CN115230707B

CN115230707B - Unmanned control method, device and system for bulk cargo vehicle

Info

Publication number: CN115230707B
Application number: CN202211161219.0A
Authority: CN
Inventors: 马海兵; 马列; 沈亮; 单帅
Original assignee: Jiangsu Tianyi Aviation Industry Co Ltd
Current assignee: Jiangsu Tianyi Aviation Industry Co Ltd
Priority date: 2022-09-23
Filing date: 2022-09-23
Publication date: 2023-06-27
Anticipated expiration: 2042-09-23
Also published as: CN115230707A

Abstract

The invention discloses an unmanned control method, device and system for a bulk cargo vehicle, which relate to the technical field of bulk cargo vehicles and comprise the following steps: acquiring the environmental information of the bulk cargo vehicle device at an airport through a positioning acquisition module and a vision acquisition module; the method comprises the steps that environmental information is received through a control module and is processed through an 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 the vehicle control center; the vehicle control center calculates various control parameters according to the control information, a pre-stored program and the like to control the execution mechanism to run with the control parameters, so that left turning, backward, forward and other operations 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 an unmanned control method, device and system for a bulk cargo vehicle.

Background

The application of the unmanned equipment in the airport provides important guarantee for the construction of a safe airport, is an effective means for effectively preventing human errors and illegal operations, and solves unsafe events such as scraping, collision and runway invasion of the airport apron; the method is an important tool for building the green airport, and is a practice for optimizing ground guarantee efficiency, improving cooperative operation of equipment and reducing resource consumption; the bulk cargo vehicle is taken as one of 18 ground transportation guarantee vehicles of a civil aviation airport, unmanned transformation is indispensable, at present, the bulk cargo vehicle does not have cargo discharging and better unmanned functions, can only be manually carried by staff, takes long time and can not follow the discharging, continuous discharging can not be realized when a large amount of cargoes are faced, no protection exists during discharging, and the cargoes are easy to fall down and damage; in addition, in order to save space, a storage battery for supplying power to a vehicle-mounted computer in the unmanned cargo vehicle is often directly arranged in a railing frame at one side of the vehicle and connected with a vehicle-mounted computer circuit, the storage battery vibrates when jolting is carried out in the moving process of the vehicle, the circuit connection is not stable anymore in the long time, and the storage battery is worn to cause danger; the existing railing frame cannot achieve heat dissipation and protection functions, so that the service life of the storage battery is reduced, and a plurality of bolts on the railing frame need to be screwed out in the process of replacing the storage battery, so that the railing frame is relatively complicated to detach and time is wasted.

Disclosure of Invention

This section is intended to outline some aspects of embodiments of the invention and to briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section as well as in the description summary and in the title of the application, to avoid obscuring the purpose of this section, the description summary and the title of the invention, which should not be used to limit the scope of the invention.

The present invention has been made in view of the above-mentioned or existing problems occurring in the prior art.

Therefore, the invention aims to provide an unmanned control method for a bulk cargo vehicle, which aims 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: the bulk cargo vehicle device comprises a positioning acquisition module and a vision acquisition module for acquiring the environmental information of the bulk cargo vehicle device at an airport; the method comprises the steps that environmental information is received through a control module and is processed through an 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 the vehicle control center; the vehicle control center calculates various control parameters according to the control information, a pre-stored program and the like to control the execution mechanism to run with the control parameters, so that left turning, backward, forward and other operations are realized.

As a preferred embodiment of the bulk carrier device of the invention, wherein: the method for acquiring the environmental information of the bulk cargo vehicle device at the airport comprises the steps of detecting the information of obstacles around the vehicle through a positioning acquisition module; and acquiring an image of the surrounding environment of the vehicle through a vision acquisition module.

A second object of the present invention is to provide a bulk cargo truck assembly which can facilitate rapid unloading of cargo and avoid slipping off during unloading.

As a preferred embodiment of the bulk carrier device of the invention, wherein: the bulk cargo truck 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 protection cargo discharging component arranged in the middle of the guide component.

As a preferred embodiment of the bulk carrier device of the invention, wherein: the auxiliary support assembly comprises two groups of auxiliary support frames connected with the top of the installation bin and a lantern ring head arranged on the top of the auxiliary support 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 the connecting frame and fixedly connected with the top of the installation bin, auxiliary supporting shafts which are symmetrically arranged on two sides of the connecting frame and are sleeved with the lantern ring heads, and a motor installation groove which is formed in the inner wall of the connecting frame.

As a preferred embodiment of the bulk carrier device of the invention, wherein: the protection cargo assembly sets up between the direction subassembly, and the protection cargo assembly includes motor drive mechanism, the pivot of being connected with motor drive mechanism, set up 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 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 to and set up in the bearing guide slope of protection cargo assembly bottom.

