CN206096937U - Unmanned distribution vehicle - Google Patents
Unmanned distribution vehicle Download PDFInfo
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- CN206096937U CN206096937U CN201621111980.3U CN201621111980U CN206096937U CN 206096937 U CN206096937 U CN 206096937U CN 201621111980 U CN201621111980 U CN 201621111980U CN 206096937 U CN206096937 U CN 206096937U
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- positioning antenna
- dispensing vehicle
- unmanned dispensing
- positioning
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Abstract
The utility model discloses an unmanned distribution vehicle relates to commodity circulation technical field. Unmanned distribution vehicle includes: automobile body (1), a positioning antenna (2), the 2nd positioning antenna (3), camera (5) and industrial controller (6) are taken the photograph in radar (4), a positioning antenna (2) and the 2nd positioning antenna (3) lie in automobile body (1) front portion and rear portion respectively, automobile body (1) distance to the barrier is measured in radar (4), take the photograph camera (5) and gather automobile body (1) environment image, industrial controller (6) are according to a positioning antenna (2), the 2nd positioning antenna (3), radar (4) and take the photograph the information production control signal who camera (5) sends, control going of automobile body (1). Through adopting the antenna to acquire current positional information, adopting the radar and take the photograph camera and survey the surrounding environment to adopt industrial controller to travel according to the information control distribution vehicle who acquires, can improve logistics distribution's degree of automation.
Description
Technical field
This utility model is related to logistlcs technology field, more particularly to a kind of unmanned dispensing vehicle.
Background technology
As ecommerce is day by day tight with people's life, logistics service has also obtained quick development.At present, logistics
System mainly, by the way of artificial dispensing, needs logistics distribution person to carry goods and is driven to delivery place.Due to volume of freight greatly,
Dispensing place is more, makes logistics company need to pay the logistics distribution cost such as higher time cost and human cost.
Utility model content
This utility model embodiment technical problem to be solved is：How the automatization journey of unmanned dispensing vehicle is improved
Degree.
According to the one side of this utility model embodiment, there is provided a kind of unmanned dispensing vehicle, including：Car body, the first positioning
Antenna, the second positioning antenna, radar, video camera and industrial control unit (ICU)；Wherein, first positioning antenna be located at Vehicular body front, second
Positioning antenna is located at rear vehicle；Radar is used to measure the distance between car body and barrier；Video camera is used to gather car body week
The ambient image enclosed；Industrial control unit (ICU) is for the letter according to the first positioning antenna, the second positioning antenna, radar and video camera transmission
Breath produces control signal, controls the traveling of car body.
In one embodiment, the line of the first positioning antenna and the second positioning antenna overlooks horizontal axis weight with car body
Close, be respectively used to obtain current location information；Industrial control unit (ICU) is further used for according to the first positioning antenna and the second positioning day
The current location information that line sends determines the travel direction of unmanned dispensing vehicle.And/or, industrial control unit (ICU) is further used for according to thunder
The ambient image sent up to the distance and video camera that send determines the travel route and/or travel speed of unmanned dispensing vehicle.
In one embodiment, the first positioning antenna and/or the second positioning antenna are additionally operable to receive determining for base station transmission
Position correction；Industrial control unit (ICU) is further used for sending out the first positioning antenna according to the positioning correction that the first positioning antenna sends
The current location information for sending is calibrated, or, the positioning correction for being sent according to the second positioning antenna is positioned to second
The current location information that antenna sends is calibrated.
In one embodiment, video camera is binocular camera, including the first photographic head and second camera, the first shooting
Head and second camera are located at same horizontal line；Binocular camera for synchronization respectively pass through the first photographic head and second
Camera collection image, and the image of collection is sent to into industrial control unit (ICU)；Industrial control unit (ICU) is further used for taking the photograph according to first
As the unmanned dispensing vehicle of position calculation and target object of the head and second camera target object in the image that synchronization is gathered
The distance between.
