CN114115219A

CN114115219A - Automatic rescue method and device for fault transport vehicle

Info

Publication number: CN114115219A
Application number: CN202111027287.3A
Authority: CN
Inventors: 何志龙
Original assignee: Beijing Jingdong Qianshi Technology Co Ltd
Current assignee: Beijing Jingdong Qianshi Technology Co Ltd
Priority date: 2021-09-02
Filing date: 2021-09-02
Publication date: 2022-03-01

Abstract

The invention discloses an automatic rescue method and device for a fault transport vehicle, and relates to the technical field of storage logistics. One embodiment of the method comprises: determining the position of a fault transport vehicle; planning a rescue route of a rescue vehicle according to the position of the fault transport vehicle, dynamically locking a local rescue route in front of the rescue vehicle according to the selected rescue route, and unlocking the local rescue route which is passed by the rescue vehicle after the rescue vehicle runs; sending the state of the local rescue route to each vehicle in a working site; and controlling the rescue vehicle to reach the designated position, and transporting the fault transport vehicle away from the operation field. The implementation method can identify the faults and the positions of the transport vehicles, dynamically plan the route, automatically allocate the rescue vehicles to carry out rescue, improve the automation degree and the fault processing efficiency, reduce the processing cost and have little influence on other normal operation transport vehicles.

Description

Automatic rescue method and device for fault transport vehicle

Technical Field

The invention relates to the field of storage logistics, in particular to an automatic rescue method and device for a fault transport vehicle.

Background

The transport vechicle that uses in current unmanned warehouse needs artifical the propelling movement or carries off the production line when breaking down. In order to ensure the safety of the operators, all normally operating transport vehicles need to be shut down. The fault processing mode has low automation degree, high maintenance cost and low efficiency.

Disclosure of Invention

In view of this, embodiments of the present invention provide an automatic rescue method and apparatus for a faulty transportation vehicle, which can automatically determine a location of the faulty transportation vehicle, and plan a traveling route of the faulty transportation vehicle to control the faulty transportation vehicle to transport the faulty transportation vehicle away from an operation site, so as to perform subsequent maintenance operations. The automatic level of fault handling is improved, the influence on other normal operation transport vehicles is reduced, the maintenance cost is reduced, and the maintenance efficiency is improved.

To achieve the above object, according to an aspect of an embodiment of the present invention, there is provided an automatic rescue method for a faulty truck, including:

determining the position of a fault transport vehicle;

planning a rescue route of a rescue vehicle according to the position of the fault transport vehicle, dynamically locking a local rescue route in front of the rescue vehicle according to the selected rescue route, and unlocking the local rescue route which is passed by the rescue vehicle after the rescue vehicle runs; sending the state of the local rescue route to each vehicle in a working site;

and controlling the rescue vehicle to reach the designated position, and transporting the fault transport vehicle away from the operation field.

Optionally, before determining the location of the faulty transportation vehicle, the method further includes: and analyzing the operation information of each transport vehicle to judge the operation state of each transport vehicle, and taking the transport vehicle with abnormal operation state as a fault transport vehicle.

Optionally, planning a rescue route of a rescue vehicle according to the position of the faulty transportation vehicle comprises: and optimizing the rescue route by using a single target or multiple targets.

Optionally, dynamically locking the local rescue route ahead of the rescue vehicle according to the selected rescue route comprises:

the length of the locked local rescue route is dynamically adjusted according to the information of the obstacle in front of the rescue vehicle, and the driving speed of the rescue vehicle is dynamically controlled according to the adjusted length of the local rescue route.

Optionally, the obstacle information includes at least one of obstacle type, obstacle number, obstacle quality, obstacle volume, and obstacle distribution.

Optionally, before controlling the rescue vehicle to reach the specified position, the method comprises the following steps: and allocating a transport vehicle around the dynamically locked local rescue route to clean the obstacles in the local rescue route according to the obstacle information in the dynamically locked local rescue route.

According to a second aspect of the embodiments of the present invention, there is provided a rescue vehicle of a breakdown transporter, including:

a rescue vehicle body configured to carry a rescue mechanism comprising two rescue arms and a lateral adjustment structure;

the two rescue arms are respectively positioned on two sides of the rescue vehicle body and comprise arm bodies and telescopic arms, and the inner sides of the telescopic arms are provided with lifting mechanisms for lifting or putting down the fault transport vehicle;

and the transverse adjusting structure is used for adjusting the distance between the two rescue arms so that the two telescopic arms are positioned on two sides of the fault transport vehicle after extending out.

Optionally, the arm body is provided with an inner hole extending along the axial direction of the arm body, and the telescopic arm is slidably mounted in the inner hole.

Optionally, the end of the extending side of the telescopic arm is rotatably connected with a follower wheel seat, and the bottom of the follower wheel seat is provided with a roller wheel, so that the follower wheel seat moves along with the telescopic motion of the telescopic arm.

Optionally, a gear is coaxially mounted at the end of the telescopic arm at the extending side, and the gear is located between the rescue vehicle body and the follow-up wheel seat;

and the driving mechanism is arranged on the follow-up wheel seat and is used for driving the gear to rotate so as to drive the supporting mechanism to rotate, so that the fault transport vehicle is supported or put down.