As a preferred embodiment of the bulk carrier device of the invention, wherein: the bulk cargo vehicle device also comprises an energy supply installation component arranged on one side of the bulk cargo vehicle 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 protection shielding component arranged below the internal control component, and a regulating component connected with one end of the internal control component; the energy supply installation component comprises a support protection shell arranged on one side of the installation bin, a heat dissipation installation box arranged on the support protection 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 edge 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 edge L plate.

As a preferred embodiment of the bulk carrier device of the invention, wherein: the stabilizing component 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 two side limiting strips; 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 contact button, wherein the single-inclined-plane jacking block is arranged below the double-inclined-plane jacking block and between the double-inclined-plane limiting plates, 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 with 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 contact button is arranged at the bottom of the V-shaped frame.

As a preferred embodiment of the unmanned control system for a bulk cargo vehicle 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 side, a spacing plate arranged between the inner pressing piece and the outer pressing piece, an inclined surface unlocking plate arranged in the storage box body and below the inner pressing piece, an inclined surface limiting slot plate arranged below the outer pressing piece, a shielding plate connected with the bottoms of the inclined surface unlocking plate and the inclined surface limiting slot plate, and a plurality of groups of ejecting springs connected with the inner side of the shielding plate and the inner wall of the storage box body respectively;

the internal pressing piece and the external pressing piece have the same structure, and the internal pressing piece comprises a pressing column, a reset spring arranged on the outer side of the pressing column and a transverse shifting plate arranged below the reset spring.

As a preferred embodiment of the unmanned control system for a bulk cargo vehicle of the present invention, wherein: the regulating and controlling assembly comprises a rotary table, a change cam arranged on the side surface of the rotary table, a U-shaped gradual change block arranged on the surface of the rotary table, a rotary rod connected with the middle part of the rotary table and extending outwards and movably connected with the installation bin, and an anti-contact 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 speed descending slope; the U-shaped gradual change block comprises annular slope surfaces symmetrically arranged on two sides and horizontal slope surfaces arranged between the annular slope surfaces; the horizontal slope surface is divided into an adjusting surface and two groups of stopping surfaces.

The third object of the invention is to provide an unmanned control system, which can solve the problems that airport vehicles can not quickly acquire information of surrounding environments of the vehicles and can not realize accurate control.

As a preferred embodiment of the unmanned control system for a bulk cargo vehicle of the present invention, wherein: the bulk cargo vehicle device also comprises a vehicle control center, a communication bus connected with the vehicle control center and a plurality of execution mechanisms; the bulk cargo truck 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 connected with the energy supply module in a line manner, a vision acquisition module connected with the control module in a communication manner, and a positioning acquisition module connected with the control module in a communication manner.

The invention has the beneficial effects that: according to the invention, the existing bulk cargo vehicle is improved, the angle-adjustable protection unloading assembly can be fixedly supported by arranging the auxiliary supporting assembly, the protection unloading assembly arranged on the bulk cargo vehicle can be used for carrying out follow-up unloading, and the cargo is protected from collision damage during unloading.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art. Wherein:

fig. 1 is a schematic diagram of the steps of a method for unmanned control of a bulk carrier vehicle.

Fig. 2 is a schematic overall construction of the bulk carrier vehicle assembly.

Fig. 3 is another schematic view of the overall structure of the bulk carrier unit.

Fig. 4 is another schematic view of the overall structure of the bulk carrier unit.

Fig. 5 is a omitted schematic view of the belt conveyor of the overall structure of the bulk carrier vehicle assembly.

Fig. 6 is an enlarged X-view of the bulk carrier device.

Fig. 7 is an enlarged Z-view of the bulk carrier device.

Fig. 8 is a schematic overall view of the interior structure of the mounting bin of the bulk carrier vehicle device.

Figure 9 is a schematic cross-sectional view of the protective shield assembly of figure 7.

FIG. 10 is a schematic diagram of a turntable structure of a regulatory assembly.

FIG. 11 is a schematic cross-sectional view of a securing assembly of the bulk cargo vehicle device.

Fig. 12 is a block diagram of an embodiment of a bulk carrier vehicle unmanned control system.

Detailed Description

In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.

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 other than those described herein, and persons skilled in the art will readily appreciate that the present invention is not limited to the specific embodiments disclosed below.

Further, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic can be included in at least one implementation of the 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 unmanned operation of a bulk cargo vehicle, so as to solve the problem of poor unmanned operation control in the prior art.

