CN112478016B - Transport vechicle based on modularization independent assortment - Google Patents
Transport vechicle based on modularization independent assortment Download PDFInfo
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- CN112478016B CN112478016B CN202011222670.XA CN202011222670A CN112478016B CN 112478016 B CN112478016 B CN 112478016B CN 202011222670 A CN202011222670 A CN 202011222670A CN 112478016 B CN112478016 B CN 112478016B
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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
- B62D63/025—Modular vehicles
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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
- B62D63/04—Component parts or accessories
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B25/00—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems
- G08B25/01—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium
- G08B25/10—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium using wireless transmission systems
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B3/00—Audible signalling systems; Audible personal calling systems
- G08B3/10—Audible signalling systems; Audible personal calling systems using electric transmission; using electromagnetic transmission
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
Abstract
The invention discloses a transport vehicle based on modularized free combination, which comprises a vehicle body; the vehicle body is provided with a substrate and a plurality of combined plates arranged around the circumference of the substrate; the base plate is provided with a first mounting groove and a second mounting groove; a first locking block is arranged in the second mounting groove; a plurality of third mounting grooves are formed in the position, corresponding to the first opening, of the combined plate, and a plurality of fourth mounting grooves are formed in the position, corresponding to the second opening, of the combined plate; the first locking block is connected with the fourth mounting groove in an embedded manner; the second locking block is connected with the first mounting groove in an embedded manner; the vehicle body is also provided with a wireless communication module, a setting module, a control module and a processor module; the control module comprises an obstacle avoidance module, a positioning module and a driving module; the invention has the advantages of high intelligent level, strong maneuverability, high flexibility and high working efficiency, and is not limited by the load weight and the load material geometry when carrying the object.
Description
Technical Field
The invention relates to the field of transportation equipment, in particular to a modular free combination-based transport vehicle.
Background
The construction work operation mode at the present stage is generally completed manually, even if the construction machinery on the market assists people to solve the problems of large labor force, high technical difficulty and complicated engineering work, the work still needs manual cooperation machinery work, people need to go to the operation machinery, the real complete mechanization cannot be realized, the intelligent construction work operation mode consumes a large amount of manpower in the process of loading and transporting goods, the labor cost is high, the limitation of the working face is received, the mobility and the flexibility are not high, and the efficiency is low. But also by human mechanical operation errors, cause mechanical failure or cause significant loss of life and loss of life. Typical or common prior art techniques are:
for example, CN108622193A discloses an AGV transport. The AGV transport vechicle includes the frame and sets up the wheel on the frame, the corner portion of frame is provided with the wheel, the wheel is the drive helm of drive AGV transport vechicle motion. When the AGV transporting vehicle turns to, each driving steering wheel positioned on the corner part of the frame can provide power for the turning of the AGV transporting vehicle, the rotating torque of the driving steering wheels at the corner part is large, and each driving steering wheel can be independently controlled, so that four driving steering wheels can be matched to form the direction of the whole body for the AGV transporting vehicle to turn, the problem that universal wheels which cannot actively reverse can influence the movement of the AGV transporting vehicle when the AGV transporting vehicle turns in the prior art is avoided, in addition, when the AGV transporting vehicle turns to or turns on site, a plurality of driving steering wheels simultaneously work, the driving force output by the AGV transporting vehicle is strong, and the AGV transporting vehicle steering effect can be ensured. Another classical example is CN104843035A, which discloses a transport vehicle comprising: a frame; the first bearing plate is arranged on the frame; the second bearing plates are arranged on the outer sides of the first bearing plates in a pairwise opposite mode, and the edges of the second bearing plates and the edges of the first bearing plates are connected in a pivoting mode by taking the length direction of the edges as an axis; the supporting rods comprise locking blocks and a first section and a second section which are connected in a pivoting mode, the first section is connected with the frame, and the second section is connected with the second bearing plate; when the second bearing plate is in a state of rotating downwards relative to the first bearing plate, the first section and the second section can rotate relatively and can be folded; when the plurality of second bearing plates are in an outward opening state, the locking block locks the first section and the second section; at least one supporting rod is arranged on each second bearing plate. The carrier vehicle can change the size of the bearing part according to the size of the material, not only meets the requirement of transporting normal-size materials, but also can stably transport large-size materials, and has flexibility and stability. It is further seen that EP0776810a1 discloses a transport vehicle, more particularly a vehicle for transporting a load placed on the vehicle. The transport vehicle according to the invention is particularly suitable for transporting loads on which the transport vehicle can be placed, for example loads placed on pallets. The transport vehicle comprises a supporting frame provided with a first lifting device on one side, which is provided with rolling means, and on the other side with a second rolling device and means for coupling to the second lifting device with a third rolling device.
