WO2017206582A1

WO2017206582A1 - Unmanned transport vehicle

Info

Publication number: WO2017206582A1
Application number: PCT/CN2017/078262
Authority: WO
Inventors: 鹿星艺
Original assignee: 鹿星艺
Priority date: 2016-05-30
Filing date: 2017-03-27
Publication date: 2017-12-07
Also published as: CN107444244A

Abstract

Disclosed is an unmanned transport vehicle, comprising a vehicle body (01), a vehicle box (02), a camera (03) and a distance sensor (04); and further comprising an air compressor (05) and a control circuit. The vehicle box (02) comprises a box body and a box cover; one or more vehicle boxes (02) are provided; and at least one air cushion (021) is fixed to an inner side of a wall of the box body and/or an inner side of the box cover of each vehicle box (02). The air compressor (05) is provided inside the vehicle body (01); the air compressor (05) is provided with an inflation interface and a deflation interface; the inflation interface and the deflation interface of the air compressor (05) are respectively in communication with at least one air cushion (021) via a conduit; an inflation electromagnetic valve (061) is used to control the opening and closing of the inflation interface; and a deflation electromagnetic valve (062) is used to control the opening and closing of the deflation interface. The control circuit is electrically connected to the inflation electromagnetic valve (061), the deflation electromagnetic valve (062) and the air compressor (05), respectively, and is used to control the switching on and off of the inflation electromagnetic valve (061), the deflation electromagnetic valve (062) and the air compressor (05). With the unmanned transport vehicle, damage to goods caused by collision or friction during transport can be avoided.

Description

Unmanned transport vehicle

The present application claims priority to Chinese Patent Application No. PCT Application No. No. No. No. No. No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No No

Technical field

The present application relates to the field of cargo transportation, and in particular to an unmanned transport vehicle.

Background technique

In the current transportation industry, goods generally need to be delivered manually to the designated location by the delivery personnel. The demand for the number of delivery personnel is large. At the same time, the delivery quality of the delivery personnel is high, otherwise the goods may not be timely. The problem of delivery or damage to the goods occurs, reducing user satisfaction.

The unmanned transport vehicle solves the problem of a large demand for the number of delivery personnel. The unmanned transport vehicle generally includes: a vehicle body, a car box, a camera and a distance sensor. The car box is used for loading goods, and a control system, a battery and a wireless communication device are arranged in the vehicle body, wherein the control system is used to control the driving of the unmanned transport vehicle. The battery provides power for the unmanned transport vehicle, and the wireless communication device communicates with the server to transmit data information. During the process of transporting the goods, the wireless communication device communicates with the server to acquire map data, and the control system controls the unmanned transport vehicle to avoid obstacles according to the camera, the distance sensor and the map data, and transports the goods to the designated location.

However, the carts of unmanned transport vehicles generally do not have protection devices to prevent cargo collision or friction, and cannot prevent the goods from being damaged during transportation.

Summary of the invention

The embodiment of the present application discloses an unmanned transport vehicle, which is used to solve the problem that the existing unmanned transport vehicle easily causes damage to the cargo during the process of transporting the cargo. The technical solutions are as follows:

An unmanned transport vehicle includes: a vehicle body, a car box, a camera, and a distance sensor, and further includes: an air compressor and a control circuit, wherein

The car box includes a box body and a box cover, and the number of the car boxes is one or more, the car a box is disposed on the vehicle body, and at least one air cushion is fixed to an inner side of the wall of the box of each of the carts and/or to the inner side of the box cover;

The air compressor is disposed inside the vehicle body, and the air compressor is provided with an inflation interface and a deflation interface, and the inflation interface and the deflation interface of the air compressor are respectively communicated with the at least one air cushion through the conduit, And the inflation solenoid valve is used to control the opening and closing of the inflation interface, and the deflation solenoid valve is used to control the opening and closing of the deflation interface;

The control circuit is electrically connected to the charge solenoid valve, the bleed solenoid valve and the air compressor, respectively, for controlling opening and closing of the charge solenoid valve, the bleed solenoid valve and the air compressor.

The control circuit includes: a programmable logic controller and a relay or a single chip and a relay.

In a preferred embodiment of the present application, the unmanned transport vehicle includes two carts.