Specifically, the method comprises the following steps:

s1: acquiring the environmental information of the bulk cargo vehicle device (100) at an airport through a positioning acquisition module and a visual acquisition module;

s2: the method comprises the steps that environmental information is received through a control module and is processed through an 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 the vehicle control center;

s4: the vehicle control center calculates various control parameters according to the control information, a pre-stored program and the like to control the execution mechanism to run with the control parameters, so that left turning, backward, forward and other operations are realized.

Preferably, the control module 202 includes a receiving module, which is configured to receive the surrounding obstacle information detected by the positioning and collecting module 204 and the vehicle surrounding environment image collected by the vision collecting module 203; the image processing module is used for generating calibration display information according to surrounding obstacle information and surrounding environment images of the vehicle; the behavior decision module is used for generating control information according to the calibrated display information; the transmitting module is used for transmitting the control information to the vehicle control center and transmitting the calibration display information to the vehicle-mounted screen. The receiving module, the image processing module, the behavior decision module and the sending module are in communication connection, and the receiving module and the sending module are also used for receiving control information sent by the external server and sending vehicle information to the external server.

Further, the control information may specifically be a behavior decision module making a left turn, a back, a forward, etc. according to the surrounding environment of the vehicle, so as to send the control information to a vehicle control center, and the vehicle control center calculates each control parameter according to the control information, a pre-stored program, etc. so as to control the execution mechanism to run with the control parameter, thereby realizing operations such as the left turn, the back, the forward, etc. The actuator may be specifically an engine, a decelerator, a clutch, a power source, etc. Further, the vehicle further comprises an IMU inertial measurement unit connected with the communication bus, and the vehicle control center is used for generating control instructions according to the control information and the inertial information acquired by the IMU inertial measurement unit. By arranging the IMU inertial measurement unit, the control instruction accuracy is higher.

Example 2

Referring to fig. 2 to 11, in a second embodiment of the present invention, a bulk cargo truck apparatus is provided, which is capable of facilitating rapid unloading of cargo and avoiding slipping during unloading.

Specifically, the bulk carrier apparatus 100 includes a bulk carrier body 101;

the bulk cargo vehicle main body 101 comprises an auxiliary supporting component 101a, a guiding component 101b connected with the auxiliary supporting component 101a, a mounting bin 101c arranged below the auxiliary supporting component 101a and the guiding component 101b, and a protection cargo discharging component 101d arranged in the middle of the guiding component 101 b. The bulk carrier body 101 may employ conventional techniques for moving devices, steering devices, etc. other than those described.

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 on the top of the auxiliary supporting frames 101 a-1; the guide assembly 101b comprises two groups of connecting frames 101b-1 which are symmetrically arranged, a hinged adjusting frame 101b-2 which is hinged with one end of the connecting frame 101b-1 and fixedly connected with the top of the mounting bin 101c, auxiliary supporting shafts 101b-3 which are symmetrically arranged on two sides of the connecting frame 101b-1 and sleeved with the collar heads 101a-2, and motor mounting grooves 101b-4 which are formed in the inner wall of the connecting frame 101 b-1. The motor mounting groove 101b-4 is provided for providing a mounting space for the motor driving mechanism 101 d-1.

Further, the protection cargo discharging component 101d is disposed between the guide components 101b, the protection cargo discharging component 101d includes a motor driving mechanism 101d-1, a rotating shaft 101d-2 connected with the motor driving mechanism 101d-1, a middle frame 101d-3 disposed between the guide components 101b, a belt transmission mechanism 101d-4 connected with the rotating shaft 101d-2, a plurality of groups of V-shaped mounting frames 101d-5 disposed on the middle frame 101d-3, intermittent V-shaped carrier rollers 101d-6 disposed on the V-shaped mounting frames 101d-5 and contacting with the belt transmission mechanism 101d-4, a plurality of groups of rollers 101d-7 disposed below the middle frame 101d-3, and a receiving guide slope 101d-8 disposed at the bottom of the protection cargo discharging component 101d.

Preferably, the two sets of guide components 101b are connected with the protection cargo assembly 101d, the whole angle can be adjusted by adjusting the guide components 101b to rotate around the hinged adjusting frame 101b-2, the auxiliary supporting frame 101a-1 is arranged to be connected with the auxiliary supporting shafts 101b-3 on two sides of the guide components 101b through the collar heads 101a-2 on the top of the auxiliary supporting frame, then the bottom of the auxiliary supporting frame 101a-1 is welded or bolted with the top of the installation bin 101c, and the guide components 101b with the adjusted angle are fixed. The motor driving mechanism 101d-1 is arranged to provide power, and 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 for conveying the goods in contact with the surface end is concave during tensioning, and the protection is facilitated during unloading of the goods. The bottom of the protection unloading assembly 101d is provided with a bearing guide slope 101d-8, so that the vertical height of the unloading assembly is convenient to reduce, and the unloading assembly falls down stably.

