具技术领域，尤其是指一种运输小车，包括车体以及用于驱动所述车体移动的驱动机构，所述车体设置有开口，所述车体内设置有用于装载物品的装载槽，所述车体活动设置有用于打开或者盖合所述装载槽的开合机构，所述车体装设有识别机构，所述识别机构用于识别周围的环境后通过所述驱动机构驱动所述车体移动。本发明通过设置有识别机构，利用识别机构进行车体周围环境的识别，然后根据环境来控制驱动机构的移动方向，从而达到了无需设置移动路径并且自动避障的效果，提升了本发明的运输效率。

Figure 201911250549

The present invention relates to the technical field of transportation tools, and in particular to a transport trolley, comprising a vehicle body and a driving mechanism for driving the vehicle body to move, the vehicle body being provided with an opening, a loading slot for loading articles being provided in the vehicle body, an opening and closing mechanism for opening or closing the loading slot being provided on the vehicle body, and an identification mechanism being provided on the vehicle body, the identification mechanism being used to identify the surrounding environment and then drive the vehicle body to move through the driving mechanism. The present invention is provided with an identification mechanism, which is used to identify the surrounding environment of the vehicle body, and then the moving direction of the driving mechanism is controlled according to the environment, thereby achieving the effect of automatically avoiding obstacles without setting a moving path, thereby improving the transportation efficiency of the present invention.

Figure 201911250549

Description

一种运输小车a transport trolley

技术领域technical field

本发明涉及运输工具技术领域，尤其是指一种运输小车。The invention relates to the technical field of transport tools, in particular to a transport trolley.

背景技术Background technique

目前，随着智能化的发展，很多运输工具，例如垃圾运输小车、物流运输小车等，都趋向于采用自动化来实现，即由运输工具自动进行移动至指定地点后，再由用户把物体放入运输工具内实现运输。但是，目前这类运输工具具有如下不足：其移动的轨迹是既定的，大多都采用例如AGV小车一般的技术来实现移动，这就导致了若运输工具的移动路径有障碍物就会使得运输工具无法继续移动，从而影响了运输效率。At present, with the development of intelligence, many transportation tools, such as garbage transport trolleys, logistics transportation trolleys, etc., tend to be realized by automation, that is, after the transportation tool automatically moves to the designated location, the user puts the object into the Transport within the means of transport. However, at present, this type of transportation tool has the following shortcomings: the trajectory of its movement is predetermined, and most of them use technologies such as AGV trolleys to achieve movement, which leads to the transportation tool if there are obstacles in the moving path, it will make the transportation tool It cannot continue to move, which affects the efficiency of transportation.

发明内容SUMMARY OF THE INVENTION

本发明针对现有技术的问题提供一种运输小车，能够实现自动识别障碍物的效果，无需设置移动路径也能够实现运输。Aiming at the problems of the prior art, the present invention provides a transport trolley, which can realize the effect of automatically identifying obstacles, and can also realize transportation without setting a moving path.

为了解决上述技术问题，本发明采用如下技术方案：In order to solve the above-mentioned technical problems, the present invention adopts the following technical solutions:

本发明提供的一种运输小车，包括车体以及用于驱动所述车体移动的驱动机构，所述车体设置有开口，所述车体内设置有用于装载物品的装载槽，所述车体活动设置有用于打开或者盖合所述装载槽的开合机构，所述车体装设有识别机构，所述识别机构用于识别周围的环境后通过所述驱动机构驱动所述车体改变移动状态。A transport trolley provided by the present invention includes a vehicle body and a driving mechanism for driving the vehicle body to move, the vehicle body is provided with an opening, a loading slot for loading articles is provided in the vehicle body, and the vehicle body is provided with an opening. An opening and closing mechanism for opening or closing the loading slot is movably provided, and the vehicle body is provided with an identification mechanism, which is used for recognizing the surrounding environment and driving the vehicle body to change movement through the driving mechanism state.

