CN207397090U - A kind of unmanned distribution trolley - Google Patents
A kind of unmanned distribution trolley Download PDFInfo
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- CN207397090U CN207397090U CN201721314750.1U CN201721314750U CN207397090U CN 207397090 U CN207397090 U CN 207397090U CN 201721314750 U CN201721314750 U CN 201721314750U CN 207397090 U CN207397090 U CN 207397090U
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- distribution trolley
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Abstract
The utility model discloses a kind of unmanned distribution trolley, the unmanned distribution trolley includes car body, mobile chassis, power supply, upper strata calculating decision-making device and performs controller, the mobile chassis is located at vehicle bottom, the upper strata calculates decision-making device and performs controller to be connected with power supply, and the car body includes integrally formed headstock and vehicle body.The trolley can meet outdoor non-loaded movement and the needs for having load mobile, adapt to outdoor ordinary municipal surface conditions, reach daily life waterproofing grade, protect internal circuit and article, complete article last one kilometer dispatching task in city.
Description
Technical field
The utility model is related to field of artificial intelligence, and in particular to a kind of unmanned distribution trolley.
Background technology
In recent years, e-commerce development was rapid, and the demand of Express Logistics service is also growing, this also promotes simultaneously
The fast development of logistics service.Although dispatching market scale is expanding, the dispatching of " last one kilometer " is still difficult,
Not only manpower expends huge, but also can not meet and dispense demand anywhere or anytime.
Existing 4 wheel driven Omni-mobile platform uses omni-directional wheel or Mecanum wheel, and omni-directional wheel and Mecanum wheel are all only suitable
It is used together in indoor place, is not suitable for outdoor complex road surface situation, and driving motor is more, and power consumption is big, and cruising ability is weak, no
Can in the case where not charging for a long time longtime running, be not suitable for being used in outdoor unmanned field.
Utility model content
The purpose of this utility model is to provide a kind of unmanned distribution trolley, to solve existing outdoor manually dispatching
The problem of cargo is inconvenient.
To achieve the above object, the technical solution of the utility model be a kind of unmanned distribution trolley, the car body, shifting
Dynamic chassis, power supply, upper strata calculate decision-making device and perform controller, and the mobile chassis is located at vehicle bottom, and the upper strata calculates
Decision-making device and execution controller are connected with power supply, and the car body includes integrally formed headstock and vehicle body；
The upper strata, which calculates decision-making device, includes PC mainboards, video card, RTK boards, laser radar, camera, positioning antenna, super
Sonic sensor and wireless Modem, the video card, RTK boards, laser radar and camera are electrically connected with PC mainboards, described
Positioning antenna and wireless Modem are electrically connected with RTK boards, and the laser radar is arranged at the top of headstock, the camera difference
Arranged on the forward and backward middle part of headstock, the positioning antenna is arranged among headstock rear portion, and the ultrasonic sensor is arranged on vehicle body；
The execution controller includes the first pcb board card, the second pcb board card, two driven by Brush-Less DC motor cards and electricity
Magnetic padlock, the driven by Brush-Less DC motor card and electromagnetic lock are electrically connected respectively with the first PCB boards and the second pcb board card, described
First pcb board card and the second pcb board card are electrically connected with PC mainboards, and the ultrasonic sensor is electrically connected with the first pcb board card
It connects.
The utility model discloses a kind of unmanned distribution trolley, the power supply includes from front to back close arrangement successively
24V lithium battery groups, air switch, dc-dc and DC-ATX converters, the air switch, motor driving card and DC-
DC converters are electrically connected with 24V lithium battery groups, and the dc-dc is electrically connected by DC-ATX converters with PC mainboards,
The dc-dc is electrically connected with the second pcb board card and electromagnetic lock.
The utility model discloses a kind of unmanned distribution trolley, the vehicle body front side is equipped with car door, and interior of body is set
There is hollow cargo hold, the tank top both sides are connected respectively by two connecting brackets with mobile chassis screw, described wireless
Modem, the second pcb board card and RTK boards are arranged on 1 top of cargo hold, and electromagnetic lock is arranged on the inside of cargo hold.
