CN217348021U - Unmanned transport vehicle with good safety - Google Patents
Unmanned transport vehicle with good safety Download PDFInfo
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- CN217348021U CN217348021U CN202221209914.5U CN202221209914U CN217348021U CN 217348021 U CN217348021 U CN 217348021U CN 202221209914 U CN202221209914 U CN 202221209914U CN 217348021 U CN217348021 U CN 217348021U
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Abstract
The utility model relates to the field of logistics transportation equipment, in particular to an unmanned transport vehicle with good safety, which comprises a first radar component, a second radar component, a third radar component and a high-definition camera; the two groups of first radar assemblies are respectively arranged at the head end and the tail end of the vehicle body; the two groups of second radar assemblies are respectively arranged at the left front end and the right rear end of the vehicle body; the two groups of third radar assemblies are respectively arranged at the front right end and the rear left end of the vehicle body; the four groups of high-definition cameras are respectively arranged at the head end, the tail end, the left front end and the right rear end of the vehicle body; the inertial navigation system is respectively connected with the first radar component, the second radar component, the third radar component and the high-definition camera. The utility model provides an unmanned transport vechicle has the closed loop perception ability of qxcomm technology, and when great scale trouble or interference appear in the MPA array, the vehicle still can normally work based on laser radar, visual navigation's mode, the good reliability.
Description
Technical Field
The utility model relates to a commodity circulation transportation equipment field especially relates to an unmanned transport vechicle that the security is good.
Background
With the rapid development of 5G communication and unmanned driving technology, container transport vehicles at a wharf gradually change from manned to unmanned; particularly, the demand for the unmanned wharf is increased due to epidemic situation. For example, the chinese patent application with the application number of 202111269727.6, entitled combination frame of port unmanned transport vehicle, discloses a frame structure of unmanned transport vehicle with good bearing performance, which is especially suitable for ports. At present, the main navigation mode of the wharf unmanned vehicle adopting the mainstream sensor support mounting and arranging mode depends on the electromagnetic induction coil below the body (in front of the wharf and behind the wharf) of the unmanned transport vehicle and the MPA array of the wharf, once the MPA array has large-scale fault or interference, the vehicle only can depend on inertial navigation, all vehicles basically cannot work normally, and the reliability is insufficient. The main driving path of the wharf unmanned vehicle adopting the current mainstream sensor support mounting and arranging mode is difficult to separate from the arrangement of the MPA array, and after the wharf unmanned vehicle is separated from the MPA array, low-speed inertial navigation can be realized only in a local wide area, so that the wharf unmanned vehicle basically has no practical application value. In the case of port areas with increasingly large throughput and precious land, once planning layout changes, the whole MPA array is necessarily rearranged, and additional cost of subsequent lean and optimized management of the port is increased.
SUMMERY OF THE UTILITY MODEL
In order to overcome the defect of the prior art, the utility model aims to solve the technical problem that an unmanned transport vechicle that has the closed loop perception ability of qxcomm technology is provided, still can accomplish the container and transport after realizing that unmanned car breaks away from the MPA array.
In order to solve the technical problem, the utility model discloses a technical scheme be: an unmanned transport vehicle with good safety comprises a vehicle body, a first radar component, a second radar component, a third radar component and a high-definition camera, wherein the vehicle body is provided with an inertial navigation system;
the two groups of first radar assemblies are respectively arranged at the head end and the tail end of the vehicle body;
the two groups of second radar assemblies are respectively arranged at the left front end and the right rear end of the vehicle body;
the two groups of third radar assemblies are respectively arranged at the front right end and the rear left end of the vehicle body;
the four groups of high-definition cameras are respectively arranged at the head end, the tail end, the left front end and the right rear end of the vehicle body;
the inertial navigation system is respectively connected with the first radar component, the second radar component, the third radar component and the high-definition camera.