Optionally, the front end of the rescue vehicle body and/or the part of the follow-up wheel seat facing the rescue vehicle body are respectively provided with a distance measuring device.

Optionally, the surface of the arm body facing the rescue vehicle body is provided with at least two racks, and the racks are engaged with the gear of the transverse adjusting structure.

Optionally, the lateral adjusting structure further comprises a driving mechanism and a transmission belt, and the driving mechanism drives a gear of the lateral adjusting structure to rotate through the transmission belt so as to adjust the distance between the two rescue arms.

Optionally, a rack structure is arranged on the top surface of the peripheral side of the telescopic arm, the bottom surface of the peripheral side is a smooth surface, and a driving mechanism mounted on the rescue arm is in transmission connection with the rack structure through a gear.

Optionally, the lifting mechanism is a lifting flat hook, and the thickness of a part of the lifting flat hook close to the rescue vehicle body is smaller than that of a part far away from the rescue vehicle body.

Optionally, the lifting mechanism and/or the chassis of the transport vehicle are provided with a protection mechanism.

According to a third aspect of the embodiments of the present invention, there is provided an automatic rescue apparatus for a breakdown transporter, including:

the position determining module is used for determining the position of the fault transport vehicle;

the route planning module plans a rescue route of the rescue vehicle according to the position of the fault transport vehicle, dynamically locks a local rescue route in front of the rescue vehicle according to the selected rescue route, and unlocks the local rescue route which is passed by the rescue vehicle after the rescue vehicle runs; sending the state of the local rescue route to each vehicle in a working site;

and the rescue execution module is used for controlling the rescue vehicle to reach the designated position and transporting the fault transport vehicle away from the operation field.

Optionally, before the determining the location of the faulty transportation vehicle, the determining the location of the faulty transportation vehicle further includes: and analyzing the operation information of each transport vehicle to judge the operation state of each transport vehicle, and taking the transport vehicle with abnormal operation state as a fault transport vehicle.

Optionally, the planning of the rescue route of the rescue vehicle by the route planning module according to the position of the fault transport vehicle comprises: and optimizing the rescue route by using a single target or multiple targets.

Optionally, the step of dynamically locking the local rescue route ahead of the rescue vehicle according to the selected rescue route by the route planning module comprises:

Optionally, the obstacle information in the route planning module includes at least one of obstacle type, obstacle number, obstacle quality, obstacle volume, and obstacle distribution.

Optionally, before controlling the rescue vehicle to reach the designated location, the route planning module comprises: and allocating a transport vehicle around the dynamically locked local rescue route to clean the obstacles in the local rescue route according to the obstacle information in the dynamically locked local rescue route.

According to a fourth aspect of the embodiments of the present invention, there is provided an automatic rescue electronic device of a faulty truck, including:

one or more processors;

a storage device for storing one or more programs,

when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the method provided by the first aspect of the embodiments of the present invention.

According to a fifth aspect of embodiments of the present invention, there is provided a computer readable medium, on which a computer program is stored, which when executed by a processor, implements the method provided by the first aspect of embodiments of the present invention.

One embodiment of the above invention has the following advantages or benefits: by determining the position of the fault transport vehicle, planning a rescue route and controlling the rescue vehicle to carry out rescue, the rescue automation degree of the fault transport vehicle can be improved. The local rescue route in front of the rescue vehicle is dynamically locked according to the selected rescue route, and the local rescue route which is passed by the rear of the rescue vehicle is unlocked, so that the rescue vehicle is prevented from occupying the route in transition, the influence on other operation vehicles is reduced, and the rescue cost is reduced. The length of the locked local rescue route is dynamically adjusted according to the information of the obstacle in front of the rescue vehicle, and the driving speed of the rescue vehicle is dynamically controlled according to the adjusted length of the local rescue route, so that the average driving speed of the rescue vehicle is increased, the time for the rescue vehicle to reach a rescue place is shortened, and the rescue efficiency is improved. The side top surface of the telescopic arm is set to be a rack structure, the side bottom surface is set to be a smooth surface, the rack structure is connected with the driving mechanism through the gear, the friction force in the motion process can be reduced by utilizing the characteristic of the smooth surface, the abrasion of parts is reduced, the reliability is improved, meanwhile, the meshing relation between the rack structure and the gear plays a guiding role in the rotary motion of the telescopic arm, the tooth surface of the telescopic arm slides along the tooth surface of the gear, and the rotary stability of the telescopic arm is improved. The end part of the extension side of the telescopic arm is rotatably connected with the follow-up wheel seat, so that the supporting effect of the end part of the telescopic arm can be improved, the motion stability and the bearing capacity are improved, and the rescue vehicle can be suitable for rescue work of transport vehicles of various models. The rotary supporting mechanism is adopted to support the fault transport vehicle, so that the structural complexity of the supporting mechanism can be reduced, and the manufacturing cost is reduced.

Further effects of the above-mentioned non-conventional alternatives will be described below in connection with the embodiments.