In a preferred embodiment of the present application, six air cushions are fixed in each of the carts.

In a preferred embodiment of the present application, the six air cushions are each in communication with an air compressor through a conduit.

In a preferred embodiment of the present application, each of the air cushions controls inflation and deflation by a gas cushion solenoid valve, respectively.

In a preferred embodiment of the present application, the car body is separate from the vehicle body.

In a preferred embodiment of the present application, the vehicle body is provided with a box lock, a box positioning button and a quick insertion interface;

The quick insertion interface is respectively connected to the at least one air cushion and the air inlet interface and the air outlet interface of the air compressor through a conduit;

The car box is provided with a lock and a positioning opening corresponding to the box lock and the box positioning button.

In a preferred embodiment of the present application, the conduit is buried inside the wall of the tank and/or inside the tank cover and inside the vehicle body.

In a preferred embodiment of the present application, the unmanned vehicle further includes: a pressure sensor,

Each air cushion is connected to one of the air pressure sensors through a conduit;

The air pressure sensor is electrically connected to the control circuit.

It can be seen that, in an unmanned transport vehicle provided by the embodiment of the present application, at least one air cushion is fixed on the inner side of the wall of the box body of each car box and/or the inner side of the box cover, and the air compressor, the pneumatic solenoid valve and the control are controlled by the control circuit. The gas solenoid valve is opened and closed to inflate and deflate the air cushion. Therefore, when transporting the cargo, the cargo can be fixed by inflating the air cushion to prevent the cargo from being damaged by collision or friction during transportation.

DRAWINGS

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings to be used in the embodiments or the prior art description will be briefly described below. Obviously, the drawings in the following description are only It is a certain embodiment of the present application, and other drawings can be obtained according to the drawings without any creative work for those skilled in the art.

1 is a schematic structural view of an unmanned transport vehicle according to an embodiment of the present application;

FIG. 2 is a schematic structural diagram of a vehicle body of an unmanned transport vehicle according to an embodiment of the present application.

3 is a schematic diagram of a pneumatic connection manner of an unmanned transport vehicle according to an embodiment of the present application;

FIG. 4 is a schematic diagram of a circuit connection manner of an unmanned transport vehicle according to an embodiment of the present application.

detailed description

The technical solutions in the embodiments of the present application are clearly and completely described in the following with reference to the drawings in the embodiments of the present application. It is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present application without departing from the inventive scope are the scope of the present application.

In order to avoid damage to the cargo during the transportation of the unmanned transport vehicle, the present application provides an unmanned transport vehicle.

First, it should be noted that, in the embodiment of the present application, the wall of the box body of the vehicle case is divided into an inner side, that is, an inner side wall and an outer side side, that is, an outer side wall, and the inner side (inner side wall) refers to a box cover and a box cover. , The formed interior space directly contacts the wall surface. The other surface of the wall of the corresponding box is the outer side (outer side wall), which is consistent with the usual understanding.

Similarly, in the embodiment of the present application, the cover is also divided into an inner side, that is, an inner side wall and an outer side, that is, an outer side wall, and the inner side (inner side wall) refers to a box cover and the box body are covered. The surface of the lid that is in direct contact with the interior space. The other surface of the corresponding cover is the outer side (outer side wall), which is consistent with the usual understanding.

The "inside of the wall of the casing" as used in the embodiment of the present application means: a portion between the "inside of the wall of the casing" and the "outside of the wall of the casing"; the inside of the casing is represented by: The portion between the "inside of the cover" and the "outside of the cover".

As shown in FIG. 1 and FIG. 2, an unmanned transport vehicle provided by an embodiment of the present application may include: a vehicle body 01, a car box 02, a camera 03, and a distance sensor 04, and may further include: an air compressor 05 and a control circuit ( Not shown in the drawings, wherein the car box 02 includes a box body and a box cover. The number of the car boxes 02 is one or more. The car box 02 is disposed on the vehicle body 01, and the inside of the wall of the box body of each of the car boxes 02 and/or Or at least one air cushion 021 is fixed on the inner side of the cover; the air compressor 05 is disposed inside the vehicle body 01, and the air compressor 05 is provided with an inflation interface and a venting interface, and the air inlet and the deflation port of the air compressor 05 respectively pass through the conduit Connected with at least one air cushion 021, and controls the opening and closing of the inflation interface through the pneumatic solenoid valve, and controls the opening and closing of the deflation interface through the deflation solenoid valve; the control circuit is respectively coupled with the inflation solenoid valve, the deflation solenoid valve and the air compression The machine 05 is electrically connected for controlling the opening and closing of the pneumatic solenoid valve, the bleed solenoid valve and the air compressor 05.