进一步的，所述开合机构包括顶盖、连接杆以及推动机构，所述连接杆的一端转动连接于所述顶盖，所述连接杆的另一端转动连接于所述车体，所述推动机构的末端转动连接于所述连接杆的非两端位置，所述推动机构转动设置于所述车体内。Further, the opening and closing mechanism includes a top cover, a connecting rod and a pushing mechanism. One end of the connecting rod is rotatably connected to the top cover, and the other end of the connecting rod is rotatably connected to the vehicle body. The end of the mechanism is rotatably connected to the non-end positions of the connecting rod, and the pushing mechanism is rotatably arranged in the vehicle body.

更进一步的，所述开合机构还包括加强架，所述加强架的一端转动连接于所述顶盖，所述加强架的另一端与所述车体转动连接。Further, the opening and closing mechanism further includes a reinforcement frame, one end of the reinforcement frame is rotatably connected to the top cover, and the other end of the reinforcement frame is rotatably connected to the vehicle body.

更进一步的，所述连接杆的数量为两根，两根连接杆分别转动连接于所述顶盖的两侧，所述推动机构连接于其中一根连接杆。Further, the number of the connecting rods is two, the two connecting rods are respectively connected to two sides of the top cover in rotation, and the pushing mechanism is connected to one of the connecting rods.

优选的，所述装载槽的两侧分别设置有固定件，固定件设置有用于对连接杆进行让位的让位孔。Preferably, the two sides of the loading slot are respectively provided with fixing pieces, and the fixing pieces are provided with a leave-in hole for giving way to the connecting rod.

进一步的，所述识别机构包括第一识别装置和第二识别装置，所述第二识别装置设置于所述车体侧壁，所述第一识别装置包括识别座以及至少三个第一摄像头，至少三个第一摄像头均设置于所述识别座的侧壁，至少三个第一摄像头配合用于拍摄所述车体周围的图像。Further, the identification mechanism includes a first identification device and a second identification device, the second identification device is disposed on the side wall of the vehicle body, and the first identification device includes an identification seat and at least three first cameras, At least three first cameras are all disposed on the side wall of the identification seat, and the at least three first cameras are used together to capture images around the vehicle body.

更进一步的，所述第二识别装置包括第二摄像头以及至少两个超声波探测器，所述第二摄像头设置于所述车体的前侧，至少两个超声波探测器分别设置于所述车体的前侧和后侧，所述第二摄像头的拍摄方向与地面呈夹角设置，超声波探测器用于检测所述车体前后是否有障碍物。Further, the second identification device includes a second camera and at least two ultrasonic detectors, the second camera is arranged on the front side of the vehicle body, and at least two ultrasonic detectors are respectively arranged on the vehicle body The front and rear sides of the vehicle body, the shooting direction of the second camera is arranged at an angle with the ground, and the ultrasonic detector is used to detect whether there are obstacles in the front and rear of the vehicle body.

更进一步的，所述识别机构还包括第三识别装置，所述第三识别装置设置于所述车体的前侧，所述第三识别装置位于所述第二识别装置的上方。Further, the identification mechanism further includes a third identification device, the third identification device is disposed on the front side of the vehicle body, and the third identification device is located above the second identification device.

进一步的，所述车体的侧边设置有用于接收无线充电磁场的接收器，所述接收器与所述驱动机构电连接。Further, the side of the vehicle body is provided with a receiver for receiving the wireless charging magnetic field, and the receiver is electrically connected with the driving mechanism.

进一步的，所述车体的顶端设置有触控屏，所述触控屏用于让使用者进行操作以控制所述开合机构打开。Further, the top of the vehicle body is provided with a touch screen, and the touch screen is used for the user to operate to control the opening and closing mechanism to open.

本发明的有益效果：本发明通过设置有识别机构，利用识别机构进行车体周围环境的识别，然后根据环境来控制驱动机构的移动方向，从而达到了无需设置移动路径并且自动避障的效果，提升了本发明的运输效率。Beneficial effects of the present invention: the present invention is provided with an identification mechanism, uses the identification mechanism to identify the surrounding environment of the vehicle body, and then controls the moving direction of the driving mechanism according to the environment, thereby achieving the effect of automatically avoiding obstacles without setting a moving path, The transportation efficiency of the present invention is improved.

附图说明Description of drawings

图1为本发明的示意图。Figure 1 is a schematic diagram of the present invention.

图2为本发明的另一视角示意图。FIG. 2 is a schematic diagram from another perspective of the present invention.

