CN111332136A - Unmanned express delivery dolly in campus - Google Patents
Unmanned express delivery dolly in campus Download PDFInfo
- Publication number
- CN111332136A CN111332136A CN202010161528.2A CN202010161528A CN111332136A CN 111332136 A CN111332136 A CN 111332136A CN 202010161528 A CN202010161528 A CN 202010161528A CN 111332136 A CN111332136 A CN 111332136A
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- module
- express
- control module
- trolley
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Abstract
The invention discloses a campus unmanned express delivery trolley which comprises a travelling mechanism, a storage mechanism, a positioning module, an authentication module and a control module, wherein the storage mechanism is arranged on the travelling mechanism; the storage mechanism comprises an express item storage box which is arranged at the upper part of the travelling mechanism and can move along with the travelling trolley; the positioning module is arranged on the express item receiving box and used for acquiring the position information of the express item receiving box and transmitting the position information to the control module; the authentication module is arranged on the outer wall of the express item receiving box and used for inputting verification information by an express item taker and sending the verification information to the control module; the control module is arranged in the express item receiving box and is respectively connected with the travelling mechanism, the storage mechanism, the positioning module and the authentication module. The invention has the beneficial effects that: the distribution trolley disclosed by the invention effectively realizes unmanned distribution of express, is particularly suitable for distribution of express in an express intensive pickup address concentration area such as a campus and the like, has high automation degree, and greatly improves the express distribution efficiency.
Description
Technical Field
The invention belongs to the field of logistics technical equipment, and particularly relates to an unmanned express delivery trolley for a campus.
Background
The rapid development of online commerce has led to a dramatic increase in business volume in the express industry. However, the express delivery industry still mainly relies on simple manual delivery, and a series of problems are inevitably brought for a long time: the express mail needs to be manually scanned and information is integrated and finally loaded, and the process is time-consuming, labor-consuming, high in labor burden and low in efficiency; the phenomenon of undescribability exists in the process of loading and unloading the express, so that the express is damaged, and the benefits of consumers and sellers are damaged; the work intensity of the express delivery personnel is high, the labor delivery work efficiency is low, and the express delivery personnel cannot adapt to long-term development. For campus express delivery, most of express items are extruded at a distribution site, and students need to search for the express items when taking the express items; and take time for students who are far from the distribution site.
Disclosure of Invention
The invention aims to provide a campus unmanned express delivery trolley which is high in automation degree, time-saving and labor-saving, and overcomes the defects of the prior art.
The technical scheme adopted by the invention is as follows: a campus unmanned express delivery trolley comprises a travelling mechanism, a storage mechanism, a positioning module, an authentication module and a control module; the storage mechanism comprises an express item storage box which is arranged at the upper part of the travelling mechanism and can move along with the travelling trolley; the positioning module is arranged on the express item receiving box and used for acquiring the position information of the express item receiving box and transmitting the position information to the control module; the authentication module is arranged on the outer wall of the express item receiving box and used for inputting verification information by an express item taker and sending the verification information to the control module; the control module is arranged in the express item containing box, is respectively connected with the travelling mechanism, the storage mechanism, the positioning module and the authentication module, and is used for receiving and analyzing information sent by the positioning module and the authentication module, sending control instructions to the storage mechanism and the travelling mechanism, controlling the opening of the express item containing box and the movement of the travelling mechanism, and sending verification information to an item taking person.
According to the scheme, the travelling mechanism comprises a base, a wheel set and a driving motor, and the storage mechanism is arranged on the base; the wheel set comprises a front wheel and two rear wheels, the front wheel is arranged on a front wheel shaft, the rear wheels are arranged on a rear wheel shaft, and two ends of the front wheel shaft and two ends of the rear wheel shaft respectively penetrate through the base; the front wheel shaft and the rear wheel shaft are respectively connected with a driving motor, and are driven by the driving motor to drive the front wheel and the rear wheel to rotate; the driving motor is installed on the base through the motor fixing support, is connected with the control module and is controlled to be opened by the control module.