The utility model discloses a kind of unmanned distribution trolley, the mobile chassis includes bottom plate and moving mechanism,
Connection metal plate is equipped in the middle part of the bottom plate, the moving mechanism includes two driving devices and wheel group, and the driving device is consolidated
Due to connection metal plate lower part, the wheel group includes driving wheel and driven wheel, and the driving wheel is distributed in bottom plate on both sides of the middle, leads to
It crosses shaft with driving device to be connected, the driven wheel includes the first driven wheel and the second driven wheel, and first driven wheel passes through
Flange shaft is arranged at pan front both sides, and second driven wheel is arranged at bottom rear both sides by flange shaft.
The utility model discloses a kind of unmanned distribution trolley, the driving device includes being sequentially distributed from inside to outside
Motor, motor cabinet, photoelectric encoder, bearing and flange, described motor one end is equipped with motor shaft, and the motor shaft sequentially passes through
Motor cabinet, photoelectric encoder, bearing and flange, the motor are fixedly mounted on motor cabinet, and described motor cabinet one end is with being connected
Metal plate is fixed, and the other end is fixed with bottom plate, and the motor shaft and flange key connection, the driving wheel pass through flange hole and flange phase
Even, the photoelectric encoder is electrically connected with the first pcb board card and motor.
The utility model discloses a kind of unmanned distribution trolley, the bottom plate is equipped with bending part, the bending part
Centre is equipped with screw hole.
The utility model discloses a kind of unmanned distribution trolley, the mobile chassis is connected by screw hole and car body screw
It connects.
The utility model discloses a kind of unmanned distribution trolley, the car door one side is connected by hinge with vehicle body.
The utility model has the following advantages that：
Unmanned trolley uses the Pedestrians and vehicles target detection technique based on deep learning, based on laser radar and monocular
The fusion of the avoidance technology of vision fusion and three kinds of technologies of mapping and location technology based on RTK-GPS, realizes that nobody matches somebody with somebody
The manual intelligent sent, integrated body construction are stablized, and hardware is according to sectorization closely arranged on chassis, and trolley center of gravity is more
Surely, chassis can be flexibly turned to or even pivot stud, chassis structure is reasonable, holds using two driving wheels, the structure of four driven wheels
Beijing South Maxpower Technology Co. Ltd's power is strong, good to urban pavement adaptability.The trolley can meet outdoor non-loaded movement and the needs for having load mobile, can fit
Outdoor ordinary municipal surface conditions are answered, reach daily life waterproofing grade, protect internal circuit and article, complete article in city
Last one kilometer dispenses task.
Description of the drawings
Flat and stereo figure during a kind of forward sight of unmanned distribution trolley of Fig. 1.
Flat and stereo figure during a kind of backsight of unmanned distribution trolley of Fig. 2.
A kind of mobile chassis flat and stereo figure of unmanned distribution trolley of Fig. 3.
A kind of mobile chassis top views of unmanned distribution trolley of Fig. 4.
A kind of driving device partial views of unmanned distribution trolley of Fig. 5.
A kind of partial views of unmanned distribution trolley of Fig. 6.
Specific embodiment
The following examples illustrate the utility model, but is not intended to limit the scope of the present invention.