图3为本发明的装载槽的示意图。Figure 3 is a schematic view of the loading tank of the present invention.

图4为本发明的开合机构的示意图。FIG. 4 is a schematic diagram of the opening and closing mechanism of the present invention.

图5为图4隐去连接杆和推动机构后的另一视角示意图。FIG. 5 is a schematic diagram from another perspective of FIG. 4 after the connecting rod and the pushing mechanism are hidden.

图6为本发明的第一识别装置的示意图。FIG. 6 is a schematic diagram of the first identification device of the present invention.

附图标记：1—车体，2—驱动机构，3—装载槽，4—开合机构，5—识别机构，6—接收器，7—触控屏，8—识别器，31—固定件，32—让位孔，41—顶盖，42—连接杆，43—推动机构,44—加强架，45—电动推杆，46—转动座，47—加强筋，51—第一识别装置，52—第二识别装置，53—第三识别装置，511—识别座，512—第一摄像头，521—第二摄像头，522—超声波探测器。Reference numerals: 1—car body, 2—drive mechanism, 3—loading slot, 4—opening and closing mechanism, 5—recognition mechanism, 6—receiver, 7—touch screen, 8—identifier, 31—fixed part , 32—giving way hole, 41—top cover, 42—connecting rod, 43—propulsion mechanism, 44—reinforcing frame, 45—electric push rod, 46—rotating seat, 47—reinforcing rib, 51—first identification device, 52—the second identification device, 53—the third identification device, 511—the identification seat, 512—the first camera, 521—the second camera, and 522—the ultrasonic detector.

具体实施方式Detailed ways

为了便于本领域技术人员的理解，下面结合实施例与附图对本发明作进一步的说明，实施方式提及的内容并非对本发明的限定。以下结合附图对本发明进行详细的描述。In order to facilitate the understanding of those skilled in the art, the present invention will be further described below with reference to the embodiments and the accompanying drawings, and the contents mentioned in the embodiments are not intended to limit the present invention. The present invention will be described in detail below with reference to the accompanying drawings.

如图1至图6所示，本发明提供的一种运输小车，包括车体1以及用于驱动所述车体1移动的驱动机构2，所述车体1设置有开口(图中未示出)，所述车体1内可拆卸设置有用于装载物品的装载槽3，即工作人员可通过自开口取放装载槽3的方式来取放置于装载槽3内的物体；所述车体1活动设置有用于打开或者盖合所述装载槽3的开合机构4，所述车体1装设有识别机构5，所述识别机构5用于识别周围的环境后通过所述驱动机构2驱动所述车体1改变移动状态。具体的，本发明的车体1内集成有中控装置(图中未示出)和可充电电池(图中未示出)，该中控装置用于经识别机构5获取图像后，根据图像来判断车体1附近的障碍物，从而控制驱动机构2进行换向或刹车等操作；而驱动机构2则为车轮(图中未示出)以及对应的电机(如轮毂电机)组成，这些属于本领域内的常规手段，在此不再赘述。As shown in FIG. 1 to FIG. 6 , a transport trolley provided by the present invention includes a vehicle body 1 and a driving mechanism 2 for driving the vehicle body 1 to move, and the vehicle body 1 is provided with an opening (not shown in the figure). out), the vehicle body 1 is detachably provided with a loading slot 3 for loading objects, that is, the staff can pick up and place the objects placed in the loading slot 3 by picking up and placing the loading slot 3 from the opening; the vehicle body 1. An opening and closing mechanism 4 for opening or closing the loading slot 3 is movably provided. The vehicle body 1 is provided with an identification mechanism 5, and the identification mechanism 5 is used for identifying the surrounding environment and passing through the driving mechanism 2. The vehicle body 1 is driven to change the moving state. Specifically, the vehicle body 1 of the present invention is integrated with a central control device (not shown in the figure) and a rechargeable battery (not shown in the figure). to judge the obstacles near the vehicle body 1, so as to control the driving mechanism 2 to perform operations such as reversing or braking; and the driving mechanism 2 is composed of wheels (not shown in the figure) and corresponding motors (such as in-wheel motors), which belong to The conventional means in this field will not be repeated here.

