CN114275077B

CN114275077B - Unmanned transport vehicle

Info

Publication number: CN114275077B
Application number: CN202111642064.8A
Authority: CN
Inventors: 刘大志; 田山山
Original assignee: Uditech Co Ltd
Current assignee: Uditech Co Ltd
Priority date: 2021-12-29
Filing date: 2021-12-29
Publication date: 2023-06-13
Anticipated expiration: 2041-12-29
Also published as: CN114275077A

Abstract

The invention relates to the technical field of unmanned transportation, and discloses an unmanned transportation vehicle, which comprises: the vehicle frame is provided with an accommodating space, and the accommodating space is provided with a guide rail; the container is provided with a guide groove, the container can be accommodated in the accommodating space, and when the container is accommodated in the accommodating space, the guide groove is in sliding fit with the guide rail so that the container can move along the guide rail in the accommodating space; the locking mechanism locks or unlocks the container when the container is positioned at a preset position of the accommodating space; the power system is connected with the frame and used for driving the frame to move. Through the mode, the embodiment of the invention can realize that the container of the unmanned vehicle is conveniently separated from the frame.

Description

Unmanned transport vehicle

Technical Field

The embodiment of the invention relates to the field of unmanned transportation, in particular to an unmanned transportation vehicle.

Background

Along with the development of social economy, the life pace of people is increasingly accelerated, the pursuit of people on efficiency is also higher, great convenience is brought to people by the high-speed development of the logistics system at present, and in order to improve the transportation efficiency of goods, unmanned transport vehicles are gradually applied to markets.

However, the inventor of the invention finds that in the process of realizing the invention, the container and the frame of the existing unmanned transport vehicle are integrally designed, namely, the container and the frame cannot be separated, so that the unmanned transport vehicle can enter the next transport operation after the goods in the container are transferred after the goods are transported to a designated place, and the efficiency of transporting the goods by the unmanned transport vehicle is limited.

Disclosure of Invention

The technical problem to be solved by the embodiment of the invention is to provide the unmanned transport vehicle, which can separate the container from the frame, so that the efficiency of transporting the articles by the unmanned transport vehicle is improved.

In order to solve the technical problems, the invention adopts a technical scheme that: there is provided an unmanned carrier vehicle comprising: the frame is provided with an accommodating space, and the first frame body is provided with a guide rail;

the container is provided with a guide groove, the container can be accommodated in the accommodating space, and when the container is accommodated in the accommodating space, the guide groove is in sliding fit with the guide rail, so that the container can move along the guide groove in the accommodating space;

the locking mechanism is used for locking or unlocking the container when the container is at a preset position on the first frame body;

the power system is connected with the frame and used for driving the frame to move.

Optionally, the frame further includes a limiting beam, the limiting beam is disposed in the accommodating space, and the container is provided with a limiting groove, and when the container is accommodated in the accommodating space, the limiting beam is accommodated in the limiting groove.

Optionally, the frame includes first support body, second support body and third support body, first support body with the third support body all with the second support body is connected, first support body with the third support body is parallel, first support body, second support body with the third support body encloses and closes accommodation space, the one end of spacing roof beam is connected the second support body.

Optionally, the first frame body, the second frame body and the third frame body are all composed of a plurality of sectional materials.

Optionally, the locking mechanical system includes electromagnetic lock and metalwork, electromagnetic lock set up in on the first support body, the metalwork set up in the packing cupboard is provided with the one side of guide slot, works as the packing cupboard is located preset position in the accommodation space, and when the electromagnetic lock is in the switch-on state, the electromagnetic lock adsorbs the metalwork to lock the packing cupboard, when the electromagnetic lock is in the switch-off state, the electromagnetic lock unclamp the metalwork to the unblock packing cupboard.

Optionally, the unmanned transport vehicle further includes power supply unit and controller, power supply unit and controller all set up in the frame, power supply unit is connected with the electromagnetic lock, the controller with power supply unit is connected, the controller is used for controlling power supply unit to the electromagnetic lock power supply, or, stop to the electromagnetic lock power supply.

Optionally, the unmanned carrier vehicle further includes a main radar, the main radar is installed in one side of the third support body deviating from the first support body, and the main radar is electrically connected with the controller.

Optionally, the unmanned carrier vehicle further includes an auxiliary radar, the at least one auxiliary radar is disposed around the main radar at the periphery of the third frame, and the at least one auxiliary radar is disposed at a preset inclination angle;

wherein the at least one auxiliary radar is connected to the controller.

