CN219295124U - Unmanned tractor - Google Patents

Abstract

The utility model provides an unmanned tractor which comprises a tractor body, a handle, a controller module, a navigation positioning module, a switching module, an automatic charging module, a first obstacle avoidance module, a second obstacle avoidance module, a vision module, an automatic unhooking module and an interface display module, wherein the handle, the controller module, the navigation positioning module, the switching module, the automatic charging module, the first obstacle avoidance module, the second obstacle avoidance module, the vision module, the automatic unhooking module and the interface display module are arranged on the tractor body. The automatic unhooking device can realize free planning of a path, automatically moves without manual driving, and is provided with an automatic unhooking module at the rear end of the unmanned tractor, and a visual module is arranged on the automatic unhooking module, so that the automatic unhooking device has a visual deviation correcting function in the automatic unhooking process. The traction efficiency is improved, and unmanned operation is realized.

Description

Unmanned tractor

Technical Field

The utility model belongs to the field of transport means, and particularly relates to an unmanned tractor.

Background

The unmanned tractor is a common traction tool of a towing vehicle, is commonly used for traction of goods in airports, stations, workshops and warehouses, can be used as an important transport tool for traction of luggage, regional logistics and workshop circulation, and is generally driven by fuel oil or batteries.

At present, the unmanned tractor adopts a manual unhooking mode or a semi-automatic unhooking mode, when the skip is required to be towed or unloaded, manual operation is required, the skip hook is required to be manually fixed on the unmanned tractor through a bolt, and after the unmanned tractor is transported to a designated position, the bolt is pulled up in a manual mode to unload the skip. This has a relatively large restriction factor for the improvement of the traction efficiency or the unmanned operation. In addition, at present, the unmanned tractor mostly adopts the mechanical guiding mode, guides the skip peg into the inside of unmanned tractor couple, does not have automatic function of rectifying.

Disclosure of Invention

In order to solve the problems in the prior art, the utility model provides the unmanned tractor, the free planning path can be realized through the laser slam navigation technology, the unmanned tractor moves autonomously without manual driving, the rear end of the unmanned tractor is provided with the automatic unhooking module, and the automatic unhooking module is provided with the vision module, so that the unmanned tractor has the vision deviation correcting function in the automatic unhooking process.

In order to achieve the above purpose, the unmanned tractor provided by the utility model comprises a controller module, a tractor body, a running system, a navigation positioning module, an obstacle avoidance module, an automatic unhooking module and a visual module, wherein the running system, the navigation positioning module, the obstacle avoidance module, the visual module, the running system and the interface display module are arranged on the tractor body, the automatic unhooking module is arranged at the rear side of the tractor body, and the navigation positioning module, the obstacle avoidance module, the visual module, the running system and the interface display module are all connected with the controller module.

The navigation positioning module is used for acquiring the position of the tractor body in real time and guiding the unmanned tractor to run according to the planned path;

the obstacle avoidance module is used for identifying the distance between an obstacle on the driving path of the tractor body and the unmanned tractor and transmitting distance information to the controller module, and the controller module outputs a speed control signal and a steering control signal to the running system according to the distance information;

the automatic unhooking module is arranged at the rear side of the tractor body;

the vision module is used for identifying the position information of the skip car to be towed and transmitting the position information to the controller module, and the controller module controls the tractor body to move to automatically hook the skip car to be towed.

According to a further improvement of the utility model, the obstacle avoidance module comprises a first obstacle avoidance module and a second obstacle avoidance module, wherein the first obstacle avoidance module and the second obstacle avoidance module are respectively connected with the controller module, and the first obstacle avoidance module and the second obstacle avoidance module are respectively arranged at the left side and the right side of the front side of the tractor body.

A further improvement of the utility model further comprises a switch module connected with the controller module and a handle mounted on the tractor body.

Further improvements to the present utility model are that the navigational positioning module is mounted on top of the tractor body.

Further improvements to the present utility model further include an automatic charging module coupled to the controller module.

In a further development of the utility model, the automatic charging module is mounted on the side of the tractor body.

Further improvements to the present utility model are that the vision module is mounted on the automatic unhooking module.

The utility model further comprises an interface display module which is connected with the controller module and used for displaying the current task, state and vehicle information of the unmanned tractor in real time,

in a further development of the utility model, the interface display module is mounted on the tractor body.