Drawings

The drawings are included to provide a better understanding of the invention and are not to be construed as unduly limiting the invention. Wherein:

fig. 1 is a schematic view of a main flow of an automatic rescue method of a faulty transportation vehicle according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of the relative positions of a breakdown van and a rescue van during rescue in an alternative embodiment of the invention;

FIG. 3 is a schematic top view of an alternative embodiment of the present invention;

FIG. 4 is a schematic bottom view of an alternative embodiment of the present invention;

FIG. 5 is a schematic view of a lift mechanism in an alternative embodiment of the present invention;

FIG. 6 is a schematic top view of a rescue vehicle in an alternative embodiment of the invention;

FIG. 7 is a schematic view of a rescue arm in an alternative embodiment of the present invention;

FIG. 8 is a schematic view of the structure of the chassis of the rescue vehicle in an alternative embodiment of the invention;

fig. 9 is a schematic view of main modules of an automatic rescue apparatus of a breakdown transporter according to an embodiment of the present invention;

FIG. 10 is an exemplary system architecture diagram in which embodiments of the present invention may be employed;

fig. 11 is a schematic structural diagram of a computer system suitable for implementing a terminal device or a server according to an embodiment of the present invention.

Detailed Description

Exemplary embodiments of the present invention are described below with reference to the accompanying drawings, in which various details of embodiments of the invention are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

According to an aspect of an embodiment of the present invention, there is provided an automatic rescue method for a faulty truck.

Fig. 1 is a schematic view of a main flow of an automatic rescue method of a faulty transportation vehicle according to an embodiment of the present invention. As shown in fig. 1, the automatic rescue method for a faulty transportation vehicle according to the embodiment of the present invention includes: step S101-step S105.

And step S101, determining the position of the fault transport vehicle.

The "transport vehicle" referred to herein means a vehicle for performing a task of a transport job. Taking the field of warehouse logistics as an example, for an unmanned warehouse, an unmanned intelligent transport vehicle such as agv (automated Guided vehicle) is usually selected. The number of the operation transport vehicles is dynamically adjusted according to the transport tasks. One or more transport vehicles are synchronously operated in the field in the same time period.

In the practical application process, the running state of each transport vehicle in the operation field can be monitored in real time, and one or more of the state, position, posture and other information of the transport vehicles can be collected; and analyzing the running state of each transport vehicle according to a preset judgment criterion. When the operation state of a certain transport vehicle or some transport vehicles is judged to be abnormal, the dispatching of the operation tasks to the abnormal transport vehicles is stopped, commands are sent to the abnormal transport vehicles to lock and stop the abnormal transport vehicles, and the position information of the locked abnormal transport vehicles is collected. In actual use, all the abnormal transport vehicles can be selected as fault transport vehicles and offline maintenance can be performed, and preset fault judgment criteria can be further adopted for screening to determine the abnormal transport vehicles which finally need offline maintenance. In actual use, the transport vehicle has various abnormalities, and the normal use of the transport vehicle is not influenced by part of the abnormalities, namely the transport vehicle with the abnormalities does not need to be offline for maintenance. Therefore, the entire offline maintenance of the transport vehicles identified as abnormal causes a great waste of resources. It is therefore necessary to perform a specific investigation of the locked abnormal transporter to determine the faulty transporter that needs to be transported away from the work site. Specifically, the running state information of the locked abnormal transport vehicle can be analyzed according to a preset judgment standard, and the abnormal transport vehicle with the running state meeting the preset judgment standard is used as a fault transport vehicle needing offline maintenance. Such as the response time of the transport vehicle to the instruction, the duration of executing the task, and the like, as the failure judgment criteria. And if the abnormal transport vehicle meeting the preset judgment standard exists, sending a rescue instruction to the rescue vehicle to implement rescue operation. When confirming that a certain transport vehicle needs to be transported away from an operation field, the goods transported by the transport vehicle need to be transferred to other operation transport vehicles; or the transportation vehicle is placed at a fault point to wait for other transportation vehicles to carry; or after being transported away from the work site, the goods are distributed to other off-line transport vehicles and the like. And for the transport vehicle which does not meet the judgment standard, the locking is required to be released so as to enable the transport vehicle to continue to operate. Specifically, the vehicle can continue to operate in the field by restarting the vehicle or issuing a command to the vehicle again.

And S102, planning a rescue route of a rescue vehicle according to the position of the fault transport vehicle.

One design objective of the present invention is to improve rescue efficiency, and therefore it is desirable to optimize the rescue path of the rescue vehicle. In the practical application process, one or more of the shortest rescue time, the shortest rescue path, the lowest rescue cost, the smallest influence on other normal operation transport vehicles, the smallest barriers on the rescue route and the like can be used as optimization targets. Here, the shortest rescue route and the fewest obstacles on the rescue route are exemplarily selected as optimization targets, and multi-objective optimization is performed. Of course, according to actual use needs, the type and number of optimization targets can be properly adjusted, and even a single target is selected for optimization. The obstacles mentioned herein are described with respect to the perspective of the rescue vehicle, and any object obstructing the travel of the rescue vehicle is considered as an obstacle of the rescue vehicle, such as pallets and goods on the route of travel of the rescue vehicle.