Optionally, the unmanned carrier vehicle further comprises an image acquisition device, wherein the image acquisition device is arranged at the periphery of the third frame body, and the image acquisition device is connected with the controller.

Optionally, the power system comprises a driving motor, wheels and a transmission mechanism, the wheels are rotatably installed on the frame, the transmission mechanism and the driving motor are arranged on the frame, the transmission mechanism is respectively connected with the driving motor and the wheels, the driving motor is electrically connected with the power supply device, and the controller is respectively connected with the transmission mechanism and the driving motor;

the controller controls the driving motor and the transmission mechanism to work according to the information fed back by the main radar, the auxiliary radar and the image acquisition device, so that the unmanned transport vehicle moves.

In the embodiment of the invention, the storage space is arranged on the goods shelf, the guide rail is arranged in the storage space, and the guide groove is arranged on the goods shelf, so that the goods shelf can move in the storage space through the cooperation between the guide groove and the guide rail, and the installation and separation of the goods shelf and the frame are realized.

Drawings

FIG. 1 is an overall schematic of an embodiment of an unmanned vehicle of the present invention;

FIG. 2 is an exploded schematic view of an embodiment of the unmanned vehicle of the present invention;

FIG. 3 is a schematic view of a frame structure of an embodiment of an unmanned vehicle of the present invention;

FIG. 4 is a schematic view of an explosion of a container of an embodiment of the unmanned vehicle of the present invention;

FIG. 5 is a schematic illustration of a cabinet of an embodiment of the unmanned vehicle of the present invention;

FIG. 6 is another schematic view of the perspective of the chest of an embodiment of the unmanned vehicle of the present invention;

FIG. 7 is a schematic view of a movement mechanism of an embodiment of the unmanned vehicle of the present invention;

fig. 8 is a schematic diagram of the connection relationship of an embodiment of the unmanned vehicle of the present invention.

Detailed Description

In order that the invention may be readily understood, a more particular description thereof will be rendered by reference to specific embodiments that are illustrated in the appended drawings. It will be understood that when an element is referred to as being "fixed" to another element, it can be directly on the other element or one or more intervening elements may be present therebetween. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or one or more intervening elements may be present therebetween. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used in this specification includes any and all combinations of one or more of the associated listed items.

Referring to fig. 1 and 2, the unmanned carrier 1 includes a frame 10, a container 20, a locking mechanism 30 and a power system 40, wherein the frame 10 is provided with a receiving space 101, the container 20 is received in the receiving space 101, the locking mechanism 30 is disposed on the frame 10, and the locking mechanism 30 is used for locking the container 20 in the receiving space 101 or unlocking the container 20 from the receiving space 101. The power system 40 is connected with the frame 10, and the power system 40 is used for driving the frame 10 to move. Wherein, the storage space 101 is provided with a guide rail 1011, the container 20 is provided with a guide groove 201, when the container 20 is stored in the storage space 101, the guide groove 201 is in sliding fit with the guide rail 1011, so that the container 20 can move along the guide rail 1011 in the storage space 101, and when the container 20 is at a preset position in the storage space 101, the container 20 can be locked or unlocked by the locking mechanism 30.

Specifically, referring to fig. 3, the frame 10 includes a first frame 11, a second frame 12, and a third frame 13, the first frame 11 and the third frame 13 are connected to the second frame 12, the first frame 11 and the third frame 13 are parallel, the first frame 11, the second frame 12, and the third frame 13 enclose the accommodating space 101, and one end of the limiting beam is connected to the second frame 12. The frame 10 formed by connecting the first frame 11, the second frame 12 and the third frame 13 is in a U shape, an opening is provided in the U-shaped frame 10 along a guide rail and in a direction away from the second frame 12, and the container 20 can enter or leave the accommodating space 101 from the opening. In addition, the frame 10 has an open structure at both sides of the guide rail 1011, so that a user can conveniently take out the goods placed in the container 20 without disassembling the container 20 when the container 20 is accommodated in the accommodating space 101.

In some embodiments, the first frame 11, the second frame 12, and the third frame 13 are each composed of a plurality of profiles, and the profiles are made of carbon fibers. The frame 10 made of carbon fiber profile can reduce the self weight of the frame 10 itself, and the profile made of carbon fiber material can ensure the strength of the frame 10. Thus, the unmanned carrier vehicle 1 can have a lighter body weight, thereby reducing the energy consumption of the unmanned carrier vehicle 1.

