CN210881996U - Sensor combination system of multi-stage container unmanned tractor - Google Patents
Sensor combination system of multi-stage container unmanned tractor Download PDFInfo
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- CN210881996U CN210881996U CN201921697910.4U CN201921697910U CN210881996U CN 210881996 U CN210881996 U CN 210881996U CN 201921697910 U CN201921697910 U CN 201921697910U CN 210881996 U CN210881996 U CN 210881996U
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Abstract
The utility model discloses a sensor combined system of multistage packing box unmanned tractor, which comprises a carriage body, well accuse platform and a plurality of sensor of setting on the automobile body, a plurality of sensors are including setting up collision sensor on the automobile body and setting up at automobile body radar sensor all around, the automobile body front portion is provided with the anticollision bumper, place the anticollision bumper in the collision sensor, radar sensor sets up around the automobile body and on the anticollision bumper, set up in automobile body radar sensor work end all around respectively towards automobile body front side, left side and right side, the radar sensor work end of setting on the anticollision bumper is towards automobile body front side, radar sensor with the signal input part of well accuse platform is connected respectively to collision sensor's signal output part. Through the radar sensor, the obstacles around the vehicle body are detected and early-warned, the collision sensor detects and warns the collision, the central control console is matched with start-stop, brake and obstacle avoidance steering, the automation degree is higher, and the operation is more stable.
Description
Technical Field
The utility model relates to an unmanned technical field, concretely relates to sensor technical field especially relates to a sensor combined system of multistage packing box unmanned tractor.
Background
In the context of high labor costs, robot replacement is becoming a necessary trend. If the traditional tractor is gradually transformed to the unmanned tractor at present, the unmanned tractor can help enterprises to improve the productivity and reduce the cost. No matter indoor or outdoor or under complicated working conditions, the unmanned tractor can freely run, 3 people can be saved every day, and the distribution efficiency is improved by more than 50%. The automatic operation of the unmanned tractor needs a plurality of detection systems to protect the driving, automatic obstacle avoidance, starting and stopping, steering and alarm prompting lamps are realized, and the unmanned tractor needs more perfect and sensitive detection systems to detect road condition information on a driving path due to the existence of multi-stage containers.
SUMMERY OF THE UTILITY MODEL
In order to fill the blank of prior art, the utility model provides a sensor combined system of multistage packing box unmanned tractor.
The utility model provides a sensor combined system of multistage packing box unmanned tractor, includes the automobile body, sets up the central console on the automobile body and sets up a plurality of sensors on the automobile body, a plurality of sensors are including setting up collision sensor and the radar sensor on the automobile body, the automobile body front portion is provided with the anticollision bumper, place in the collision sensor anticollision bumper, the radar sensor includes that the working end moves towards respectively collision radar sensor on automobile body front side and/or automobile body left side and/or automobile body right side, and set up on the anticollision bumper or set up near the working end orientation of anticollision bumper the road surface obstacle radar sensor of automobile body front side, the radar sensor with the signal output part of collision sensor connects respectively the signal input part of central console.
As the improvement of above-mentioned scheme, still include the radar sensor mount pad, the radar sensor mount pad includes base, bottom plate, apron and regulating plate, the base is fixed automobile body top, bottom plate and apron are fixed respectively on the base, do between bottom plate and the apron radar sensor mounted position, regulating plate one end is connected the apron, the other end is connected radar sensor is used for right the regulation of radar sensor every single move direction.
As an improvement of the scheme, one end of the bottom plate is fixedly connected with the base, and the other end of the bottom plate is suspended and is arranged in an inclined mode downwards.
As an improvement of the above scheme, the plurality of sensors further comprise a camera, the camera is installed in the camera fixing seat, the camera fixing seat is fixed at the top of the vehicle body, the camera is installed inside the camera fixing seat, and a transparent plate is arranged at the position of the camera shooting end corresponding to the camera fixing seat.