Further, the bulk cargo vehicle device 100 further includes an energy supply installation component 102 disposed on one side of the bulk cargo vehicle body 101, a stabilizing component 103 disposed on the inner side of the energy supply installation component 102, an internal control component 104 connected with the stabilizing component 103, a protective shielding component 105 disposed below the internal control component 104, and a regulating component 106 connected with one end of the internal control component 104.

Further, the energy supply installation assembly 102 includes a support protection casing 102a disposed on one side of the installation cabin 101c, a heat dissipation installation box 102b disposed on the support protection casing 102a, two groups of hollow hinge frames 102c symmetrically disposed on the inner side of the bottom of the heat dissipation installation box 102b, a double-side limit bar 102d disposed below the hollow hinge frames 102c, a double-side limit plate 102e connected with the bottom of the double-side limit bar 102d, an outer edge L plate 102f connected with one side of the bottom of the double-side limit plate 102e, and a restoring spring 102g disposed on the inner side of the outer edge L plate 102 f.

Further, the stabilizing component 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 lifting block 103c contacting with the roller 103b and disposed between the double-side limiting bars 102 d.

Further, the internal control assembly 104 includes a single inclined plane lifting block 104a disposed below the double inclined plane lifting block 103c and disposed between the double side limiting plates 102e, an L-shaped branch main frame 104b connected to the single inclined plane lifting 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 contact 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 member 105b disposed at one end above the storage box 105a, an outer pressing member 105c disposed at the other end, a partition plate 105d disposed between the inner pressing member 105b and the outer pressing member 105c, an inclined surface unlocking plate 105e disposed inside the storage box 105a and below the inner pressing member 105b, an inclined surface limiting slot plate 105f disposed below the outer pressing member 105c, a shielding plate 105g connected to the bottoms of the inclined surface unlocking plate 105e and the inclined surface limiting slot plate 105f, and a plurality of groups 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 member 105b and the outer pressing member 105c have the same structure, and the inner pressing member 105b includes a pressing post 105b-1, a return spring 105b-2 disposed outside the pressing post 105b-1, and a lateral toggle plate 105b-3 disposed below the return spring 105 b-2.

Preferably, the rotating rod 106d is provided with a through hole, and the threaded rod Q can be additionally inserted into the through hole for limiting the rotating rod 106d to avoid incorrect rotation; the anti-touch sleeve 106e arranged on the outer side of the rotating rod 106d is provided with three groups of through threaded openings W which are in threaded connection with the threaded rod Q, and the three groups of threaded openings W respectively correspond to an initial state, a clamping state and a clamping protection state after the rotating rod rotates by a certain angle, so that a worker can conveniently and rapidly adjust and continuously maintain a certain state. The middle part of the double-side limiting bar 102D is provided with a limiting block D, and both sides of the double-inclined-plane lifting block 103c are provided with linear limiting grooves matched with the limiting block D, so that the double-inclined-plane lifting block 103c can only lift along the vertical direction.

Further, the regulating and controlling component 106 includes a turntable 106a, a changing cam 106b disposed on a side surface of the turntable 106a, a U-shaped gradual change block 106c disposed on a disk surface of the turntable 106a, a rotating rod 106d connected to a middle portion of the turntable 106a and extending outwards and movably connected to the mounting bin 101c, and an anti-contact sleeve 106e disposed outside the mounting bin 101 c;

the variable cam 106b is divided into a long-extension slow ramp-up 106b-1 and a short-contraction-rate ramp-down 106b-2; the U-shaped gradual change block 106c comprises annular slope surfaces 106c-1 symmetrically arranged on two sides and horizontal slope surfaces 106c-2 arranged between the annular slope surfaces 106 c-1; the horizontal ramp surface 106c-2 is divided into an adjustment surface A and two sets of resting 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 disk surface of the turntable 106a, and the contact point is on the circular rotation track of the U-shaped gradual change block 106c, so that when the turntable 106a rotates, the contact button 104g contacts with the U-shaped gradual change block 106c, so that the whole internal control assembly 104 is displaced under the action of the U-shaped gradual change block 106c, and the double-sided limiting plate 102e limits the single-bevel jacking blocks 104a on two sides of the internal control assembly 104, so that the internal control assembly 104 can only move along a transverse straight line. The heat dissipation installation box 102b is a box body with an opening at the top and the inner side, so that heat dissipation and rapid disassembly of the storage battery are facilitated. The bottom of the inner pressing member 105b has a horizontal paddle of the paddle board 105b-3 higher than the height of the bevel unlocking board 105e or the bevel limiting socket board 105f in the initial state.