Embodiment 1
With reference to figure 1-6, a kind of unmanned distribution trolley, the unmanned distribution trolley includes：Car body 1, mobile bottom
Disk 2, power supply, upper strata calculate decision-making device and perform controller, and the mobile chassis 2 is located at 1 bottom of car body, and the upper strata calculates and determines
Plan device and execution controller are connected with power supply, and the car body 1 includes integrally formed headstock 11 and vehicle body 12；
The upper strata, which calculates decision-making device, includes 111, two PC mainboards 35, video card 36, RTK boards 37, laser radar camera shootings
First 112,114,4 ultrasonic sensors 121 of antenna and wireless Modem 1232 are positioned, the video card 36, RTK boards 37 swash
Optical radar 111 and camera 112 are electrically connected with PC mainboards 35, and the positioning antenna 114 and wireless Modem 1232 are and RTK
Board 37 is electrically connected, and the laser radar 111 is arranged on 11 top of headstock, and described two cameras 112 are respectively arranged on headstock 11
Forward and backward middle part, the positioning antenna 114 are arranged among 11 rear portion of headstock, and 4 ultrasonic sensors 121 are arranged on vehicle body 12；
The execution controller includes 1233, two the first pcb board card 38, the second pcb board card driven by Brush-Less DC motor
Card 39 and electromagnetic lock 1234, the driven by Brush-Less DC motor card 39 and electromagnetic lock 1234 respectively with the first pcb board card 38 and the
Two pcb board cards 1233 are electrically connected, and the first pcb board card 38 and the 2nd PCB are electrically connected with PC mainboards 35,4 ultrasounds
Wave sensor 121 is electrically connected with the first pcb board card 38.
Specifically, the power supply includes the 24V lithium battery groups 31 closely arranged successively from front to back, air switch 32, DC-
DC converters 33 and DC-ATX converters 34, the air switch 32, motor driving card 39 and dc-dc 33 are and 24V
Lithium battery group 31 is electrically connected, and the dc-dc 33 is electrically connected by DC-ATX converters 34 with PC mainboards 35, described
Dc-dc 33 is electrically connected with the second pcb board card 1233 and electromagnetic lock 1234.
Specifically, 12 front side of vehicle body is equipped with car door 122, vehicle body 12 is internally provided with hollow cargo hold 123, the cargo hold
123 two bottom sides are connected respectively by two connecting brackets 1231 with 2 screw of mobile chassis, the wireless Modem 1232,
Two pcb board cards 1233 and RTK boards 37 are arranged on 123 top of cargo hold, and electromagnetic lock 1234 is arranged on 123 inside of cargo hold.Electromagnetic lock 1234
The door control system of trolley, first user's operation wechat small routine client and to Ali's Cloud Server send demand data, lead to
The data of Ali's cloud server wechat small routine transmission are crossed, robot PC mainboards 35 then constantly obtain Ali's Cloud Server
Data, and the data got are sent to the second pcb board card 1233 by serial ports, the second pcb board card 1233 receives unlocking letter
The IO level of corresponding lock is converted into after number, so as to by relay electromagnetic lock 1234 be controlled to open.
Specifically, the mobile chassis 2 includes bottom plate 21 and moving mechanism 22,21 middle part of bottom plate is equipped with connection metal plate
Gold 23, the moving mechanism 22 include two driving devices 24 and wheel group, and the driving device 24 is fixed on connection metal plate 23
Lower part, the wheel group include driving wheel 26 and driven wheel, and the driving wheel 26 is distributed in 21 on both sides of the middle of bottom plate, passes through shaft
It is connected with driving device 24, the driven wheel includes the first driven wheel 27 and the second driven wheel 28, and first driven wheel 27 is logical
It crosses flange shaft and is arranged at 21 front part sides of bottom plate, second driven wheel 28 is arranged at 21 rear portion both sides of bottom plate by flange shaft.
Specifically, the driving device 24 includes the motor 241, motor cabinet 242, the photoelectric coding that are sequentially distributed from inside to outside
Device 243, bearing 244 and flange 245, described 241 one end of motor are equipped with motor shaft 2411, and the motor shaft 2411 sequentially passes through electricity
Engine base 242, photoelectric encoder 243, bearing 244 and flange 245, the motor 241 is fixedly mounted on motor cabinet 242, described
242 one end of motor cabinet is fixed with being connected metal plate 23, and the other end is fixed with bottom plate 21, and the motor shaft 2411 connects with 245 key of flange
It connects, the driving wheel 26 is connected by flange hole with flange 245, the 243 and first pcb board card 38 of photoelectric encoder and motor
241 are electrically connected.