本发明在使用时，由中控装置控制驱动机构2来进行移动，同时通过识别机构5不断判断车体1周围的环境情况；当识别机构5识别到前方具有障碍物时，中控装置会根据识别机构5反馈的信息，控制驱动机构2调整车体1的移动方向，从而使得本发明具有避免功能而实现移动移动的效果，省去了设置既定路径，提升了灵活性。同时，本发明设置有开合机构4，用于自动打开车体1让使用者从车体1内存取物品。When the present invention is in use, the central control device controls the driving mechanism 2 to move, and at the same time, the recognition mechanism 5 continuously judges the environmental conditions around the vehicle body 1; when the recognition mechanism 5 recognizes that there is an obstacle ahead, the central control device will The information fed back by the identification mechanism 5 controls the driving mechanism 2 to adjust the moving direction of the vehicle body 1, so that the present invention has the effect of avoiding the function and realizing the moving movement, eliminating the need to set a predetermined path and improving the flexibility. At the same time, the present invention is provided with an opening and closing mechanism 4 for automatically opening the vehicle body 1 to allow the user to retrieve items from the vehicle body 1 .

在本实施例中，所述开合机构4包括顶盖41、连接杆42以及推动机构43，所述连接杆42的一端转动连接于所述顶盖41，所述连接杆42的另一端转动连接于所述车体1，所述推动机构43的末端转动连接于所述连接杆42的非两端位置，所述推动机构43转动设置于所述车体1内。本发明的开合机构4能够在打开时减少所占据的空间，具体为：而在需要打开顶盖41时，由推动机构43推动连接杆42转动，从而驱动顶盖41先向上移动一定的高度；当连接杆42转动达到最高点时，推动机构43继续推动连接杆42转动，此时连接杆42处于往外翻的状态，使得转动连接于连接杆42的顶盖41在重力作用下以及连接杆42的带动下向下翻转，同时连接杆42带动推动机构43也发生小角度的转动，最终使得顶盖41打开后会贴在壳体的侧壁，达到了节省空间的效果。In this embodiment, the opening and closing mechanism 4 includes a top cover 41 , a connecting rod 42 and a pushing mechanism 43 , one end of the connecting rod 42 is rotatably connected to the top cover 41 , and the other end of the connecting rod 42 is rotated Connected to the vehicle body 1 , the end of the pushing mechanism 43 is rotatably connected to the non-end positions of the connecting rod 42 , and the pushing mechanism 43 is rotatably arranged in the vehicle body 1 . The opening and closing mechanism 4 of the present invention can reduce the space occupied when opening, specifically: when the top cover 41 needs to be opened, the connecting rod 42 is pushed by the pushing mechanism 43 to rotate, thereby driving the top cover 41 to move upward by a certain height first. When the connecting rod 42 rotates to the highest point, the push mechanism 43 continues to push the connecting rod 42 to rotate, and the connecting rod 42 is in a state of turning outwards, so that the top cover 41 connected to the connecting rod 42 is rotated under the action of gravity and the connecting rod Driven by 42 , it flips downward, and at the same time, the connecting rod 42 drives the push mechanism 43 to rotate at a small angle, so that the top cover 41 will stick to the side wall of the casing after it is opened, thus achieving the effect of saving space.

具体的，所述开合机构4还包括加强架44，所述加强架44的一端转动连接于所述顶盖41，所述加强架44的另一端与所述车体1转动连接。加强架44用于增强顶盖41的强度，即使得顶盖41的端面积增大，也不会发生塌陷或者中部裂开的现象，提升了本发明的稳定性。优选的，该顶盖41的底端还设置有多条加强筋47，进一步增加顶盖41的强度。Specifically, the opening and closing mechanism 4 further includes a reinforcement frame 44 , one end of the reinforcement frame 44 is rotatably connected to the top cover 41 , and the other end of the reinforcement frame 44 is rotatably connected to the vehicle body 1 . The reinforcing frame 44 is used to enhance the strength of the top cover 41, even if the end area of the top cover 41 is increased, the phenomenon of collapse or middle crack will not occur, which improves the stability of the present invention. Preferably, the bottom end of the top cover 41 is further provided with a plurality of reinforcing ribs 47 to further increase the strength of the top cover 41 .