It should be noted that FIG. 1 is only a schematic structural diagram of the unmanned transport vehicle provided by the embodiment of the present application. Although the number and position of the car box 02 and the air cushion 021 appear in FIG. 1 , the technology of the embodiment of the present application is not indicated. In the solution, there are a corresponding number and position of the car box 02 and the air cushion 021. FIG. 1 can only show that there is at least one car box 02 and air cushion 021 in the technical solution of the embodiment of the present application, and the specific number of the car box 02 and the air cushion 021 shown in the figure, The location cannot be limited to the technical solutions of the embodiments of the present application.

It should be further noted that the vehicle body 01 of the unmanned transport vehicle provided in the embodiment of the present application is provided with a control system, a battery and a wireless communication device used by the existing unmanned transport vehicle for controlling the unmanned transport vehicle. Travel and power the driving and control circuits of unmanned vehicles. The control system, the battery, and the wireless communication device may use existing equipment, and are not specifically limited herein. Field The specific position of each component (such as a solenoid valve, a conduit, an air compressor, etc.) in the unmanned vehicle can be determined by the above-mentioned connection method and the description of the function of each component, and is not limited herein. The air compressor may be replaced by a member that can be filled and deflated, such as a gas pump, and is not limited thereto.

In a preferred embodiment of the embodiment of the present application, the unmanned transport vehicle may include two carts 02, which are juxtaposed on the vehicle body 01 for loading goods of different types or different users to avoid causing The problem of chaos or loss of goods, of course, the goods are placed separately in different carts 02, and the goods can be fixed more firmly to achieve better protection.

In a preferred embodiment of the embodiment of the present application, six air cushions 021 can be fixed in each of the carts 02, and the six air cushions 021 are respectively fixed on the inner side of the wall of the cabinet and the inner side of the cover, specifically, in the box One air cushion 021 is fixed to each of the five sides of the inner wall of the body, and the other air cushion 021 is fixed to the inner side of the cover. The cargo can be fully protected by fixing six air cushions 021 in each car box 02, and the goods are fixed in the center of the car box 02, and are not in contact with the wall and the cover of the carton 02, during the transportation, the goods It will not be damaged by bumps and other reasons.

It should be noted that the air cushion 021 may be fixed to the inner side of the wall of the box body of the vehicle case 02 and/or the inner side of the box cover by snapping, gluing or the like. The air cushion 021 may be a rubber air cushion, a plastic air cushion, or the like, and is not specifically limited herein. The shape of the air cushion can be selected according to the actual situation, and the purpose of protecting the cargo can be achieved.

In practical applications, the six air cushions 021 can be respectively connected to the air compressor 05 through a conduit. Specifically, after the air inlet of the air compressor 05 is connected to the conduit, the six air cushions 021 are respectively connected through the conduit connecting member and the conduit. For inflating the six air cushions 021 during use; after the air outlet of the air compressor 05 is connected to the conduit, the six air cushions 021 are respectively communicated through the conduit connecting members and the conduits for use during use. Six air cushions 021 are used for deflation; since the air compressor 05 cannot perform both inflation and deflation operations, and the air cushion 021 does not need to be simultaneously inflated and deflated, it can be placed on the catheter connected to the inflation port and the deflation port. Inflatable solenoid valve and bleed solenoid valve are respectively provided to control the opening and closing of the inflation port and the deflation port, respectively, to avoid affecting the inflation and deflation of the air cushion 021. Of course, the above six air cushions 021 can also be connected in series, and respectively connected to the inflation interface and the air outlet interface of the air compressor 05. The above-mentioned conduit connecting member may be a conventional connecting member, such as a connecting member such as a three-way or a multi-pass, and is not specifically limited herein.