And S103, dynamically locking a local rescue route in front of the rescue vehicle according to the selected rescue route, and unlocking the local rescue route which is passed by the rescue vehicle after the rescue vehicle runs.

The problems of resource waste, efficiency reduction and the like caused by the fact that transit dispatching of transport vehicles, transition occupation of lines and transition influence on the traveling route of a normal operation transport vehicle in a field due to the fact that a selected rescue route is locked in the whole process and obstacles are cleaned in the whole process are solved. And the local rescue route in front of the rescue vehicle is dynamically locked according to the selected rescue route, and the local rescue route which is passed by the rescue vehicle after the rescue vehicle runs is unlocked. The local rescue route can be preset, such as selecting 5 meters, 10 meters and the like; or the length of the local rescue route needing to be locked is set in a dynamic adjustment mode. For a local rescue route in a locked state, various obstacles in the route need to be cleaned in time, and the situation that no obstacle exists in a locked road section when a rescue vehicle runs is guaranteed. In the actual use process, an instruction can be sent to enable the normal operation vehicle to drive away from the locked road section, and a new transportation route is replaced; and/or sending instructions to enable the normally operated idle transport vehicle to transport the trays or goods and the like in the locked road section to other goods sites, and simultaneously recording the positions of the trays or goods to avoid the trays or goods from being disordered. Of course, other ways of clearing the road section may be used, the ultimate purpose of which is to enable the rescue trolley to quickly pass the locked local rescue route. And for the cleaned local rescue route in the locked state, other vehicles in the field have no permission to enter. And when the rescue vehicle passes through the road section, releasing the local rescue route in the locked state in time, and enabling other vehicles in the field to regain the right of entering the road section.

During the process of the rescue vehicle, the state of the obstacle in front of the rescue vehicle is dynamically changed. If the obstacles in front of the travelling route are few, even when no obstacles exist, the local rescue route is still locked at a constant length, and the rescue vehicle also advances at a constant speed, the problems of low resource utilization, low efficiency and the like exist. Therefore, the problems can be effectively solved by dynamically adjusting the length of the locked local rescue route and dynamically controlling the running speed of the rescue vehicle according to the adjusted length of the local rescue route. On the basis of the adjustment, when the length of the local rescue route is longer, the travelling speed of the rescue vehicle can be properly increased, otherwise, the vehicle speed is properly reduced. The average speed of the rescue vehicle is higher than that of the scheme of non-dynamic adjustment and locking of the length of the local rescue route, and finally the time of the rescue vehicle reaching the rescue place is shortened.

When the locked local rescue route length is dynamically adjusted, one or more kinds of information of obstacles need to be considered, wherein the information includes but is not limited to the types of the obstacles, the number of the obstacles, the mass of the obstacles, the volume and the distribution of the obstacles. In practical application, for the obstacles such as pallets and goods, the number of idle normal operation transport vehicles which can be allocated near the road section, the time for reaching the local rescue route, the time consumed for cleaning each obstacle and other factors are also considered in the process of adjusting the length of the local rescue route.

The design here is to perform the obstacle cleaning work while reducing the resource consumption. Therefore, for static obstacles such as pallets, goods and the like in the locked local rescue route, a certain number of transport vehicles around the local rescue route need to be reasonably allocated so as to quickly reach the site and clear the obstacles in the local rescue route.

And step S104, transmitting the state of the local rescue route to each vehicle in the operation field.

In order to ensure the safety of the operation transport vehicle and other rescue vehicles in the field and avoid collision and the like, the state of a local rescue route needs to be sent to each vehicle in the operation field; controlling the device to adjust the travelling route in time. Specifically, the state of the local rescue route may be sent to each vehicle in the work site in a synchronous or asynchronous manner.

And step S105, controlling the rescue vehicle to reach the designated position, and transporting the fault transport vehicle away from the operation site.

In practice, the fault transport vehicle can be directly dragged away from the operation field in a dragging mode. However, the actual faults of the faulty transport vehicle are different, and the direct dragging mode may cause the transport vehicle to have secondary faults. And the fault transport vehicle is lifted and leaves the ground of the operation field, and then is transported away from the operation field, so that the secondary fault can be effectively avoided. Specifically, a lifting mechanism may be constructed using a hydraulic cylinder, an electric cylinder, an air cylinder, a threaded lead screw, or the like to lift the breakdown van. In order to simplify the structure and reduce the manufacturing cost, a second aspect of the embodiment of the invention provides a rescue vehicle of a fault transport vehicle, which can be used for executing the rescue method described in the first aspect and can also be used for executing other rescue works. In the embodiment shown in fig. 2 to 3, the rescue vehicle 201 comprises: rescue car 301 configured to carry a rescue mechanism, in particular said rescue mechanism comprising two rescue arms 302 and a lateral adjustment structure 303. Wherein, two rescue arms 302 are respectively positioned at two sides of the rescue vehicle body. Referring to fig. 6 and 7, the rescue arm comprises an arm body 704 and a telescopic arm 603, a lifting mechanism is arranged inside the telescopic arm, and the lifting or lowering of the fault transport vehicle 200 can be realized by controlling the position of the lifting mechanism. For example, in rescue operation, the extension position of the telescopic arm is adjusted to insert the lifting mechanism into the gap between the fault transport vehicle 200 and the ground, and then the height of the front end of the lifting mechanism is raised to lift the fault transport vehicle so as to completely separate the fault transport vehicle from the ground. The rescue vehicle further comprises lateral adjustment structures 303 for adjusting the distance between the two rescue arms 302 so that the two telescopic arms are located on both sides of the faulty conveyor after being extended (see the position shown in fig. 3).