具体的，所述连接杆42的数量为两根，两根连接杆42分别转动连接于所述顶盖41的两侧，所述推动机构43连接于其中一根连接杆42；优选的，所述推动机构43包括电动推杆45以及转动座46，电动推杆45转动设置于所述车体1内，转动座46设置于所述电动推杆45的活动端，该其中一根连接杆42转动设置于转动座46。通过设置两根连接杆42来保证顶盖41打开时的稳定性和平衡性，且仅通过一个推动机构43来控制顶盖41打开，能够保证了两根连接杆42动作的一致性，使得顶盖41的打开更为稳定。Specifically, the number of the connecting rods 42 is two, the two connecting rods 42 are rotatably connected to both sides of the top cover 41 respectively, and the pushing mechanism 43 is connected to one of the connecting rods 42; The push mechanism 43 includes an electric push rod 45 and a rotating seat 46. The electric push rod 45 is rotatably disposed in the vehicle body 1, and the rotating seat 46 is disposed at the movable end of the electric push rod 45. One of the connecting rods 42 The rotary seat 46 is rotatably arranged. By setting two connecting rods 42 to ensure the stability and balance when the top cover 41 is opened, and only one pushing mechanism 43 is used to control the opening of the top cover 41, the consistency of the movements of the two connecting rods 42 can be ensured, so that the top cover 41 can be opened. The opening of the cover 41 is more stable.

优选的，所述装载槽3的两侧分别设置有固定件31，固定件31设置有用于对连接杆42进行让位的让位孔32，固定件31用于让装载槽3能够于车体1内部稳定安装，而让位孔32则是用于对连接杆42进行让位和限位，避免连接杆42转动幅度过大而导致顶盖41与车体1发生碰撞。Preferably, the two sides of the loading slot 3 are respectively provided with fixing pieces 31 , the fixing pieces 31 are provided with an escrow hole 32 for giving way to the connecting rod 42 , and the fixing pieces 31 are used to allow the loading slot 3 to be mounted on the vehicle body. 1. The interior is stably installed, and the give-away hole 32 is used to give way and limit the connecting rod 42, so as to prevent the top cover 41 from colliding with the vehicle body 1 due to the excessive rotation of the connecting rod 42.

在本实施例中，所述识别机构5包括第一识别装置51和第二识别装置52，所述第二识别装置52设置于所述车体1侧壁，所述第一识别装置51包括识别座511以及至少三个第一摄像头512，至少三个第一摄像头512均设置于所述识别座511的侧壁，至少三个第一摄像头512配合用于拍摄所述车体1周围的图像。在本实施例中，该第一摄像头512为四个，且四个第一摄像头512分别设置于识别座511的四侧，分别用于拍摄本发明前后左右四个方向的图像，从而保证了本发明能够切实根据周围障碍物情况实现避障。In this embodiment, the identification mechanism 5 includes a first identification device 51 and a second identification device 52, the second identification device 52 is disposed on the side wall of the vehicle body 1, and the first identification device 51 includes an identification device 52. The seat 511 and at least three first cameras 512 are disposed on the side wall of the identification seat 511 , and the at least three first cameras 512 are used to capture images around the vehicle body 1 . In this embodiment, the number of the first cameras 512 is four, and the four first cameras 512 are respectively disposed on the four sides of the identification seat 511, and are used to capture images in four directions of the present invention, front, back, left, right, and so on, thereby ensuring the present invention. The invention can practically realize obstacle avoidance according to the surrounding obstacles.