In other embodiments, the first frame 11, the second frame 12, and the third frame 13 may be made of a metal material or an alloy material, for example: iron, aluminum or aluminum alloys.

For the container 20, referring to fig. 4, 5 and 6, the container 20 includes a container body 21 and a receiving cabinet 22, the container body 21 is provided with a placing cavity 211, the receiving cabinet 22 is received in the placing cavity 211, the receiving cabinet 22 is used for storing goods, and the container 20 is received in the receiving space 101 of the frame 10.

The placing cavity 211 comprises a first cavity 2111 and a second cavity 2112, the first cavity 2111 is arranged on one side surface of the cabinet body 21, the second cavity 2112 is arranged on one side surface of the cabinet body 21, which faces away from the first cavity 2111, the accommodating cabinet 22 comprises a first cabinet body 221 and a second cabinet body 222, the first cabinet body 221 is accommodated in the first cavity 2111, and the second cabinet body 222 is accommodated in the second cavity 2112. The first cavity 2111 is provided with a first fixing groove 2111a, the first fixing groove 2111a is used for fixing the first cabinet 221, the second cavity 2112 is provided with a second fixing groove 2112a, and the second fixing groove 2112a is used for fixing the second cabinet 222. When the first container 20 and the second container 20 are respectively accommodated in the first cavity 2111 and the second cavity 2112, the first container 221 and the first fixing groove 2111a are engaged, and the second container 222 and the second fixing groove 2112a are engaged, so that when the container 20 is moving, the first container 221 and the second container 222 can be well fixed in the first cavity 2111 and the second cavity 2112, and the risk of the first container 221 and the second container 222 falling from the first cavity 2111 and the second cavity 2112 is reduced. In addition, since the first cavity 2111 and the second cavity 2112 are provided on opposite sides of the container body 21, the first storage cabinet 221 stored in the first cavity 2111 and the second storage cabinet 222 stored in the second cavity 2112 can balance the weight of the container body, so that the center of gravity of the container is maintained in the middle of the container 20 as much as possible, and the risk of rollover of the container 20 is reduced.

Further, the container 20 further includes a third cavity 2113, the third cavity 2113 is disposed on a side of the container 21 away from the second frame 12, the accommodating cabinet 22 includes a third container 223, and the third container 223 is accommodated in the third cavity 2113. And the third cavity 2113 is provided with a third fixing groove 2113a, and the third fixing groove 2113a is used for clamping the third cabinet 223 installed in the third cavity 2113.

The container 20 is provided with a first cavity 2111, a second cavity 2112 and a third cavity, the first cavity 2111 accommodates the first container 221, the second cavity 2112 accommodates the second container 222, and the third cavity accommodates the third container 223 to increase the space of the container 20 for accommodating the container 22 21.

For the container 20 described above, the container 20 further includes a moving mechanism 23 and a lifting mechanism 24, the lifting mechanism 24 is mounted to the container body 21, and the lifting mechanism 24 is connected to the moving mechanism 23. The cabinet 21 can be freely moved by the moving mechanism 23, and the cabinet 21 can be height-adjusted by the elevating mechanism 24.

With respect to the lifting mechanism 24, the lifting mechanism 24 includes an electric telescopic rod 241 and a connecting rod 242, one end of the connecting rod 242 is connected to a sleeve of the electric telescopic rod 241, and the other end of the connecting rod 242 is connected to the moving mechanism 23. When the container 20 is loaded with goods and needs to be moved, the electric telescopic rod 241 is started to retract the loop bar, so that the height of the container body 21 is reduced, the whole center of the container 20 is lowered, and the risk of rollover of the container 20 in the moving process is reduced.

It should be noted that, the cabinet body 21 is further provided with a fixing cavity 21a and a through hole 21b communicating with the fixing cavity 21a, and the fixing cavity 21a is used for accommodating and installing the lifting mechanism 24. The number of the fixing cavities 21a and the number of the lifting mechanisms 24 are four, wherein two fixing cavities 21a are respectively arranged at two sides of the first cavity 2111, the other two fixing cavities 21a are respectively arranged at two sides of the second cavity 2112, one lifting mechanism 24 is installed in one fixing cavity 21a, and the sleeve extends out of or is received in the fixing cavity 21a through the through hole 21 b.

