CN111267707A

CN111267707A - Intelligent serving trolley

Info

Publication number: CN111267707A
Application number: CN202010077019.1A
Authority: CN
Inventors: 李川鹏; 王秀旭; 王耀福
Original assignee: Automotive Data of China Tianjin Co Ltd
Current assignee: Automotive Data of China Tianjin Co Ltd
Priority date: 2020-01-23
Filing date: 2020-01-23
Publication date: 2020-06-12

Abstract

The invention discloses an intelligent serving trolley which comprises a trolley body, an automatic driving sensor module, a storage module and a chassis module. The vehicle body is arranged on the chassis module, the automatic driving sensor module is arranged on the vehicle body, and the storage module is positioned in the vehicle body and can be opened through a vehicle shell cover plate; the invention combines the unmanned driving technology and the intelligent line control technology; the intelligent food delivery vehicle is designed, a user can take a meal by pressing a key, the food delivery vehicle can automatically go to a store, the storage space is remotely unlocked through mobile phone remote control, the food delivery can be realized going upstairs, the food delivery vehicle runs in the building, the food delivery vehicle arrives at a user station, takeaway personnel can be replaced to a certain extent, the desire of food delivery in the last kilometer can be realized, and the humanized design is met.

Description

Intelligent serving trolley

Technical Field

The invention belongs to the technical field of intelligent unmanned driving technology and intelligent drive-by-wire chassis vehicles, and particularly relates to an intelligent serving trolley.

Background

Along with the improvement of living standard gradually, a lot of novel trades have taken birth, and the takeaway trade is just most obvious in recent years, and people place an order through cell-phone APP, and the takeaway personnel can arrive the shop and get the meal to send downstairs or community gate, people get the meal downstairs, give people the life and brought very big facility. At present, for safety, a lot of office buildings or communities do not allow takeaway personnel to enter, a special meal taking area is arranged, a meal ordering person needs to go downstairs to a relatively far meal taking area to take meals, great inconvenience is caused, and therefore an intelligent meal delivery trolley is provided.

Disclosure of Invention

The invention aims to provide an intelligent food delivery vehicle, wherein a user can take a meal by pressing a key, the food delivery vehicle can automatically go to a store to take a meal, a storage space is unlocked remotely by a mobile phone remote control, the food delivery can be carried upstairs, the food delivery vehicle can run in the building and is delivered to a user station, takeaway personnel can be replaced to a certain extent, and meanwhile, the desire of delivering the meal in the last kilometer can be realized, so that the problems in the background technology are solved.

In order to achieve the purpose, the invention adopts the following technical scheme: including automobile body, autopilot sensor module, storage module and chassis module. The automobile body is installed on the chassis module, the automatic driving sensor module is installed on the automobile body, the storage module is located inside the automobile body, and the automobile shell cover plate can be opened.

The vehicle body includes: the automobile emergency stop lighting device comprises a main body shell, a cover plate, a rear tail lamp, a running lamp, a charging head, a power switch, an emergency stop button and a radar bracket, wherein the rear tail lamp, the running lamp, the charging head, the power switch, the emergency stop button and the radar bracket are all arranged on the main body shell; the traveling crane and the like are also divided into a left traveling lamp and a right traveling lamp which are arranged at the lower positions near the front part of the vehicle, the charging head is arranged and fixed at the rear part of the main body shell of the vehicle, and the power switch is arranged and fixed below the charging head and fixedly connected with the main body shell; the emergency stop button is arranged below the power switch and is fixedly connected with the main body shell. The radar support is installed in the position that the vehicle top leaned on the front, but main part shell fixed connection.

The autopilot sensor module includes: the system comprises a laser radar, a binocular camera, an industrial display screen and an ultrasonic radar, wherein the laser radar, the binocular camera, the industrial display screen, ultrasonic radar equipment and a central processing unit are electrically connected, and the laser radar is installed on a radar bracket at the top of the vehicle and is fixedly connected with the radar bracket; the industrial display screen is arranged below the binocular camera and fixedly connected with the main body shell; the ultrasonic radar is 8 passageways, and four directions in the front of the vehicle, the back, the left side and the right side are respectively provided with two ultrasonic radars and a main body shell which are fixedly connected.