In summary, through massive search by the applicant, at least existing construction work modes at the present stage in the field are generally completed manually, and even though transportation machines assist people in solving the problems of large labor force, high technical difficulty and complex engineering on the market, the existing construction work modes still need manual cooperation for mechanical work, need people to operate the machines, cannot realize real fully mechanized and intelligent transportation work modes, consume a large amount of manpower in the process of shipping goods, are high in labor cost, are limited by working faces, are low in mobility and flexibility and are low in efficiency. But also by human mechanical operation errors, cause mechanical failure or cause significant loss of life and loss of life.
In addition, the existing transport machinery has fixed size and specification, fixed carrying capacity, limitation on geometric requirements of the carrying materials and limitation on the operation environment. Therefore, the existing transportation machines cannot meet the requirements of people, and therefore, a transportation vehicle based on modularized free combination needs to be developed to solve the technical problems.
Disclosure of Invention
The invention aims to provide a modular free-combination based transport vehicle to solve the problems.
In order to achieve the purpose, the invention adopts the following technical scheme:
the transport vehicle based on the modularized free combination is characterized by comprising a vehicle body; the vehicle body is provided with a base plate for loading goods and a plurality of combined plates arranged around the circumference of the base plate; the base plate is provided with a plurality of first mounting grooves and second mounting grooves which are uniformly distributed along the circumferential direction of the base plate; the first mounting groove is provided with a first opening facing outwards; the second mounting groove is provided with a second opening facing outwards; a first locking block which can slide in and out of the second opening is arranged in the second mounting groove; a plurality of third mounting grooves are formed in the position, corresponding to the first opening, of the combined plate block, and a plurality of fourth mounting grooves are formed in the position, corresponding to the second opening, of the combined plate block; the opening of the third mounting groove faces the first opening; the opening of the fourth mounting groove faces the second opening; a second locking block which can slide in and out of an opening of the third mounting groove is mounted in the third mounting groove; the first locking block is connected with the fourth mounting groove in a jogged mode; the second locking block is connected with the first mounting groove in a jogged mode; the vehicle body is also provided with a wireless communication module, a setting module, a control module and a processor module; the wireless communication module, the setting module and the control module are respectively connected with the processor module; the control module comprises an obstacle avoidance module used for judging the distance and the position of a front obstacle, a positioning module used for limiting the running path of the vehicle body and a driving module used for controlling the motion state of the vehicle body; the obstacle avoidance module is connected with the driving module; the processor module is used for setting the cargo position and the destination through a setting module and transmitting position information to the processor module, the processor module sends the position information to the positioning module, and the positioning module controls the driving module to start; the mobile terminal is connected with the processor module through the wireless communication module and is in communication connection with the driving module and the positioning module through the processor module.
Preferably, the outer contours of the first mounting groove, the second mounting groove, the third mounting groove and the fourth mounting groove are all arc-shaped; the outer contour of the first locking block is matched with the outer contour of the fourth mounting groove; the outer contour of the second locking block is matched with the outer contour of the first mounting groove.
Preferably, the processor module controls the obstacle avoidance module to send pulse signals with a certain frequency at fixed time intervals, return data are collected and processed by the processor module, the distance and the position of the obstacle in front are judged, an instruction is sent to the driving module, and the driving module controls the driving state of the vehicle body to avoid the obstacle in front.
Preferably, the obstacle avoidance module adopts an HC-HR04 ultrasonic obstacle avoidance module and adopts an IO port TRIG to trigger distance measurement, 8 square waves of 40khz are automatically sent to a trigger port for sending a high level signal of at least 10us, whether the signal returns or not is automatically detected, when the signal returns, a high level is output through an IO port ECHO, and the duration time of the high level is the time from the transmission to the return of the ultrasonic wave; the test distance is (high level time) speed of sound (340M/S))/2.
Preferably, the setting module adopts Labview software to receive and send data.
Preferably, the vehicle body is further provided with a camera for shooting the goods and an image processing module for analyzing the shot goods and calculating the volume of the goods; the image processing module sends cargo volume information to the mobile terminal through the wireless communication module; and the mobile terminal calculates the number of the required combined plates according to the cargo volume.