Further, the first radar assemblies are 32-line laser radars, and two groups of the first radar assemblies are used for realizing 180-degree downward inclination angle scanning of the front part and the rear part of the vehicle body; the second radar component and the third radar component are 16-line laser radars, the second radar component is used for realizing horizontal 270-degree scanning of the left front end and the right rear end of the car body, and the third radar component is used for realizing vertical 330-degree scanning of the left front end and the right rear end of the car body.
Further, still include the millimeter wave radar subassembly, the head end and the tail end of automobile body are equipped with two sets of respectively the millimeter wave radar subassembly, the millimeter wave radar subassembly with inertial navigation system connects.
Further, still include weight sensor and angle encoder, weight sensor with angle encoder all sets up on the automobile body, weight sensor with angle encoder all with inertial navigation system is connected.
Further, still include mushroom head antenna, mushroom head antenna sets up on the automobile body, mushroom head antenna with inertial navigation system is connected.
Further, still include the support, first radar subassembly, second radar subassembly, third radar subassembly and high definition digtal camera all through the support with the connection can be dismantled to the automobile body.
The beneficial effects of the utility model reside in that: the utility model provides an unmanned transport vechicle that security is good, all set up first radar subassembly at the head end and the tail end of automobile body, left front end and right rear end at the automobile body all set up the second radar subassembly, right front end and left rear end at the automobile body all set up the third radar subassembly, and head end at the automobile body, the tail end, left front end and right rear end all set up high definition digtal camera, utilize inertial navigation system to connect above-mentioned part simultaneously, make unmanned car have the closed loop perception ability of qxcomm technology, when great scale trouble or interference appear in the MPA array, the vehicle is based on laser radar, visual navigation's mode still can normally work, high reliability.
Drawings
Fig. 1 is a schematic structural view of an unmanned transport vehicle according to an embodiment of the present invention;
fig. 2 is a top view of an unmanned transport vehicle according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a second radar component according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a third radar component according to an embodiment of the present invention;
fig. 5 is a front view of the unmanned transport vehicle according to the embodiment of the present invention;
fig. 6 is a schematic structural diagram of an inertial navigation system according to an embodiment of the present invention;
description of the reference symbols:
1. a vehicle body; 2. an inertial navigation system; 3. a first radar component; 4. a second radar component; 5. a third radar component; 6. a high-definition camera; 7. a millimeter wave radar component; 8. a weight sensor; 9. an angle encoder; 10. a mushroom head antenna; 11. and (3) a bracket.
Detailed Description
In order to explain the technical content, the objects and the effects of the present invention in detail, the following description is made with reference to the accompanying drawings in combination with the embodiments.
Referring to fig. 1 to 6, the unmanned transport vehicle with good safety of the present invention includes a vehicle body 1, wherein the vehicle body 1 is provided with an inertial navigation system 2, and further includes a first radar component 3, a second radar component 4, a third radar component 5 and a high definition camera 6;
the two groups of first radar assemblies 3 are respectively arranged at the head end and the tail end of the vehicle body 1;
the two groups of second radar assemblies 4 are respectively arranged at the left front end and the right rear end of the vehicle body 1;
the two groups of third radar assemblies 5 are respectively arranged at the right front end and the left rear end of the vehicle body 1;
the four groups of high-definition cameras 6 are respectively arranged at the head end, the tail end, the left front end and the right rear end of the vehicle body 1;
the inertial navigation system 2 is respectively connected with the first radar component 3, the second radar component 4, the third radar component 5 and the high-definition camera 6.
From the above description, the beneficial effects of the present invention are: the utility model provides an unmanned transport vechicle that security is good, all set up first radar component 3 at the head end of automobile body 1 and tail end, all set up second radar component 4 at the left front end of automobile body 1 and right rear end, all set up third radar component 5 at the right front end of automobile body 1 and left rear end, and at the head end of automobile body 1, the tail end, left front end and right rear end all set up high definition digtal camera 6, utilize inertial navigation system 2 to connect above-mentioned part simultaneously, make unmanned vehicle have the closed loop perception ability of qxcomm technology, when the great scale trouble or interference appear in the MPA array, the vehicle is based on laser radar, visual navigation's mode still can normally work, high reliability.