The storage module comprises an intelligent remote control lock module and a hydraulic module. The intelligent remote control lock module is composed of an intelligent lock cylinder, an intelligent lock head, a lock head clamping groove and a clamping groove block, the intelligent lock cylinder is fixed on an outer cover plate, the intelligent lock head and the intelligent lock cylinder are in sliding connection, the intelligent lock head can be controlled to be opened and closed through an APP, the lock head clamping groove is located inside the clamping groove block, the clamping groove block is fixedly connected with a main body shell, when the intelligent lock head is located in the lock head clamping groove, the cover plate is in a locking state, the intelligent lock head comes out of the lock head clamping groove, and the cover plate is in an unlocking state. The hydraulic module consists of a hydraulic push rod, a first fixing block, a second fixing block, a hinge and a limiting block, wherein one end of the hydraulic push rod is fixedly connected with the first fixing block in a rotating mode, the other end of the hydraulic push rod is fixedly connected with the second fixing block in a rotating mode, the first fixing block is fixed on the inner surface of the main body shell, the second fixing block is fixed on the inner surface of the cover plate, the cover plate and the main body shell are fixed through the hinge, and the cover plate can be opened in a rotating mode by taking the hinge; the limiting block is fixedly arranged at the top of the main body shell and fixedly connected with one side of the radar support.

The chassis module is comprised of four independent suspension systems, wheels, and a battery management system. The device comprises a chassis shell, a pneumatic wheel, Mecanum wheels, a BMS system, a battery module, a first supporting rod, a second supporting rod, a power module, a speed reducer, a suspension module and an adjustable damping module. The BMS system, the battery module and the first support rod are respectively fixed on the chassis shell, and the BMS system, the central processor and the battery module are electrically connected; first bracing piece and second bracing piece fixed connection, power module includes that motor, motor fixed block, reduction gear and transmission shaft constitute, and motor and central processing unit are electric connection. The second supporting rod is fixedly connected with the motor in a rotating mode through a motor fixing block, one end of a transmission shaft is fixed on the motor, the other end of the transmission shaft is fixedly connected with a wheel, the wheel comprises a pneumatic wheel and a Mecanum wheel, the pneumatic wheel is a front wheel of the vehicle, and the Mecanum wheel is a rear wheel of the vehicle; the speed reducer is fixed on the transmission shaft, the suspension module comprises suspension connecting rods, a first connecting shaft, a second connecting shaft, a third connecting shaft and a fourth connecting shaft, each independent suspension system comprises four suspension connecting rods, the four suspension connecting rods are divided into an upper suspension connecting rod and a lower suspension connecting rod, the upper suspension connecting rod and the second supporting rod are connected through the third connecting shaft in a rotating and fixed mode, the other end of the upper suspension connecting rod and the upper portion of the speed reducer are connected through the first connecting shaft in a rotating and fixed mode, the lower suspension connecting rod and the second supporting rod are connected through the fourth connecting shaft in a rotating and fixed mode, and the other end of the lower suspension connecting rod and the lower portion of the speed. The adjustable damping module is composed of a damping spring, a third fixed block, a fourth fixed block and an adjustable damping block, the third fixed block is fixed on the first supporting rod, the fourth fixed block is fixed on the adjustable damping block, the adjustable damping block is fixedly connected with the speed reducer in a sliding mode, and two ends of the damping spring are respectively fixed on the third fixed block and the fourth fixed block.

Furthermore, the automatic driving sensor module and the central processing unit are subjected to technical fusion, vehicle positioning can be realized through a laser Slam depth learning algorithm according to a laser radar in the automatic driving sensor module, the surrounding environment of the vehicle can be identified by combining a binocular camera and an 8-channel ultrasonic radar, automatic driving of the vehicle can be realized through an automatic driving program, and functions of intelligent vehicle obstacle stopping, obstacle avoidance, self-service tracking and the like can be realized.