As an improvement of the scheme, the anti-collision bumper is fixedly connected with the vehicle body through at least two connecting rods, the radar sensor arranged on the anti-collision bumper is fixed on the connecting rods, the working end of the radar sensor faces the front side of the vehicle body, a rubber layer covers the front end face of the anti-collision bumper, and the collision sensor is arranged in the rubber layer.
As an improvement of the scheme, the vehicle body comprises a vehicle head and carriages detachably connected with the vehicle head in sequence, and the radar sensors are arranged at the gap positions between the vehicle head and the carriages and/or the gap positions between the adjacent carriages.
As an improvement of the scheme, the radar sensors are arranged at the gap positions between the vehicle head and the carriage and/or the gap positions between the adjacent carriages at intervals from top to bottom, and the working ends of the radar sensors protrude out of the side surfaces of the vehicle head and the side surfaces of the carriage.
As an improvement of the scheme, the central control console comprises a main controller and a driving system, the signal input end of the driving system is connected with the signal output end of the main controller, and the signal output ends of the radar sensor, the collision sensor and the camera are respectively connected with the signal input end of the main controller.
As an improvement of the scheme, the driving system comprises a route module, an accelerator module, a brake module, a steering module, a light module and a voice module, wherein the signal output end of the main controller is respectively connected with the signal input ends of the route module, the accelerator module, the brake module, the steering module, the light module and the voice module.
The utility model has the advantages that: the utility model discloses a set up at automobile body radar sensor all around, set up at the camera at automobile body top, set up the comprehensive detection and the judgement of collision sensor on automobile body front side anticollision bumper, realize that the environment that traveles detects, obstacle detection early warning and collision detection report to the police, and for the sensitivity and the detection coverage that strengthen the detection, not only be provided with all around at the automobile body radar sensor, clearance position between locomotive and carriage and/or clearance position between the adjacent carriage also are provided with radar sensor, guarantee to detect the obstacle and do not have the dead angle to open through the driving system and stop, brake, turn to, report to the police etc. and control the platform according to actual conditions planning best route of traveling in the cooperation, make unmanned tractor operation more stable, safer.
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The present invention will be further explained with reference to the drawings and examples.
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is the utility model discloses radar sensor installs the schematic structure diagram at radar sensor mount pad.
Detailed Description
It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail with reference to examples.
The utility model relates to a sensor combined system of multistage packing box unmanned tractor, it is right below the utility model discloses a preferred embodiment does further detailed description.
As shown in fig. 1 and 2, a sensor combination system of a multi-stage cargo box unmanned tractor comprises a vehicle body 10, a center console 20 arranged on the vehicle body 10, and a plurality of sensors arranged on the vehicle body 10, wherein the plurality of sensors comprise a collision sensor 30 arranged at the front end of the vehicle body 10 and radar sensors 40 arranged on the circumference of the vehicle body 10, the radar sensors 40 comprise collision radar sensors with working ends respectively facing the front side of the vehicle body 10 and the left side of the vehicle body 10 and the right side of the vehicle body 10, and road obstacle radar sensors arranged on the collision bumper 11 or near the collision bumper 11 with working ends facing the front side of the vehicle body 10, the front part of the vehicle body 10 is provided with the collision bumper 11, the collision sensors 30 are arranged in the front end of the collision bumper 11, the radar sensors 40 are respectively arranged on the top of the periphery of the vehicle body 10 and the vehicle body 10 above the collision bumper 11, set up in the radar sensor 40 working end at automobile body 10 top is respectively towards automobile body 10 front side, automobile body 10 left side and automobile body 10 right side detect the barrier in automobile body 10 the place ahead respectively, automobile body 10 left side and automobile body 10 right side, prevent to produce the collision, set up radar sensor 40 working end orientation on the anticollision bumper 11 automobile body 10 front side and orientation direction are parallel with automobile body 10 direction of motion, radar sensor 40 with collision sensor 30's signal output part connects respectively the signal input part of well accuse platform 20. In the advancing process of the vehicle body 10, the radar sensors 40 arranged on the periphery of the vehicle body 10 are used for detecting obstacles in front of the vehicle body 10, on the left side of the vehicle body 10 and on the right side of the vehicle body 10, the detection data are transmitted to the central control console 20 in real time, the central control console 20 is used for controlling starting, stopping, braking, steering, alarming and the like of the vehicle body 10, the running is safer, the collision sensor 30 is further arranged in the front end of the anti-collision bumper 11 arranged on the front portion of the vehicle body 10, the vehicle body 10 collides with the obstacles under the limit condition that the obstacles suddenly appear in front of the vehicle body 10, and when the collision sensor 30 transmits collision information to the central control console 20, the central control console 20 immediately brakes and alarms to remind a worker, the automation degree is high, and the safety is good. The both sides of automobile body 10 front end are provided with parallel support, the support front end is fixed with curved crashproof bumper 11, automobile body 10, support and crashproof bumper enclose into a space, road surface obstacle radar sensor's working face is towards this space scope for detect the road surface height in this space scope, avoid because the protruding striking automobile body 10 that appears suddenly and the chassis of packing box, cause the loss, influence normal unmanned driving control. This structure can effectual protection radar sensor to each divides the worker, can reliably realize the barrier and detect.