In an alternative embodiment, the first radar assemblies 3 are 32-line lidar, and two sets of the first radar assemblies 3 are used for realizing 180 ° down-tilt angle scanning of the front and rear parts of the vehicle body 1; second radar component 4 with third radar component 5 is 16 line lidar, second radar component 4 is used for realizing the horizontal 270 scans in left front end and the right rear end of automobile body 1, third radar component 5 is used for realizing the vertical 330 scans in left front end and the right rear end of automobile body 1.
In an optional embodiment, the vehicle further comprises millimeter wave radar components 7, two groups of millimeter wave radar components 7 are respectively arranged at the head end and the tail end of the vehicle body 1, and the millimeter wave radar components 7 are connected with the inertial navigation system 2.
In an optional embodiment, the vehicle further comprises a weight sensor 8 and an angle encoder 9, wherein the weight sensor 8 and the angle encoder 9 are both arranged on the vehicle body 1, and the weight sensor 8 and the angle encoder 9 are both connected with the inertial navigation system 2.
As can be seen from the above description, the load is detected by the weight sensor 8, and the angle of the knuckle is monitored in real time by the angle encoder 9.
In an alternative embodiment, the inertial navigation system further comprises a mushroom head antenna 10, wherein the mushroom head antenna 10 is arranged on the vehicle body 1, and the mushroom head antenna 10 is connected with the inertial navigation system 2.
In an optional embodiment, the vehicle body further comprises a bracket 11, and the first radar assembly 3, the second radar assembly 4, the third radar assembly 5 and the high-definition camera 6 are detachably connected with the vehicle body 1 through the bracket 11.
As will be appreciated from the above description, the bracket 11 is used to effect the mounting and adjustment of the above components on the vehicle frame.
The scanning range of the sensor can refer to the shaded portion shown in fig. 2 to 4.
Referring to fig. 1 to 6, a first embodiment of the present invention is: an unmanned transport vehicle with good safety comprises a vehicle body 1, wherein the vehicle body 1 is provided with an inertial navigation system 2, and further comprises a first radar component 3, a second radar component 4, a third radar component 5 and a high-definition camera 6;
the two groups of first radar assemblies 3 are respectively arranged at the head end and the tail end of the vehicle body 1;
the two groups of second radar assemblies 4 are respectively arranged at the left front end and the right rear end of the vehicle body 1;
the two groups of third radar assemblies 5 are respectively arranged at the front right end and the rear left end of the vehicle body 1;
the four groups of high-definition cameras 6 are respectively arranged at the head end, the tail end, the left front end and the right rear end of the vehicle body 1;
the inertial navigation system 2 is respectively connected with the first radar component 3, the second radar component 4, the third radar component 5 and the high-definition camera 6.
The first radar assemblies 3 are 32-line laser radars, and two groups of the first radar assemblies 3 are used for realizing 180-degree downward inclination angle scanning of the front part and the rear part of the vehicle body 1; second radar component 4 with third radar component 5 is 16 line lidar, second radar component 4 is used for realizing the horizontal 270 scans in left front end and the right rear end of automobile body 1, third radar component 5 is used for realizing the vertical 330 scans in left front end and the right rear end of automobile body 1. Still include millimeter wave radar subassembly 7, the head end and the tail end of automobile body 1 are equipped with two sets of respectively millimeter wave radar subassembly 7, millimeter wave radar subassembly 7 with inertial navigation system 2 is connected. Still include weight sensor 8 and angle encoder 9, weight sensor 8 with angle encoder 9 all sets up on the automobile body 1, weight sensor 8 with angle encoder 9 all with inertial navigation system 2 is connected. The intelligent vehicle body 1 is characterized by further comprising a mushroom head antenna 10, wherein the mushroom head antenna 10 is arranged on the vehicle body 1, and the mushroom head antenna 10 is connected with the inertial navigation system 2. Still include support 11, first radar component 3, second radar component 4, third radar component 5 and high definition digtal camera 6 all through support 11 with the connection can be dismantled to automobile body 1.