Compared with the prior art, the utility model at least has the following beneficial effects:

the automatic unhooking module on the unmanned tractor is provided with a visual module, a two-dimensional code is posted on the corresponding position of the skip, the two-dimensional code has direction information, the visual module can identify the position information of the two-dimensional code, the position information of the skip can be obtained, when the unmanned tractor backs up and is docked with the skip, the two-dimensional code on the skip is scanned through the visual module, the position information is output by the two-dimensional code, so that the position information of the skip is identified, the backing route of the unmanned tractor is regulated through motion control, and automatic deviation correction in the hook docking process is realized.

Drawings

For a clearer description of embodiments of the utility model or of solutions in the prior art, the drawings that are necessary for the description of the embodiments or of the prior art will be briefly described, it being apparent that the drawings in the description below are only some embodiments of the utility model, from which, without inventive effort, other drawings can be obtained for a person skilled in the art, in which:

fig. 1 is a schematic structural view of an unmanned tractor according to an embodiment of the present utility model;

fig. 2 is a schematic structural view of an unmanned tractor according to another embodiment of the present utility model;

fig. 3 is a schematic view illustrating an arrangement of a vision module in an unmanned tractor according to an embodiment of the present utility model.

Fig. 4 is a schematic structural diagram of an automatic unhooking module according to an embodiment of the present utility model.

The figures are labeled as follows: 1-a tractor body; 2-a handle; a 3-controller module; 4-a navigation positioning module; 5-a switching module; 6-an automatic charging module; 7-a first obstacle avoidance module; 8-a second obstacle avoidance module; 9-a vision module; 10-an automatic unhooking module and 11-a two-dimensional code.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments of the present utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

In addition, the descriptions of the "first," "second," and the like, herein are for descriptive purposes only and are not intended to be specifically construed as order or sequence, nor are they intended to limit the utility model solely for distinguishing between components or operations described in the same technical term, but are not to be construed as indicating or implying any relative importance or order of such features. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present utility model.

Referring to fig. 1-2, the unmanned tractor provided by the utility model comprises a tractor body 1, wherein the tractor body 1 is provided with a controller module 3, a switching module 5, a handle 2, a navigation positioning module 4, an automatic charging module 6, an obstacle avoidance module, an automatic unhooking module 10 and an interface display module. The navigation positioning module 4, the obstacle avoidance module, the vision module 9, the walking system and the interface display module are all connected with the controller module 3.

The controller module, the navigation positioning module, the switching module, the automatic charging module, the first obstacle avoidance module, the second obstacle avoidance module, the vision module and the interface display module which are arranged on the tractor body all directly adopt the prior art.

In some embodiments of the utility model, the navigation positioning module 4 is mounted on top of the tractor body 1; the automatic charging module 6 is arranged at the side edge of the tractor body 1; the automatic unhooking module 10 is arranged on the rear side of the tractor body 1, and the vision module 9 is arranged on the automatic unhooking module 10.

In some embodiments of the present utility model, the navigation positioning module 4 may select a laser radar, where the laser radar scans the surrounding environment according to the radar, constructs a map, and outputs the pose of the unmanned tractor in real time according to the principle of triangulation, and the controller module 3 obtains the corresponding position of the unmanned tractor according to the laser radar and sends the position to a walking system disposed on the tractor body 1, where the walking system controls the unmanned tractor to travel along the planned path according to the fixed path planned in advance and the real-time position.

In some embodiments of the utility model, as shown in fig. 1, the switching module 5 in the unmanned tractor in the present application is connected with the controller module 3, and the handle 4 is mounted on the tractor body 1. When the automatic tractor is switched to the manual mode by an operator through the switching module 5, the whole automatic tractor is changed into the manual tractor mode, the operator can operate the automatic tractor through operating the handle 2, such as forward and backward movement, turning and the like, and when the automatic tractor is switched to the automatic mode, the automatic tractor moves under the control of the control system.

In some embodiments of the present utility model, as shown in fig. 1, the unmanned tractor of the present application further includes an automatic charging module 6, the automatic charging module 6 is connected with the controller module 3, and the automatic charging module 6 is mounted at a side of the tractor body 1.

Preferably, the automatic charging module 6 is a brush plate mounted on the tractor body 1 and can be used with an automatic charging pile. When the battery power of the unmanned tractor is too low, the unmanned tractor can be automatically charged by contacting the automatic charging pile with the automatic charging module 6.

