CN115230707A - Unmanned control method, device and system for bulk cargo vehicle - Google Patents

Unmanned control method, device and system for bulk cargo vehicle Download PDF

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Publication number
CN115230707A
CN115230707A CN202211161219.0A CN202211161219A CN115230707A CN 115230707 A CN115230707 A CN 115230707A CN 202211161219 A CN202211161219 A CN 202211161219A CN 115230707 A CN115230707 A CN 115230707A
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CN
China
Prior art keywords
control
bulk cargo
component
vehicle
module
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Granted
Application number
CN202211161219.0A
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Chinese (zh)
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CN115230707B (en
Inventor
马海兵
马列
沈亮
单帅
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Jiangsu Tianyi Aviation Industry Co Ltd
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Jiangsu Tianyi Aviation Industry Co Ltd
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Priority to CN202211161219.0A priority Critical patent/CN115230707B/en
Publication of CN115230707A publication Critical patent/CN115230707A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18036—Reversing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18145—Cornering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/32—Ground or aircraft-carrier-deck installations for handling freight
    • B64F1/324—Luggage loaders specially adapted for loading individual luggage items into or out of the aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
    • B65G15/60—Arrangements for supporting or guiding belts, e.g. by fluid jets
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G39/00—Rollers, e.g. drive rollers, or arrangements thereof incorporated in roller-ways or other types of mechanical conveyors 
    • B65G39/10—Arrangements of rollers
    • B65G39/12—Arrangements of rollers mounted on framework
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G41/00—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames
    • B65G41/001—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames with the conveyor adjustably mounted on the supporting frame or base
    • B65G41/002—Pivotably mounted
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/50—Barriers
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

The invention discloses a bulk cargo vehicle unmanned control method, a device and a system, relating to the technical field of bulk cargo vehicles and comprising the following steps: acquiring environmental information of the bulk cargo vehicle device in an airport through a positioning acquisition module and a visual acquisition module; receiving the environmental information through the control module and processing the environmental information through the image processing module to generate calibration display information; the behavior decision module generates control information according to the calibration display information and sends the control information to a vehicle control center; the vehicle control center calculates various control parameters according to the control information, the prestored programs and the like so as to control the execution mechanism to operate according to the control parameters, and operations such as left turning, backward moving, forward moving and the like are realized.