In one embodiment, position for video camera is inside the front windshield of unmanned dispensing vehicle, and/or, radar is matched somebody with somebody positioned at nobody
Send above the front windshield of car.
In one embodiment, unmanned dispensing vehicle also includes counter, for depositing goods.
In one embodiment, unmanned dispensing vehicle also includes touch screen, and industrial control is operated and be sent to for receive user
Device processed, to be controlled to unmanned dispensing vehicle.
In one embodiment, car body includes：Vehicle body, vehicle frame, independent suspension system, and, wheel；Wherein, independent suspension
System connecting vehicle frame and wheel；Wherein, the material of vehicle body is electromagnetic wave transparent material, and/or, the material of vehicle frame is aluminum alloy materials.
This utility model is by positioning the current location information of antenna acquisition dispensing vehicle, using radar and camera detection week
Collarette border, and the unmanned of dispensing vehicle can be realized according to the information control dispensing vehicle traveling for obtaining by industrial control unit (ICU), from
And improve the automaticity of logistics distribution.
By detailed description referring to the drawings to exemplary embodiment of the present utility model, it is of the present utility model other
Feature and its advantage will be made apparent from.
Description of the drawings
In order to be illustrated more clearly that this utility model embodiment or technical scheme of the prior art, below will be to embodiment
Or accompanying drawing to be used is briefly described needed for description of the prior art, it should be apparent that, drawings in the following description are only
It is some embodiments of the present utility model, for those of ordinary skill in the art, before creative labor is not paid
Put, can be with according to these other accompanying drawings of accompanying drawings acquisition.
Cut-away views of the Fig. 1 for the unmanned dispensing vehicle one embodiment of this utility model.
Flow charts of the Fig. 2 for the unmanned dispensing vehicle control method one embodiment of this utility model.
Imaging schematic diagrams of the Fig. 3 for binocular camera.
Flow charts of the Fig. 4 for one embodiment of the unmanned dispensing vehicle localization method of this utility model.
Top views of the Fig. 5 for unmanned another embodiment of dispensing vehicle of this utility model.
Fig. 6 is the structure chart of the unmanned dispensing truck control device one embodiment of this utility model.
Fig. 7 is the structure chart of unmanned another embodiment of dispensing truck control device of this utility model.
Specific embodiment
Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only this utility model a part of embodiment, rather than whole
Embodiment.It is illustrative below to the description only actually of at least one exemplary embodiment, never as to this practicality
New and its application or any restriction for using.Based on the embodiment in this utility model, those of ordinary skill in the art are not having
There is the every other embodiment obtained under the premise of making creative work, belong to the scope of this utility model protection.
Cut-away views of the Fig. 1 for the unmanned dispensing vehicle one embodiment of this utility model.As shown in figure 1, the embodiment
Unmanned dispensing vehicle includes：Car body 1, the first positioning antenna 2, the second positioning antenna 3, radar 4, video camera 5 and industrial control unit (ICU) 6.
Wherein, the first positioning antenna 2 is anterior positioned at car body 1, and the second positioning antenna 3 is located at 1 rear portion of car body, and radar 4 is used to measure car body 1
The distance between with barrier；Video camera 5 is used to gather the ambient image around car body 1；Industrial control unit (ICU) 6 is located in car body 1
Portion, the information for being sent according to the first positioning positioning antenna 3 of antenna 2, second, radar 4 and video camera 5 produce control signal,
The traveling of control car body 1.
Wherein, the first positioning antenna 2 and the second positioning antenna 3 can adopt GPS technology, Beidou satellite navigation technology, base
Location technology of standing etc. is positioned.Industrial control unit (ICU) 6 can be industrial control computer, or other are used to control nobody
Chip, instrument and module that dispensing vehicle is travelled.The all parts of the unmanned dispensing vehicle in the embodiment are will be further described hereinafter
Specific embodiment.
By positioning the current location information of antenna acquisition dispensing vehicle, using radar and camera detection surrounding, and
By industrial control unit (ICU) according to the information control dispensing vehicle traveling for obtaining, the unmanned of dispensing vehicle can be realized, so as to improve
The automaticity of logistics distribution.