In some embodiments of the present utility model, as shown in fig. 1, the obstacle avoidance module of the unmanned tractor of the present application includes a first obstacle avoidance module 7 and a second obstacle avoidance module 8, where the first obstacle avoidance module 7 is connected with the controller module 3, the second obstacle avoidance module 8 is connected with the controller module 3, and the first obstacle avoidance module 7 and the second obstacle avoidance module 8 are respectively installed at the left and right sides of the front of the tractor body 1.

In some embodiments of the present utility model, the first obstacle avoidance module 7 and the second obstacle avoidance module 8 may each be an obstacle avoidance laser sensor, where the obstacle avoidance laser sensor is connected to the controller module 3, and may scan an obstacle in front of the tractor body 1 in real time, and output a distance between the tractor body 1 and the obstacle, and the controller module 3 outputs a speed control signal and a steering control signal to a running system of the tractor body 1 according to the detected different distances between the tractor body 1 and the obstacle, so as to control the running speed and stop of the unmanned tractor.

The first obstacle avoidance module 7 and the second obstacle avoidance module 8 are respectively installed at the left side and the right side in front of the tractor body 1, so that obstacles around the tractor body 1 can be detected at 270 degrees.

In some embodiments of the present utility model, as shown in fig. 2, the unmanned tractor further includes an interface display module, where the interface display module is connected to the controller module 3, and is configured to display current tasks, states, vehicle information, and the like of the unmanned tractor in real time.

In some embodiments of the present utility model, as shown in fig. 2, an automatic unhooking module 10 in the unmanned tractor of the present application is connected with the controller module 3, the automatic unhooking module 10 is mounted on the rear side of the tractor body 1, and the vision module 9 is mounted on the automatic unhooking module 10. When the vehicle needs to be docked, the position information of the vehicle is confirmed through the vision module 9, then the controller module 3 controls the unmanned tractor to move the docking vehicle according to the position information, and the automatic unhooking module 10 automatically fixes the vehicle hook in the automatic unhooking module 10 through a mechanism to realize automatic deviation correction; after the hooking is finished, the finishing information is fed back to the controller module 3, and the controller module 3 can control the vehicle to start running. When the automatic unhooking module 10 is operated to a designated position, the mechanism is released and then moved under the control of the controller module 3, thereby completing the unhooking action.

Preferably, the vision module is a vision camera.

In some embodiments of the present utility model, the automatic unhooking module 10 is used to mount on the rear side of an unmanned tractor to perform the actions of hanging, pulling and unhooking the hanger bar of the skip to complete the pulling of the skip. The automatic unhooking module 10 comprises a shell 108, a main body supporting frame 103, a hanging pin assembly 101, a sliding assembly 102, a driving assembly 104, a first sensing assembly 105, a second sensing assembly 106, the vision module 9 and a guide plate 109; one end of the shell 108 is connected with one side of the main body support 103 in a turnover way, the other end of the shell 108 is connected with the other side of the main body support 103 in a foldable way, the hanging pin assembly 101, the sliding assembly 102 and the driving assembly 104 are positioned between the shell 108 and the main body support 103, and the hanging pin assembly 101 comprises a hanging pin channel and a traction hanging pin which can move up and down in the hanging pin channel; when the driving component 104 is abutted against the traction hanging pin, the driving component 104 drives the traction hanging pin of the hanging pin component 101 to perform lifting action; the sliding assembly 102 comprises a linear sliding rail and a sliding blocking plate which is fixedly arranged on the linear sliding rail and can slide back and forth relative to the linear sliding rail, the sliding blocking plate comprises a horizontal plate and a vertical plate, and the bottom end of the traction hanging pin is propped against the horizontal plate under the action of gravity. The guide plate 109 is fixedly connected with the supporting bottom plate and is used for guiding the hanging rod of the skip car. After the tractor recognizes the skip car to be towed, the hanging pin action is accurately completed under the guidance of the guide plate 109. The first sensing component 105 and the second sensing component 106 are disposed on the main body supporting frame 103, and are respectively used for sensing whether the pulling hanging pin is successfully hung or is successfully unhooked.