For the above-mentioned moving mechanism 23, please refer to fig. 7, the moving mechanism 23 includes a rotating connecting member 231, a roller 232 and a stop piece 233, one end of the rotating connecting member 231 is sleeved with the connecting rod 242 away from one end of the sleeve, the rotating connecting member 231 can rotate around the central axis of the connecting rod 242, the roller 232 is rotationally connected with the other end of the rotating connecting member 231, one end of the stop piece 233 is disposed on the rotating connecting member 231, and the stop piece 233 can rotate around the rotating connecting member 231 between a first angle and a second angle. When the stop piece 233 is at the first angle, the other end of the stop piece 233 is spaced from the roller 232, the roller 232 can rotate around the rotation connector 231, and when the stop piece 233 is at the second angle, the other end of the stop piece 233 abuts against the roller 232, so that the roller 232 is limited to rotate, and braking of the moving mechanism 23 is completed.

In some embodiments, the lifting mechanism 24 is a hydraulic or pneumatic telescopic rod.

In the container 20, the first cavity 2111 and the second cavity 2112 are provided on the container body 20, so that the first storage container 221 can be stored in the first cavity 2111, the second storage container 222 can be stored in the second cavity 2112, two storage containers can be stored in the container 20, and the two storage containers can store different goods, thereby improving the capability of the container to transport different goods.

In the embodiment of the present invention, the frame 10 further includes a spacing beam 14, and the spacing beam 14 is disposed in the accommodating space 101. The cabinet body 21 is further provided with a limit groove 21c, and when the container 20 is accommodated in the accommodating space 101, the limit beam 14 is accommodated in the limit groove 21c. The container 20 is engaged with the guide rail 1011 through the guide groove 201, and when sliding into a predetermined position in the accommodating space 101 from the outside, the stopper beam 14 is engaged with the stopper groove 21c, thereby restricting the displacement of the container 20 in the accommodating space 101. Thereby reducing the risk of the container 20 coming out of the receiving space 101 during travel of the unmanned vehicle 1.

Preferably, one end of the limiting beam 14 is connected to the second frame 12, the other end of the limiting beam 14 is connected to the third frame 13, and two ends of the limiting beam 14 are respectively connected to the second frame 12 and the third frame 13, so that the strength of the limiting beam 14 can be improved. The high-strength limit beam 14 can cooperate with the limit groove 21c to limit the container 20 from shaking or separating from the accommodating space 101 during the traveling process of the unmanned transport vehicle 1.

In this embodiment of the present invention, the locking mechanism 30 includes an electromagnetic lock 31 and a metal piece 32, the electromagnetic lock 31 is disposed on the first frame 11, the metal piece 32 is disposed on a surface of the container 20 where the guide groove 201 is disposed, when the container 20 is located at a preset position in the containing space 101, and when the electromagnetic lock 31 is in an energized state, the electromagnetic lock 31 adsorbs the metal piece 32 to lock the container 20, and when the electromagnetic lock 31 is in a de-energized state, the electromagnetic lock 31 releases the metal piece 32 to unlock the container 20.

Preferably, the number of the electromagnetic locks 31 and the metal pieces 32 is two, two electromagnetic locks 31 are arranged on the first frame 11 at intervals, and two metal pieces 32 are arranged on one surface of the container 20, on which the guide groove 201 is arranged, at intervals. When the container 20 is located at a predetermined position in the accommodating space 101, one electromagnetic lock 31 corresponds to one metal piece 32. It should be noted that, to ensure the reliability of the locking mechanism 30, the number of the electromagnetic locks 31 and the metal pieces 32 includes, but is not limited to, two, and the number of the electromagnetic locks 31 and the metal pieces 32 may be increased or decreased appropriately according to the actual length of the first frame 11. For example, when the length of the first frame 11 is longer, the number of the electromagnetic locks 31 and the metal pieces 32 is three, the three electromagnetic locks 31 are disposed on the first frame 11 at intervals, the three metal pieces 32 are disposed on the surface of the container 20 where the guide groove 201 is disposed at intervals, and when the container 20 is located at a preset position in the containing space 101, one electromagnetic lock 31 corresponds to one metal piece 32.