Furthermore, the ultrasonic radars are distributed in the front, the back, the left and the right of the vehicle shell, and can monitor obstacles around the vehicle through a deep learning algorithm, so that the vehicle can be recognized in 360 degrees around, all directions and no dead angle.

Furthermore, the binocular camera can be fused with a laser Slam algorithm through a visual algorithm, and meanwhile, the face recognition technology and the intelligent remote control lock can be combined to achieve the face recognition unlocking function of the vehicle. The binocular camera can transmit the real-time video back to the monitoring end through the communication module of the central processing unit, and meanwhile, the monitoring end can store the video, so that the monitoring video can be conveniently played and called.

Further, battery module and BMS system link to each other, the BMS system can manage battery module, realizes monitoring vehicle charge time, electric quantity, current voltage, current temperature, self-defined alarm information isoparametric.

Compared with the prior art, the invention has the beneficial effects that:

1. the intelligent dining car provided by the invention realizes indoor positioning by using the laser slam and realizes intelligent planning of indoor routes.

2. Through 8-channel ultrasonic radar and an intelligent binocular camera, the intelligent dual-channel intelligent dual-purpose elevator can run in a building by self, and intelligent interaction of the same gate machine and the elevator is being developed.

3. The rear part of the serving trolley is provided with a food storage space and a beverage support, and the serving trolley is provided with an intelligent lock and can be controlled by a wireless remote control.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.

FIG. 1 is a schematic side view of the present invention;

FIG. 2 is a schematic structural diagram of an intelligent drive-by-wire chassis module according to the present invention;

FIG. 3 is a schematic structural view of a chassis module independent suspension system of the present invention;

in the figure: A. a vehicle body; B. a storage module; C. a chassis module; D. a central processing unit; 1.1, a main body shell; 1.2, a cover plate; 1.3, rear taillight; 1.4, driving a lamp; 1.5, a charging head; 1.6, a power switch; 1.7, an emergency stop button, 1.8 and a radar bracket; 2.1, laser radar; 2.2, a binocular camera; 2.3, an industrial display screen; 2.4, ultrasonic radar; 3.1, an intelligent lock cylinder; 3.2, an intelligent lock head; 3.3, a lock head clamping groove; 3.4, a clamping groove block; 4.1, a hydraulic push rod; 4.2, a first fixed block; 4.3, a second fixed block; 4.4, a hinge; 4.5, a limiting block; 5.1, an inflation wheel; 5.2 Mecanum wheels; 5.3, BMS system; 5.4, a battery module; 5.5, a first support rod; 5.6, a power module; 5.61, a motor fixing block; 5.62, a transmission shaft; 5.7, a speed reducer; 5.8, a suspension module; 5.81, a suspension lower connecting rod; 5.82, a first connecting shaft; 5.83, a second connecting shaft; 5.84. a third connecting shaft; 5.85, a fourth connecting shaft; 5.9, an adjustable damping module; 5.91, a third fixing block; 5.92, a fourth fixing block; 5.93, an adjustable damping block; 5.10 and a second support rod.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