Preferably, the road obstacle radar sensor can adopt a fir laser radar Lidar Delta3 sensor to realize real-time high-speed ranging to judge and detect obstacles, the mounting base is fixed at the center of the vehicle body 10, the position above the anti-collision bumper is arranged, and the working surface faces the ground, so that the maximum monitoring range is achieved.
Preferably, still include radar sensor mount pad 50, radar sensor mount pad 50 includes base 51, bottom plate 52, apron 53 and regulating plate 54, base 51 is fixed the automobile body 10 top, bottom plate 52 and apron 53 are fixed respectively on base 51, bottom plate 52 one end with base 51 is connected fixedly, and the other end is unsettled and the slope setting down, do between bottom plate 52 and the apron 53 radar sensor 40 mounted position, regulating plate 54 one end is connected apron 53, the other end is connected radar sensor 40 is used for right the regulation of radar sensor 40 pitch direction. The radar sensor 40 is attached to the bottom plate 52, so that the radar sensor 40 is also obliquely arranged along with the bottom plate 52, the top of the cover plate 53 covers the radar sensor 40, the radar sensor 40 is prevented from being easily damaged due to long-term exposure to the sun and rain, the pitch direction of the radar sensor 40 is adjusted by the adjusting plate 54, preferably, the adjusting plate 54 is connected with an electric transmission mechanism, the signal input end of the electric transmission mechanism is connected with the signal output end of the central console 20, and the electric transmission mechanism can be controlled by the central console 20 to further control the adjusting plate 54 to adjust the position of the pitch direction of the radar sensor 40, so that the detection coverage angle of the radar sensor 40 is wider.
Preferably, the sensors further include a camera 60, the camera 60 is installed in a camera fixing seat 70, the camera fixing seat 70 is fixed at the top of the vehicle body 10, the camera fixing seat 70 is a cylindrical camera fixing seat 70, the middle of the camera fixing seat is a cavity, the camera 60 is installed inside the camera fixing seat 70, and a transparent plate is arranged at the position, corresponding to the shooting end of the camera 60, of the camera fixing seat 70. Camera 60 is used for gathering surrounding environment information, camera 60 is preferably around looking camera 60, camera 60 is in 360 degrees rotations can be carried out in camera fixing base 70, and the scope is wider. The camera 60 is built in the camera fixing seat 70, so that the damage of the camera 60 caused by rainwater entering the camera 60 in rainy days can be avoided.
As an alternative embodiment, a GPS sensor is further provided on the vehicle body 10, and the GPS sensor and the center console 20 are used to design a driving route and to re-plan the driving route when an obstacle is encountered. And automatic obstacle avoidance, starting and stopping, steering and route planning are realized through cooperation among the radar sensors 40 arranged around the vehicle body 10, the automation degree is high, and the unmanned tractor runs stably.