In order to better control the inflation and deflation of each air cushion 021, the airway connection mode of the unmanned transport vehicle can be connected to the air conduit and the air outlet interface of the air compressor 05 respectively as shown in FIG. A gas solenoid valve 061 and a gas venting solenoid valve 062 are respectively disposed on the two pipes. The two pipes are connected to the six air cushions 021 after being connected by the pipe connecting members, wherein the six air cushions 021 are connected in parallel through six pipes, and can be connected with six An air cushion solenoid valve 063 is disposed on each of the six conduits connected by the air cushion 021, so that the inflation or deflation of each air cushion 021 can be separately controlled, so that the air cushions 021 do not affect each other. Of course, it is also possible to provide a corresponding air cushion solenoid valve for one or several of the six air cushions 021, which is reasonable.

It should be noted that the air cushion electromagnetic valve 063 provided on the six conduits connected to the six air cushions 021 may be disposed inside the wall of the casing of the vehicle compartment 02, or may be disposed inside the vehicle body 01, and may be The inflation and deflation of the air cushion 021 can be controlled. As shown in FIG. 1 and FIG. 2, the above-mentioned air cushion electromagnetic valve for controlling air cushion charging and discharging can also be integrated into a solenoid valve group 06, which is disposed inside the vehicle body 02 for convenient installation.

In actual use, the air cushion can be selectively inflated or deflated according to factors such as the size and type of the cargo. For example, in the air cushion inflation process, an air cushion can be inflated for a period of time according to actual needs, and then the air cushion is closed. The air cushion solenoid valve stops inflating and continues to inflate other air cushions. In the same way, during the air cushion deflation process, the deflation can also be selectively performed, and no further description is made here.

It should be noted that the above description of the airway connection method is carried out by taking an example in which six air cushions 021 are fixed in one of the vehicle compartments 02. In the embodiment of the present application, the passenger compartment of the unmanned transport vehicle and each of the passenger compartments are fixed. The number of air cushions is at least one, and the airway connection manner when a plurality of air cushions are fixed in one vehicle is similar to the above-described airway connection manner, and will not be described in detail herein.

In a preferred embodiment of the embodiment of the present application, the car 02 and the car body 01 may be separated, that is, the car 02 may be detached from the car body 01, so that the unmanned transport vehicle can be easily inspected, in the car box 02 When the components such as the air cushion 021 are damaged, it can be replaced and repaired more conveniently.

When the car 02 and the car body 01 are separated from each other, as shown in FIG. 2, a car body lock 011, a box positioning button 012, and a quick-connect interface 013 may be disposed on the car body 01, and the car box 02 is provided with a box. The body lock 011, the lock button and the positioning port corresponding to the box positioning button 012. Mounting the car 02 to the body 01 When the positioning button 012 and the positioning port can position the position of the car box 02, the box lock 011 and the lock of the car box 02 can fix the car box 02 on the vehicle body 01 so as not to fall off.

The quick insertion interface 013 is connected to the air inlet and the air outlet of the air compressor 05 through a conduit respectively. When the vehicle box 02 is mounted on the vehicle body 01, the air cushion 021 fixed in the vehicle box 02 is connected to the quick insertion interface 013 through the conduit, and then the air. The inflation port of the compressor 05 is connected to the venting port.

It should be noted that, for the air cushion electromagnetic valve for controlling the inflation and deflation of the air cushion provided on the duct connected to the air cushion, when it is disposed inside the vehicle body, the same amount as the air cushion can be disposed on the vehicle body. The quick-connect interface, each of the quick-connect interfaces is connected with an air cushion; when it is disposed inside the wall of the box body, only one quick-connect interface can be arranged on the vehicle body, and the quick-connect interface is connected with the conduit, and then The air connection is connected to the air cushion through the conduit connecting member and the conduit.

The above-mentioned box lock 011, the box positioning button 012, the quick-release interface 013, the lock and the positioning port can all adopt the existing components, and the corresponding functions can be achieved, which is not specifically limited herein.