Description

Unmanned control method, device and system for bulk cargo vehicle
Technical Field
The invention relates to the technical field of bulk cargo vehicles, in particular to a bulk cargo vehicle unmanned control method, device and system.
Background
The application of the unmanned airport equipment provides important guarantee for the construction of a safe airport, and is an effective means for effectively preventing human errors and illegal operations and solving unsafe events such as airport apron scraping and runway invasion prevention; the method provides an important tool for the construction of green airports, and is a practice for optimizing ground guarantee efficiency, improving equipment cooperative operation and reducing resource consumption; the bulk cargo vehicle is one of 18 ground transportation guarantee vehicles in a civil aviation airport, and is necessary for unmanned transformation, the conventional bulk cargo vehicle does not have cargo blanking and a better unmanned function, can be carried only by manpower of workers, is long in time consumption and cannot be carried down along with the personnel, continuous blanking cannot be realized when a large amount of cargos face, and no protection is realized during blanking, so that cargos are easy to topple and damage when falling; in addition, in order to save space, a storage battery used for supplying energy to a vehicle-mounted computer in the unmanned cargo vehicle is often directly arranged in a railing frame on one side of the vehicle and is connected with a vehicle-mounted computer circuit, the storage battery vibrates when being bumped in the motion process of the vehicle, the circuit connection is not stable after a long time, and the storage battery is abraded to cause danger; current railing frame can't compromise heat dissipation and safeguard function, leads to the life of battery to reduce to the in-process of changing the battery need twist out many bolts on the railing frame, and it is comparatively loaded down with trivial details to dismantle, the waste time.
Disclosure of Invention
This section is for the purpose of summarizing some aspects of embodiments of the invention and to briefly introduce some preferred embodiments. In this section, as well as in the abstract and title of the application, simplifications or omissions may be made to avoid obscuring the purpose of the section, the abstract and the title, and such simplifications or omissions are not intended to limit the scope of the invention.
The present invention has been made keeping in mind the above problems occurring in the prior art.
Therefore, the invention aims to provide a bulk cargo vehicle unmanned control method to solve the problem of poor unmanned control effect in the prior art.
In order to solve the technical problems, the invention provides the following technical scheme: a bulk cargo vehicle device comprises a positioning acquisition module and a vision acquisition module, wherein the positioning acquisition module and the vision acquisition module are used for acquiring the environmental information of the bulk cargo vehicle device at an airport; receiving the environmental information through the control module and processing the environmental information through the image processing module to generate calibration display information; the behavior decision module generates control information according to the calibration display information and sends the control information to a vehicle control center; the vehicle control center calculates various control parameters according to the control information, the prestored programs and the like so as to control the execution mechanism to operate according to the control parameters, and operations such as left turning, backward moving, forward moving and the like are realized.
As a preferred aspect of the bulk cargo vehicle apparatus of the present invention, wherein: acquiring environmental information of the bulk cargo vehicle device at an airport, wherein the information of obstacles around the vehicle is detected through a positioning acquisition module; and acquiring the surrounding environment image of the vehicle through a visual acquisition module.
A second object of the present invention is to provide a bulk cargo vehicle apparatus which can facilitate rapid unloading of cargo and prevent the unloading from slipping.
As a preferred aspect of the bulk cargo vehicle apparatus of the present invention, wherein: the bulk cargo truck main body comprises an auxiliary supporting component, a guide component connected with the auxiliary supporting component, a mounting bin arranged below the auxiliary supporting component and the guide component, and a protective unloading component arranged in the middle of the guide component.
As a preferred aspect of the bulk cargo vehicle apparatus of the present invention, wherein: the auxiliary supporting assembly comprises two groups of auxiliary supporting frames connected with the top of the mounting bin and a lantern ring head arranged at the top of the auxiliary supporting frames; the guide assembly comprises two groups of connecting frames which are symmetrically arranged, a hinged adjusting frame which is hinged with one end of each connecting frame and is fixedly connected with the top of the mounting bin, auxiliary supporting shafts which are symmetrically arranged on two sides of each connecting frame and are sleeved with the sleeve ring heads, and a motor mounting groove formed in the inner wall of each connecting frame.
As a preferred aspect of the bulk cargo vehicle apparatus of the present invention, wherein: the protection is got the goods subassembly down and is set up between the direction subassembly, the protection is got the goods subassembly down and is included motor drive mechanism, the pivot of being connected with motor drive mechanism, set up the middle part framework between the direction subassembly, the belt transmission mechanism who is connected with the pivot, set up multiunit V type mounting bracket on the middle part framework, set up on V type mounting bracket and with the discontinuous V type bearing roller of belt transmission mechanism contact, set up the multiunit cylinder in middle part framework below, and set up in the slope of accepting of the protection subassembly bottom of getting the goods down.