Preferably, the anti-collision bumper 11 is fixedly connected with the vehicle body 10 through at least two connecting rods, the two connecting rods are both provided with damping springs, the radar sensor 40 arranged on the anti-collision bumper 11 is fixed on the connecting rods, the working end of the radar sensor faces the front side of the vehicle body 10, the front end face of the anti-collision bumper 11 is covered with a rubber layer, and the collision sensor 30 is arranged in the rubber layer. The anti-collision bumper 11 can protect the barrier and the vehicle body 10 when an emergency collision occurs, the collision sensor 30 arranged on the anti-collision bumper 11 can sense the collision at the first time and transmit collision information to the central console 20, and the central console 20 can react at the first time, brake and send out an alarm prompt.
Preferably, the vehicle body 10 comprises a vehicle head 12 and a carriage 13, the vehicle head 12 and the carriage 13 are sequentially detachably connected, and the radar sensor 40 is also arranged at a gap position between the vehicle head 12 and the carriage 13 and/or a gap position between adjacent carriages 13. The radar sensors 40 arranged at the gap positions between the vehicle head 12 and the carriages 13 and/or the gap positions between the adjacent carriages 13 are sequentially arranged at intervals from top to bottom, and the working ends of the radar sensors 40 protrude out of the side surface of the vehicle body 10 and the side surface of the carriage 13. Because the multiple carriages 13 are connected behind the vehicle head 12, the vehicle head 12 is very easy to collide with obstacles on the side surface of the vehicle body 10 during turning, and the turning time of the vehicle body needs to be regulated, on the basis that the radar sensors 40 are arranged at the top of the vehicle body 10 towards the left side and the right side of the vehicle body 10, the radar sensors 40 are also arranged at the gap position between the vehicle head 12 and the carriages 13 and/or the gap position between the adjacent carriages 13 so as to ensure the detection of the obstacles on the side surface of the vehicle body 10 and the side surface of the carriages 13, the optimal turning time is obtained after the detection data of the radar sensors 40 are analyzed and processed, the smooth turning is ensured, and the situation that the multiple carriages 13 cannot turn until the obstacles on the side.
Preferably, the center console 20 includes a main controller and a driving system, a signal input end of the driving system is connected to a signal output end of the main controller, and signal output ends of the radar sensor 40, the collision sensor 30 and the camera 60 are respectively connected to the signal input end of the main controller. The driving system comprises a route module, an accelerator module, a brake module, a steering module, a light module and a voice module, wherein the signal output end of the main controller is respectively connected with the signal input ends of the route module, the accelerator module, the brake module, the steering module, the light module and the voice module. Camera 60, radar sensor 40, collision sensor 30 and GPS sensor will detect data transmission and give main control unit carries out centralized analysis handles to corresponding control route module, throttle module, brake module, turn to module, light module and voice module work realize opening automatically and stop, turn to automatically and keep away barrier, automatic flashing light warning etc. and it is higher to compare in traditional unmanned driving tractor degree of automation, and the operation is more stable.
Finally, the above embodiments are only used 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 can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution, which should be covered by the claims of the present invention.
Claims (9)
1. A sensor combination system of a multi-stage cargo box unmanned tractor, comprising a vehicle body (10), a center console (20) arranged on the vehicle body (10), and a plurality of sensors arranged on the vehicle body (10), characterized in that: the multiple sensors comprise a collision sensor (30) and a radar sensor (40) which are arranged on a vehicle body (10), wherein an anti-collision bumper (11) is arranged at the front part of the vehicle body (10), the collision sensor (30) is arranged in the anti-collision bumper (11), the radar sensor (40) comprises a working end which faces towards the collision radar sensor on the front side of the vehicle body (10) and/or on the left side of the vehicle body (10) and/or on the right side of the vehicle body (10) respectively, and a working end which is arranged on the anti-collision bumper (11) or near the anti-collision bumper (11) faces towards the road obstacle radar sensor on the front side of the vehicle body (10), and the signal output ends of the radar sensor (40) and the collision sensor (30) are connected with the signal input end of the central console (20) respectively.