When the anti-touch device is used, the storage battery can be directly arranged in the heat dissipation installation box 102b and connected with a vehicle-mounted computer in a circuit mode, then all operations can be completed only by adjusting the rotating rod 106d in the anti-touch sleeve 106e, the anti-touch sleeve 106e is arranged to extend into the rotating adjusting rod 106d only through fingers to adjust the protection shielding assembly 105, and when the storage battery is connected, the situation that the protection shielding assembly 105 pops up to injure workers due to false touch of the adjusting rod 106d is avoided. The adjusting area after the rotating angle of the rotating rod is divided into an initial state, a clamping state and a clamping protection state.

In the initial state, as shown in the drawings, the components are defined to be in the initial state at this time, then the worker only needs to screw out the threaded rod Q and release the limit of the adjusting rod 106d, then rotate the adjusting rod 106d to a certain angle to the second set of screw threads W, so that the stabilizing component 103 fixes the storage battery, and in this process: because the adjusting lever 106d rotates to drive the turntable 106a to rotate, the contact button 104g is in contact with the annular slope 106c-1 at one end of the U-shaped gradual change block 106c and is extruded to enable the internal control component 104 to transversely displace as a whole, so that the single-slope jacking blocks 104a at two sides of the bottom of the internal control component 104 move in the double-side limiting plate 102e and are matched with slopes at the bottom sides of the double-slope jacking blocks 103c at the single-slope sides, the double-slope jacking blocks 103c gradually ascend under the limit of the double-side limiting strips 102d, the slopes at the top sides of the double-slope jacking blocks 103c extrude the idler wheels 103B at the bottom sides of the inclined pressing blocks 103a to enable the two inclined pressing blocks 103a to rotate and the front ends of the inclined pressing blocks to be in contact with the side surfaces of the storage battery to clamp, the storage battery is fixed, at the moment, the contact button 104g is in static contact with the first group of the parking surfaces B in the horizontal slope 106c-2, the restoring springs 102g are in a stretched state and have a rebound trend, the adjusting lever 106d rotates to the second group of threaded openings W, and then the state is kept unchanged.

When the protection is needed in poor wet or overcast weather, the adjusting rod 106d is only required to be continuously rotated, and a certain angle is rotated to the position of the third group of screw thread ports W, so that the protection shielding assembly 105 pops up to protect the top of the storage battery. Because the partition plate 105d is arranged to enable the external pressing piece 105c to be arranged on the outer side of the vehicle, and the internal pressing piece 105b is arranged on the mounting bin 101c, whether the storage battery is shielded or not can be adjusted by the adjusting rod 106d, so that the situation that the storage battery is forgotten to be fixed after shielding to finally cause vibration damage or unstable line connection due to the fact that the working personnel forget to fix the storage battery is avoided, and the external pressing piece 105c is arranged on the outer side to facilitate locking of the shielding plate 105g by pressing the external pressing piece 105c after the shielding plate 105g is stored is avoided. In the process of entering the clamping protection state in the clamping state: the contact portion between the contact button 104g and the horizontal sloping surface 106c-2 moves from the first set of resting surfaces B to the adjusting surface a and finally stays on the second set of resting surfaces B, so that the whole internal control assembly 104 cannot displace in the process, and the clamping of the storage battery is maintained. Because the turntable 106a rotates, the change cam 106b on the side surface of the turntable contacts the roller head 104e at one end of the pressing plate 104d and makes the end of the pressing plate 104d tilt up, one end contacting the top of the inner pressing piece 105b presses down, the transverse shifting plate 105b-3 at the bottom of the inner pressing piece 105b contacts the inclined unlocking plate 105e and makes the inclined unlocking plate 105e, the inclined limiting slot plate 105f and the shielding plate 105g move laterally integrally, when the contact point of the roller head 104e and the change cam 106b reaches the junction point of the long expansion slow ramp 106b-1 and the short contraction speed ramp 106b-2, the slot at the bottom of the inclined limiting slot plate 105f is separated from the transverse shifting plate at the bottom of the outer pressing piece 105c and is clamped, the pressing column of the outer pressing piece 105c is ejected upwards under the action of the reset spring, so that the height of the pressing column is higher than that of the inclined limiting slot plate 105f, and when the roller head 104e and the short contraction speed ramp 106b-2 of the change cam 106b are separated from contact, the shielding plate 105g is ejected out under the action of the spring 105h, and the shielding plate 105g is ejected at the top of the storage battery for protection.