According to the scheme, the trolley is further provided with a positioning module for positioning the walking trolley, the positioning module comprises a GPS module, an integrated module consisting of a compass and a gyroscope, and an antenna, and the GPS module is used for providing real-time position information of the walking trolley and sending the information to the control module; the integrated module is used for acquiring the direction information of the head of the walking trolley and sending the information to the control module; the antenna is positioned at the top of the express item storage box and used for receiving updated road information; the control module plans the path of the travelling trolley according to the real-time position and the direction of the head of the travelling trolley and the comprehensive road information.
According to the scheme, the authentication module comprises an input keyboard, and the pickup person inputs verification information through the input keyboard.
According to the scheme, the control module is arranged on the base of the walking trolley; the control module comprises a main control board raspberry pi 3b + and a lower computer stm32vet6, a driving circuit and a power supply; the lower computer stm32vet6 is connected drive circuit, perception module, location module and each containing box respectively, and drive circuit links to each other with the driving motor of walking dolly.
According to the scheme, the distribution trolley is additionally provided with a sensing module for sensing road conditions and assisting the walking trolley to avoid obstacles, and the sensing module is arranged on the express item containing box; the sensing module comprises a multi-line laser radar module, a multi-line laser radar bracket connected with the multi-line laser radar module, a camera and an ultrasonic detection module, and the multi-line laser radar bracket is fixed at the top of the express mail containing box; the camera is positioned at the advancing direction end of the top of the express item storage box, and the ultrasonic detection module is arranged around the base; the multi-line laser radar module and the ultrasonic module detect the surrounding road condition information of the trolley together and transmit the road condition information to the control module, the camera is used for identifying the road information and transmitting the road information to the control module, the control module receives the road condition information and the road information, whether the walking trolley needs to be parked or avoid obstacles is analyzed and judged, and the direction of the head of the walking trolley and the running path are controlled.
The invention has the beneficial effects that: the delivery trolley effectively realizes unmanned delivery of express, is particularly suitable for delivery of express in an express intensive pickup address concentration area such as a campus and the like, has high automation degree, greatly improves the express delivery efficiency and saves labor cost; meanwhile, the distribution trolley has strong adaptability and can distribute in severe weather; the distribution trolley can automatically bypass barriers and can drive according to the indication of the traffic indicator lamp, and safety and reliability are realized; the distribution trolley is easy to maintain and simple to operate.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of the present invention.
Fig. 2 is a front view of the present embodiment.
Fig. 3 is a schematic diagram of the walking and control module in this embodiment.
Fig. 4 is a schematic view of a base of the traveling module in this embodiment.
Wherein: 101. an express item storage box; 102. a large-size storage box body; 103. a medium-sized storage box body; 105. a small-size containing box body; 201. a drive motor; 202. a motor fixing support; 203. a rear wheel; 204. a rear wheel; 205. a base; 301. a multi-line laser radar bracket; 302. a camera; 303. an ultrasonic detection module; 401. a nine-grid keyboard; 501. the main control board is raspberry pi 3b + and the lower computer is stm32vet 6; 502. a drive circuit and a battery; 601 an antenna.
Detailed Description
For a better understanding of the present invention, reference is made to the following detailed description of the invention in connection with the accompanying drawings.
As shown in fig. 1, the campus unmanned express delivery trolley comprises a travelling mechanism, a storage mechanism, a positioning module, an authentication module and a control module; the storage mechanism comprises an express item storage box which is arranged at the upper part of the travelling mechanism and can move along with the travelling trolley; the positioning module is arranged on the express item receiving box and used for acquiring the position information of the express item receiving box and transmitting the position information to the control module; the authentication module is arranged on the outer wall of the express item receiving box and used for inputting verification information by an express item taker and sending the verification information to the control module; the control module is arranged in the express item containing box, is respectively connected with the travelling mechanism, the storage mechanism, the positioning module and the authentication module, and is used for receiving and analyzing information sent by the positioning module and the authentication module, sending control instructions to the storage mechanism and the travelling mechanism, controlling the opening of the express item containing box and the movement of the travelling mechanism, and sending verification information to an item taking person.