The unmanned dispensing vehicle control method of this utility model one embodiment is described with reference to Fig. 2.
Flow charts of the Fig. 2 for the unmanned dispensing vehicle control method one embodiment of this utility model.As shown in Fig. 2 the enforcement
The method of example includes：
Step S202, receives the first present bit that the first positioning antenna 2 positioned at 1 front portion of car body of unmanned dispensing vehicle is obtained
Confidence ceases.
Step S204, receives the second present bit that the second positioning antenna 3 positioned at 1 rear portion of car body of unmanned dispensing vehicle is obtained
Confidence ceases
Step S206, receives the distance between the unmanned dispensing vehicle and barrier of the measurement of radar 4 information.
In step S204～S206, for example, the first positioning antenna 2, second can be received by industrial control unit (ICU) 6 and position day
The information that line 3 and radar 4 are obtained.As needed, or other modules or equipment receive above- mentioned information, no longer go to live in the household of one's in-laws on getting married here
State.
Step S208, produces according to the first current location information, the second current location information and range information that receive
Control signal, controls the traveling of unmanned dispensing vehicle.
The traveling of unmanned dispensing vehicle can be controlled by industrial control unit (ICU) 6 according to the information for receiving.For example, industrial control unit (ICU)
6 positional informationes that can be sent according to the first positioning positioning antenna 3 of antenna 2, second for receiving, know current position shape
State, so that it is determined that whether unmanned dispensing vehicle deviates projected route, traveling progress, current traffic condition etc., and then according to whether
Change travel route, travel speed etc. produce control signal.
Whether 4 information of radar mainly has the information such as obstacle, distance of obstacle there is provided front, so as to industrial control unit (ICU) 6 can be with
Determine the need for carrying out slowing down, stop, the traveling control such as lane change drives.
By positioning the current location information of antenna acquisition dispensing vehicle, using radar detection surrounding, so as to basis is obtained
The information control dispensing vehicle traveling for taking, can realize the unmanned of dispensing vehicle, so as to improve automatization's journey of logistics distribution
Degree.
Lower mask body introduces the radar 4 in the unmanned dispensing vehicle of this utility model offer.
Wherein, radar 4 is located at car body 1, and the direction of the launch of radar 4 is not blocked by car body 1.Radar 4 can be disposed
One or more.For example, can dispose in headstock, roof, to detect the preceding object thing of differing heights.
In one embodiment, radar 4 is located above the front windshield of unmanned dispensing vehicle.It is thus possible to have larger inspection
Scope is surveyed, barrier can be more accurately detected.
Radar 4 can launch the electromagnetic waves such as laser, infrared light, ultraviolet light, and receive electromagnetic wave and reflected it by objects in front
Echo afterwards.Industrial control unit (ICU) 6 can calculate the transmitting electromagnetic wave of radar 4 and receive the time of electromagnetic wave, according to transmitting electromagnetic wave
The distance between radar 4 and objects in front are calculated with the transmission speed of the time difference and electromagnetic wave that receive electromagnetic wave.Then, then
According to the distance between the distance between radar 4 and objects in front and radar 4 and headstock, calculate between headstock and objects in front
Distance.
Lower mask body introduces the video camera 5 in the unmanned dispensing vehicle of this utility model offer.
Video camera 5 is may be located inside the front windshield of unmanned dispensing vehicle.So as to both can clearly shoot unmanned dispensing vehicle
The situation in front, can prevent video camera 5 to be destroyed, intake or suffer that other are stained again.
Video camera 5 can pass through the environment that the image of collection reflects around unmanned dispensing vehicle to industrial control unit (ICU) 6.For example,
Industrial control unit (ICU) 6 can be detected by the method for Digital Image Processing pedestrian position in photo, the color of traffic light and
State etc..