When the shielding plate 105g needs to be detached or stored, the adjusting rod 106d is rotated to an initial position, the contact knob 104g is separated from contact with the U-shaped gradual change block 106c, the stabilizing assembly 103 is integrally displaced to an initial state under the resilience force of the restoring spring 102g, and finally the inclined pressing block 103a releases the clamping of the storage battery. When the shielding plate 105g is stored, the external pressing member 105c is pressed when the shielding plate 105g is pushed into the storage box 105a and the pushing force is maintained, and then the shielding plate 105g is released to enable the transverse plectrum plate at the bottom of the external pressing member 105c to be clamped and fixed with the inclined plane limiting slot plate 105f again, so that storage can be completed. The whole operation process is simple and convenient, is convenient for repeated use many times, and convenient to detach and install, improves the efficiency of changing the battery, saves staff time.

The storage battery is only required to be arranged in the heat dissipation mounting box in advance, then after the storage battery is normally connected with the vehicle-mounted computer through a circuit, a worker controls the rotating rod on one side of the vehicle to rotate, so that the storage battery is fixed by the stabilizing component, the stability is improved, the disassembly is convenient, the rotating rod can be continuously rotated when the storage battery is wet or in overcast and rainy weather, the protection shielding component can be ejected out to protect the gap at the top of the storage battery, water inlet damage or flying stone collision is avoided, all operations are only required to control the rotating rod to rotate, and the operation is convenient, fast and convenient to reuse.

To sum up, through improving current bulk cargo car, can carry out fixed stay to angle adjustable's protection unloading subassembly through setting up auxiliary stay subassembly, can follow the unloading through the protection unloading subassembly of settling on bulk cargo car to protect the goods when the unloading and avoid collision damage.

Example 3

Referring to fig. 12, in a third embodiment of the present invention, an unmanned control system for a bulk cargo vehicle is provided, which can solve the problem that an airport vehicle cannot quickly acquire information about the surrounding environment of the vehicle, and cannot realize accurate control.

Specifically, the bulk cargo vehicle device 100 further includes a vehicle control center, a communication bus connected to the vehicle control center, and a plurality of actuators; the bulk carrier vehicle device 100 is for mounting a system unit;

the system unit 200 comprises an energy supply module 201 arranged at 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;

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 collected by the vision collection module 203 and the positioning collection module 204, generate control information, and send the control information to a vehicle control center, where the system unit 200 and the plurality of execution mechanisms are respectively connected with 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 execution mechanism corresponding to the control instruction. The control module 202 may employ a vehicle computer.

Further, the positioning acquisition module 204 includes a distance sensor 204a, an ultrasonic radar 204b, and a multi-line laser radar 204c; the positioning acquisition module 204 is used for detecting obstacle information around a vehicle; the vision acquisition module 203 includes a plurality of groups of cameras 203a for acquiring scenes around the vehicle.

Further, the system unit 200 further includes a wireless communication unit in signal connection with the control module 202, where the wireless communication unit is configured to be 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 employ the prior art for software control.

It should be noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, 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 the technical solution of the present invention may be modified or substituted without departing from the spirit and scope of the technical solution of the present invention, which is intended to be covered in the scope of the claims of the present invention.

Claims

1. A bulk cargo vehicle device, characterized by: comprising the steps of (a) a step of,

acquiring the environmental information of the bulk cargo vehicle device (100) at an airport through a positioning acquisition module and a visual acquisition module; the method comprises the steps that environmental information is received through a control module and is processed through an 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 the vehicle control center; the vehicle control center calculates each control parameter according to the control information and a pre-stored program to control the execution mechanism to run with the control parameters, so as to realize left turning, backward and forward operations; the acquiring of the environmental information of the bulk cargo vehicle device (100) at the airport comprises detecting the obstacle information around the vehicle through a positioning acquisition module; collecting an image of the surrounding environment of the vehicle through a vision collecting module;

the bulk carrier device (100) comprises a bulk carrier body (101);

the bulk cargo vehicle main body (101) comprises an auxiliary supporting component (101 a), a guide 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 guide component (101 b), and a protection cargo discharging component (101 d) arranged in the middle of the guide component (101 b);

the auxiliary support assembly (101 a) comprises two groups of auxiliary support frames (101 a-1) connected with the top of the installation bin (101 c), and a collar head (101 a-2) arranged on the top of the auxiliary support frames (101 a-1); the guide assembly (101 b) comprises two groups of symmetrically arranged connecting frames (101 b-1), a hinged adjusting frame (101 b-2) hinged with one end of the connecting frame (101 b-1) and fixedly connected with the top of the installation bin (101 c), auxiliary supporting shafts (101 b-3) symmetrically arranged on two sides of the connecting frame (101 b-1) and sleeved with the collar heads (101 a-2), and motor installation grooves (101 b-4) arranged on the inner wall of the connecting frame (101 b-1);