具体的，所述第二识别装置52包括第二摄像头521以及至少两个超声波探测器522，所述第二摄像头521设置于所述车体1的前侧，至少两个超声波探测器522分别设置于所述车体1的前侧和后侧，所述第二摄像头521的拍摄方向与地面呈夹角设置，超声波探测器522用于检测所述车体1前后是否有障碍物。优选的，车体1的前侧设置有两个超声波探测器522，车体1的后侧也设置有两个超声波探测器522。即本发明通过第二摄像头521倾斜设置来拍摄车体1前侧路面，从而来获知路面是否具有障碍物，便于提前进行规避动作；而超声波探测器522则是进一步提升了本发明对于车体1周围物体的识别效果。Specifically, the second identification device 52 includes a second camera 521 and at least two ultrasonic detectors 522, the second camera 521 is disposed on the front side of the vehicle body 1, and at least two ultrasonic detectors 522 are disposed respectively On the front and rear sides of the vehicle body 1 , the shooting direction of the second camera 521 is arranged at an angle with the ground, and the ultrasonic detector 522 is used to detect whether there are obstacles in the front and rear of the vehicle body 1 . Preferably, two ultrasonic probes 522 are disposed on the front side of the vehicle body 1 , and two ultrasonic probes 522 are also disposed on the rear side of the vehicle body 1 . That is, the present invention uses the inclined setting of the second camera 521 to photograph the road surface on the front side of the vehicle body 1, so as to know whether there are obstacles on the road surface, so as to facilitate the avoidance action in advance; and the ultrasonic detector 522 further improves the present invention for the vehicle body 1. The recognition effect of surrounding objects.

由于第一摄像头512的摄像范围为扇形，且第二摄像头521的射向范围更倾向于倾斜向下，即第一摄像头512与第二摄像头521之间具有盲区，该盲区有可能会导致车体1无法获取前方有障碍物信息而使得车体1撞在障碍物上，因此在本实施例中，所述识别机构5还包括第三识别装置53，所述第三识别装置53设置于所述车体1的前侧，所述第三识别装置53位于所述第二识别装置52的上方，用于克服摄像盲区，从而使得识别结果更加准确。Since the imaging range of the first camera 512 is fan-shaped, and the shooting range of the second camera 521 tends to be inclined downward, that is, there is a blind spot between the first camera 512 and the second camera 521, which may cause the vehicle body 1. It is impossible to obtain the information of an obstacle ahead, so that the vehicle body 1 hits the obstacle. Therefore, in this embodiment, the identification mechanism 5 further includes a third identification device 53, and the third identification device 53 is arranged in the On the front side of the vehicle body 1, the third identification device 53 is located above the second identification device 52, and is used to overcome the blind spot of the camera, thereby making the identification result more accurate.

在本实施例中，所述车体1的侧边设置有用于接收无线充电磁场的接收器6，所述接收器6与所述驱动机构2、中控装置电连接，具体为接收器6用于为车体1内的可充电电池进行充电，即在需要充电时，只需由车体1移动至对应的无线充电桩处(或者移动至竖放的无线充电座处)，然后车体1把接收器6靠近该无线充电桩即可实现充电，从而省去了有线充电需要人工干涉的步骤，提升了效率。In this embodiment, the side of the vehicle body 1 is provided with a receiver 6 for receiving the wireless charging magnetic field, and the receiver 6 is electrically connected with the driving mechanism 2 and the central control device, specifically for the receiver 6 It is used to charge the rechargeable battery in the vehicle body 1, that is, when charging is required, it is only necessary to move the vehicle body 1 to the corresponding wireless charging pile (or to the vertical wireless charging stand), and then the vehicle body 1 Charging can be achieved by placing the receiver 6 close to the wireless charging pile, thereby eliminating the need for manual intervention for wired charging and improving efficiency.

在本实施例中，所述车体1的顶端设置有触控屏7，所述触控屏7用于让使用者进行操作以控制所述开合机构4打开。该触控屏7与中控装置电连接，用于让使用者打开开合机构4前需要进行身份验证，例如通过人脸识别或二维码或者输入密码的方式进行验证；当验证通过后，开合机构4打开而让使用者存取物体。优选的，触控屏7还连接有识别器8，该识别器8用于识别使用者的手势，从而根据手势来完成对应的动作。需要注意的是，身份验证以及手势识别，均属于智能化的现有技术，因此在此不再赘述其原理。In this embodiment, the top of the vehicle body 1 is provided with a touch screen 7 , and the touch screen 7 is used for the user to operate to control the opening and closing mechanism 4 to open. The touch screen 7 is electrically connected to the central control device, and is used to allow the user to perform identity verification before opening the opening and closing mechanism 4, for example, by means of face recognition or two-dimensional code or inputting a password; when the verification is passed, The opening and closing mechanism 4 is opened to allow the user to access the object. Preferably, the touch screen 7 is further connected with a recognizer 8, and the recognizer 8 is used to recognize the user's gesture, so as to complete the corresponding action according to the gesture. It should be noted that both identity verification and gesture recognition belong to the existing intelligent technologies, so the principles thereof will not be repeated here.