It is same that video camera 5 can include that the first photographic head and second camera, the first photographic head and second camera are located at
Horizontal line.Video camera 5 can for example be binocular camera.Binocular camera for synchronization respectively pass through the first photographic head
Image is gathered with second camera, and the image of collection is sent to into industrial control unit (ICU) 6；Then, industrial control unit (ICU) 6 is according to first
The unmanned dispensing vehicle of position calculation and object of the photographic head and second camera target object in the image that synchronization is gathered
The distance between body.So as to, according to the picture material that video camera 5 sends, the surrounding of unmanned dispensing vehicle not only can be known,
The distance of unmanned dispensing vehicle and preceding object thing can also be calculated.
Industrial control unit (ICU) 6 can for example adopt the target object in the methods such as pattern recognition identification picture.
A kind of method that industrial control unit (ICU) 6 calculates target object and the distance of unmanned dispensing vehicle is described below.For the ease of
Description, according to the first photographic head and the relative position of second camera, will towards shooting direction when, in binocular camera be located at a left side
The photographic head of side is referred to as left photographic head, and another photographic head is referred to as right photographic head.
Imaging schematic diagrams of the Fig. 3 for binocular camera.As shown in figure 3, O1And O2Respectively left photographic head and right photographic head
Photocentre, L1And L2Two end points of the image planes of respectively left photographic head, R1And R2Two ends of the image planes of respectively right photographic head
Point.
The image planes width of left photographic head and right photographic head is L, i.e. L1And L2The distance between and R1And R2Between away from
From being L；Spacing between two photographic head is L2And R1The distance between be d；The focal length of the machine of left photographic head and right shooting is equal
For f.
If target object is P (A, Z), it is vertical with what two photocentres of binocular camera were located that Z is target object to be measured
The distance of straight plane.P is respectively P in the imaging of the image planes of left and right photographic head1(x1, f) and P2(x2,f)。
According to the principle of similar triangles, formula (1) is set up：
Above-mentioned coordinate system is only to illustrate the position in the shooting process of binocular camera between each key point
Relation, can calculate the value of Z by formula (1).However, during Practical Calculation, it is likely that above-mentioned seat can't be set up
Mark system, it is therefore desirable to by the physical descriptor that easily measures further transformation for mula (1).
When industrial control unit (ICU) 6 obtains left photographic head and right photographic head in the image that synchronization is gathered, figure is easily measured
Distance of the target object away from image edge as in.If P1Vertical dimension with the left hand edge of the image of left photographic head collection is a1, P2
Vertical dimension with the left hand edge of the image of right photographic head collection is a2.Then x2-x1Can be represented using formula (2)：
x2-x1=(L+d+a2)-a1 (2)
Therefore, formula (1) can be further converted into formula (3) and (4)：
It is thus possible to calculate the value of Z, i.e. target object with the vertical plane at two photocentres places of binocular camera
Distance.Industrial control unit (ICU) 6 can be with the distance of the vertical plane at two photocentres places according to target object and binocular camera
And the distance of vertical plane that two photocentres of known headstock and binocular camera are located, calculate headstock and target object it
Between distance.
What industrial control unit (ICU) 6 can be determined with reference to the preceding object information determined according to 4 information of radar and according to video camera 5
Preceding object information determines preceding object situation jointly.It is for instance possible to use the detection distant place obstacle of radar 4, is entered using video camera 5
Row proximity detection, such that it is able to further determine that the travel route or travel speed of unmanned dispensing vehicle.For example, when front is
When roadblock or building obstacle, travel route is changed；When front is pedestrian or signal lighties are red light, slows down or stop row
Sail.
Lower mask body introduces the first positioning antenna 2 and the second positioning antenna in the unmanned dispensing vehicle of this utility model offer
3。
The line of the first positioning antenna 2 and the second positioning antenna 3 can be overlooked horizontal axis with car body 1 and overlap, i.e., and the
The line of one positioning antenna 2 and the second positioning antenna 3 is consistent with the travel direction of automobile, and is respectively used to obtain first position letter
Breath and second position information.Industrial control unit (ICU) 6 can be further used for the first position information sent according to the first positioning antenna 2
The second position information sent with the second positioning antenna 3 determines the travel direction of unmanned dispensing vehicle.
