WO2020239099A1 - 电动车、自动驾驶方法和设备、自动货运方法和系统 - Google Patents

电动车、自动驾驶方法和设备、自动货运方法和系统 Download PDF

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Publication number
WO2020239099A1
WO2020239099A1 PCT/CN2020/093443 CN2020093443W WO2020239099A1 WO 2020239099 A1 WO2020239099 A1 WO 2020239099A1 CN 2020093443 W CN2020093443 W CN 2020093443W WO 2020239099 A1 WO2020239099 A1 WO 2020239099A1
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WIPO (PCT)
Prior art keywords
electric vehicle
wheel
goods
chassis
cargo
Prior art date
Application number
PCT/CN2020/093443
Other languages
English (en)
French (fr)
Inventor
张大朋
Original Assignee
张大朋
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201910454297.1A external-priority patent/CN110143127B/zh
Priority claimed from CN201920785786.0U external-priority patent/CN209870097U/zh
Priority claimed from CN202020891213.9U external-priority patent/CN212148439U/zh
Priority claimed from CN202010448097.8A external-priority patent/CN111469680B/zh
Application filed by 张大朋 filed Critical 张大朋
Priority to EP20813593.9A priority Critical patent/EP3978288A4/en
Priority to US17/614,263 priority patent/US20220227236A1/en
Publication of WO2020239099A1 publication Critical patent/WO2020239099A1/zh

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Definitions

  • the present disclosure relates to the field of vehicle technology, and specifically to an electric vehicle, an automatic driving method and equipment, and an automatic freight transportation method and system.
  • Electric vehicles have the advantages of no pollution, low noise and simple structure.
  • the functions of existing electric vehicles are relatively single and cannot adapt to different driving conditions and different road conditions.
  • the control of electric vehicles is inconvenient when steering, the chassis is unstable when driving at high speed, the maneuverability is low when driving at low speed, and the chassis shakes obviously when encountering rough and uneven road conditions.
  • This disclosure provides an electric vehicle, an automatic driving method and equipment, and an automatic freight transportation method and system.
  • Each group of wheel components of the electric vehicle has an independent power system, and the wheels of each group of wheel components are independently controlled by the driving device and the displacement device, so that the electric When the car is used to carry people, it can meet the driving needs of high flexibility, high stability, high safety and high comfort; when the electric car is used to carry goods, it can meet the requirements of fully automatic, high efficiency, high accuracy and low Cost and high-security cargo transportation needs.
  • an electric vehicle has multiple sets of wheel assemblies arranged on the lower surface of the chassis.
  • the multiple sets of wheel assemblies are independent of each other, and each set of wheel assemblies includes wheels, driving A device and a displacement device; the driving device can drive the wheel to rotate, and the displacement device can at least drive the wheel to move along the width direction of the vehicle body of the electric vehicle.
  • the displacement device, the driving device, and the wheel are sequentially arranged from the inside to the outside;
  • the driving device is connected by a rotating bearing and drives the wheel;
  • the displacement The device is connected to the driving device through a telescopic bearing, and drives the driving device and the wheel through the telescopic bearing.
  • the displacement device includes a first motor fixed to the chassis, the first end of the telescopic bearing is telescopically connected to the first motor, and the second end of the telescopic bearing is connected to the first motor.
  • the driving device is connected.
  • the driving device includes a housing fixed to the chassis and a second electric motor housed in the housing; two opposite inner walls of the housing are provided along the width of the vehicle body Two opposite side walls of the second motor are respectively connected to the guide rail through a rotating hinge; driven by the first motor, the second motor runs along the guide rail through the rotating hinge. Sliding drives the wheels to move along the width direction of the vehicle body.
  • the wheel when the wheel jumps in a direction perpendicular to the chassis, the wheel drives the second electric motor to swing through the rotating bearing, and the rotating hinge cooperates with the swing of the second electric motor. Rotate in the guide rail.
  • the first end of the rotating bearing is rotatably connected with the second motor, and the second end of the rotating bearing is connected to the wheel through a first rotating coupling; and, the telescopic bearing The second end is connected to the second electric motor through a second rotating coupling.
  • the rotating bearing is connected to the chassis through a first elastic member, the first elastic member can elastically expand and contract in the direction perpendicular to the chassis, and the first elastic member One end is fixedly connected with the chassis, and the second end of the first elastic member is movably connected with the rotating bearing through a connecting ring.
  • each of the wheel assemblies further includes a lifting device, and the housing is connected to the chassis through the lifting device, and the lifting device can be raised and lowered in a direction perpendicular to the chassis to adjust the The ground clearance of the chassis; and, a side wall of the housing is connected to the chassis through a connecting rod, the first end of the connecting rod is fixedly connected to the chassis, and the second end of the connecting rod The side wall of the casing is connected through a third rotating joint.