Referring to fig. 6 and 7, the arm body 704 is provided with an axial inner hole along its own axial direction, and the telescopic arm 603 is slidably mounted in the axial inner hole of the arm body. The telescoping arm 603 is extendable and retractable along the axial bore under the control of a drive mechanism. The driving mechanism includes but is not limited to a motor, a cylinder, a hydraulic cylinder, etc. For transport vehicles 200 of different models and sizes, the extension length of the telescopic arm needs to be reasonably controlled, specifically, a distance measuring device can be selected to measure the extension length, such as a position sensor or a displacement sensor, and of course, a travel switch can be selected to control the extension length. Or, according to different driving mechanisms, a corresponding sensor or encoder controller is arranged on the driving mechanism, and when an air cylinder or a hydraulic cylinder is adopted, a position sensor or a displacement sensor can be arranged on a piston or a piston rod to monitor the stroke. One embodiment of the present invention exemplarily selects a driving motor 606 provided on the arm body as a driving structure, and controls the extending distance of the telescopic arm through an encoder of the driving motor 606.

Referring to fig. 4 and 7, the end of the telescopic arm 603 on the side of the extension is rotatably connected to the follower wheel seat 701, such as by a bearing. The bottom of the follower wheel seat 701 is provided with a roller, and when the telescopic arm 603 extends or retracts, the follower wheel seat 701 moves forwards or backwards synchronously along with the rotation of the roller. The telescopic arm is rotatably connected with the follow-up wheel seat, so that the follow-up wheel seat does not rotate when the telescopic arm rotates, and the roller is tangent to the ground all the time. The follow-up wheel seat 701 provides support for the extending end of the telescopic arm 603, so that the motion stability and the bearing capacity of the telescopic arm are improved, and the rescue vehicle can be suitable for rescue work of transport vehicles of various models.

As shown in fig. 7, the jack-up mechanism is fixedly mounted on the telescopic arm 603 on the outer peripheral side extending along the telescopic arm axis. A gear 703 is fixedly attached to the end of the telescopic arm 603 on the side where the telescopic arm 603 extends, and the gear 703 is coaxially attached to the telescopic arm 603 so that the two can rotate synchronously. As shown in fig. 6 and 7, the gear 703 is located between the rescue vehicle body and the follower wheel seat. The driving mechanism 604 is disposed on the follower wheel seat, and is configured to drive the gear 703 to rotate so as to drive the lifting mechanism to rotate, thereby lifting or lowering the fault transportation vehicle. Optionally, the driving mechanism is a driving motor, and an output shaft of the driving motor is provided with a gear 702, and the gear 702 is meshed with the gear 703. During rescue, the driving motor 604 drives the gear 702, the gear 703 and the telescopic arm 603 to rotate, so that the lifting mechanism 401 (see fig. 4) rotates along the axis of the telescopic arm 603, and the purpose of lifting the fault transport vehicle is achieved. When the fault transport vehicle is released, the lifting drive motor 604 rotates reversely, and the fault transport vehicle can be lowered to the ground.

In order to accurately control the movement position of the rescue mechanism, distance measuring devices can be optionally mounted at the front end of the rescue vehicle body and/or the parts of the follow-up wheel seats facing the rescue vehicle body respectively. As shown in fig. 6, an embodiment of the present invention exemplarily has distance measuring devices 605, such as displacement sensors or distance sensors, installed at the front end of the rescue vehicle body and/or at the portions of the follower wheel seats facing the rescue vehicle body, respectively. In the actual use process, the distance between the rescue vehicle and the fault transport vehicle is measured through the distance sensor, the rescue vehicle stops walking after reaching the specified distance, and a consignment command is waited. During the consignment process, the distance of the arm body 704 extending out or retracting back is measured by a distance sensor arranged on the follow-up wheel seat, and after the specified distance is reached, the driving mechanism of the transverse adjusting mechanism stops running.