By adopting said structure, can be according to the information of the first positioning antenna 2 and the second positioning transmission of antenna 3 exactly
It is determined that the travel direction of unmanned dispensing vehicle.
For example, industrial control unit (ICU) 6 can calculate the line of the first positioning antenna 2 and the second positioning antenna 3 and the north to
Angle, may thereby determine that the travel direction of unmanned dispensing vehicle and the north to angle.
The unmanned dispensing vehicle that this utility model is provided can also further adopt differential GPS (Global Positioning
System, global positioning system) technology, improves the accuracy of positioning.
First, receive first and position the positioning correction obtained from base station that antenna 2 and/or the second positioning antenna 3 send
Number；Then, the current location information that the first positioning antenna 2 sends is entered according to the positioning correction that the first positioning antenna 2 sends
Row calibration, or, according to the present bit confidence that the positioning correction that the second positioning antenna 3 sends is sent to the second positioning antenna 3
Breath is calibrated.The flow chart positioned using differential technique by unmanned dispensing vehicle of the present utility model is described with reference to Fig. 4.
Flow charts of the Fig. 4 for one embodiment of the unmanned dispensing vehicle localization method of this utility model.As shown in figure 4, the reality
The method for applying example includes：
Step S402, antenna obtain current location information.
Wherein, antenna can be the first positioning antenna 2, or the second positioning antenna 3.
Current location information is sent to industrial control unit (ICU) 6 by step S404, antenna.
Step S406, the current location at base station measuring basiss station.
The current location for measuring the base station for obtaining is compared by step S408, base station with known reference station location,
Calculate positioning correction.
Due to there is orbit error, clocking error, SA (Selective Availability select availability) shadow
The impact of sound, atmospheric effect, multipath effect and other errors, the current coordinate that GPS device is measured may with actual coordinate
It is inconsistent, that is, measure the current location information for obtaining and there is error.
Therefore, accurate positional information and the positional information for currently measuring known to base station are compared, for example, can be with
The distance and direction relationses of the two is calculated, is obtained for representing determining for the difference between actual position information and measurement position information
Position correction.
Correction is sent to industrial control unit (ICU) 6 by step S410, base station.
Step S412, the current location information that industrial control unit (ICU) 6 is sent to antenna according to the positioning correction that antenna sends
Calibrated.
For example, position correction represent true coordinate should be measurement coordinate the north at 2 meters of positions, then can be by antenna
Current location move northward 2 meters, obtain the current location of unmanned dispensing vehicle.
By the method using differential GPS, the positioning of unmanned dispensing vehicle can be more accurately carried out, nothing is further ensured
People's dispensing vehicle can improve the accuracy according to route running.
The unmanned dispensing vehicle of another embodiment of this utility model is described with reference to Fig. 5.
Top views of the Fig. 5 for unmanned another embodiment of dispensing vehicle of this utility model.As shown in figure 5, the nothing of the embodiment
People's dispensing vehicle can also include counter 7, for depositing goods.
Counter 7 is for example may be located in the middle part of car body 1.When unmanned dispensing vehicle it is highly relatively low when, cabinet door can be arranged on
At the top of car body 1, facilitate user's picking；When the height of unmanned dispensing vehicle is higher, cabinet door can be arranged on 1 side of car body.
Additionally, unmanned dispensing vehicle can also include touch screen 8, industrial control unit (ICU) 6 is operated and is sent to for receive user,
To be controlled to unmanned dispensing vehicle.
Touch screen 8 is for example may be located at outside the front windshield of unmanned dispensing vehicle, is interacted with external user with facilitating.Touch
Touch screen 8 to be located inside unmanned dispensing vehicle in the process of moving, unmanned dispensing vehicle is just moved to only when instruction is received
Car body 1 outside, or by the shelter on moving body 1 come make touch screen 8 be located at the palp position of user.