the protective cargo discharging assembly (101 d) is arranged between the guide assemblies (101 b), the protective cargo discharging assembly (101 d) comprises a motor driving mechanism (101 d-1), a rotating shaft (101 d-2) connected with the motor driving mechanism (101 d-1), a middle framework (101 d-3) arranged between the guide assemblies (101 b), a belt transmission mechanism (101 d-4) connected with the rotating shaft (101 d-2), a plurality of groups of V-shaped mounting frames (101 d-5) arranged on the middle framework (101 d-3), a discontinuous V-shaped carrier roller (101 d-6) arranged on the V-shaped mounting frames (101 d-5) and contacted with the belt transmission mechanism (101 d-4), a plurality of groups of rollers (101 d-7) arranged below the middle framework (101 d-3), and a bearing guide slope (101 d-8) arranged at the bottom of the protective cargo discharging assembly (101 d);

the bulk cargo vehicle device (100) further comprises an energy supply installation component (102) arranged on one side of the bulk cargo vehicle body (101), a stabilizing component (103) arranged on the inner side of the energy supply installation 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 regulating component (106) connected with one end of the internal control component (104); the energy supply installation assembly (102) comprises a support protection shell (102 a) arranged on one side of the installation bin (101 c), a heat dissipation installation box (102 b) arranged on the support protection shell (102 a), two groups of hollow hinged frames (102 c) symmetrically arranged on the inner side of the bottom of the heat dissipation installation box (102 b), two side limit bars (102 d) arranged below the hollow hinged frames (102 c), two side limit plates (102 e) connected with the bottoms of the two side limit bars (102 d), an outer edge L plate (102 f) connected with one side of the bottom of the two side limit plates (102 e) and a restoring spring (102 g) arranged on the inner side of the outer edge L plate (102 f); the storage battery is arranged in the heat dissipation installation box (102 b) and is connected with the vehicle-mounted computer in a circuit manner;

the stabilizing component (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) which is contacted with the roller (103 b) and arranged between the double-side limiting bars (102 d); the inner control assembly (104) comprises a single inclined plane jacking block (104 a) arranged below the double inclined plane lifting block (103 c) and between the double side limiting plates (102 e), an L-shaped branch main frame (104 b) connected with the single inclined plane jacking block (104 a), a hollow pressing hinged frame (104 c) arranged above the L-shaped branch main frame (104 b), a pressing plate (104 d) hinged with the hollow pressing hinged frame (104 c), a roller head (104 e) arranged at one end of the pressing plate (104 d), a V-shaped frame (104 f) arranged at one end of the hollow pressing hinged frame (104 c) and a contact button (104 g) arranged at the bottom of the V-shaped frame (104 f);

the protective shielding assembly (105) comprises a storage box body (105 a) arranged below the pressing plate (104 d), an inner pressing piece (105 b) arranged at one end above the storage box body (105 a), an outer pressing piece (105 c) arranged at the other side, a partition plate (105 d) arranged between the inner pressing piece (105 b) and the outer pressing piece (105 c), an inclined surface unlocking plate (105 e) arranged in the storage box body (105 a) and arranged below the inner pressing piece (105 b), an inclined surface 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 surface unlocking plate (105 e) and the inclined surface 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 storage 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 reset spring (105 b-2) arranged outside the pressing column (105 b-1), and a transverse shifting plate (105 b-3) arranged below the reset spring (105 b-2);

the regulating and controlling assembly (106) comprises a rotary table (106 a), a change cam (106 b) arranged on the side surface of the rotary table (106 a), a U-shaped gradual change block (106 c) arranged on the surface of the rotary table (106 a), a rotary rod (106 d) connected with the middle part of the rotary table (106 a) and extending outwards and movably connected with the installation bin (101 c), and an anti-touch 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 gradual change block (106 c) comprises annular slope surfaces (106 c-1) symmetrically arranged on two sides and horizontal slope surfaces (106 c-2) arranged between the annular slope surfaces (106 c-1); the horizontal slope (106 c-2) is divided into an adjusting surface (A) and two groups of stopping surfaces (B);

the rotating rod (106 d) is provided with a through hole, and a threaded rod (Q) is added to be inserted into the through hole for limiting the rotating rod (106 d) to avoid misoperation; the anti-touch sleeve (106 e) arranged on the outer side of the rotating rod (106 d) is provided with three groups of through threaded openings (W) which can be in threaded connection with the threaded rod (Q), and the three groups of threaded openings (W) respectively correspond to an initial state, a clamping state and a clamping protection state after the rotating rod rotates by an angle, so that a worker can conveniently and quickly adjust and continuously maintain a certain state;