Preferably, the substrate is further provided with a pressure sensor and an alarm device; when the weight of the goods exceeds the preset pressure value of the pressure sensor, the pressure sensor sends an alarm instruction to the processor module, the processor module controls the alarm device to start, the alarm device sends an alarm signal to the mobile terminal through the wireless communication module, the mobile terminal sends an alarm buzzer and sends an instruction to the driving module, and the driving module receives the driving instruction from the mobile terminal to control flameout and stop movement of the vehicle body.
The beneficial effects obtained by the invention are as follows:
1. the load weight and the load material geometry of the invention can be adjusted by combining the central plate with a plurality of combined plates, so that the transport vehicle is not limited by the load weight and the load material geometry.
2. The invention has high intelligent level, is not limited by a working face, and has strong maneuverability, high flexibility and high working efficiency.
3. The invention avoids the mechanical failure caused by the mechanical operation error of people or the huge loss of casualties caused by the mechanical operation error of people.
Drawings
The invention will be further understood from the following description in conjunction with the accompanying drawings. The components in the figures are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the embodiments. Like reference numerals designate corresponding parts throughout the different views.
FIG. 1 is a schematic structural diagram of a base plate of a transportation vehicle based on modular independent assortment in embodiments 1-2 of the present invention;
FIG. 2 is a schematic structural diagram of a combined plate of a modular freely-combined transportation vehicle in embodiments 1-2 of the present invention;
FIG. 3 is a schematic structural diagram of combined state transportation of a modular independent combination-based transportation vehicle in embodiments 1-2 of the present invention;
FIG. 4 is a schematic structural diagram of modular combination state transportation of a transportation vehicle based on modular free combination in embodiments 1-2 of the present invention;
FIG. 5 is a schematic structural diagram of a modular independent assembly-based transportation vehicle in embodiments 1-2 of the present invention;
FIG. 6 is a second schematic structural diagram of a modular independent assembly-based transportation vehicle in embodiments 1-2 of the present invention;
fig. 7 is a system flowchart of a modular independent assembly-based transporter in embodiments 1-2 of the present invention.
Description of reference numerals: 1-a vehicle body; 2-a substrate; 3-a combined plate; 4-a first mounting groove; 5-a second mounting groove; 6-a first locking piece; 7-a third mounting groove; 8-a fourth mounting groove; 9-a second locking piece; 10-a wireless communication module; 11-setting a module; 12-a driving module; 13-a processor module; 14-obstacle avoidance module; 15-a positioning module; 16-a camera; 17-an image processing module; 18-a pressure sensor; 19-alarm device.
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to embodiments thereof; it should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. Other systems, methods, and/or features of the present embodiments will become apparent to those skilled in the art upon review of the following detailed description. It is intended that all such additional systems, methods, features and advantages be included within this description, be within the scope of the invention, and be protected by the accompanying claims. Additional features of the disclosed embodiments are described in, and will be apparent from, the detailed description that follows.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", etc. based on the orientation or positional relationship shown in the drawings, it is only for convenience of describing the present invention and simplifying the description, but it is not intended to indicate or imply that the device or component referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and are not to be construed as limiting the present patent, and the specific meaning of the terms described above will be understood by those of ordinary skill in the art according to the specific circumstances.
The first embodiment is as follows:
the transport vehicle based on the modularized free combination comprises a vehicle body 1; the vehicle body 1 is provided with a base plate 2 for loading goods and a plurality of combined plates 3 arranged around the circumference of the base plate 2; the base plate 2 is provided with a plurality of first mounting grooves 4 and second mounting grooves 5 which are uniformly distributed along the circumferential direction of the base plate 2; the first mounting groove 4 is provided with a first opening facing outwards; the second mounting groove 5 is provided with a second opening facing outwards; a first locking block 6 which can slide in and out of the second opening is arranged in the second mounting groove 5; a plurality of third mounting grooves 7 and a plurality of fourth mounting grooves 8 are formed in the positions, corresponding to the first openings, of the combined plate 3; the opening of the third mounting groove 7 faces the first opening; the opening of the fourth mounting groove 8 faces the second opening; a second locking block 9 which can slide in and out of an opening of the third mounting groove 7 is mounted in the third mounting groove 7; the first lock block 6 is connected with the fourth mounting groove 8 in a jogged mode; the second locking block 9 is connected with the first mounting groove 4 in a jogged manner; the vehicle body 1 is also provided with a wireless communication module 10, a setting module 11, a control module and a processor module 13; the wireless communication module 10, the setting module 11 and the control module are respectively connected with the processor module 13; the control module comprises an obstacle avoidance module 14 for judging the distance and the position of a front obstacle, a positioning module 15 for limiting the running path of the vehicle body and a driving module 12 for controlling the motion state of the vehicle body 1; the obstacle avoidance module 14 is connected with the driving module 12; the system comprises a setting module 11, a processor module 13, a positioning module 15 and a control module 15, wherein the setting module 11 is used for setting the position and the destination of the goods and transmitting the position information to the processor module 13, and the processor module 13 transmits the position information to the positioning module 15, and the positioning module 15 controls the driving module 12 to start; the mobile terminal is connected with the processor module 13 through the wireless communication module 10, and is in communication connection with the driving module 12 and the positioning module 15 through the processor module 13.