One embodiment of the present invention exemplarily comprises at least two racks 607 on the surface of the arm 704 facing the rescue vehicle body, wherein the racks 607 are engaged with the gear of the lateral adjustment structure, so that the driving mechanism of the lateral adjustment structure drives the gear to rotate to adjust the distance between the two rescue arms. The transverse adjusting structure further comprises a driving mechanism and a transmission belt, wherein the driving mechanism drives a gear of the transverse adjusting structure to rotate through the transmission belt so as to adjust the distance between the two rescue arms. Referring to the embodiment shown in fig. 6 to 8, the rack 607 correspondingly disposed at the left and right sides in the advancing direction of the rescue vehicle is connected to a driving mechanism 801 (such as a driving motor) of the lateral adjusting mechanism through the same gear 804 of the lateral adjusting mechanism. In specific use, the racks 607 can be provided with a plurality of groups, so as to improve the extending or retracting stability of the rescue arm, and a plurality of gears are correspondingly arranged at the moment. Two sets of racks are provided as shown in fig. 6, and two gears are provided. When there are a plurality of sets of rack structures, a plurality of driving mechanisms 801 may be provided to drive the respective gears, respectively. One end of each of the plurality of belts 802 may be connected to an output shaft of the driving mechanism 801, and the other end of each of the plurality of belts 802 drives the gear 804 to rotate via the synchronous pulley 803, so that the plurality of racks are synchronously driven to reciprocate by one driving mechanism 801. Further, a linear guide 805 is optionally provided on the chassis 601 for each rack 607.

Referring to fig. 4 and 7, an embodiment of the present invention illustratively selects a rack and pinion configuration for controlling the extension and retraction of the telescoping arm 603. Specifically, the top surface of the peripheral side of the telescopic arm extending along its own axis is processed into a rack structure, and the bottom surface of the peripheral side is a smooth surface, and the rack structure is connected with a driving mechanism 606 (such as a motor) mounted on the rescue arm through a gear. In the operation process, the driving mechanism 606 drives the gear to rotate, and drives the telescopic arm to extend or retract through the meshing relationship between the gear and the rack structure on the peripheral top surface of the telescopic arm. And the bottom surface of the peripheral side is a smooth surface, so that the friction force in the motion process is reduced, the abrasion loss of parts is reduced, and the reliability is improved. When the telescopic arm 603 rotates to lift or put down the fault transport vehicle, the meshing relationship of the gear and the rack plays a guiding role in the rotating motion of the telescopic arm, so that the tooth surface of the telescopic arm slides along the tooth surface of the gear, and the rotating stability of the telescopic arm is improved.

As shown in fig. 5, an embodiment of the present invention exemplarily selects a lifting flat hook as a lifting mechanism, and the thickness of the front end of the lifting flat hook is smaller than that of the rear end, that is, the thickness of a portion of the lifting flat hook close to the rescue vehicle body is smaller than that of a portion far from the rescue vehicle body. In the practical application process, after the telescopic arm extends out of the specified length, the driving mechanism 801 is started and drives the rescue arm to retract, so that the thin part at the front end of the lifting flat hook extends into a gap between the fault transport vehicle and the ground. After the specified distance is reached, the driving mechanism 801 stops moving, the driving mechanism 604 is started and drives the telescopic arm and the supporting mechanism to rotate, and the fault transport vehicle is supported.

In the practical application process, the chassis structures of the transport vehicles of various models are different, and the chassis of the transport vehicle needs to be prevented from being damaged in the process of supporting the transport vehicle by the supporting mechanism. One embodiment of the invention selects to arrange a protection mechanism on the supporting mechanism and/or the chassis of the transport vehicle so as to protect the contact part of the chassis of the transport vehicle and the supporting mechanism. Specifically, the protection mechanism includes, but is not limited to, a rubber pad, a rubber sleeve, a spring plate, and the like.

It should be noted that in practical application, according to the condition of the transport vehicle to be rescued, the posture adjusting mechanism and/or the position adjusting mechanism can be installed on the rescue arm, so that the position of the rescue arm can be adjusted along three coordinate axes and/or the posture of the rescue arm can be adjusted along three coordinate axes, and therefore the rescue vehicle can be suitable for transport vehicles of different types and sizes, the adjusting speed of the rescue arm is increased, and the rescue process is accelerated. On the basis of the structure adjustment, the structures and/or assembly relations of the rescue arms, the follow-up wheel seats and other mechanisms need to be adjusted adaptively, so that the rescue vehicle can carry out rescue work normally. In addition, after the fault transport vehicle is lifted, the rescue transport vehicle can return along the original route of the originally selected rescue route or replan a new return route; and returns to the service point using the local rescue route planning method described above. After the fault transport vehicle is repaired, two methods are adopted for returning to the operation site again: 1) if the distance is short, the operation site can be directly pushed back by manpower, and the nearest or most suitable point position is selected. 2) If the rescue vehicle is far away from the operation field or the operation personnel is inconvenient to enter the operation field (such as manual disinfection, wearing of appointed work clothes and the like), the time consumption is long when the rescue vehicle is pushed back manually, and the time is saved when the rescue vehicle is continuously dragged back to the operation field.

According to a third aspect of the embodiments of the present invention, there is provided an automatic rescue apparatus for a breakdown transporter.