Referring to fig. 1 to 3, the present invention provides a technical solution: an intelligent serving cart comprising: the vehicle body A, the storage module B, the chassis module C and the central processing unit D. The vehicle body a includes: the device comprises a main body shell 1.1, a cover plate 1.2, a rear tail lamp 1.3, a running lamp 1.4, a charging head 1.5, a power switch 1.6, an emergency stop button 1.7 and a radar support 1.8; the autopilot sensor module includes: 2.1 of laser radar, 2.2 of binocular camera, 2.3 of industrial display screen and 2.4 of ultrasonic radar. The storage module comprises intelligent remote control lock module and hydraulic module, and intelligent remote control lock module includes: 3.1 of an intelligent lock cylinder, 3.2 of an intelligent lock, 3.3 of a lock clamping groove and 3.4 of a clamping groove block; the hydraulic module includes: hydraulic push rod 4.1, first fixed block 4.2, second fixed block 4.3, hinge 4.4, stopper 4.5. The chassis module C includes: the device comprises a pneumatic wheel 5.1, a Mecanum wheel 5.2, a BMS system 5.3, a battery module 5.4, a first supporting rod 5.5, a power module 5.6, a motor fixing block 5.61, a transmission shaft 5.62, a speed reducer 5.7, a suspension module 5.8, a suspension lower connecting rod 5.81, a first connecting shaft 5.82, a second connecting shaft 5.83, a third connecting shaft 5.84, a fourth connecting shaft 5.85, an adjustable damping module 5.9, a third fixing block 5.91, a fourth fixing block 5.92, an adjustable damping block 5.93 and a second supporting rod 5.10. The automobile body A is installed on the chassis module C, the automatic driving sensor module is installed on the automobile body A, and the storage module B is located inside the automobile body A and can be opened through the automobile shell cover plate 1.2.

In the embodiment, furthermore, a rear tail lamp 1.3, a running lamp 1.4, a charging head 1.5, a power switch 1.6, an emergency stop button 1.7, a radar bracket 1.8 and a main body shell 1.1 are fixedly connected in the vehicle body a, the main body shell 1.1 and a cover plate 1.2 are fixedly connected in a rotating mode through a hinge 4.4, and the cover plate 1.2 can be opened in a rotating mode by taking the hinge 4.4 as a center; the rear tail lamp 1.3, the running lamp 1.4, the charging head 1.5, the power switch 1.6, the emergency stop button 1.7 and the central processing unit D are electrically connected, the rear tail lamp 1.3 is in a normally-on state when the vehicle is braked and decelerated and retreated, and the running lamp 1.4 is in a normally-on state when the vehicle is started, runs and stops; the charging head 1.5 is electrically connected with the battery module 5.4 through the central processing unit D, BMS system 5.3, the charging head 1.5 is a 12VDC interface, and the battery module 5.4 can be charged through a 12VDC head charger. The power switch 1.6 can control the power-on condition of the central processing unit D, after the power switch 1.6 is turned on, the communication module of the central processing unit D can establish communication connection with the background automatic driving system platform, and the background can control whether an automatic driving program is started or not, so that parameters such as vehicle running speed, brake, steering and the like can be modified; and starting the automatic driving system, and carrying out automatic driving running by the central processing unit D according to the parameters set by the automatic driving system program. The emergency stop button 1.7 is used for stopping the vehicle when the vehicle encounters an emergency during the automatic driving and running process and the automatic driving system program is closed when the emergency stop button 1.7 can be pressed.

In the embodiment, further, the binocular camera 2.2, the industrial display screen 2.3 and the ultrasonic radar 2.4 in the automatic driving sensor module are all arranged on the main body shell 1.1, and the laser radar 2.1 is arranged on the radar support 1.8; the laser radar 2.1, the binocular camera 2.2, the industrial display screen 2.3 and the ultrasonic radar 2.4 are electrically connected with the central processing unit D. Laser radar 2.1 accessible laser Slam degree of depth learning algorithm realizes vehicle location and discernment barrier, combine binocular camera 2.2 to realize visual identification, respectively be provided with two ultrasonic radar 2.4 all around, can discern vehicle surrounding environment, detect out all barriers in the vehicle surrounding 150m, fuse laser Slam algorithm, visual algorithm, recognition algorithm through degree of depth algorithm fusion technique, can be to vehicle surrounding environment 360 degrees, no dead angle, all-round barrier discernment, automatic driving system utilizes conventional unmanned system autonomous system to fuse, realize the self-service tracking of vehicle, intelligent obstacle stopping, intelligent obstacle avoiding, functions such as visual identification. Industrial display screen 2.3 can show binocular camera 2.2 face identification module, shows BMS system 5.3's parameter information management simultaneously, realizes monitoring vehicle charge time, electric quantity, current voltage, current temperature, self-defined alarm information isoparametric.