The outer contours of the first mounting groove 4, the second mounting groove 5, the third mounting groove 7 and the fourth mounting groove 8 are all arc-shaped; the outer contour of the first locking block 6 is matched with that of the fourth mounting groove 8; the outer contour of the second locking block 9 is matched with the outer contour of the first mounting groove 4.
In order to improve the mobility and flexibility of the vehicle body and flexibly avoid obstacles to reach a designated place, the processor module 13 in this embodiment 1 controls the obstacle avoidance module 14 to send pulse signals with a certain frequency at a fixed time interval, collects and processes return data to the processor module 13, determines the distance and position of the obstacle in front, and sends an instruction to the driving module 12, and the driving module 12 controls the driving state of the vehicle body 1 to avoid the obstacle in front.
The obstacle avoidance module 14 adopts an HC-HR04 ultrasonic obstacle avoidance module and adopts an IO port TRIG to trigger distance measurement, 8 square waves of 40khz are automatically sent to a trigger port for sending high level signals of at least 10us, whether signals return or not is automatically detected, when signals return, a high level is output through an IO port ECHO, and the duration time of the high level is the time from the emission to the return of ultrasonic waves; the test distance is (high level time) speed of sound (340M/S))/2.
The setting module 11 adopts Labview software to realize the receiving and sending of data.
Moreover, because the volume difficulty of the goods measured manually is large and inaccurate, in order to overcome the above difficulties and improve the intelligent level, the quantity of the combined plates 3 required by the goods is calculated intelligently. The vehicle body 1 in this embodiment 1 is further provided with a camera 16 for shooting goods and an image processing module 17 for performing image analysis on the shot goods and calculating the volume of the goods; the image processing module 17 sends the cargo volume information to the mobile terminal through the wireless communication module 10; the mobile terminal calculates the number of the required combined plates 3 according to the cargo volume.
In addition, in order to improve the service life of the transport vehicle and prevent the transport vehicle from malfunctioning due to overload, the base plate 2 in this embodiment 1 is further provided with a pressure sensor 18 and an alarm device 19; when the weight of the cargo exceeds the preset pressure value of the pressure sensor 18, the pressure sensor 18 sends an alarm instruction to the processor module 17, the processor module 17 controls the alarm device 19 to be started, the alarm device 19 sends an alarm signal to the mobile terminal through the wireless communication module 10, the mobile terminal sends an alarm buzzer and sends an instruction to the driving module 12, and the driving module 12 receives the driving instruction from the mobile terminal to control the flameout and stop movement of the vehicle body.
In this embodiment 1, the transport vechicle has single-state transportation module, combination state transportation module and modularization combination transportation mode, through the cooperation of camera 16 and image processing module 17 on the automobile body to recommend which kind of mode and combination plate 3 quantity that the transport vechicle used through mobile terminal, the user is according to mobile terminal's recommendation, reasonable dismouting combination plate 3, thereby satisfy the delivery requirement of transport vechicle.
When the combined plate 3 is installed, the first installation groove 4 is aligned to the third installation groove 7, the second locking block 9 in the third installation groove 7 slides out of the opening of the third installation groove 7, and one end of the second locking block 9 is embedded in the first installation groove 4, so that splicing and combination are realized; the second mounting groove 5 is aligned to the fourth mounting groove 8, the first locking block 6 in the second mounting groove 5 slides out of the second opening of the second mounting groove 5, so that one end of the first locking block 6 is embedded in the fourth mounting groove 8, and therefore splicing of the plurality of combined plates 3 is achieved.