In an embodiment of the present invention, referring to fig. 8, the unmanned aerial vehicle 1 further includes a power supply device 50 and a controller 60, where the power supply device 50 and the controller 60 are both disposed on the frame 10. The frame 10 is provided with an installation cavity 111, the installation cavity 111 is disposed on a surface of the first frame 11 facing away from the accommodating space 1011, and the power supply device 50 is installed in the installation cavity 111. The power supply device 50 is connected with the electromagnetic lock 31, the controller 60 is connected with the power supply device 50, and the controller 60 is used for controlling the power supply device 50 to supply power to the electromagnetic lock 31 or stopping supplying power to the electromagnetic lock 31. When the container 20 is located at a preset position in the accommodating space 101 and the container 20 needs to be locked, the controller 60 controls the power supply device 50 to supply power to the electromagnetic lock 31, so that the container 20 is locked, and when the container 20 needs to be unlocked from the preset position in the accommodating space 101, the controller 60 controls the power supply device 50 to disconnect a circuit with the electromagnetic lock 31, so that the container 20 is unlocked.

In some embodiments, the controller 60 is provided with a wireless transmission module (not shown), and a user can connect the controller 60 by connecting the wireless transmission module through an external device, thereby completing remote control of the unmanned vehicle 1.

In this embodiment of the present invention, the unmanned carrier vehicle 1 further includes a main radar 70, an auxiliary radar 80, a main support 71 and an auxiliary support 81, wherein the main support 71 is disposed on a side of the third frame 13 facing away from the first frame 11, the main radar 70 is mounted on the main support 71, the auxiliary radar 80 is mounted on the auxiliary support 81, and the auxiliary support 81 is disposed on an edge of the third frame 13. The number of the auxiliary radars 80 and the number of the auxiliary supports 81 are all multiple, one auxiliary radar 80 is mounted on one auxiliary support 81, the multiple auxiliary supports 81 encircle the main radar 70 and are arranged on the periphery of the third support, the auxiliary radars 80 and the main radar 70 are arranged at a preset angle, and the main radars 70 and the auxiliary radars 80 are connected with the controller 60. Wherein the main support 71 has a height higher than that of the auxiliary support 81, and the main support 71 is fixed to the center of the third frame 13 on the side facing away from the first frame 11. The main radar 70 is configured to detect roadblock information around the unmanned carrier vehicle 1 during the traveling process, and transmit the roadblock information to the controller 60, and the controller 60 controls the traveling route of the unmanned carrier vehicle 1 according to the roadblock information transmitted by the main radar 70, so as to implement obstacle avoidance traveling. However, the detection dead angle exists when the obstacle information is detected only by the main radar 70 arranged on the third frame 13, so that the plurality of auxiliary radars 80 arranged at the periphery of the third frame 13 at a preset angle compensate the detection dead angle of the main radar 70, thereby improving the obstacle avoidance accuracy of the unmanned carrier vehicle 1 and reducing the traffic accidents generated during the transportation operation of the unmanned carrier vehicle 1.

In the embodiment of the present invention, the unmanned carrier vehicle 1 further includes an image capturing device 90, and the image capturing device 90 is disposed on the third frame 13. Specifically, the number of the image capturing devices 90 is plural, the plurality of image capturing devices 90 are disposed at the periphery of the third frame, and the image capturing devices 90 are connected to the controller 60. The image acquisition device 90 is used for acquiring the surrounding view of the unmanned carrier vehicle 1 during the traveling process. Since the main radar 70 and the auxiliary radar 80 can detect only the distance information and the size information of the roadblock of the unmanned carrier vehicle 1 on the traveling route and cannot identify the kind of the roadblock, specific information of the roadblock is identified by providing the image acquisition device 90, for example: cats, dogs, piers, vehicles or pedestrians. The unmanned carrier vehicle 1 encounters different road conditions in the running process, the different road conditions only depend on radar to make correct avoidance, the image acquisition device 90 can acquire an environmental image of the surroundings of the unmanned carrier vehicle 1 and transmit the environmental image to the controller 60, and the controller 60 controls the unmanned carrier vehicle 1 to wait, bypass, whistle running and other operations according to the environmental image transmitted by the image acquisition device 90, so that the safety of the unmanned carrier vehicle 1 in operation is improved.

For the above-mentioned driving system 40, the driving system 40 includes a driving motor 401, a transmission mechanism 402 and wheels (not labeled in the figure), the wheels are rotatably mounted on the frame 10, the transmission mechanism 402 and the driving motor 401 are disposed on the frame 10, the transmission mechanism 402 is respectively connected with the driving motor 401 and the wheels, the driving motor 401 is electrically connected with the power supply device 50, and the controller 60 is respectively connected with the transmission mechanism 402 and the driving motor 401. The controller 60 controls the driving motor 401 and the transmission mechanism 402 to work according to the information fed back by the main radar 70, the auxiliary radar 80 and the image acquisition device 90, so that the unmanned transport vehicle 1 moves.