As a preferred aspect of the bulk cargo vehicle apparatus of the present invention, wherein: the bulk cargo vehicle device also comprises an energy supply installation component arranged on one side of the bulk cargo vehicle main body, a stabilizing component arranged on the inner side of the energy supply installation component, an internal control component connected with the stabilizing component, a protective shielding component arranged below the internal control component, and a regulation and control component connected with one end of the internal control component; the energy supply installation component comprises a support protective shell arranged on one side of the installation bin, a heat dissipation installation box arranged on the support protective shell, two groups of hollow hinged frames symmetrically arranged on the inner side of the bottom of the heat dissipation installation box, two side limiting strips arranged below the hollow hinged frames, two side limiting plates connected with the bottoms of the two side limiting strips, an outer L plate connected with one side of the bottom of the two side limiting plates, and a restoring spring arranged on the inner side of the outer L plate.
As a preferred aspect of the bulk cargo vehicle apparatus of the present invention, wherein: the stabilizing assembly comprises an inclined pressing block hinged with the hollow hinged frame, a roller arranged at the bottom of the inclined pressing block, and a double-inclined-plane lifting block which is in contact with the roller and is arranged between the limit strips at the two sides; the internal control assembly comprises a single-inclined-plane jacking block, an L-shaped branch main frame, a hollow pressing hinged frame, a pressing plate, a roller head, a V-shaped frame and a touch button, wherein the single-inclined-plane jacking block is arranged below the double-inclined-plane lifting block and arranged between the limiting plates on two sides, the L-shaped branch main frame is connected with the single-inclined-plane jacking block, the hollow pressing hinged frame is arranged above the L-shaped branch main frame, the pressing plate is hinged to the hollow pressing hinged frame, the roller head is arranged at one end of the pressing plate, the V-shaped frame is arranged at one end of the hollow pressing hinged frame, and the touch button is arranged at the bottom of the V-shaped frame.
As a preferable aspect of the unmanned control system for bulk cargo vehicles of the present invention, wherein: the protective shielding assembly comprises a storage box body arranged below the pressing plate, an inner pressing piece arranged at one end above the storage box body, an outer pressing piece arranged at the other end, a partition plate arranged between the inner pressing piece and the outer pressing piece, an inclined plane unlocking plate arranged in the storage box body and arranged below the inner pressing piece, an inclined plane limiting slot plate arranged below the outer pressing piece, a shielding plate connected with the inclined plane unlocking plate and the bottom of the inclined plane limiting slot plate, and a plurality of groups of pop-up springs respectively connected with the inner side of the shielding plate and the inner wall of the storage box body;
the inner pressing piece and the outer pressing piece are the same in structure, and the inner pressing piece comprises a pressing column, a reset spring arranged on the outer side of the pressing column and a transverse shifting sheet plate arranged below the reset spring.
As a preferable aspect of the unmanned control system for bulk cargo vehicles of the present invention, wherein: the regulating and controlling assembly comprises a rotary disc, a change cam arranged on the side surface of the rotary disc, a U-shaped gradual change block arranged on the disc surface of the rotary disc, a rotating rod which is connected with the middle part of the rotary disc, extends outwards and is movably connected with the installation bin, and a touch preventing sleeve arranged on the outer side of the installation bin; the variable cam is divided into a long-extension slow ascending slope and a short-contraction fast descending slope; the U-shaped gradual change block comprises annular slope surfaces symmetrically arranged at two sides and a horizontal slope surface arranged between the annular slope surfaces; the horizontal slope area is divided into an adjusting surface and two groups of stopping surfaces.
A third object of the present invention is to provide an unmanned control system, which can solve the problems that an airport vehicle cannot quickly acquire information of the surrounding environment of the vehicle and cannot realize accurate control.
As a preferable aspect of the unmanned control system for bulk cargo vehicles of the present invention, wherein: the bulk cargo vehicle apparatus further comprises a vehicle control center, a communication bus connected to the vehicle control center, and a plurality of actuators; the bulk cargo vehicle apparatus is used for installing the system unit; the system unit comprises an energy supply module arranged on one side of the bulk cargo vehicle device, a control module in line connection with the energy supply module, a visual acquisition module in communication connection with the control module, and a positioning acquisition module in communication connection with the control module.
The invention has the beneficial effects that: the invention improves the prior bulk cargo vehicle, can fixedly support the angle-adjustable protective unloading assembly by arranging the auxiliary supporting assembly, can be moved down along with the protective unloading assembly arranged on the bulk cargo vehicle, and can protect the cargo during unloading to avoid collision and damage.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise. Wherein:
fig. 1 is a schematic step diagram of a bulk cargo vehicle drone control method.
Fig. 2 is a schematic view of the overall structure of the bulk cargo vehicle apparatus.
Figure 3 is another perspective view of the overall construction of the bulk cargo vehicle apparatus.
Fig. 4 is another perspective view of the overall structure of the bulk carrier device.
Fig. 5 is a schematic illustration of the belt conveying mechanism of the bulk cargo vehicle apparatus in its overall configuration.
Fig. 6 is an enlarged view of the X-view of the bulk carrier device.
Figure 7 is an enlarged view of the Z-view of the bulk cargo vehicle apparatus.
Fig. 8 is a schematic view of the entire internal structure of the installation bin of the bulk cargo vehicle apparatus.
FIG. 9 is a cross-sectional view of the protective covering assembly of FIG. 7.
FIG. 10 is a schematic view of a turntable structure of the regulating assembly.
Figure 11 is a schematic cross-sectional view of the securing assembly of the bulk carrier device.
Fig. 12 is a block diagram of an embodiment of the unmanned control system of the bulk cargo vehicle.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, embodiments accompanying figures of the present invention are described in detail below.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.
Furthermore, the references herein to "one embodiment" or "an embodiment" refer to a particular feature, structure, or characteristic that may be included in at least one implementation of the present invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.
Example 1
Referring to fig. 1, a first embodiment of the present invention provides a method for controlling a bulk cargo vehicle in a driverless manner, so as to solve the problem of poor driverless control effect in the prior art.
Specifically, the method comprises the following steps:
s1: acquiring environmental information of a bulk cargo vehicle device (100) at an airport through a positioning acquisition module and a visual acquisition module;
s2: receiving the environmental information through the control module and processing the environmental information through the image processing module to generate calibration display information;
s3: the behavior decision module generates control information according to the calibration display information and sends the control information to a vehicle control center;
s4: the vehicle control center calculates various control parameters according to the control information, the prestored programs and the like so as to control the execution mechanism to operate according to the control parameters, and operations such as left turning, backward moving, forward moving and the like are realized.
Preferably, the control module 202 includes a receiving module, which is used for receiving the peripheral obstacle information detected by the positioning acquisition module 204 and the vehicle peripheral environment image acquired by the vision acquisition module 203; the image processing module is used for generating calibration display information according to the surrounding obstacle information and the surrounding environment image of the vehicle; the behavior decision module is used for generating control information according to the calibration display information; and the sending module is used for sending the control information to a vehicle control center and sending the calibration display information to a vehicle-mounted screen. The receiving module, the image processing module, the behavior decision module and the sending module are in communication connection with each other, and the receiving module and the sending module are further used for receiving control information sent by an external server and sending vehicle information to the external server.
Further, the control information may specifically be that the behavior decision module makes a left turn, a backward turn, a forward turn, and the like according to the surrounding environment of the vehicle to send the control information to the vehicle control center, and the vehicle control center calculates various control parameters according to the control information, a prestored program, and the like to control the execution mechanism to operate with the control parameters, so as to implement operations such as a left turn, a backward turn, a forward turn, and the like. The actuating mechanism can be specifically an engine, a speed reducer, a clutch, a power supply and the like. Furthermore, the vehicle also comprises an IMU inertia measurement unit connected with the communication bus, and the vehicle control center is used for generating a control command according to the control information and the inertia information acquired by the IMU inertia measurement unit. By arranging the IMU inertial measurement unit, the control instruction accuracy is higher.
Example 2
Referring to fig. 2 to 11, a second embodiment of the present invention provides a bulk cargo vehicle device, which can facilitate rapid blanking of cargo and avoid falling off during blanking.
Specifically, the bulk cargo truck apparatus 100 includes a bulk cargo truck main body 101;
the bulk cargo vehicle main body 101 includes an auxiliary support member 101a, a guide member 101b connected to the auxiliary support member 101a, a mounting bin 101c disposed below the auxiliary support member 101a and the guide member 101b, and a protective unloading member 101d disposed in the middle of the guide member 101 b. The bulk cargo vehicle main body 101 may employ a conventional moving device, a steering device, and the like, except for the description thereof.
Further, the auxiliary supporting assembly 101a comprises two groups of auxiliary supporting frames 101a-1 connected with the top of the installation bin 101c, and a collar head 101a-2 arranged at the top of the auxiliary supporting frame 101 a-1; the guide assembly 101b comprises two symmetrically arranged connecting frames 101b-1, a hinged adjusting frame 101b-2 hinged to one end of the connecting frame 101b-1 and fixedly connected with the top of the installation bin 101c, auxiliary supporting shafts 101b-3 symmetrically arranged on two sides of the connecting frame 101b-1 and sleeved with the sleeve heads 101a-2, and a motor installation groove 101b-4 arranged on the inner wall of the connecting frame 101 b-1. The motor mounting groove 101b-4 is provided for providing a mounting space of the motor driving mechanism 101 d-1.