in the initial state, the staff only need unscrew threaded rod (Q) and remove the spacing to dwang (106 d), then rotate dwang (106 d) a certain angle to second group screw thread mouth (W) department, make firm subassembly (103) fix the battery, in this process: because the rotating rod (106 d) rotates to drive the rotating disc (106 a) to rotate, the contact button (104 g) is contacted with the annular slope (106 c-1) at one end of the U-shaped gradual change block (106 c) and is extruded so as to enable the internal control assembly (104) to be integrally and transversely displaced, the single slope jacking block (104 a) at two sides of the bottom of the internal control assembly (104) is moved in the double-side limiting plate (102 e) and matched with the slope at the bottom side of the double-slope lifting block (103 c) at the single slope surface of the single slope jacking block, the double-slope lifting block (103 c) is gradually lifted under the limit of the double-side limiting bar (102 d), the slope at the top side of the double-slope lifting block (103 c) is extruded by the roller (103B) at the bottom of the inclined pressing block (103 a) so as to enable the two groups of inclined pressing blocks (103 a) to rotate and the front end of the inclined pressing block (103 a) to be in contact and clamp with the side surface of a storage battery, thereby fixing the storage battery is realized, at the moment, the contact button (104 g) is in contact with the first group of the surfaces (B) in the horizontal slope (106 c-2) and is static, the rebound springs (102 g) are in a stretched state and have a rebound trend, the rebound state (106 d) can be kept at a second thread rotating state, and a thread of the threaded rod (106 d) is not screwed into a rotating place;

when the road conditions are worse and moist or when the weather is overcast and rainy, only need continue to rotate dwang (106 d), rotate certain angle to third group screw thread mouth (W) department, make protection shielding subassembly (105) pop out and protect battery top, because set up division board (105 d) and only make outside presser (105 c) set up in the vehicle outside, inside presser (105 b) set up in installation storehouse (101 c), consequently can only fix the square adjustable shielding protection to the battery earlier through dwang (106 d), outside presser (105 c) set up in the outside be convenient for accomodate the back to shielding plate (105 g) through pressing outside presser (105 c) to shielding plate (105 g) locking, the in-process of centre gripping state entering centre gripping protection state: the contact part of the contact button (104 g) and the horizontal sloping surface (106 c-2) is moved to the adjusting surface (A) from the first group of the stopping surface (B) to finally stop on the second group of the stopping surface (B), so that the whole of the inner control component (104) cannot displace in the process, the clamping of the storage battery is kept, as the rotary table (106 a) rotates, the change cam (106B) on the side surface of the change cam contacts with the roller head (104 e) at one end of the pressing plate (104 d) and lifts the end of the pressing plate (104 d), one end contacted with the top of the inner pressing piece (105B) presses downwards, the transverse shifting plate (105B-3) at the bottom of the inner pressing piece (105B) contacts with the inclined surface unlocking plate (105 e) and enables the inclined surface unlocking plate (105 e), the inclined surface limiting inserting plate (105 f) and the whole of the shielding plate (105 g) to move sideways, when the contact point of the roller head (104 e) and the change cam (106B) reaches the roller head (104 e) at the long-expansion slowly-rising slope and the short shrinkage slope (106B-2), the end of the contact point of the short shrinkage plate (106B) is separated from the inclined surface (105 c) at the bottom of the inclined surface, the contact point of the short shrinkage plate (106B) is separated from the inclined surface (105 c) at the bottom of the inner pressing piece (105 c) and the upper side of the inclined surface, and the contact plate (105 c) is separated from the upper surface of the contact plate (105 c) and the contact surface, the shielding plate (105 g) is popped up under the action of the pop-up spring (105 h), and shielding protection is carried out on the top of the storage battery;

when the shielding plate (105 g) needs to be disassembled or stored, the rotating rod 106 d) is rotated to an initial position, so that the contact button (104 g) is separated from contact with the U-shaped gradual change block (106 c), the stabilizing assembly (103) is integrally displaced to an initial state under the resilience force of the restoring spring (102 g), and finally the inclined pressing block (103 a) releases the clamping of the storage battery; when the shielding plate (105 g) is stored, the shielding plate (105 g) is pushed into the storage box body (105 a) and the external pressing piece (105 c) is pressed when the pushing force is kept, and then the shielding plate (105 g) is released to enable the transverse shifting plate at the bottom of the external pressing piece (105 c) to be clamped and fixed with the inclined limiting slot plate (105 f) again, so that storage can be completed.

2. Unmanned control system of bulk cargo car, its characterized in that: comprising the bulk carrier device (100) of claim 1, and comprising,

the bulk cargo vehicle device (100) further comprises a vehicle control center, a communication bus connected with the vehicle control center, and a plurality of actuators; the bulk carrier device (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).