Example two:
the transport vehicle based on the modularized free combination comprises a vehicle body 1; the vehicle body 1 is provided with a base plate 2 for loading goods and a plurality of combined plates 3 arranged around the circumference of the base plate 2; the base plate 2 is provided with a plurality of first mounting grooves 4 and second mounting grooves 5 which are uniformly distributed along the circumferential direction of the base plate 2; the first mounting groove 4 is provided with a first opening facing outwards; the second mounting groove 5 is provided with a second opening facing outwards; a first locking block 6 which can slide in and out of the second opening is arranged in the second mounting groove 5; a plurality of third mounting grooves 7 and a plurality of fourth mounting grooves 8 are formed in the positions, corresponding to the first openings, of the combined plate 3; the opening of the third mounting groove 7 faces the first opening; the opening of the fourth mounting groove 8 faces the second opening; a second locking block 9 which can slide in and out of an opening of the third mounting groove 7 is mounted in the third mounting groove 7; the first lock block 6 is connected with the fourth mounting groove 8 in a jogged mode; the second locking block 9 is connected with the first mounting groove 4 in a jogged manner; the vehicle body 1 is also provided with a wireless communication module 10, a setting module 11, a control module and a processor module 13; the wireless communication module 10, the setting module 11 and the control module are respectively connected with the processor module 13; the control module comprises an obstacle avoidance module 14 for judging the distance and the position of a front obstacle, a positioning module 15 for limiting the running path of the vehicle body and a driving module 12 for controlling the motion state of the vehicle body 1; the obstacle avoidance module 14 is connected with the driving module 12; the system comprises a setting module 11, a processor module 13, a positioning module 15 and a control module 15, wherein the setting module 11 is used for setting the position and the destination of the goods and transmitting the position information to the processor module 13, and the processor module 13 transmits the position information to the positioning module 15, and the positioning module 15 controls the driving module 12 to start; the mobile terminal is connected with the processor module 13 through the wireless communication module 10, and is in communication connection with the driving module 12 and the positioning module 15 through the processor module 13.
The outer contours of the first mounting groove 4, the second mounting groove 5, the third mounting groove 7 and the fourth mounting groove 8 are all arc-shaped; the outer contour of the first locking block 6 is matched with that of the fourth mounting groove 8; the outer contour of the second locking block 9 is matched with the outer contour of the first mounting groove 4.
In order to improve the mobility and flexibility of the vehicle body and flexibly avoid obstacles to reach a designated place, the processor module 13 in this embodiment 2 controls the obstacle avoidance module 14 to send pulse signals with a certain frequency at a fixed time interval, collects and processes return data to the processor module 13, determines the distance and position of the obstacle in front, and sends an instruction to the driving module 12, and the driving module 12 controls the driving state of the vehicle body 1 to avoid the obstacle in front.
The obstacle avoidance module 14 adopts an HC-HR04 ultrasonic obstacle avoidance module and adopts an IO port TRIG to trigger distance measurement, 8 square waves of 40khz are automatically sent to a trigger port for sending high level signals of at least 10us, whether signals return or not is automatically detected, when signals return, a high level is output through an IO port ECHO, and the duration time of the high level is the time from the emission to the return of ultrasonic waves; the test distance is (high level time) speed of sound (340M/S))/2.
Wherein, the setting module 11 adopts Labview software to realize the receiving and sending of data; acquiring an image of a USB camera under Labview: preferably, an array of strings including all USB cameras connected to the PC is output via the IMAQUSBEnumerecameras sub-VI. Typically, the first element of the array is selected, the selected camera is connected through IMAQUSBInit sub-VI, and then image capture by the USB camera is initiated via IMAQUSBGrabSetup. The capture of the image of the USB camera is realized by using an IMAQUSBGrabAcquire sub-VI, and the buffer space required by the sub-VI needs to be set by using the IMAQCate sub-VI. The captured graph may be displayed by using the ImageDisplay control.
Moreover, because the volume difficulty of the goods measured manually is large and inaccurate, in order to overcome the above difficulties and improve the intelligent level, the quantity of the combined plates 3 required by the goods is calculated intelligently. The vehicle body 1 in this embodiment 1 is further provided with a camera 16 for shooting goods and an image processing module 17 for performing image analysis on the shot goods and calculating the volume of the goods; the image processing module 17 sends the cargo volume information to the mobile terminal through the wireless communication module 10; the mobile terminal calculates the number of the required combined plates 3 according to the cargo volume.