以上所述，仅是本发明较佳实施例而已，并非对本发明作任何形式上的限制，虽然本发明以较佳实施例公开如上，然而并非用以限定本发明，任何熟悉本专业的技术人员，在不脱离本发明技术方案范围内，当利用上述揭示的技术内容作出些许变更或修饰为等同变化的等效实施例，但凡是未脱离本发明技术方案内容，依据本发明技术是指对以上实施例所作的任何简单修改、等同变化与修饰，均属于本发明技术方案的范围内。The above are only preferred embodiments of the present invention, and are not intended to limit the present invention in any form. Although the present invention is disclosed above with preferred embodiments, it is not intended to limit the present invention. , within the scope of the technical solution of the present invention, when using the technical content disclosed above to make some changes or modifications to equivalent embodiments of equivalent changes, but without departing from the technical solution content of the present invention, according to the technology of the present invention refers to the above Any simple modifications, equivalent changes and modifications made in the examples fall within the scope of the technical solutions of the present invention.

Claims (10)

1. The utility model provides a travelling bogie, includes the automobile body and is used for the drive the actuating mechanism that the automobile body removed, the automobile body is provided with the opening, be provided with the loading groove that is used for loading article in the automobile body, its characterized in that: the vehicle body is movably provided with an opening and closing mechanism for opening or closing the loading groove, the vehicle body is provided with an identification mechanism, and the identification mechanism is used for identifying surrounding environment and then driving the vehicle body to change the moving state through the driving mechanism.
2. The transport trolley according to claim 1, characterized in that: the opening and closing mechanism comprises a top cover, a connecting rod and a pushing mechanism, one end of the connecting rod is rotatably connected to the top cover, the other end of the connecting rod is rotatably connected to the vehicle body, the tail end of the pushing mechanism is rotatably connected to the non-two-end position of the connecting rod, and the pushing mechanism is rotatably arranged in the vehicle body.
3. The transport trolley according to claim 2, characterized in that: the opening and closing mechanism further comprises a reinforcing frame, one end of the reinforcing frame is rotatably connected to the top cover, and the other end of the reinforcing frame is rotatably connected with the vehicle body.
4. The transport trolley according to claim 2, characterized in that: the number of connecting rods is two, and two connecting rods rotate respectively connect in the both sides of top cap, pushing mechanism connects in one of them connecting rod.
5. The transport trolley according to claim 4, wherein: the both sides of loading the groove are provided with the mounting respectively, and the mounting is provided with the hole of stepping down that is used for stepping down the connecting rod.
6. The transport trolley according to claim 1, characterized in that: the recognition mechanism comprises a first recognition device and a second recognition device, the second recognition device is arranged on the side wall of the vehicle body, the first recognition device comprises a recognition seat and at least three first cameras, the at least three first cameras are arranged on the side wall of the recognition seat, and the at least three first cameras are matched with the side wall of the recognition seat to shoot images around the vehicle body.
7. The transport trolley according to claim 6, wherein: the second recognition device comprises a second camera and at least two ultrasonic detectors, the second camera is arranged on the front side of the vehicle body, the at least two ultrasonic detectors are respectively arranged on the front side and the rear side of the vehicle body, the shooting direction of the second camera is arranged at an included angle with the ground, and the ultrasonic detectors are used for detecting whether barriers are arranged around the vehicle body.
8. The transport trolley according to claim 6, wherein: the identification mechanism further comprises a third identification device, the third identification device is arranged on the front side of the vehicle body, and the third identification device is located above the second identification device.
9. The transport trolley according to claim 1, characterized in that: the side of automobile body is provided with the receiver that is used for receiving wireless charging magnetic field, the receiver with actuating mechanism electricity is connected.
10. The transport trolley according to claim 1, characterized in that: the top of automobile body is provided with the touch-control screen, the touch-control screen is used for letting the user operate in order to control the mechanism that opens and shuts opens.
CN201911250549.5A 2019-12-09 2019-12-09 Transport trolley Pending CN110843959A (en)

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