To sum up, the utility model provides a good unmanned transport vechicle of security all sets up first radar subassembly at the head end and the tail end of automobile body, all set up the second radar subassembly at the left front end and the right rear end of automobile body, all set up the third radar subassembly at the right front end and the left rear end of automobile body, and at the head end of automobile body, the tail end, left front end and right rear end all set up high definition digtal camera, utilize inertial navigation system to connect above-mentioned part simultaneously, make unmanned car have the closed loop perception ability of qxcomm technology, when great scale trouble or interference appear in the MPA array, the vehicle is based on laser radar, visual navigation's mode still can normally work, high reliability.
The above mentioned is only the embodiment of the present invention, and not the limitation of the patent scope of the present invention, all the equivalent transformations made by the contents of the specification and the drawings, or the direct or indirect application in the related technical field, are included in the patent protection scope of the present invention.
Claims (6)
1. An unmanned transport vehicle with good safety comprises a vehicle body, wherein the vehicle body is provided with an inertial navigation system, and is characterized by further comprising a first radar component, a second radar component, a third radar component and a high-definition camera; the two groups of first radar assemblies are respectively arranged at the head end and the tail end of the vehicle body; the two groups of second radar assemblies are respectively arranged at the left front end and the right rear end of the vehicle body; the two groups of third radar assemblies are respectively arranged at the right front end and the left rear end of the vehicle body; the four groups of high-definition cameras are respectively arranged at the head end, the tail end, the left front end and the right rear end of the vehicle body; the inertial navigation system is respectively connected with the first radar component, the second radar component, the third radar component and the high-definition camera.
2. The unmanned transport vehicle of claim 1, wherein the first radar components are 32-line lidar, and two sets of the first radar components are used for realizing 180-degree downward inclination angle scanning of the front part and the rear part of the vehicle body; the second radar component and the third radar component are 16-line laser radars, the second radar component is used for realizing horizontal 270-degree scanning of the left front end and the right rear end of the car body, and the third radar component is used for realizing vertical 330-degree scanning of the left front end and the right rear end of the car body.
3. The unmanned transport vehicle of claim 1, further comprising millimeter wave radar components, wherein two sets of the millimeter wave radar components are respectively arranged at the head end and the tail end of the vehicle body, and the millimeter wave radar components are connected with the inertial navigation system.
4. The unmanned transport vehicle with good safety as claimed in claim 1, further comprising a weight sensor and an angle encoder, wherein the weight sensor and the angle encoder are both arranged on the vehicle body, and the weight sensor and the angle encoder are both connected with the inertial navigation system.
5. The unmanned transport vehicle of claim 1, further comprising a mushroom head antenna disposed on the vehicle body, the mushroom head antenna being connected to the inertial navigation system.
6. The unmanned transport vehicle with good safety as claimed in claim 1, further comprising a support, wherein the first radar component, the second radar component, the third radar component and the high definition camera are detachably connected with the vehicle body through the support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221209914.5U CN217348021U (en) | 2022-05-18 | 2022-05-18 | Unmanned transport vehicle with good safety |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221209914.5U CN217348021U (en) | 2022-05-18 | 2022-05-18 | Unmanned transport vehicle with good safety |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217348021U true CN217348021U (en) | 2022-09-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221209914.5U Active CN217348021U (en) | 2022-05-18 | 2022-05-18 | Unmanned transport vehicle with good safety |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217348021U (en) |
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2022
- 2022-05-18 CN CN202221209914.5U patent/CN217348021U/en active Active
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