Further, the protection unloading assembly 101d is arranged between the guide assemblies 101b, the protection unloading assembly 101d comprises a motor driving mechanism 101d-1, a rotating shaft 101d-2 connected with the motor driving mechanism 101d-1, a middle framework 101d-3 arranged between the guide assemblies 101b, a belt transmission mechanism 101d-4 connected with the rotating shaft 101d-2, a plurality of groups of V-shaped installation frames 101d-5 arranged on the middle framework 101d-3, an intermittent V-shaped carrier roller 101d-6 arranged on the V-shaped installation frame 101d-5 and contacted with the belt transmission mechanism 101d-4, a plurality of groups of rollers 101d-7 arranged below the middle framework 101d-3, and a bearing guide slope 101d-8 arranged at the bottom of the protection unloading assembly 101d.
Preferably, the two guiding assemblies 101b are connected to the protective unloading assembly 101d, the overall angle can be adjusted by adjusting the guiding assembly 101b to rotate around the hinged adjusting frame 101b-2, the auxiliary supporting frame 101a-1 is connected to the auxiliary supporting shafts 101b-3 at the two sides of the guiding assembly 101b through the ring head 101a-2 at the top of the auxiliary supporting frame, and then the bottom of the auxiliary supporting frame 101a-1 is welded or bolted to the top of the installation bin 101c for fixing the guiding assembly 101b after the angle adjustment. The motor driving mechanism 101d-1 is arranged to provide power, the belt transmission mechanism 101d-4 is tensioned through the rotating shafts 101d-2 at the front end and the rear end, and the intermittent V-shaped carrier roller 101d-6 is arranged to be in contact with the belt transmission mechanism 101d-4, so that a belt with a surface end in contact with goods for transportation is concave when tensioning is performed, and protection is facilitated when goods are discharged. The bottom of the protective unloading component 101d is provided with a bearing guide slope 101d-8, so that the vertical height of the unloading of the goods can be conveniently reduced, and the goods can stably fall.
Further, the bulk cargo vehicle device 100 further comprises an energy supply installation component 102 disposed at one side of the bulk cargo vehicle main body 101, a stabilizing component 103 disposed at an inner side of the energy supply installation component 102, an internal operation component 104 connected to the stabilizing component 103, a shielding component 105 disposed below the internal operation component 104, and a regulating component 106 connected to one end of the internal operation component 104.
Further, energy supply installation component 102 including set up in support protective housing 102a of installation storehouse 101c one side, set up in support heat dissipation install bin 102b on the protective housing 102a, symmetry set up in two sets of cavity hinge brackets 102c of heat dissipation install bin 102b bottom inboard, set up in two side spacing strips 102d of cavity hinge bracket 102c below, with two side limiting plates 102e of connecting bottom two side spacing strips 102d, with outer edge L board 102f of connecting bottom one side of two side limiting plates 102e, and set up in outer edge L board 102f inboard reset spring 102g.
Further, the stabilizing assembly 103 includes an inclined pressing block 103a hinged to the hollow hinge frame 102c, a roller 103b disposed at the bottom of the inclined pressing block 103a, and a double-inclined-surface lifting block 103c contacting the roller 103b and disposed between the double-side limiting bars 102 d.
Further, the internal control assembly 104 includes a single-inclined-plane jacking block 104a disposed below the double-inclined-plane lifting block 103c and disposed between the two side limiting plates 102e, an L-shaped branch main frame 104b connected to the single-inclined-plane jacking block 104a, a hollow pressing hinge frame 104c disposed above the L-shaped branch main frame 104b, a pressing plate 104d hinged to the hollow pressing hinge frame 104c, a roller head 104e disposed at one end of the pressing plate 104d, a V-shaped frame 104f disposed at one end of the hollow pressing hinge frame 104c, and a touch button 104g disposed at the bottom of the V-shaped frame 104 f.
Further, the protective shielding assembly 105 includes the storage box 105a disposed below the pressing plate 104d, an inner pressing piece 105b disposed at one end above the storage box 105a, an outer pressing piece 105c disposed at the other end, a spacing plate 105d disposed between the inner pressing piece 105b and the outer pressing piece 105c, a bevel unlocking plate 105e disposed in the storage box 105a and disposed below the inner pressing piece 105b, a bevel limiting slot plate 105f disposed below the outer pressing piece 105c, a shielding plate 105g connected to the bevel unlocking plate 105e and the bottom of the bevel limiting slot plate 105f, and a plurality of sets of ejecting springs 105h connected to the inner side of the shielding plate 105g and the inner wall of the storage box 105a, respectively;
the inner pressing piece 105b and the outer pressing piece 105c have the same structure, and the inner pressing piece 105b comprises a pressing column 105b-1, a return spring 105b-2 arranged outside the pressing column 105b-1, and a transverse plectrum plate 105b-3 arranged below the return spring 105 b-2.