  • the lifting device is an electric lifter or a second elastic member.
  • the wheel in each of the wheel assemblies, includes a plurality of tires arranged along the width direction of the vehicle body, and the plurality of tires are all connected to the driving device through the rotating bearing.
  • each group of the wheel assembly is provided with a tire cover
  • the tire cover includes: a cover body, which is covered outside the wheel; a prompt module, which is provided on the outer surface of the cover body, and the prompt The module can generate prompt information when the wheel moves; and the flexible waterproof sheet is arranged under the rear surface of the cover.
  • the electric vehicle is used to carry people.
  • the electric vehicle is used for cargo.
  • the electric vehicle further includes: a fixed frame provided on a bearing surface of the electric vehicle, the bearing surface is located on the upper surface of the chassis, the fixed frame is provided with a sliding channel and at least a control station The sliding channel switch; a container box, the container box is pushed into the fixed frame via the sliding channel, and the container box is pushed into the fixed frame along with the container box, the switch at least partially closes the sliding channel, the The container box is fixed to the carrying surface.
  • the storage compartment can be swapped, so that the container box has storage compartments with different combinations of sizes.
  • the container box is provided with a plurality of replaceable storage compartments with different capacities, and each of the storage compartments stores goods through a cargo frame; the container box is provided with a first storage,
  • the first memory stores the user information and storage path of each piece of the goods, the user information indicates the target user and target address of the goods, and the storage path indicates the storage compartment and the cargo frame corresponding to the goods.
  • the storage path of each piece of the cargo is based on the first identification code of the container box, the second identification code of the storage compartment corresponding to the cargo, and the third identification of the cargo frame corresponding to the cargo. Code generation.
  • the switch is a split switch, and the split switch includes a first switch contact arranged on the container box and a second switch contact arranged on the fixed frame; when the container The box is pushed into the fixed frame, the split switch is closed, and the first memory exchanges data with the electric vehicle.
  • the fixed frame includes a multi-section connected right-angle column and a side plate that provides the sliding channel, the container box is pushed into the fixed frame from the side plate, and a part of the side of the container box The side is embedded in the inner wall of the right-angle column; the switch is an electric control switch or a telescopic switch arranged on the side plate.
  • the fixed frame is provided with a plurality of rotatable cameras for detecting the surrounding environment and an antenna for the cameras to communicate with the electric vehicle; the cameras are at least arranged on the edge of the electric vehicle In the forward direction, the rear end and the side surface, the antenna is provided on the top of the fixed frame; and, the fixed frame is also provided with one or more scanners, one or more talkers, and one or more Siren.
  • an electronic display screen is provided on one or more sides of the container box, and the electronic display screen is used for playing mobile advertisements.
  • the chassis of the electric vehicle is provided with a battery slot, and the battery pack of the electric vehicle is detachably installed in the battery slot.
  • an automatic driving method is provided, which is applied to the electric vehicle for carrying people or for carrying goods described in any of the above embodiments, and the automatic driving method includes the following steps: The driving speed of the electric vehicle is greater than a first preset value, and a wheelbase increase signal is sent to each group of the wheel assembly, so that the displacement device of each group of the wheel assembly drives each wheel along the width direction of the vehicle body.
  • a wheel track reduction signal is sent to each group of the wheel assembly to cause the displacement of each group of the wheel assembly
  • the device drives each of the wheels to contract along the width direction of the vehicle body toward the axis of the electric vehicle; wherein, the first preset value is greater than the second preset value; and, when the electric vehicle
  • the first rotational speed signal is sent to the steering side wheel assembly, so that the driving device of the steering side wheel assembly drives the steering side wheel to travel forward at the first rotational speed, and sends a second rotational speed signal to the non-steer side wheel assembly
  • the driving device of the non-steer-side wheel assembly drives the non-steer-side wheels to travel forward at a second rotational speed; wherein the second rotational speed is greater than the first rotational speed.
  • the automatic driving method further includes: when the electric vehicle is steering, sending a contraction signal to the steering side wheel assembly, so that the displacement device of the steering side wheel assembly drives the steering side wheel edge
  • the width direction of the vehicle body shrinks in a direction close to the axis of the electric vehicle; and/or, an extension signal is sent to the non-steer wheel assembly to cause the displacement device of the non-steer wheel assembly to drive the non-steer wheel assembly.
  • the steering wheel extends in the direction away from the axis of the electric vehicle along the width direction of the vehicle body.
  • the automatic driving method further includes: when the driving speed of the electric vehicle is greater than the first preset value, sending a height reduction signal to each group of the wheel assembly to make each group of the wheel assembly The lifting device lowers the ground clearance of the chassis; and, when the electric vehicle is parked, sends a height raising signal to each group of the wheel assembly, so that the lifting device of each group of the wheel assembly raises the chassis The height above the ground.