User can be input into picking code in touch screen 8, to open corresponding cabinet door so as to take goods away.Additionally, pipe
Reason person can also be input into the traveling purpose of unmanned dispensing vehicle, travel route etc. by touch screen 8.
In above-mentioned each embodiment, the car body 1 of unmanned dispensing vehicle can include：Vehicle body, vehicle frame, independent suspension system and
Wheel.Wherein, independent suspension system connecting vehicle frame and wheel.
In independent suspension system, wheel is controlled by independent linkage, so as to wheel can be separately with road
Condition change is moved, and does not affect whole car body 1, increased stationarity and the safety of traveling.By adopting independent suspension
System, unmanned dispensing vehicle are adapted to various landform,
Wherein, the material of vehicle body can be electromagnetic wave transparent material.Electromagnetic wave transparent material is referred to and can change electricity through electromagnetic wave and hardly
The material of the property of magnetic wave, such that it is able to be easy to the first positioning antenna 2 and the second positioning 3 sending signal of antenna, prevents gps signal
Decay.
Wherein, the material of vehicle frame can be aluminum alloy materials, so that vehicle frame is solid, light.
Fig. 6 is the structure chart of one embodiment of the unmanned dispensing truck control device of this utility model.As shown in fig. 6, the reality
The device 600 for applying example includes：Memorizer 610 and the processor 620 of the memorizer 610 is coupled to, processor 620 is configured to
Based on the instruction being stored in memorizer 610, the unmanned dispensing vehicle control method in aforementioned any one embodiment is performed.
Wherein, memorizer 610 can for example include system storage, fixed non-volatile memory medium etc..System is stored
Device is for example stored with operating system, application program, Boot loader (Boot Loader) and other programs etc..
Fig. 7 is the structure chart of another embodiment of the unmanned dispensing truck control device of this utility model.As shown in fig. 7, should
The device 600 of embodiment includes：Memorizer 610 and processor 620, can also include input/output interface 730, network interface
740th, memory interface 750 etc..Can for example pass through between these interfaces 730,740,750 and memorizer 610 and processor 620
Bus 760 connects.Wherein, input/output interface 730 be display, the input-output equipment such as mouse, keyboard, touch screen company is provided
Connection interface.Network interface 740 provides connecting interface for various networked devices.Memory interface 750 is the external storages such as SD card, USB flash disk
Equipment provides connecting interface.
Those skilled in the art should be understood that embodiment of the present utility model can be provided as method, system or calculate
Machine program product.Therefore, this utility model can be using complete hardware embodiment, complete software embodiment or with reference to software and firmly
The form of the embodiment in terms of part.And, this utility model can use journey using computer is wherein included at one or more
The computer of sequence code can be with non-transient storage medium (including but not limited to disk memory, CD-ROM, optical memory
Deng) on the form of computer program implemented.
Preferred embodiment of the present utility model is the foregoing is only, it is not to limit this utility model, all in this practicality
Within new spirit and principle, any modification, equivalent substitution and improvements made etc. should be included in guarantor of the present utility model
Within the scope of shield.
Claims (8)
1. a kind of unmanned dispensing vehicle, it is characterised in that include：
Car body (1),
First positioning antenna (2),
Second positioning antenna (3),
Radar (4),
Video camera (5), and,
Industrial control unit (ICU) (6)；
Wherein, the first positioning antenna (2) is anterior positioned at car body (1), and the second positioning antenna (3) is positioned at car body (1) rear portion；
Radar (4) is for measuring the distance between car body (1) and barrier；
Video camera (5) is for gathering the ambient image around car body (1)；
Industrial control unit (ICU) (6) is for according to the first positioning antenna (2), the second positioning antenna (3), radar (4) and video camera (5)
The information sent produces control signal, controls the traveling of car body (1).