In addition, in order to prolong the service life of the transport vehicle and prevent the transport vehicle from being failed due to overload, the base plate 2 in the embodiment 2 is further provided with a pressure sensor 18 and an alarm device 19; when the weight of the cargo exceeds the preset pressure value of the pressure sensor 18, the pressure sensor 18 sends an alarm instruction to the processor module 17, the processor module 17 controls the alarm device 19 to be started, the alarm device 19 sends an alarm signal to the mobile terminal through the wireless communication module 10, the mobile terminal sends an alarm buzzer and sends an instruction to the driving module 12, and the driving module 12 receives the driving instruction from the mobile terminal to control the flameout and stop movement of the vehicle body.
In this embodiment 2, the outer contours of the substrate 2 and the plurality of combined plates 3 are rectangular; the first mounting groove 4 and the second mounting groove 5 are respectively positioned at the center of the rectangular edge and are oppositely arranged; the third mounting groove 7 and the fourth mounting groove 8 are respectively located at the center of the rectangular edge and are arranged oppositely.
In this embodiment 2, in order to ensure that the combined plate 3 has a strong bearing capacity; the vehicle body 1 is provided with a plurality of supporting components which are detachably connected; the supporting component is positioned below the combined plate 3; the supporting assembly comprises a cylinder and a connecting block; one end of the cylinder is fixed on the vehicle body 1, and the moving end of the cylinder faces the combined plate 3 and is connected with a connecting block; the connecting blocks are fixed on the combined plate 3 through bolts.
In this embodiment 2, the transport vechicle has single-state transportation module, combination state transportation module and modularization combination transportation mode, through the cooperation of camera 16 and image processing module 17 on the automobile body to recommend which kind of mode and combination plate 3 quantity that the transport vechicle used through mobile terminal, the user is according to mobile terminal's recommendation, reasonable dismouting combination plate 3, thereby satisfy the delivery requirement of transport vechicle.
When the combined plate 3 is installed, the first installation groove 4 is aligned to the third installation groove 7, the second locking block 9 in the third installation groove 7 slides out of the opening of the third installation groove 7, and one end of the second locking block 9 is embedded in the first installation groove 4, so that splicing and combination are realized; the second mounting groove 5 is aligned to the fourth mounting groove 8, the first locking block 6 in the second mounting groove 5 slides out of the second opening of the second mounting groove 5, so that one end of the first locking block 6 is embedded in the fourth mounting groove 8, and therefore splicing of the plurality of combined plates 3 is achieved.
Although the invention has been described above with reference to various embodiments, it should be understood that many changes and modifications may be made without departing from the scope of the invention. That is, the methods, systems, and devices discussed above are examples. Various configurations may omit, substitute, or add various procedures or components as appropriate. For example, in alternative configurations, the methods may be performed in an order different than that described, and/or various components may be added, omitted, and/or combined. Moreover, features described with respect to certain configurations may be combined in various other configurations, as different aspects and elements of the configurations may be combined in a similar manner. Further, elements therein may be updated as technology evolves, i.e., many elements are examples and do not limit the scope of the disclosure or claims.
Specific details are given in the description to provide a thorough understanding of the exemplary configurations including implementations. However, configurations may be practiced without these specific details, for example, well-known circuits, processes, algorithms, structures, and techniques have been shown without unnecessary detail in order to avoid obscuring the configurations. This description provides example configurations only, and does not limit the scope, applicability, or configuration of the claims. Rather, the foregoing description of the configurations will provide those skilled in the art with an enabling description for implementing the described techniques. Various changes may be made in the function and arrangement of elements without departing from the spirit or scope of the disclosure.
It is intended that the foregoing detailed description be regarded as illustrative rather than limiting, and that it be understood that it is the following claims, including all equivalents, that are intended to define the spirit and scope of this invention. The above examples are to be construed as merely illustrative and not limitative of the remainder of the disclosure. After reading the description of the invention, the skilled person can make various changes or modifications to the invention, and these equivalent changes and modifications also fall into the scope of the invention defined by the claims.