In this embodiment, the storage module B is further composed of an intelligent remote control lock module and a hydraulic module. The intelligent remote control lock module is composed of an intelligent lock cylinder 3.1, an intelligent lock head 3.2, a lock head clamping groove 3.3 and a clamping groove block 3.4, a wireless communication module is arranged in the intelligent lock cylinder 3.1, and the intelligent lock head 3.2 can be controlled to be unlocked and locked in the mobile phone APP/WeChat applet through the mobile phone APP and/or WeChat applet and the connection communication connection of the mobile phone APP and/or WeChat applet. Intelligent lock core 3.1 is fixed on shell apron 1.2, and intelligent tapered end 3.2 and intelligent lock core 3.1 sliding connection, tapered end draw-in groove 3.3 are located inside draw-in groove piece 3.4, draw-in groove piece 3.4 and main part shell 1.1 fixed connection, and when intelligent tapered end 3.2 was located tapered end draw-in groove 3.3, apron 1.2 was the state of shutting, otherwise the state of not unblanking. The hydraulic module consists of a hydraulic push rod 4.1, a first fixing block 4.2, a second fixing block 4.3, a hinge 4.4 and a limiting block 4.5, one end of the hydraulic push rod 4.1 is fixedly connected with the first fixing block 4.2 in a rotating manner, the other end of the hydraulic push rod 4.1 is fixedly connected with the second fixing block 4.3 in a rotating manner, the first fixing block 4.2 is fixed on the inner surface of the main body shell 1.1, the second fixing block 4.3 is fixed on the inner surface of the cover plate 1.2, the cover plate 1.2 and the main body shell 1.1 are fixed through the hinge 4.4, and the cover plate 1.2 can be opened in a rotating manner by taking the hinge 4.4 as; the limiting block 4.5 is fixedly arranged at the top of the main body shell 1.1 and is fixedly connected with one side of the radar support 1.8. When the intelligent remote control lock is opened, the hydraulic push rod 4.1 can automatically push the cover plate 1.2 to rotate through the hinge 4.4 to open until the outer side of the shell of the cover plate 1.2 contacts the limiting block 4.5, and the cover plate 1.2 is in a maximum opening and closing state; can put into or take out the food with storage module B, take out the back and manually push down apron 1.2, can realize the shutting state of long-range remote control lock of intelligence, apron 1.2 is the shutting state promptly.

In this embodiment, further, the chassis module C is composed of four independent suspension systems, a wheel module, a chassis housing, and a battery management system. Each independent suspension system includes: the support device comprises a first support rod 5.5, a second support rod 5.10, a power module 5.6, a speed reducer 5.7, a suspension module 5.8 and an adjustable damping module 5.9. The power module 5.6 comprises a motor, a motor fixing block 5.61, a speed reducer 5.7 and a transmission shaft 5.62, the motor is electrically connected with the central processing unit D, and the speed reducer 5.7 can be driven by the transmission shaft 5.62 to drive the wheel module to move by the motor. The second support rod 5.10 is fixedly connected with the motor through the motor fixing block 5.61 in a rotating mode. The wheel module comprises a pneumatic wheel 5.1 and a Mecanum wheel 5.2, wherein the pneumatic wheel 5.1 is a front wheel of the vehicle and can provide power for the vehicle; mecanum wheels 5.2 are the rear wheels of the vehicle and provide steering for the vehicle. The suspension module consists of four suspension connecting rods 5.81, a first connecting shaft 5.82, a second connecting shaft 5.83, a third connecting shaft 5.84 and a fourth connecting shaft 5.85; four suspension connecting rods 5.81 divide into upper portion suspension connecting rod and lower part suspension connecting rod two respectively, upper portion suspension connecting rod one end and second bracing piece 5.10 are through the rotatory fixed connection of third connecting axle 5.84, the upper portion suspension connecting rod other end and reduction gear 5.7 upper portion are through the rotatory fixed connection of first connecting axle 5.82, lower part suspension connecting rod one end and second bracing piece 5.10 are through the rotatory fixed connection of fourth connecting axle 5.85, the rotatory fixed connection of third connecting axle 5.84 is passed through to the lower part suspension connecting rod other end and reduction gear 5.7 lower part. The adjustable damping module 5.9 is composed of a damping spring, a third fixing block 5.91, a fourth fixing block 5.92 and an adjustable damping block 5.93, the third fixing block 5.91 is fixed on the first supporting rod 5.5, the fourth fixing block 5.92 is fixed on the adjustable damping block 5.93, the adjustable damping block 5.93 is fixedly connected with the speed reducer 5.7 in a sliding mode, and two ends of the damping spring are fixed on the third fixing block 5.91 and the fourth fixing block 5.92 respectively. When a bumpy road section is met, the wheels, the transmission shaft 5.62, the speed reducer 5.7, the motor and the suspension module 5.8 rotate through the motor fixing block 5.61, and meanwhile, the damping of the spring in the adjustable damping module 5.9 can be expanded and compressed, so that the damping effect of the vehicle is achieved. BMS system 5.3 sets up electric connection with central processing unit D, battery module 5.4 respectively, and BMS system 5.3 is battery management system, can realize monitoring vehicle charge time, electric quantity, current voltage, current temperature, self-defined alarm information isoparametric, has fine the effect of protection battery module.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be able to cover the technical scope of the present invention and the equivalent alternatives or modifications according to the technical solution and the inventive concept of the present invention within the technical scope of the present invention.