Preferably, the express mail receiving box is provided with at least two types of receiving box bodies with different specifications, and a plurality of receiving box bodies with different specifications are arranged; each containing box body is connected with the control module, and the control module controls the automatic opening of the containing box bodies.
In this embodiment, as shown in fig. 2, the express mail storage box is provided with storage boxes of three specifications, namely a large size storage box, a medium size storage box and a small size storage box, wherein the large size storage box is provided with 2, the medium size storage box is provided with 4, and the small size storage box is provided with 6; each containing box body is symmetrically arranged in the express mail containing box.
Preferably, the travelling mechanism comprises a base, a wheel set and a driving motor, and the storage mechanism is arranged on the base; the wheel set comprises a front wheel and two rear wheels, the front wheel is arranged on a front wheel shaft, the rear wheels are arranged on a rear wheel shaft, and two ends of the front wheel shaft and two ends of the rear wheel shaft respectively penetrate through the base; the front wheel shaft and the rear wheel shaft are respectively connected with a driving motor, and are driven by the driving motor to drive the front wheel and the rear wheel to rotate; the driving motor is installed on the base through the motor fixing support, is connected with the control module and is controlled to be opened by the control module.
In this embodiment, as shown in fig. 3 and 4, a plurality of driving motors may be provided, each of the driving motors is a brushless dc motor, each of the driving motors is correspondingly configured with four motor fixing supports, and the driving motors are connected with the motor fixing supports through 6 screws arranged in a hexagon, and the motor fixing supports are fixed at the bottom of the base through 4 screws; mounting holes with the aperture of 8mm are formed in the front and the back of the two sides of the base respectively and are matched with the front wheel shaft and the rear wheel shaft respectively, and the front wheel shaft and the rear wheel shaft are connected with the driving motor after penetrating through the mounting holes respectively; the mounting holes (namely the holes 206 and 207) matched with the front wheels are 90mm away from the bottom of the base and 400mm away from the rear end surface of the base; the mounting holes (i.e. holes 208 and 209) that fit the rear wheel axle are 165mm from the base bottom and 400mm from the base front face.
In the embodiment, the diameter of the front wheel is 240mm, and the diameter of the rear wheel is 450 mm; the diameters of the treads of the front wheel and the rear wheel are both 100mm, and the outer surfaces of the front wheel and the rear wheel can be provided with criss-cross grains. The base is made of 1023 carbon steel plates.
Preferably, the authentication module comprises an input keyboard (preferably a nine-grid keyboard), and the pickup person inputs verification information through the input keyboard (the control module sends the verification information to the pickup person); after the pickup person inputs the verification code, the control module receives the verification code information and then controls the cabinet door of the corresponding containing box body to be opened.
Preferably, the trolley is further provided with a positioning module for positioning the walking trolley, the positioning module comprises a GPS module, an integrated module consisting of a compass and a gyroscope, and an antenna, and the GPS module is used for providing real-time position information of the walking trolley and sending the information to the control module; the integrated module adopts an integrated WT901BLEC module and is used for measuring the triaxial acceleration, the triaxial gyroscope and the triaxial angle of the walking trolley, measuring the geomagnetic field and combining the Hall effect to obtain the direction information of the head of the walking trolley and sending the information to the control module; the antenna is positioned at the top of the express item storage box and used for receiving updated road information; the control module plans the path of the travelling trolley according to the real-time position and the direction of the head of the travelling trolley and the road information, and ensures the reasonable planning of the path of the trolley.
In this embodiment, the antenna installation position is 30mm apart from express mail containing box rear end face, and is 20mm apart from express mail containing box mid-axis.
Preferably, the control module is arranged on a base of the walking trolley; the control module comprises a main control board raspberry pi 3b + and a lower computer stm32vet6 (reference numeral 501), a driving circuit and a power supply; the lower computer stm32vet6 is respectively connected with a driving circuit, a sensing module, a positioning module and each containing box body, and the driving circuit is connected with a driving motor of the walking trolley; the control module is also used for sending a verification code to the sender.