Fig. 9 is a schematic diagram of main blocks of an automatic rescue apparatus for a breakdown transporter according to an embodiment of the present invention, and as shown in fig. 9, the automatic rescue apparatus 900 for a breakdown transporter includes:

a position determination module 901 for determining the position of the faulty transportation vehicle;

a route planning module 902, which plans a rescue route of the rescue vehicle according to the position of the fault transport vehicle, dynamically locks a local rescue route in front of the rescue vehicle according to the selected rescue route, and unlocks the local rescue route passed by the rescue vehicle after the rescue vehicle runs; sending the state of the local rescue route to each vehicle in a working site;

and the rescue execution module 903 is used for controlling the rescue vehicle to reach the specified position and transporting the fault transport vehicle away from the operation field.

one or more processors;

a storage device for storing one or more programs,

Fig. 10 shows an exemplary system architecture 1000 to which the automatic rescue method for a faulty truck or the automatic rescue apparatus for a faulty truck of the embodiments of the present invention can be applied.

As shown in fig. 10, the system architecture 1000 may include

terminal devices

1001, 1002, 1003, a network 1004, and a server 1005. The network 1004 is used to provide a medium for communication links between the

terminal devices

1001, 1002, 1003 and the server 1005. Network 1004 may include various connection types, such as wired, wireless communication links, or fiber optic cables, to name a few.

A user may use the

terminal devices

1001, 1002, 1003 to interact with a server 1005 via a network 1004 to receive or transmit messages or the like. The

terminal devices

1001, 1002, 1003 may have installed thereon various messenger client applications such as shopping applications, web browser applications, search applications, instant messenger, mailbox clients, social platform software, etc. (by way of example only).

The

terminal devices

1001, 1002, 1003 may be various electronic devices having a display screen and supporting web browsing, including but not limited to smart phones, tablet computers, laptop portable computers, desktop computers, and the like.

The server 1005 may be a server that provides various services, such as a backend management server (for example only) that supports shopping websites browsed by users using the

terminal devices

1001, 1002, 1003. The backend management server may analyze and perform other processing on the received data such as the product information query request, and feed back a processing result (for example, target push information, product information — just an example) to the terminal device.

It should be noted that the automatic rescue method for the faulty transportation vehicle provided by the embodiment of the present invention is generally executed by the server 1005, and accordingly, the module of the automatic rescue apparatus for the faulty transportation vehicle is generally disposed in the server 1005.

The automatic rescue method for the fault transport vehicle provided by the embodiment of the invention can also be generally executed by terminal equipment, such as a mobile terminal and the like, and accordingly, a module of the automatic rescue device for the fault transport vehicle is generally arranged in the terminal equipment.

It should be understood that the number of terminal devices, networks, and servers in fig. 10 is merely illustrative. There may be any number of terminal devices, networks, and servers, as desired for implementation.

Referring now to FIG. 11, shown is a block diagram of a computer system 1100 suitable for use with a terminal device implementing an embodiment of the present invention. The terminal device shown in fig. 11 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present invention.

As shown in fig. 11, the computer system 1100 includes a Central Processing Unit (CPU)1101, which can perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM)1102 or a program loaded from a storage section 1108 into a Random Access Memory (RAM) 1103. In the RAM 1103, various programs and data necessary for the operation of the system 1100 are also stored. The CPU 1101, ROM 1102, and RAM 1103 are connected to each other by a bus 1104. An input/output (I/O) interface 1105 is also connected to bus 1104.

The following components are connected to the I/O interface 1105: an input portion 1106 including a keyboard, mouse, and the like; an output portion 1107 including a signal output unit such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and a speaker; a storage section 1108 including a hard disk and the like; and a communication section 1109 including a network interface card such as a LAN card, a modem, or the like. The communication section 1109 performs communication processing via a network such as the internet. A driver 1110 is also connected to the I/O interface 1105 as necessary. A removable medium 1111 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 1110 as necessary, so that a computer program read out therefrom is mounted into the storage section 1108 as necessary.

In particular, according to the embodiments of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication portion 1109 and/or installed from the removable medium 1111. The above-described functions defined in the system of the present invention are executed when the computer program is executed by a Central Processing Unit (CPU) 1101.

It should be noted that the computer readable medium shown in the present invention can be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present invention, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present invention, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The modules described in the embodiments of the present invention may be implemented by software or hardware. The described modules may also be provided in a processor, which may be described as: a processor includes a location determination module, a route planning module, and a rescue execution module. Where the names of these modules do not in some cases constitute a limitation of the module itself, for example, the location determination module may also be described as a "module determining the location of a faulty transporter".

As another aspect, the present invention also provides a computer-readable medium that may be contained in the apparatus described in the above embodiments; or may be separate and not incorporated into the device. The computer readable medium carries one or more programs which, when executed by a device, cause the device to comprise: determining the position of a fault transport vehicle; planning a rescue route of a rescue vehicle according to the position of the fault transport vehicle, dynamically locking a local rescue route in front of the rescue vehicle according to the selected rescue route, and unlocking the local rescue route which is passed by the rescue vehicle after the rescue vehicle runs; sending the state of the local rescue route to each transport vehicle in an operation field; and controlling the rescue vehicle to reach the designated position, and transporting the fault transport vehicle away from the operation field.