Specifically, the bottom plate 21 is equipped with bending part 211, screw hole 2111 is equipped among the bending part 211.
Specifically, the mobile chassis 2 is connected by screw hole 2111 with 1 screw of car body.
Specifically, 122 one side of car door is connected by hinge with vehicle body 12.
The mode of progression of the unmanned distribution trolley includes：
RTK-GPS systems in RTK boards 37 obtain the longitude and latitude degrees of data of centimetre class precision and send it to PC mainboards
35；
The order of first pcb board card 38 processing optimal path and the wheel differential control letter for generating arranged on left and right sides wheel group
Number；
First pcb board card 38 calibrates wheel differential control signal by pid algorithm；
Wheel differential control signal after calibration is sent to driven by Brush-Less DC motor card 39, wherein, the first pcb board card 38
Driven by Brush-Less DC motor card 39 is driven in the form of PWM wave duty cycle by wheel differential control signal；
The location information collected is then fed directly to the first pcb board card 38 by photoelectric encoder 243, via pid algorithm
Form speed control closed loop；And
39 driving motor 241 of driven by Brush-Less DC motor card rotates, and motor 241 drives driving wheel 26 to rotate, driving wheel 26
Drive driven wheel rotation that trolley is driven to be advanced by the path of planning.
In 241 rotation process of motor, the data that photoelectric encoder 243 collects return to PC mainboards 35, are calculated in navigation
Aligning is used in method.
The unmanned distribution trolley is based on 121 avoidance of camera 112, laser radar 111 and ultrasonic sensor, leads to
Camera 112 is crossed to gather picture and carry out image identification, disturbance in judgement species type and pass through monocular vision algorithm judgment object away from
From；Dynamic map is built by 111 scanning circumstance of laser radar；Obstacle distance is detected by ultrasonic sensor 121, finally
As local positioning as a result, during trolley traveling in fact after the data of three kinds of sensors acquisitions are merged in PC mainboards 35
Existing avoidance.
The use of the unmanned distribution trolley operates：
First, user's operation wechat small routine client and to Ali's Cloud Server send demand data, pass through Ali's cloud
Server receives the data that wechat small routine is sent；
The PC mainboards 35 of the unmanned distribution trolley obtain the data of Ali's Cloud Server, the pedestrian based on deep learning
Vehicle target detection technique, the avoidance technology merged with monocular vision based on laser radar and the mapping based on RTK-GPS
With the fusion of three kinds of technologies of location technology, calculate away the optimal path of user location and realize avoidance in the process of moving；
Trolley is travelled to destination, user's picking out of car body 1, clicks on the picking button on wechat program median surface, micro-
Believe small routine client and send demand data to Ali's Cloud Server, sent by Ali's cloud server wechat small routine
Data, robot PC mainboards 35 then constantly obtain the data of Ali's Cloud Server, and the data got are sent out by serial ports
The second pcb board card 1233 is given, the second pcb board card 1233 is converted into the corresponding IO level locked after receiving unlocking signal, from
And electromagnetic lock 1234 is controlled by relay.
The utility model is regarded using the Pedestrians and vehicles target detection technique based on deep learning, based on laser radar and monocular
Feel the fusion of the avoidance technology of fusion and three kinds of technologies of mapping and location technology based on RTK-GPS, realize unmanned dispatching
Manual intelligent, integrated body construction stablizes, and modular assembly is according to sectorization closely arranged on domain, trolley center of gravity
More steady, chassis can be flexibly turned to or even pivot stud using two driving wheels, the structure of four driven wheels, and chassis structure is reasonable,
Load-bearing capacity is strong, good to urban pavement adaptability.
Although above having made detailed description to the utility model with generality explanation and specific embodiment,
On the basis of the utility model, it can be made some modifications or improvements, this is apparent to those skilled in the art
's.Therefore, the these modifications or improvements on the basis of without departing from the utility model spirit, belonging to the utility model will
Seek the scope of protection.