Preferably, the distribution trolley is additionally provided with a sensing module for sensing road conditions and assisting the walking trolley to avoid obstacles, and the sensing module is arranged on the express item storage box; the sensing module comprises a multi-line laser radar module, a multi-line laser radar bracket connected with the multi-line laser radar module, a camera and an ultrasonic detection module, and the multi-line laser radar bracket is fixed at the top of the express mail containing box; the camera is positioned at the advancing direction end of the top of the express item storage box, and the ultrasonic detection module is arranged around the base; the multi-line laser radar module and the ultrasonic module detect the surrounding road condition information (such as whether obstacles exist) of the trolley together and transmit the road condition information to the control module, the camera identifies the road information such as traffic signal lamps, traffic signs, speed bumps and the like and transmits the road information to the control module, the control module receives the road condition information and the road information, and the control module analyzes and judges whether the walking trolley needs to stop or bypass the obstacles, so that the direction of the head of the walking trolley and the running path are controlled.
The working principle of the invention is as follows: after a worker at an express delivery station in a school scans a two-dimensional code on an express package through a code scanning device on an unmanned distribution vehicle (scanning the two-dimensional code and throwing the two-dimensional code belongs to the prior art, and the scanning is not repeated here), a cabinet door of a corresponding storage box body is opened, and the worker puts express into the cabinet door and closes the cabinet door; secondly, the distribution trolley plans a nearest route according to the detailed address stored in the express and the current positioning of the distribution trolley, and continuously detects the environment around the distribution trolley through a sensing module so as to avoid the obstacle in the running process; when the delivery trolley is about to arrive at a destination, the control module informs a receiver in a form of adding a verification code by a short message, the receiver stays at the destination for a period of time (5 minutes, 10 minutes and the like), and when the receiver takes a delivery within 5 minutes, the verification code is input, and a corresponding express cabinet is automatically opened; if no person takes the part within five minutes, the distribution trolley goes to the next destination, and the self-planned path is closed, so that the final trolley returns to the starting station. The distribution process is briefly described as follows:
1. the staff at the express station loads the express;
2. the distribution trolley plans a path to run according to the distribution address;
3. when the destination is reached, sending a short message to the pickup person;
4. the destination stays for five minutes to wait for the receiver to take the mail;
5. five minutes later, go to the next destination;
6. and returning to the starting station after the path is finished.
In order to effectively prevent express delivery from being mistakenly picked, the short message verification code received by the receiver before is invalidated, and the short message verification code is retransmitted when the short message is delivered again; in order to enable the vehicle to be accurately parked at the destination without delaying people to walk, the marks are adhered to the corresponding fixed points, and when the distribution trolley reaches the positions near the marks, the vehicle body is adjusted, so that the vehicle can be accurately parked in the parking area. For areas with dense express mails, such as campuses, the distribution addresses are relatively concentrated, and the distribution efficiency is very high.
It will be understood that modifications and variations can be made by persons skilled in the art in light of the above teachings and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.
Claims (6)
1. The campus unmanned express delivery trolley is characterized by comprising a travelling mechanism, a storage mechanism, a positioning module, an authentication module and a control module; the storage mechanism comprises an express item storage box which is arranged at the upper part of the travelling mechanism and can move along with the travelling trolley; the positioning module is arranged on the express item receiving box and used for acquiring the position information of the express item receiving box and transmitting the position information to the control module; the authentication module is arranged on the outer wall of the express item receiving box and used for inputting verification information by an express item taker and sending the verification information to the control module; the control module is arranged in the express item containing box, is respectively connected with the travelling mechanism, the storage mechanism, the positioning module and the authentication module, and is used for receiving and analyzing information sent by the positioning module and the authentication module, sending control instructions to the storage mechanism and the travelling mechanism, controlling the opening of the express item containing box and the movement of the travelling mechanism, and sending verification information to an item taking person.