Claims

1. An intelligent serving trolley is characterized in that: including automobile body A, storage module B, chassis module C and central processing unit D, automobile body A includes main casing (1.1), apron (1.2), back tail lamp (1.3), driving light (1.4), charge head (1.5), switch (1.6), scram button (1.7) and radar support (1.8) all install on main casing (1.1), just main casing (1.1) and apron (1.2) are articulated fixedly through hinge (4.4), back tail lamp (1.3) divide into left back tail lamp and right back tail lamp and symmetry and install at main casing (1.1) rear portion, driving light (1.4) divide into left driving light and right driving light and symmetry and install at main casing (1.1) front end bottom department, and the fixed rear portion at main casing (1.5) of charging head (1.5), the power switch (1.6) is fixedly arranged at the position right below the rear part of the main shell (1.1) corresponding to the charging head (1.5), the emergency stop button (1.7) is fixedly arranged at the position right below the main shell (1.1) corresponding to the power switch (1.6), the radar support (1.8) is fixedly arranged at the position of the front end of the top of the main shell (1), and an automatic driving sensor module is arranged in the vehicle body A;

storage module B includes intelligent remote control lock module and hydraulic module, wherein intelligent remote control lock module includes: the intelligent lock comprises an intelligent lock cylinder (3.1), an intelligent lock head (3.2), a lock head clamping groove (3.3) and a clamping groove block (3.4), wherein the intelligent lock cylinder (3.1) is fixed on a cover plate (1.2), the intelligent lock cylinder (3.1) is in sliding connection with the intelligent lock head (3.2), the intelligent lock head (3.2) can be connected with an external mobile terminal and controls the intelligent lock head (3.2) to be opened or closed through the mobile terminal, the lock head clamping groove (3.3) is fixedly arranged in the clamping groove block (3.4), and the clamping groove block (3.4) is fixedly arranged on a main shell (1.1); the hydraulic module comprises a hydraulic push rod (4.1), a first fixing block (4.2), a second fixing block (4.3), a hinge (4.4) and a limiting block (4.5), one end of the hydraulic push rod (4.1) is rotatably connected with the first fixing block (4.2), the other end of the hydraulic push rod (4.1) is rotatably connected with the second fixing block (4.3), the first fixing block (4.2) is fixedly arranged on the inner surface of the main shell (1.1), the second fixing block (4.3) is fixedly arranged on the inner surface of the cover plate (1.2), and the limiting block (4.5) is fixedly arranged on the top of the main shell (1.1) and is fixedly connected with one side of the radar support (1.8);