Preferably, the rotating rod 106d is provided with a through hole, and a threaded rod Q can be additionally inserted into the through hole for limiting the rotating rod 106d to avoid false rotation; set up and prevent touching cover 106e in the dwang 106d outside and be provided with three groups and link up screw thread mouth W, all can with threaded rod Q threaded connection, initial condition, clamping state after three groups screw thread mouth W correspond dwang turned angle respectively to and centre gripping protection state, the staff of being convenient for is quick and audio-visual adjustment and continuously maintains a certain state. The middle parts of the two-side limiting strips 102D are provided with limiting blocks D, and two sides of the double-inclined-plane lifting block 103c are both provided with linear limiting grooves matched with the limiting blocks D, so that the double-inclined-plane lifting block 103c can only lift along the vertical direction.
Further, the adjusting and controlling assembly 106 comprises a rotary disc 106a, a changing cam 106b arranged on the side surface of the rotary disc 106a, a U-shaped gradually changing block 106c arranged on the disc surface of the rotary disc 106a, a rotating rod 106d connected with the middle part of the rotary disc 106a, extending outwards and movably connected with the installation bin 101c, and an anti-touch sleeve 106e arranged on the outer side of the installation bin 101 c;
the variable cam 106b is divided into a long extension slow ascending slope 106b-1 and a short contraction speed descending slope 106b-2; the U-shaped transition block 106c comprises annular slope surfaces 106c-1 symmetrically arranged at two sides and a horizontal slope surface 106c-2 arranged between the annular slope surfaces 106 c-1; the horizontal slope surface 106c-2 is divided into an adjusting surface A and two groups of stopping surfaces B. The annular ramp 106c-1 tends to rise along its annular length.
It should be noted that one end of the contact button 104g contacts with the surface of the rotating disk 106a, and the contact point is on the circular rotation track of the U-shaped transition block 106c, so that when the rotating disk 106a rotates, the contact button 104g will contact and cooperate with the U-shaped transition block 106c, so that the whole internal control component 104 is displaced under the action of the U-shaped transition block 106c, and the single-inclined-surface jacking blocks 104a at the two sides of the internal control component 104 are limited by the two-side limiting plates 102e, so that the internal control component 104 can only move along a horizontal straight line. The heat dissipation mounting box 102b is a box body with an opening at the top and the inner side, and is convenient for heat dissipation and quick disassembly of the storage battery. The plectrum of the transverse plectrum plate 105b-3 at the bottom of the internal pressing piece 105b is higher than the height of the inclined plane unlocking plate 105e or the inclined plane limit slot plate 105f in the initial state.
When using, the battery can directly be settled in heat dissipation install bin 102b and carry out the line connection with on-vehicle computer, only need then to prevent touching dwang 106d in cover 106e through the regulation and can accomplish whole operations, prevent touching cover 106e through the setting and stretch into rotation regulation pole 106d through the finger and adjust the protection and shelter from subassembly 105, when avoiding working a telephone switchboard to the battery, adjust pole 106d mistake and touch and lead to the protection to shelter from subassembly 105 and pop out the mistake and hinder the staff. The regulation zone behind the dwang turned angle is initial condition, clamping state to and the centre gripping protection state.
In the initial state, as shown in the drawing, it is defined that each component is in the initial state at this time, then the worker only needs to unscrew the threaded rod Q and release the limit on the adjusting rod 106d, and then rotate the adjusting rod 106d to a second set of threaded hole W by a certain angle, so that the stabilizing component 103 fixes the storage battery, in this process: since the adjusting rod 106d rotates to drive the rotating disc 106a to rotate, the contact button 104g will contact with the annular slope 106c-1 at one end of the U-shaped gradually-changing block 106c and be pressed to make the internal control assembly 104 move laterally as a whole, so the single-slope jacking blocks 104a at both sides of the bottom of the internal control assembly 104 will move in the double-side limiting plate 102e and cooperate with the slopes at the bottom of the double-slope lifting block 103c at its single slope, so that the double-slope lifting block 103c gradually rises under the limitation of the double-side limiting strip 102d, the slopes at the top of the double-slope lifting block 103c press the roller 103B at the bottom of the inclined pressing block 103a to rotate the two sets of inclined pressing blocks 103a and the front ends thereof contact and clamp with the side of the battery, thereby fixing the battery is achieved, at this time, the contact button 104g contacts with the first set of rest surfaces B in the horizontal slope 106c-2, the restoring spring 102g is in a stretched state with a tendency of springback, the adjusting rod 106d rotates to the second set of screw thread hole W, and then the threaded rod can keep the state unchanged.