2. The campus unmanned express delivery cart of claim 1 wherein the traveling mechanism comprises a base, a wheel set and a drive motor, the storage mechanism is mounted on the base; the wheel set comprises a front wheel and two rear wheels, the front wheel is arranged on a front wheel shaft, the rear wheels are arranged on a rear wheel shaft, and two ends of the front wheel shaft and two ends of the rear wheel shaft respectively penetrate through the base; the front wheel shaft and the rear wheel shaft are respectively connected with a driving motor, and are driven by the driving motor to drive the front wheel and the rear wheel to rotate; the driving motor is installed on the base through the motor fixing support, is connected with the control module and is controlled to be opened by the control module.
3. The campus unmanned express delivery cart as claimed in claim 2, wherein the cart is further provided with a positioning module for positioning the traveling cart, the positioning module comprises a GPS module, an integrated module consisting of a compass and a gyroscope, and an antenna, the GPS module is used for providing real-time position information of the traveling cart and sending the information to the control module; the integrated module is used for acquiring the direction information of the head of the walking trolley and sending the information to the control module; the antenna is positioned at the top of the express item storage box and used for receiving updated road information; the control module plans the path of the travelling trolley according to the real-time position and the direction of the head of the travelling trolley and the comprehensive road information.
4. The campus jukebox dispensing cart of claim 2, wherein the authentication module includes an input keyboard through which the pick-up enters verification information.
5. The campus unmanned express delivery cart of claim 2 wherein the control module is located on the base of the walking cart; the control module comprises a main control board raspberry pi 3b + and a lower computer stm32vet6, a driving circuit and a power supply; the lower computer stm32vet6 is connected drive circuit, perception module, location module and each containing box respectively, and drive circuit links to each other with the driving motor of walking dolly.
6. The unmanned express delivery trolley for the campus of claim 2, wherein the delivery trolley is further provided with a perception module for perceiving road conditions and assisting the walking trolley to avoid obstacles, and the perception module is installed on the express receiving box; the sensing module comprises a multi-line laser radar module, a multi-line laser radar bracket connected with the multi-line laser radar module, a camera and an ultrasonic detection module, and the multi-line laser radar bracket is fixed at the top of the express mail containing box; the camera is positioned at the advancing direction end of the top of the express item storage box, and the ultrasonic detection module is arranged around the base; the multi-line laser radar module and the ultrasonic module detect the surrounding road condition information of the trolley together and transmit the road condition information to the control module, the camera is used for identifying the road information and transmitting the road information to the control module, the control module receives the road condition information and the road information, whether the walking trolley needs to be parked or avoid obstacles is analyzed and judged, and the direction of the head of the walking trolley and the running path are controlled.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010161528.2A CN111332136A (en) | 2020-03-10 | 2020-03-10 | Unmanned express delivery dolly in campus |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010161528.2A CN111332136A (en) | 2020-03-10 | 2020-03-10 | Unmanned express delivery dolly in campus |
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| CN111332136A true CN111332136A (en) | 2020-06-26 |
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| CN202010161528.2A Pending CN111332136A (en) | 2020-03-10 | 2020-03-10 | Unmanned express delivery dolly in campus |
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| CN111798350A (en) * | 2020-07-21 | 2020-10-20 | 吉林大学 | Unmanned multifunctional campus fleet based on cloud platform |
| CN114180249A (en) * | 2021-12-09 | 2022-03-15 | 申江万国数据信息股份有限公司 | Automatic file conveying device for unmanned file storeroom |
| CN114801946A (en) * | 2021-01-22 | 2022-07-29 | 博泰车联网科技(上海)股份有限公司 | Delivery cart, delivery method, delivery apparatus, electronic device, and medium |
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| CN114801946A (en) * | 2021-01-22 | 2022-07-29 | 博泰车联网科技(上海)股份有限公司 | Delivery cart, delivery method, delivery apparatus, electronic device, and medium |
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| CN114180249A (en) * | 2021-12-09 | 2022-03-15 | 申江万国数据信息股份有限公司 | Automatic file conveying device for unmanned file storeroom |
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Application publication date: 20200626 |
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