In practical applications, the conduit and the conduit connecting member may be buried inside the wall of the casing of the trunk 02 and/or inside the trunk and inside the vehicle body 01. This protects the conduit and conduit connecting parts from damage, prevents normal loading or removal of the cargo, and at the same time achieves a more aesthetically pleasing and convenient transport of the unmanned vehicle. Of course, the above conduit and conduit connecting members may also be disposed on the inside or the outside of the wall of the casing, and/or on the inside or the outside of the casing, which is reasonable.

The above control circuit may include: a programmable logic controller (PLC) and a relay or a single chip and a relay. The PLC or the single-chip microcomputer controls the switch of the air compressor 05 through the relay, and controls the switch of the charge solenoid valve 061, the bleed solenoid valve 062 and the air cushion solenoid valve 063 through the relay, thereby controlling the opening of the air compressor and the venting interface of the air compressor. And closing, and inflating or deflation of each air cushion 021.

In a preferred embodiment of the embodiment of the present application, the unmanned vehicle may further include: an air pressure sensor. Correspondingly, the control circuit may further include an AD (Analogue-to-Digital) module, each air cushion. 021 is connected to a pressure sensor through a conduit, and the air pressure sensor is electrically connected to the AD module. The AD module can be electrically connected to the PLC or the single chip microcomputer. The air pressure sensor sends the air pressure signal in the air cushion to the AD module, and the AD module converts the air pressure signal into a digital signal. And then sent to the PLC or MCU, feedback the air pressure state of each air cushion, to avoid excessive air pressure, damage to the air cushion, On the other hand, the air cushion can be pre-set according to the size of the actual transported cargo, and the air pressure sensor and the control circuit can be automatically inflated, which is more convenient and quick.

A circuit connection manner of the unmanned transport vehicle provided by the embodiment of the present application can be as shown in FIG. 4, and the unmanned transport vehicle has a car box, and six air cushions are fixed in the car box as an example, the PLC 101 and the three AD modules. 103 is electrically connected, each AD module 103 is electrically connected to two air pressure sensors 104, and the PLC 101 is electrically connected to nine relays 102, wherein one relay 102 is electrically connected to the air compressor 05 for controlling the opening of the air compressor 05 or The other eight relays 102 are respectively electrically connected to the pneumatic solenoid valve 061, the bleed solenoid valve 062 and the six air cushion solenoid valves 063 for controlling the pneumatic solenoid valve 061, the bleed solenoid valve 062 and the six air cushion solenoid valves 063, respectively. Turning on or off, thereby controlling the inflation interface of the air compressor 05, opening or closing of the venting port, and charging and discharging of the six air cushions 021.

It should be noted that the above-mentioned PLC 101 can be replaced by a single-chip microcomputer, and the circuit connection manner is the same, and will not be described in detail herein. Further, the above-mentioned single-chip microcomputer or PLC can be electrically connected with the control system in the vehicle body, and the control system can be used to control the operation of the control circuit. Of course, the operation of the circuit can be directly controlled by the single-chip microcomputer or the PLC, which is reasonable.

In practical applications, a digital air pressure sensor can also be used to monitor the air pressure of the air cushion. Since the digital air pressure sensor can directly send digital signals to the PLC or the single chip microcomputer, the digital air pressure sensor can be directly electrically connected to the PLC or the single chip microcomputer without using AD. The module is simpler and reduces the manufacturing cost of the unmanned transport vehicle.

The control circuit may be provided in the vehicle body or may be disposed inside the wall of the casing of the vehicle compartment. Of course, it may be partially disposed in the vehicle body, and a part may be disposed inside the wall of the casing of the vehicle compartment. When a part of the control circuit is disposed inside the wall of the casing of the vehicle body, and the vehicle body and the vehicle body are separated from each other, as shown in FIG. 2, a circuit interface 014 may be disposed on the vehicle body 01 so as to be in the wall of the casing of the vehicle compartment 02. A portion of the internal control circuitry can be electrically coupled to the remainder of the body 01. The circuit interface 014 can be provided as a through hole, which can allow the electrical wires required for electrical connection to pass. A person skilled in the art can determine the specific position of each component (such as a catheter connecting component, a catheter, a solenoid valve, a quick-connect interface, etc.) in the unmanned vehicle by the above-mentioned connection mode and description of the function of each component, and do not do this here. Specifically limited.