Claims (8)
1. a kind of unmanned distribution trolley, which is characterized in that the unmanned distribution trolley includes：Car body (1), mobile bottom
Disk (2), power supply, upper strata calculate decision-making device and perform controller, and the mobile chassis (2) is located at car body (1) bottom, the upper strata
It calculates decision-making device and performs controller and be connected with power supply, the car body (1) includes integrally formed headstock (11) and vehicle body
(12)；
The upper strata, which calculates decision-making device, includes PC mainboards (35), video card (36), RTK boards (37), laser radar (111), camera shooting
Head (112), positioning antenna (114), ultrasonic sensor (121) and wireless Modem (1232), the video card (36), RTK boards
(37), laser radar (111) and camera (112) are electrically connected with PC mainboards (35), it is described positioning antenna (114) and wirelessly
Modem (1232) is electrically connected with RTK boards (37), and the laser radar (111) is arranged at the top of headstock (11), the camera
(112) headstock (11) forward and backward middle part is respectively arranged on, the positioning antenna (114) is arranged among headstock (11) rear portion, the ultrasound
Wave sensor (121) is arranged on vehicle body (12)；
The execution controller includes the first pcb board card (38), the second pcb board card (1233), two driven by Brush-Less DC motor
Block (39) and electromagnetic lock (1234), the driven by Brush-Less DC motor card (39) and electromagnetic lock (1234) respectively with the first pcb board
Block (38) and the electrical connection of the second pcb board card (1233), the first pcb board card (38) and the 2nd PCB are electric with PC mainboards (35)
Connection, the ultrasonic sensor (121) are electrically connected with the first pcb board card (38).
2. a kind of unmanned distribution trolley as described in claim 1, which is characterized in that the power supply include from front to back according to
The secondary 24V lithium battery groups (31) closely arranged, air switch (32), dc-dc (33) and DC-ATX converters (34), institute
Air switch (32), motor driving card (39) and dc-dc (33) is stated to be electrically connected with 24V lithium battery groups (31), it is described
Dc-dc (33) is electrically connected by DC-ATX converters (34) with PC mainboards (35), the dc-dc (33) and the
Two pcb board cards (1233) and electromagnetic lock (1234) electrical connection.
3. a kind of unmanned distribution trolley as described in claim 1, which is characterized in that vehicle is equipped on front side of the vehicle body (12)
Door (122), vehicle body (12) are internally provided with hollow cargo hold (123), and cargo hold (123) two bottom sides pass through two connections respectively
Stent (1231) is connected with mobile chassis (2) screw, the wireless Modem (1232), the second pcb board card (1233) and RTK plates
Block (37) to be arranged at the top of cargo hold (123), electromagnetic lock (1234) is arranged on the inside of cargo hold (123).
4. a kind of unmanned distribution trolley as described in claim 1, which is characterized in that the mobile chassis (2) includes bottom
Plate (21) and moving mechanism (22), bottom plate (21) middle part are equipped with connection metal plate (23), and the moving mechanism (22) includes two
A driving device (24) and wheel group, the driving device (24) are fixed on connection metal plate (23) lower part, and the wheel group includes
Driving wheel (26) and driven wheel, the driving wheel (26) are distributed in bottom plate (21) on both sides of the middle, pass through shaft and driving device
(24) it is connected, the driven wheel includes the first driven wheel (27) and the second driven wheel (28), and first driven wheel (27) passes through
Flange shaft is arranged at bottom plate (21) front part sides, and second driven wheel (28) is arranged at bottom plate (21) rear portion two by flange shaft
Side.
5. a kind of unmanned distribution trolley as claimed in claim 4, which is characterized in that the driving device (24) include from
It is interior to the motor being sequentially distributed outside (241), motor cabinet (242), photoelectric encoder (243), bearing (244) and flange (245), institute
Motor (241) one end is stated equipped with motor shaft (2411), the motor shaft (2411) sequentially passes through motor cabinet (242), photoelectric coding
Device (243), bearing (244) and flange (245), the motor (241) are fixedly mounted on motor cabinet (242), the motor cabinet
(242) one end is fixed with being connected metal plate (23), and the other end is fixed with bottom plate (21), the motor shaft (2411) and flange (245)
Key connection, the driving wheel (26) are connected by flange hole with flange (245), the photoelectric encoder (243) and the first pcb board
Card (38) and motor (241) are electrically connected.