2. unmanned dispensing vehicle according to claim 1, it is characterised in that
The line of the first positioning antenna (2) and the second positioning antenna (3) is overlooked horizontal axis with car body (1) and is overlapped, and uses respectively
In acquisition current location information；Industrial control unit (ICU) (6) is further used for according to the first positioning antenna (2) and the second positioning antenna
(3) current location information for sending determines the travel direction of unmanned dispensing vehicle, and/or,
Industrial control unit (ICU) (6) is further used for the ambient image determination that the distance sent according to radar (4) and video camera (5) send
The travel route and/or travel speed of the unmanned dispensing vehicle.
3. unmanned dispensing vehicle according to claim 1, it is characterised in that
First positioning antenna (2) and/or the second positioning antenna (3) are additionally operable to receive the positioning correction that base station sends；
The positioning correction that industrial control unit (ICU) (6) is further used for being sent according to the first positioning antenna (2) is positioned to first
The current location information that antenna (2) sends is calibrated, or, for the positioning sent according to the second positioning antenna (3)
Correction is calibrated to the current location information that the second positioning antenna (3) sends.
4. unmanned dispensing vehicle according to claim 1, it is characterised in that
Video camera (5) includes that the first photographic head and second camera, the first photographic head and second camera are located at same horizontal line；
Video camera (5) is further used for gathering image by the first photographic head and second camera respectively in synchronization, and will
The image of collection is sent to industrial control unit (ICU) (6)；
Industrial control unit (ICU) (6) is further used for the mesh in the image that synchronization is gathered according to the first photographic head and second camera
The distance between unmanned dispensing vehicle and target object described in the position calculation of mark object.
5. unmanned dispensing vehicle according to claim 1, it is characterised in that
Video camera (5) inside the front windshield of unmanned dispensing vehicle, and/or,
Radar (4) is above the front windshield of unmanned dispensing vehicle.
6. unmanned dispensing vehicle according to claim 1, it is characterised in that also include：
Counter (7), for depositing goods.
7. unmanned dispensing vehicle according to claim 1, it is characterised in that also include：
Touch screen (8), operates and is sent to industrial control unit (ICU) (6) for receive user, to carry out to the unmanned dispensing vehicle
Control.
8. unmanned dispensing vehicle according to claim 1, it is characterised in that car body (1) includes：Vehicle body, vehicle frame, independent suspension
System, and, wheel；Wherein, independent suspension system connecting vehicle frame and wheel；
Wherein, the material of vehicle body is electromagnetic wave transparent material, and/or, the material of vehicle frame is aluminum alloy materials.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621111980.3U CN206096937U (en) | 2016-10-11 | 2016-10-11 | Unmanned distribution vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621111980.3U CN206096937U (en) | 2016-10-11 | 2016-10-11 | Unmanned distribution vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206096937U true CN206096937U (en) | 2017-04-12 |
Family
ID=60414072
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621111980.3U Active CN206096937U (en) | 2016-10-11 | 2016-10-11 | Unmanned distribution vehicle |
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| Country | Link |
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| CN (1) | CN206096937U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108629547A (en) * | 2018-07-05 | 2018-10-09 | 北京智行者科技有限公司 | Logistics distribution order allocation method |
| CN108677829A (en) * | 2018-06-27 | 2018-10-19 | 江苏呈达智能科技有限公司 | A kind of control method of unmanned formula automation road sweeper |
| CN110378642A (en) * | 2018-09-28 | 2019-10-25 | 北京京东尚科信息技术有限公司 | Automatic delivery method, system, electronic equipment and computer-readable medium |
-
2016
- 2016-10-11 CN CN201621111980.3U patent/CN206096937U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108677829A (en) * | 2018-06-27 | 2018-10-19 | 江苏呈达智能科技有限公司 | A kind of control method of unmanned formula automation road sweeper |
| CN108629547A (en) * | 2018-07-05 | 2018-10-09 | 北京智行者科技有限公司 | Logistics distribution order allocation method |
| CN110378642A (en) * | 2018-09-28 | 2019-10-25 | 北京京东尚科信息技术有限公司 | Automatic delivery method, system, electronic equipment and computer-readable medium |
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