In order to facilitate the operation and assembly, the above circuit interface and the quick-release interface may be integrated into one structure. For example, several quick-release interfaces may be welded together to form a circular structure, which is circular. Leave a certain space at the center of the circle, and use this space as a circuit interface, of course, not limited to this.

It should be noted that the above-mentioned pneumatic solenoid valve, deflation solenoid valve and air cushion solenoid valve may adopt the same type of solenoid valve, or may use different types of solenoid valves, of course, electric valves or other switches that can be electrically controlled. The components, which components are specifically used, are not specifically limited herein.

The above air compressor, conduit, conduit connecting component, solenoid valve, electric valve, PLC, single chip microcomputer, relay and air pressure sensor can all adopt existing components, and which type of component is selected, and those skilled in the art can carry out unmanned transportation. The weight, type and distance of the goods to be transported by the car are selected, and are not specifically limited herein.

It can be seen that, in an unmanned transport vehicle provided by the embodiment of the present application, at least one air cushion is fixed on the inner side of the wall of the box body of the vehicle box and/or the inner side of the box cover, and the air compressor and the pneumatic solenoid valve are controlled by the control circuit. The venting solenoid valve is opened or closed to inflate and deflate the air cushion. Therefore, when transporting the cargo, the cargo can be fixed by inflating the air cushion to prevent the cargo from being damaged by collision or friction during transportation.

It is to be understood that the term "comprises", "comprising" or any other variations thereof is intended to encompass a non-exclusive inclusion, such that a process, method, article, or device that comprises a It also includes other elements that are not explicitly listed, or elements that are inherent to such a process, method, item, or device. An element that is defined by the phrase "comprising a ..." does not exclude the presence of additional equivalent elements in the process, method, item, or device that comprises the element.

The above description is only the preferred embodiment of the present application, and is not intended to limit the scope of the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application are included in the scope of the present application.

Claims

An unmanned transport vehicle includes: a vehicle body, a car box, a camera, and a distance sensor, and further includes: an air compressor and a control circuit, wherein

The car box includes a box body and a box cover. The number of the car boxes is one or more. The car box is disposed on the vehicle body, and the inner side of the wall of the box body of each car box and/or the inner side of the box cover are fixed At least one air cushion;

The air compressor is disposed inside the vehicle body, and the air compressor is provided with an inflation interface and a deflation interface, and the inflation interface and the deflation interface of the air compressor are respectively communicated with the at least one air cushion through the conduit, And the inflation solenoid valve is used to control the opening and closing of the inflation interface, and the deflation solenoid valve is used to control the opening and closing of the deflation interface;

The control circuit is electrically connected to the charge solenoid valve, the bleed solenoid valve and the air compressor, respectively, for controlling opening and closing of the charge solenoid valve, the bleed solenoid valve and the air compressor.
The unmanned vehicle of claim 1 wherein said control circuit comprises: a programmable logic controller and a relay or a single chip and a relay.
The unmanned vehicle of claim 1 wherein said unmanned vehicle comprises two carts.
The unmanned transport vehicle according to claim 1, wherein six air cushions are fixed in each of said passenger compartments.
The unmanned vehicle of claim 4 wherein said six air cushions are each in communication with an air compressor through a conduit.
The unmanned vehicle of claim 5 wherein each of the air cushions controls inflation and deflation by a gas cushion solenoid valve.
The unmanned transport vehicle of claim 1 wherein said wagon is separate from said body.
The unmanned transport vehicle according to claim 7, wherein the vehicle body is provided with a box lock, a box positioning button and a quick insertion interface;

The quick insertion interface is respectively connected to the at least one air cushion and the air inlet interface and the air outlet interface of the air compressor through a conduit;

The car box is provided with a lock and a positioning opening corresponding to the box lock and the box positioning button.
The unmanned vehicle according to any one of claims 1 to 8, wherein the duct is buried inside the wall of the casing and/or inside the tank cover and inside the vehicle body.
The unmanned transport vehicle according to claim 9, wherein said unmanned transport vehicle further comprises: an air pressure sensor,

Each air cushion is connected to one of the air pressure sensors through a conduit;

The air pressure sensor is electrically connected to the control circuit.