6. a kind of unmanned distribution trolley as claimed in claim 4, which is characterized in that the bottom plate (21) is equipped with bending
Portion (211), the bending part (211) is intermediate to be equipped with screw hole (2111).
7. a kind of unmanned distribution trolley as described in claim 1, which is characterized in that the mobile chassis (2) passes through spiral shell
Hole (2111) is connected with car body (1) screw.
8. a kind of unmanned distribution trolley as claimed in claim 3, which is characterized in that car door (122) one side passes through
Hinge is connected with vehicle body (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721314750.1U CN207397090U (en) | 2017-10-12 | 2017-10-12 | A kind of unmanned distribution trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721314750.1U CN207397090U (en) | 2017-10-12 | 2017-10-12 | A kind of unmanned distribution trolley |
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| Publication Number | Publication Date |
|---|---|
| CN207397090U true CN207397090U (en) | 2018-05-22 |
Family
ID=62331610
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| CN201721314750.1U Active CN207397090U (en) | 2017-10-12 | 2017-10-12 | A kind of unmanned distribution trolley |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107643756A (en) * | 2017-10-12 | 2018-01-30 | 北京真机智能科技有限公司 | A kind of unmanned distribution trolley and its mode of progression |
| CN108749930A (en) * | 2018-06-05 | 2018-11-06 | 北京智行者科技有限公司 | A kind of body assembly |
| CN108908339A (en) * | 2018-08-02 | 2018-11-30 | 常州大学 | A kind of merchandising machine people's system for region distribution |
| CN109263752A (en) * | 2018-09-30 | 2019-01-25 | 张磊 | A kind of multifunctional mobile platform |
| CN109828576A (en) * | 2019-02-22 | 2019-05-31 | 北京京东尚科信息技术有限公司 | Gestural control method, device, equipment and medium for unmanned dispensing machine people |
| CN110631474A (en) * | 2019-11-04 | 2019-12-31 | 重庆市亿飞智联科技有限公司 | Motor calibration system, method and device, controller and storage medium |
| CN110645891A (en) * | 2019-11-04 | 2020-01-03 | 重庆市亿飞智联科技有限公司 | Motor calibration system, method and device, controller and storage medium |
-
2017
- 2017-10-12 CN CN201721314750.1U patent/CN207397090U/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107643756A (en) * | 2017-10-12 | 2018-01-30 | 北京真机智能科技有限公司 | A kind of unmanned distribution trolley and its mode of progression |
| CN108749930A (en) * | 2018-06-05 | 2018-11-06 | 北京智行者科技有限公司 | A kind of body assembly |
| CN108749930B (en) * | 2018-06-05 | 2020-08-07 | 北京智行者科技有限公司 | Vehicle body assembly |
| CN108908339A (en) * | 2018-08-02 | 2018-11-30 | 常州大学 | A kind of merchandising machine people's system for region distribution |
| CN109263752A (en) * | 2018-09-30 | 2019-01-25 | 张磊 | A kind of multifunctional mobile platform |
| CN109828576A (en) * | 2019-02-22 | 2019-05-31 | 北京京东尚科信息技术有限公司 | Gestural control method, device, equipment and medium for unmanned dispensing machine people |
| CN110631474A (en) * | 2019-11-04 | 2019-12-31 | 重庆市亿飞智联科技有限公司 | Motor calibration system, method and device, controller and storage medium |
| CN110645891A (en) * | 2019-11-04 | 2020-01-03 | 重庆市亿飞智联科技有限公司 | Motor calibration system, method and device, controller and storage medium |
| CN110645891B (en) * | 2019-11-04 | 2022-02-08 | 重庆市亿飞智联科技有限公司 | Motor calibration system, method and device, controller and storage medium |
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