When the hooking action is executed, the unmanned tractor retreats and is in butt joint, in the butt joint process, the position of the skip is automatically identified through the vision module 9, the hanging rod of the skip is automatically guided into the automatic unhooking module 10 through the guide plate 109, then the hanging rod of the skip pushes the vertical plate of the sliding assembly 102 to enable the horizontal plate to move backwards relative to the linear sliding rail, and the traction hanging pin of the hanging pin assembly 101 is separated from the support of the horizontal plate and then instantly falls under the action of gravity to complete the action of the hanging pin, so that the skip hooking action is completed; when the hanging rod of the skip car executes unhooking action, the driving component 104 drives the traction hanging pin of the hanging pin component 101 to lift, meanwhile, the hanging rod of the skip car leaves the automatic unhooking module 10, the horizontal plate of the sliding blocking plate of the sliding component 102 moves forward to the position below the traction hanging pin of the hanging pin component 101 to enable the traction hanging pin bearing to be in a hanging pin reset state, and unhooking action of the skip car is completed.

According to the unmanned tractor, the automatic navigation is carried out on the unmanned tractor through the arrangement of the navigation positioning module, the distance between the unmanned tractor and an obstacle on a driving path is identified through the arrangement of the obstacle avoidance module, the distance information is sent to the controller module, the controller module outputs corresponding control signals to the traveling system according to the distance information to control the unmanned tractor to decelerate or stop so as to avoid collision with the obstacle, the automatic unhooking module is arranged on the rear side of the unmanned tractor, the vision module is arranged on the automatic unhooking module, and after the position of the skip is identified through the vision module, the unmanned tractor retreats to the skip to carry out automatic hooking, so that the unmanned tractor system integrating navigation positioning, obstacle avoidance, control, vision deviation correction and automatic unhooking is realized.

In the foregoing embodiments, the descriptions of the embodiments are each focused, and for those portions of one embodiment that are not described in detail, reference may be made to the related descriptions of other embodiments.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present utility model. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the utility model. Thus, the present utility model is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (9)

1. The unmanned tractor is characterized by comprising a controller module (3), a tractor body (1), and a traveling system, a navigation positioning module (4), an obstacle avoidance module, an automatic unhooking module (10) and a vision module (9) which are arranged on the tractor body (1), wherein the automatic unhooking module (10) is arranged at the rear side of the tractor body (1), and the navigation positioning module (4), the obstacle avoidance module, the vision module (9) and the traveling system are all connected with the controller module (3);

the navigation positioning module (4) is used for acquiring the position of the tractor body (1) in real time and guiding the unmanned tractor to run according to the planned path;

the obstacle avoidance module is used for identifying the distance between an obstacle on the driving path of the tractor body (1) and the unmanned tractor and transmitting the distance information to the controller module (3), and the controller module (3) outputs a speed control signal and a steering control signal to the running system according to the distance information;

the automatic unhooking module (10) is arranged at the rear side of the tractor body (1);

the vision module (9) is used for identifying the position information of the skip car to be towed and transmitting the position information to the controller module (3), and the controller module (3) controls the tractor body (1) to move to automatically hook the skip car to be towed.

2. The unmanned tractor according to claim 1, wherein the obstacle avoidance module comprises a first obstacle avoidance module (7) and a second obstacle avoidance module (8), the first obstacle avoidance module (7) and the second obstacle avoidance module (8) are respectively connected with the controller module (3), and the first obstacle avoidance module (7) and the second obstacle avoidance module (8) are respectively installed on the left side and the right side of the front side of the tractor body (1).

3. An unmanned tractor according to claim 1, further comprising a switching module (5) and a handle (2), the switching module (5) being connected to the controller module (3), the handle (2) being mounted on the tractor body (1).

4. An unmanned tractor according to claim 1, wherein the navigational positioning module (4) is mounted on top of the tractor body (1).

5. An unmanned tractor according to claim 1, further comprising an automatic charging module (6), the automatic charging module (6) being connected to the controller module (3).

6. An unmanned tractor according to claim 5, wherein the automatic charging module (6) is mounted sideways of the tractor body (1).

7. An unmanned tractor according to claim 1, wherein the vision module (9) is mounted on the automatic unhooking module (10).

8. An unmanned tractor according to any of claims 1 to 7, further comprising an interface display module connected to the controller module (3) for displaying the current mission, status and vehicle information of the unmanned tractor in real time.

9. An unmanned tractor according to claim 8, wherein the interface display module is mounted on the tractor body (1).

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