When the road condition is poor and wet or needs protection in rainy weather, the user only needs to continuously rotate the adjusting rod 106d to a third group of threaded hole W by a certain angle, so that the protecting and shielding assembly 105 is popped up to protect the top of the storage battery. Because the partition plate 105d is arranged, the external pressing piece 105c is arranged on the outer side of the vehicle, and the internal pressing piece 105b is arranged on the installation bin 101c, the storage battery can be adjusted to be shielded and protected only by the adjusting rod 106d, the situation that the storage battery is forgotten to be fixed by a worker after shielding and finally vibration damage or unstable line connection of the storage battery is caused is avoided, and the external pressing piece 105c is arranged on the outer side and is convenient for locking the shielding plate 105g by pressing the external pressing piece 105c after the shielding plate 105g is accommodated. In the process of entering the clamping protection state from the clamping state: the contact part of the contact button 104g and the horizontal slope surface 106c-2 moves from the first set of stop surfaces B to the adjusting surface A and finally stops on the second set of stop surfaces B, so that the internal control assembly 104 is not displaced in the process, and the storage battery is kept clamped. When the contact point of the roller head 104e and the change cam 106b reaches the boundary point between the long extension slow ascending slope 106b-1 and the short contraction speed descending slope 106b-2, the slot at the bottom of the inclined plane limit slot plate 105f is disengaged from the transverse blade plate at the bottom of the outer pressing piece 105c, the pressing column of the outer pressing piece 105c is ejected upwards under the action of the return spring, so that the height of the inclined plane limit slot plate 105f is higher than that of the storage battery, when the roller head 104e and the short contraction speed descending slope 106b-2 of the change cam 106b are disengaged, the storage battery is ejected under the action of the shielding plate 105g, and the storage battery is protected by the shielding plate 105 h.
When the shielding plate 105g needs to be removed or stored, the adjusting rod 106d is rotated to an initial position, the contact button 104g is separated from the contact with the U-shaped gradually-changing block 106c, the entire stabilizing assembly 103 is displaced to an initial state by the resilience of the restoring spring 102g, and finally the inclined pressing block 103a releases the clamping of the battery. When the shielding plate 105g is stored, the shielding plate 105g is pushed into the storage box body 105a and the pushing force is kept, the external pressing piece 105c is pressed, and then the shielding plate 105g is loosened to enable the transverse shifting plate at the bottom of the external pressing piece 105c to be clamped and fixed with the inclined plane limiting slot plate 105f again, so that the storage can be completed. The whole operation process is simple and convenient, repeated use for a plurality of times is convenient, the disassembly and the installation are convenient, the efficiency of replacing the storage battery is improved, and the time of workers is saved.
Only need settle the battery in the heat dissipation install bin in advance, then normally connect the back with battery and on-vehicle computer through the circuit, the dwang of staff vehicle one side of controlling again rotates, it fixes the battery to make firm subassembly, stability is improved, it is convenient to dismantle, thereby can continue to make the dwang rotate when moist or overcast and rainy weather and make the dwang rotate and shelter from the subassembly and pop out and protect battery top space, avoid intaking damage or flying stone collision, all operations only need control the dwang rotate can, convenient operation is swift and the used repeatedly of being convenient for.
In conclusion, through improving current bulk cargo truck, can carry out fixed support to but angle regulation's protection shipment subassembly through setting up supplementary supporting component, can follow down through the protection shipment subassembly of settling on bulk cargo truck to protect avoiding collision damage to the goods when the unloading.
Example 3
Referring to fig. 12, a third embodiment of the present invention provides a bulk cargo vehicle unmanned control system, which can solve the problem that an airport vehicle cannot quickly acquire information about the surroundings of the vehicle and cannot realize accurate control.
Specifically, the bulk cargo vehicle device 100 further comprises a vehicle control center, a communication bus connected to the vehicle control center, and a plurality of actuators; the bulk cargo vehicle apparatus 100 is used to install system units;
a system unit 200, including a power supply module 201 disposed at one side of the bulk cargo vehicle apparatus 100, a control module 202 in line connection with the power supply module 201, a vision acquisition module 203 in communication connection with the control module 202, and a positioning acquisition module 204 in communication connection with the control module 202;
the control module 202 is configured to be in signal connection with a communication bus of the bulk cargo vehicle device 100, receive and process information acquired by the vision acquisition module 203 and the positioning acquisition module 204, generate control information, and send the control information to a vehicle control center, the system unit 200 and the plurality of actuators are respectively connected to the communication bus, and the vehicle control center is configured to generate a control instruction according to the control information and send the control instruction to the actuator corresponding to the control instruction. The control module 202 may be an onboard computer.
Further, the positioning acquisition module 204 comprises a distance sensor 204a, an ultrasonic radar 204b, and a multiline laser radar 204c; the positioning acquisition module 204 is used for detecting the information of obstacles around the vehicle; the vision acquisition module 203 comprises a plurality of groups of cameras 203a for acquiring a scene around the vehicle.
Further, the system unit 200 further comprises a wireless communication unit in signal connection with the control module 202, wherein the wireless communication unit is used for being in wireless communication connection with an external server;
the energy supply module 201 is a storage battery, and the control module 202 is a vehicle-mounted computer.
In the above embodiments, the skilled person may adopt the existing technology for software control.
It should be noted that the above-mentioned embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.