2. The sensor combination system of a multi-stage cargo box drone tractor of claim 1, wherein: still include radar sensor mount pad (50), radar sensor mount pad (50) include base (51), bottom plate (52), apron (53) and regulating plate (54), base (51) are fixed automobile body (10) top, bottom plate (52) and apron (53) are fixed respectively on base (51), do between bottom plate (52) and apron (53) radar sensor (40) mounted position, regulating plate (54) one end is connected apron (53), the other end is connected radar sensor (40) are used for right radar sensor (40) pitch direction's regulation.
3. The sensor combination system of a multi-stage cargo box drone tractor of claim 2, characterized in that: one end of the bottom plate (52) is fixedly connected with the base (51), and the other end of the bottom plate is suspended and is arranged obliquely downwards.
4. The sensor combination system of a multi-stage cargo box drone tractor of claim 1, wherein: the plurality of sensors further comprise a camera (60), the camera (60) is installed on the camera fixing seat (70), the camera fixing seat (70) is fixed at the top of the vehicle body (10), the camera (60) is installed inside the camera fixing seat (70), the camera fixing seat (70) is provided with a transparent plate corresponding to the shooting end position of the camera (60).
5. The sensor combination system of a multi-stage cargo box drone tractor of claim 1, wherein: anticollision bumper (11) through two piece at least connecting rods with automobile body (10) are connected fixedly, set up radar sensor (40) on anticollision bumper (11) are fixed on the connecting rod and the working end orientation automobile body (10) front side, the terminal surface covers has the rubber layer before anticollision bumper (11), collision sensor (30) set up in the rubber layer.
6. The sensor combination system of a multi-stage cargo box drone tractor of claim 1, wherein: the car body (10) comprises a car head (12) and carriages (13) which are sequentially detachably connected with the car head (12), and the radar sensors (40) are arranged at the gap positions between the car head (12) and the carriages (13) and/or the gap positions between the adjacent carriages (13).
7. The sensor combination system of a multi-stage cargo box drone tractor of claim 6, wherein: the radar sensor (40) is arranged at the gap position between the vehicle head (12) and the carriage (13) and/or the gap position between the adjacent carriages (13) at intervals from top to bottom in sequence, and the working end of the radar sensor (40) protrudes from the side surface of the vehicle head (12) and the side surface of the carriage (13).
8. The sensor combination system of a multi-stage cargo box drone tractor of claim 4, wherein: the central control console (20) comprises a main controller and a driving system, the signal input end of the driving system is connected with the signal output end of the main controller, and the signal output ends of the radar sensor (40), the collision sensor (30) and the camera are respectively connected with the signal input end of the main controller.
9. The sensor combination system of a multi-stage cargo box drone tractor of claim 8, wherein: the driving system comprises a route module, an accelerator module, a brake module, a steering module, a light module and a voice module, wherein the signal output end of the main controller is respectively connected with the signal input ends of the route module, the accelerator module, the brake module, the steering module, the light module and the voice module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921697910.4U CN210881996U (en) | 2019-10-11 | 2019-10-11 | Sensor combination system of multi-stage container unmanned tractor |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921697910.4U CN210881996U (en) | 2019-10-11 | 2019-10-11 | Sensor combination system of multi-stage container unmanned tractor |
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| CN210881996U true CN210881996U (en) | 2020-06-30 |
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| CN201921697910.4U Active CN210881996U (en) | 2019-10-11 | 2019-10-11 | Sensor combination system of multi-stage container unmanned tractor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117698706A (en) * | 2024-02-06 | 2024-03-15 | 苏州佳顺智能机器人股份有限公司 | Guide transport vehicle capable of early warning side end collision |
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2019
- 2019-10-11 CN CN201921697910.4U patent/CN210881996U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117698706A (en) * | 2024-02-06 | 2024-03-15 | 苏州佳顺智能机器人股份有限公司 | Guide transport vehicle capable of early warning side end collision |
| CN117698706B (en) * | 2024-02-06 | 2024-04-23 | 苏州佳顺智能机器人股份有限公司 | Guide transport vehicle capable of early warning side end collision |
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