According to the technical scheme of the embodiment of the invention, the rescue automation degree of the fault transport vehicle can be improved by determining the position of the fault transport vehicle, planning the rescue route and controlling the rescue vehicle to rescue. The local rescue route in front of the rescue vehicle is dynamically locked according to the selected rescue route, and the local rescue route which is passed by the rear of the rescue vehicle is unlocked, so that the rescue vehicle is prevented from occupying the route in transition, the influence on other operation vehicles is reduced, and the rescue cost is reduced. The length of the locked local rescue route is dynamically adjusted according to the information of the obstacle in front of the rescue vehicle, and the driving speed of the rescue vehicle is dynamically controlled according to the adjusted length of the local rescue route, so that the average driving speed of the rescue vehicle is increased, the time for the rescue vehicle to reach a rescue place is shortened, and the rescue efficiency is improved. The side top surface of the telescopic arm is set to be a rack structure, the side bottom surface is set to be a smooth surface, the rack structure is connected with the driving mechanism through the gear, the friction force in the motion process can be reduced by utilizing the characteristic of the smooth surface, the abrasion of parts is reduced, the reliability is improved, meanwhile, the meshing relation between the rack structure and the gear plays a guiding role in the rotary motion of the telescopic arm, the tooth surface of the telescopic arm slides along the tooth surface of the gear, and the rotary stability of the telescopic arm is improved. The end part of the extension side of the telescopic arm is rotatably connected with the follow-up wheel seat, so that the supporting effect of the end part of the telescopic arm can be improved, the motion stability and the bearing capacity are improved, and the rescue vehicle can be suitable for rescue work of transport vehicles of various models. The rotary supporting mechanism is adopted to support the fault transport vehicle, so that the complexity of the supporting mechanism can be reduced, and the manufacturing cost is reduced.

The above-described embodiments should not be construed as limiting the scope of the invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions can occur, depending on design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An automatic rescue method for a fault transport vehicle is characterized by comprising the following steps:

determining the position of a fault transport vehicle;

2. The automatic rescue method according to claim 1, before determining the location of the faulty transportation vehicle, further comprising: and analyzing the operation information of each transport vehicle to judge the operation state of each transport vehicle, and taking the transport vehicle with abnormal operation state as a fault transport vehicle.

3. The automatic rescue method of claim 1, wherein planning a rescue route for a rescue vehicle according to the location of the faulty transportation vehicle comprises: and optimizing the rescue route by using a single target or multiple targets.

4. The automatic rescue method of claim 1, wherein dynamically locking the local rescue route ahead of the rescue vehicle in accordance with the selected rescue route comprises:

5. The automatic rescue method according to claim 4, wherein the obstacle information includes at least one of an obstacle kind, an obstacle number, an obstacle quantity, an obstacle volume, and an obstacle distribution.

6. The automatic rescue method according to any one of claims 1 to 5, characterized by comprising, before controlling the rescue vehicle to reach the designated location: and allocating a transport vehicle around the dynamically locked local rescue route to clean the obstacles in the local rescue route according to the obstacle information in the dynamically locked local rescue route.

7. A rescue vehicle for a breakdown transporter, comprising:

8. Rescue vehicle as claimed in claim 7, characterized in that the arm body is provided with an inner bore extending in the axial direction thereof, in which bore the telescopic arm is slidably mounted.

9. Rescue vehicle as claimed in claim 8, characterized in that the end at the extension side of the telescopic arm is rotatably connected with a follower wheel seat, the bottom of which is provided with rollers for moving the follower wheel seat following the telescopic movement of the telescopic arm.

10. Rescue vehicle as claimed in claim 9, characterized in that the end of the telescopic arm at the end facing away from the reach is coaxially fitted with a gear wheel, which is located between the rescue vehicle body and the follower wheel seat;

11. Rescue vehicle as claimed in claim 10, characterized in that the front end of the rescue vehicle body and/or the location of the follower wheel seat facing the rescue vehicle body are each fitted with a distance measuring device.

12. Rescue vehicle as claimed in claim 7, characterized in that the surface of the arm facing the rescue vehicle body is provided with at least two toothed racks which engage with the gear wheels of the lateral adjustment structure.

13. Rescue vehicle as claimed in claim 12, characterized in that the lateral adjustment structure further comprises a drive mechanism and a drive belt, the drive mechanism driving a gear of the lateral adjustment structure to rotate via the drive belt for adjusting the distance between the two rescue arms.

14. Rescue vehicle as claimed in any of the claims 7-13, characterized in that the peripheral side top surface of the telescopic arm is provided with a rack structure and the peripheral side bottom surface is a smooth surface, and the drive mechanism mounted on the rescue arm is in driving connection with the rack structure via a gear.

15. Rescue vehicle as claimed in any of the claims 7-13, characterized in that the lifting means are lifting hooks, the thickness of the part of the lifting hooks which is closer to the rescue vehicle body being smaller than the thickness of the part which is further away from the rescue vehicle body.

16. Rescue vehicle as claimed in any of the claims 7-13, characterized in that the lifting means and/or the chassis of the carriage are provided with protection means.

17. An automatic rescue device of trouble transport vechicle characterized by includes:

18. An automatic rescue electronic device of a breakdown transporter, comprising:

one or more processors;

a storage device for storing one or more programs,

when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-6.

19. A computer-readable medium, on which a computer program is stored, which, when being executed by a processor, carries out the method according to any one of claims 1-6.