Claims (10)

1. An unmanned control method for a bulk cargo vehicle is characterized in that: comprises the following steps of (a) preparing a solution,
acquiring environmental information of a bulk cargo vehicle device (100) in an airport through a positioning acquisition module and a vision acquisition module;
receiving the environmental information through the control module and processing the environmental information through the image processing module to generate calibration display information;
the behavior decision module generates control information according to the calibration display information and sends the control information to a vehicle control center;
the vehicle control center calculates various control parameters according to the control information, the prestored programs and the like so as to control the execution mechanism to operate according to the control parameters, and operations such as left turning, backward moving, forward moving and the like are realized.
2. The bulk cargo vehicle driverless control method of claim 1, wherein: said obtaining environmental information of the bulk cargo vehicle arrangement (100) at the airport comprises,
detecting obstacle information around the vehicle through a positioning acquisition module;
and acquiring the surrounding environment image of the vehicle through a visual acquisition module.
3. A bulk cargo vehicle device characterized in that: comprising a bulk carrier device (100) according to claim 1 or 2, comprising a bulk carrier body (101);
the bulk cargo truck main body (101) comprises an auxiliary supporting component (101 a), a guiding component (101 b) connected with the auxiliary supporting component (101 a), a mounting bin (101 c) arranged below the auxiliary supporting component (101 a) and the guiding component (101 b), and a protective unloading component (101 d) arranged in the middle of the guiding component (101 b).
4. The bulk carrier device of claim 3, wherein: the auxiliary supporting assembly (101 a) comprises two groups of auxiliary supporting frames (101 a-1) connected with the top of the installation bin (101 c), and a collar head (101 a-2) arranged at the top of the auxiliary supporting frames (101 a-1); the guide assembly (101 b) comprises two groups of connecting frames (101 b-1) which are symmetrically arranged, an articulated adjusting frame (101 b-2) which is hinged and fixed at one end of each connecting frame (101 b-1) and is connected with the top of the installation bin (101 c), auxiliary supporting shafts (101 b-3) which are symmetrically arranged on two sides of each connecting frame (101 b-1) and are sleeved with the sleeve ring heads (101 a-2), and a motor installation groove (101 b-4) which is arranged on the inner wall of each connecting frame (101 b-1).
5. The bulk carrier device of claim 4, wherein: protection is got in stocks subassembly (101 d) set up in between direction subassembly (101 b), protection is got in stocks subassembly (101 d) including motor drive mechanism (101 d-1), with pivot (101 d-2) that motor drive mechanism (101 d-1) is connected, set up in middle part framework (101 d-3) between direction subassembly (101 b), with belt transmission mechanism (101 d-4) that pivot (101 d-2) are connected, set up in multiunit V type mounting bracket (101 d-5) on middle part framework (101 d-3), set up in on V type mounting bracket (101 d-5) and with discontinuous V type bearing roller (101 d-6) of belt transmission mechanism (101 d-4) contact, set up in multiunit cylinder (101 d-7) of middle part framework (101 d-3) below, and set up in the protection is got in stocks subassembly (101 d) bottom and is accepted direction slope (101 d-8).
6. The bulk carrier device of claim 5, wherein: the bulk cargo vehicle device (100) further comprises an energy supply mounting component (102) arranged on one side of the bulk cargo vehicle main body (101), a stabilizing component (103) arranged on the inner side of the energy supply mounting component (102), an internal control component (104) connected with the stabilizing component (103), a protective shielding component (105) arranged below the internal control component (104), and a regulation component (106) connected with one end of the internal control component (104); energy supply installation component (102) including set up in support protective housing (102 a) of installation storehouse (101 c) one side, set up in support heat dissipation install bin (102 b) on protective housing (102 a), symmetry set up in heat dissipation install bin (102 b) bottom inboard two sets of cavity articulated frame (102 c), set up in two side spacing (102 d) of cavity articulated frame (102 c) below, with two side limiting plates (102 e) that two side spacing (102 d) bottoms are connected, with outer along L board (102 f) that two side limiting plates (102 e) bottom one side are connected, and set up in outer along L board (102 f) inboard reset spring (102 g).
7. The bulk carrier device of claim 6, further comprising: the stabilizing assembly (103) comprises an inclined pressing block (103 a) hinged with the hollow hinged frame (102 c), a roller (103 b) arranged at the bottom of the inclined pressing block (103 a), and a double-inclined-plane lifting block (103 c) contacted with the roller (103 b) and arranged between the double-side limiting strips (102 d); inside control subassembly (104) including set up in double inclined plane elevator block (103 c) below and set up in single inclined plane jacking piece (104 a) between two side limiting plates (102 e), with L type branch body frame (104 b) that single inclined plane jacking piece (104 a) are connected, set up in articulated frame (104 c) is pressed to the cavity of L type branch body frame (104 b) top, with articulated frame (104 c) articulated pressing plate (104 d) is pressed to the cavity, set up in roller head (104 e) of pressing plate (104 d) one end, set up in V type frame (104 f) that articulated frame (104 c) one end is pressed to the cavity, and set up in touch of V type frame (104 f) bottom is turned round (104 g).
8. The bulk carrier device of claim 7, wherein: the protective shielding assembly (105) comprises a containing box body (105 a) arranged below the pressing plate (104 d), an inner pressing piece (105 b) arranged at one end above the containing box body (105 a), an outer pressing piece (105 c) arranged at the other side, a spacing plate (105 d) arranged between the inner pressing piece (105 b) and the outer pressing piece (105 c), an inclined plane unlocking plate (105 e) arranged in the containing box body (105 a) and arranged below the inner pressing piece (105 b), an inclined plane limiting slot plate (105 f) arranged below the outer pressing piece (105 c), a shielding plate (105 g) connected with the bottoms of the inclined plane unlocking plate (105 e) and the inclined plane limiting slot plate (105 f), and a plurality of groups of ejecting springs (105 h) connected with the inner side of the shielding plate (105 g) and the inner wall of the containing box body (105 a) respectively;
the inner pressing piece (105 b) and the outer pressing piece (105 c) are identical in structure, and the inner pressing piece (105 b) comprises a pressing column (105 b-1), a return spring (105 b-2) arranged on the outer side of the pressing column (105 b-1), and a transverse pulling sheet plate (105 b-3) arranged below the return spring (105 b-2).
9. The bulk carrier device of claim 8, wherein: the adjusting and controlling assembly (106) comprises a rotary disc (106 a), a changing cam (106 b) arranged on the side surface of the rotary disc (106 a), a U-shaped gradual changing block (106 c) arranged on the disc surface of the rotary disc (106 a), a rotating rod (106 d) which is connected with the middle part of the rotary disc (106 a), extends outwards and is movably connected with the installation bin (101 c), and a touch preventing sleeve (106 e) arranged on the outer side of the installation bin (101 c);
the variable cam (106 b) is divided into a long extension slow ascending slope (106 b-1) and a short contraction speed descending slope (106 b-2); the U-shaped transition block (106 c) comprises annular slope surfaces (106 c-1) symmetrically arranged on two sides and a horizontal slope surface (106 c-2) arranged between the annular slope surfaces (106 c-1); the horizontal slope surface (106 c-2) is divided into an adjusting surface (A) and two groups of stopping surfaces (B).
10. Bulk cargo car unmanned control system, its characterized in that: comprising the bulk goods vehicle arrangement (100) according to any of claims 4 to 9, and comprising,
the bulk cargo vehicle arrangement (100) further comprising a vehicle control center, a communication bus connected to the vehicle control center, and a plurality of actuators; the bulk cargo vehicle arrangement (100) is for mounting a system unit;
the system unit (200) comprises an energy supply module (201) arranged on one side of the bulk cargo vehicle device (100), a control module (202) in line connection with the energy supply module (201), a vision acquisition module (203) in communication connection with the control module (202), and a positioning acquisition module (204) in communication connection with the control module (202).
CN202211161219.0A 2022-09-23 2022-09-23 Unmanned control method, device and system for bulk cargo vehicle Active CN115230707B (en)

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CN204847240U (en) * 2015-06-11 2015-12-09 河南工业大学 Bearing roller band conveyer
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Application publication date: 20221025

Assignee: Jiangsu Tianyi Airport Equipment Maintenance Service Co.,Ltd.

Assignor: Jiangsu Tianyi Aviation Industry Co.,Ltd.

Contract record no.: X2023980044219

Denomination of invention: A method, device, and system for unmanned control of bulk cargo vehicles

Granted publication date: 20230627

License type: Common License

Record date: 20231024