In the embodiment of the invention, the container 20 can be moved in the containing space 101 by matching the guide groove 201 with the guide rail 1011 by providing the containing space 101 on the frame 10, providing the guide rail 1011 in the containing space 101 and providing the guide groove 201 on the container 20, thereby realizing the installation and separation of the container 20 and the frame 10.

It should be noted that the description of the present invention and the accompanying drawings illustrate preferred embodiments of the present invention, but the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, which are not to be construed as additional limitations of the invention, but are provided for a more thorough understanding of the present invention. The above-described features are further combined with each other to form various embodiments not listed above, and are considered to be the scope of the present invention described in the specification; further, modifications and variations of the present invention may be apparent to those skilled in the art in light of the foregoing teachings, and all such modifications and variations are intended to be included within the scope of this invention as defined in the appended claims.

Claims

1. An unmanned carrier vehicle, comprising:

the frame comprises a first frame body, a second frame body, a third frame body and a limiting beam, wherein the first frame body and the third frame body are connected with the second frame body, the first frame body and the third frame body are parallel, the first frame body, the second frame body and the third frame body are enclosed to form an accommodating space, the accommodating space is provided with a guide rail, the limiting beam is accommodated in the accommodating space, one end of the limiting beam is connected with the second frame body, the other end of the limiting beam is connected with the third frame body, the frame formed by connecting the first frame body, the second frame body and the third frame body is U-shaped, and the U-shaped frame is provided with an opening along the direction of the guide rail;

the container is provided with a guide groove and a limiting groove, the container can be accommodated in the accommodating space, when the container is accommodated in the accommodating space, the limiting beam is accommodated in the limiting groove, and the guide groove is in sliding fit with the guide rail so that the container can move along the guide rail in the accommodating space; the container comprises a container body and a containing cabinet, the containing cabinet comprises a first container body and a second container body, the container body is provided with a containing cavity, the containing cavity comprises a first cavity and a second cavity, the first cavity is arranged on one side surface of the container body, the second cavity is arranged on one side surface of the container body, which is away from the first cavity, the first cavity is provided with a first fixing groove, the first container body is contained in the first cavity and is clamped with the first fixing groove, the second cavity is provided with a second fixing groove, the second container body is contained in the second cavity, and the second container body is clamped with the second fixing groove;

the locking mechanism locks or unlocks the container when the container is positioned at a preset position of the accommodating space;

2. The unmanned transport vehicle of claim 1, wherein,

the first frame body, the second frame body and the third frame body are all composed of a plurality of sectional materials.

3. The unmanned transport vehicle of claim 1, wherein,

the locking mechanism comprises an electromagnetic lock and a metal piece, wherein the electromagnetic lock is arranged on the first frame body, the metal piece is arranged on one surface of the container, which is provided with a guide groove, when the container is located at a preset position in the containing space, and when the electromagnetic lock is in an electrified state, the electromagnetic lock adsorbs the metal piece to lock the container, and when the electromagnetic lock is in a power-off state, the electromagnetic lock releases the metal piece to unlock the container.

4. The unmanned aerial vehicle of claim 3, further comprising a power supply device and a controller, wherein the power supply device and the controller are both disposed on the frame, the power supply device is connected with the electromagnetic lock, the controller is connected with the power supply device, and the controller is configured to control the power supply device to supply power to the electromagnetic lock, or to stop supplying power to the electromagnetic lock.

5. The unmanned vehicle of claim 4, further comprising a primary radar mounted to a side of the third frame facing away from the first frame, the primary radar being electrically connected to the controller.

6. The unmanned vehicle of claim 5, further comprising at least one auxiliary radar disposed around the primary radar at a periphery of the third frame, and the at least one auxiliary radar being disposed at a preset tilt angle;

wherein the at least one auxiliary radar is connected to the controller.

7. The unmanned aerial vehicle of claim 6, further comprising an image capture device disposed at a periphery of the third frame, and wherein the image capture device is coupled to the controller.

8. The unmanned transport vehicle of claim 7, wherein,

the power system comprises a driving motor, wheels and a transmission mechanism, wherein the wheels are rotatably arranged on a frame, the transmission mechanism and the driving motor are arranged on the frame, the transmission mechanism is respectively connected with the driving motor and the wheels, the driving motor is electrically connected with the power supply device, and the controller is respectively connected with the transmission mechanism and the driving motor;