chassis module C includes four independent suspension systems, wheel module, chassis shell and battery management system, and every independent suspension system includes first bracing piece (5.5), power module (5.6), reduction gear (5.7), suspension module (5.8), shock-absorbing module (5.9) and second bracing piece (5.10) with adjustable, just the wheel module includes pneumatic wheel (5.1) and mecanum wheel (5.2), pneumatic wheel (5.1) is intelligent food delivery car front wheel, and mecanum wheel (5.2) is intelligent food delivery car rear wheel, BMS system (5.3) respectively with central processing unit D and battery module (5.4) electric connection, first bracing piece (5.5) and second bracing piece (5.10) fixed connection, and BMS system (5.3), battery module (5.4) and first bracing piece (5.5) fixed mounting are on the chassis shell, just power module (5.6) includes motor module (5.5.5), A motor fixing block (5.61), a transmission shaft (5.62) and a speed reducer (5.7), wherein the motor is electrically connected with the central processor D, the second support rod (5.10) is fixedly installed on the motor fixing block, the transmission shaft (5.62) is fixedly installed on the motor, the other end of the transmission shaft (5.62) is fixedly connected with the wheel module, the speed reducer (5.7) is fixedly installed on the transmission shaft (5.62), each suspension module (5.8) comprises four suspension lower connecting rods (5.81), a first connecting shaft (5.82), a second connecting shaft (5.83), a third connecting shaft (5.84) and a fourth connecting shaft (5.85), the four suspension lower connecting rods (5.81) are divided into two upper suspension connecting rods and two lower suspension connecting rods, one end of the upper suspension connecting rod is rotatably connected with the second support rod (5.10) through the third connecting shaft (5.84), and the other end of the upper suspension connecting rod is rotatably connected with the upper part of the speed reducer (5.7) through the first connecting shaft (5.82), lower part suspension connecting rod one end and second bracing piece (5.10) are through the rotatory fixed connection of fourth connecting axle (5.85), and the lower part suspension connecting rod other end and reduction gear (5.7) lower part are through the rotatory fixed connection of third connecting axle (5.84), shock attenuation module (5.9) with adjustable include damping spring, third fixed block (5.91), fourth fixed block (5.92) and adjustable snubber block (5.93), third fixed block (5.91) are fixed on first bracing piece (5.5), and fourth fixed block (5.92) are fixed on adjustable snubber block (5.93), and adjustable snubber block (5.93) and reduction gear (5.7) slip fixed connection, and the damping spring both ends are fixed respectively on third fixed block (5.91) and fourth fixed block (5.92).

2. The intelligent serving trolley of claim 1, wherein: the automatic driving sensor module comprises a laser radar (2.1), a binocular camera (2.2), an industrial display screen (2.3) and an ultrasonic radar (2.4), wherein the laser radar (2.1), the binocular camera (2.2), the industrial display screen (2.3) and the ultrasonic radar (2.4) are all electrically connected with the central processing unit D.

3. The intelligent serving trolley of claim 1, wherein: the ultrasonic radars (2.4) are distributed at the corresponding front, back, left and right positions on the main shell (1.1) respectively, and obstacles around the vehicle are monitored through a deep learning algorithm.

4. The intelligent serving trolley of claim 3, wherein: the binocular camera (2.2) is fused with the laser Sl vehicle body Am algorithm through a vision algorithm, and meanwhile, the human face recognition technology is combined with an intelligent remote control lock.

5. The intelligent serving trolley of claim 1, wherein: the binocular camera (2.2) can transmit the real-time video back to the monitoring end through the communication module of the central processing unit D, and meanwhile, the monitoring end can store the video, so that the monitoring video can be conveniently played and called.

6. The intelligent serving trolley of claim 1, wherein: the battery module (5.4) is electrically connected with the BMS system (5.3), and the BMS system (5.3) manages the battery module (5.4) and monitors the charging time, the electric quantity, the current voltage, the current temperature and the self-defined alarm information parameters of the intelligent dining car.