Claims (4)
1. The transport vehicle based on the modularized free combination is characterized by comprising a vehicle body; the vehicle body is provided with a base plate for loading goods and a plurality of combined plates arranged around the circumference of the base plate; the base plate is provided with a plurality of first mounting grooves and second mounting grooves which are uniformly distributed along the circumferential direction of the base plate; the first mounting groove is provided with a first opening facing outwards; the second mounting groove is provided with a second opening facing outwards; a first locking block which can slide in and out of the second opening is arranged in the second mounting groove; a plurality of third mounting grooves are formed in the position, corresponding to the first opening, of the combined plate block, and a plurality of fourth mounting grooves are formed in the position, corresponding to the second opening, of the combined plate block; the opening of the third mounting groove faces the first opening; the opening of the fourth mounting groove faces the second opening; a second locking block which can slide in and out of an opening of the third mounting groove is mounted in the third mounting groove; the first locking block is connected with the fourth mounting groove in a jogged mode; the second locking block is connected with the first mounting groove in a jogged mode; the vehicle body is also provided with a wireless communication module, a setting module, a control module and a processor module; the wireless communication module, the setting module and the control module are respectively connected with the processor module; the control module comprises an obstacle avoidance module used for judging the distance and the position of a front obstacle, a positioning module used for limiting the running path of the vehicle body and a driving module used for controlling the motion state of the vehicle body; the obstacle avoidance module is connected with the driving module; the processor module is used for setting the cargo position and the destination through a setting module and transmitting position information to the processor module, the processor module sends the position information to the positioning module, and the positioning module controls the driving module to start; the mobile terminal is connected with the processor module through the wireless communication module and is in communication connection with the driving module and the positioning module through the processor module; the outer contours of the first mounting groove, the second mounting groove, the third mounting groove and the fourth mounting groove are all arc-shaped; the outer contour of the first locking block is matched with the outer contour of the fourth mounting groove; the outer contour of the second locking block is matched with the outer contour of the first mounting groove; the vehicle body is also provided with a camera for shooting the goods and an image processing module for carrying out image analysis on the shot goods and calculating the volume of the goods; the image processing module sends cargo volume information to the mobile terminal through the wireless communication module; the mobile terminal calculates the number of required combined plates according to the cargo volume; the substrate is also provided with a pressure sensor and an alarm device; when the weight of the goods exceeds the preset pressure value of the pressure sensor, the pressure sensor sends an alarm instruction to a processor module, the processor module controls an alarm device to be started, the alarm device sends an alarm signal to the mobile terminal through the wireless communication module, the mobile terminal sends an alarm buzzer and sends an instruction to the driving module, and the driving module receives the driving instruction from the mobile terminal to control the vehicle body to stop flameout and move; the outer contours of the substrate and the combined plates are rectangular; the first mounting groove and the second mounting groove are respectively positioned at the center of the rectangular edge and are arranged oppositely; the third mounting groove and the fourth mounting groove are respectively positioned at the center of the rectangular edge and are arranged oppositely; the vehicle body is provided with a plurality of supporting components which are detachably connected; the supporting component is positioned below the combined plate; the supporting assembly comprises a cylinder and a connecting block; one end of the air cylinder is fixed on the vehicle body, and the moving end of the air cylinder faces the combined plate and is connected with a connecting block; the connecting block is fixed on the combined plate through a bolt; the transport vechicle has monostate transportation module, combination state transportation module and modularization combination transportation mode, through the cooperation of camera and image processing module on the automobile body to recommend which kind of mode and combination plate quantity that the transport vechicle used through mobile terminal, the user is according to mobile terminal's recommendation, reasonable dismouting combination plate.
2. The modular independent assortment-based transport vehicle as claimed in claim 1, wherein the processor module controls the obstacle avoidance module to send out pulse signals of a certain frequency at fixed time intervals, collects and processes return data to the processor module, determines the distance and position of a front obstacle, and sends an instruction to the driving module, and the driving module controls the driving state of the vehicle body to avoid the front obstacle.
3. The modular freely-combined transport vehicle as claimed in claim 2, wherein the obstacle avoidance module adopts HC-HR04 ultrasonic obstacle avoidance module, adopts IO port TRIG to trigger ranging, gives a high level signal of at least 10us at a trigger port, and automatically sends 8 square waves of 40khz to automatically detect whether a signal returns, when a signal returns, a high level is output through IO port ECHO, and the duration of the high level is the time from transmission to return of the ultrasonic wave; the test distance is (high level time) speed of sound (340M/S))/2.
4. The modular independent assortment-based transportation vehicle as claimed in claim 3, wherein the setup module employs Labview software to receive and transmit data.
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