  • the automatic driving method further includes: setting a plurality of preset values for the driving speed of the electric vehicle to adjust the track of each group of the wheel assembly and/or the separation of the chassis in stages. Ground height.
  • adjusting the driving parameters of the electric vehicle in real time according to the driving conditions of the electric vehicle includes: when the electric vehicle is traveling in a straight line, controlling the wheels to rotate at the same speed through each of the driving devices , Controlling the wheelbase along the width of the vehicle body through each of the displacement devices to increase with the increase of vehicle speed, and controlling the height of the vehicle body of the electric vehicle to increase with the vehicle speed through the lifting devices of each group of the wheel assemblies Wherein, each group of the wheel assembly is connected to the chassis through the lifting device; when the electric vehicle is steering, the rotation speed of the non-steer side wheel is controlled by each of the driving devices to be greater than the rotation speed of the steering side wheel, Each of the displacement devices controls the non-steer side wheels to move outward in the vehicle width direction relative to the steering side wheels, and each of the lifting devices controls the height of the non-steer side vehicle body to be greater than that of the steering side vehicle body.
  • the height of the vehicle body upstream of the slope is controlled by each of the lifting devices to be lower than the height of the vehicle body downstream of the slope, so as to reduce the degree of inclination of the automatic electric vehicle.
  • each set of the wheel assembly includes at least two wheels arranged in the width direction of the vehicle body
  • the automatic driving method further includes: when the electric vehicle passes through the cavity, passing the The displacement device of the wheel assembly increases the wheelbase between the plurality of wheels of the wheel assembly located at the cavity in the width direction of the vehicle body to avoid the cavity; or, when the electric vehicle passes through the cavity In the case of a hole, the displacement device of the wheel assembly located in the cavity drives the wheels of the wheel assembly located in the cavity to expand and contract in the width direction of the vehicle body to avoid the cavity.
  • an electronic device including: a processor; a memory in which executable instructions for execution by the processor are stored; and the processor is configured to execute The executable instructions execute the steps of the automatic driving method described in any of the above embodiments; the electronic device is configured in the electric vehicle, and the electronic device can communicate with the navigation system and the automatic driving system to control each Set the wheel assembly.
  • an automatic freight transportation method is provided, which is applied to the electric vehicle for carrying goods described in any of the above embodiments.
  • the automatic freight transportation method includes the following steps: in the receiving area of the distribution center, Receive the first goods to be delivered, and obtain the user information of each of the first goods; according to the size of each of the first goods, put each of the first goods into a correspondingly sized cargo frame; The cargo frame and the first cargo are automatically transported to the shipping area of the distribution center.
  • the shipping area is equipped with multiple container boxes with vacant storage compartments and multiple fully-charged electric vehicles;
  • the cargo frame and the first cargo are loaded into the storage compartment of the container box, so that the first cargo in each container box has the same target area, and the storage path of each piece of the first cargo is obtained
  • the first cargo in the container box is equipped with multiple container boxes with vacant storage compartments and multiple fully-charged electric vehicles;
  • the step of controlling the electric vehicle to automatically distribute the first goods in the container box includes: generating a delivery path and each piece of goods according to the target address of each piece of the first goods in the container box.
  • the target user of the goods sends the pickup time, pickup location and pickup code; when the electric vehicle arrives at a pickup location, the pickup code is obtained through the scanner of the electric vehicle to confirm whether the pickup code is correct, If it is correct, inform the target user of the location of the storage compartment corresponding to the pickup code, and notify the container box to open the storage compartment corresponding to the pickup code for the target user to receive the first goods And, detecting whether the door of the storage compartment is closed, and sending a return notification to the target user if it is not closed, until the electric vehicle continues to move forward after detecting that the door of the storage compartment is closed.
  • the automatic shipping method further includes: receiving a shipping request, the shipping request includes sender information and recipient information, and the sender information includes at least the sender user and the sender user Address and the size of the second cargo; obtain an electric vehicle with an empty storage compartment that matches the size of the second cargo in the target area where the user's address is located; send the shipping time, Shipping location and shipping code; and sending a receiving path to the shipping location and the shipping time to the electric vehicle.
  • the automatic shipping method further includes: when the electric vehicle arrives at the shipping location, obtaining the shipping code through the scanner, and informing the shipping user of the empty storage compartment And notify the container box to open the empty storage compartment; detect whether the door of the empty storage compartment is closed, if not closed, send a return notification to the sender until the storage is detected After the grid door is closed, the electric vehicle continues to move forward; when the electric vehicle is full of second cargo, control the electric vehicle to drive to the unloading area of the distribution center; unload the container box and the cargo inside The electric vehicle and the container box return to the shipping area; according to the recipient information of each piece of the second cargo, the cargo frame and the second cargo are automatically transported to Corresponding transshipment area; remove the second cargo for transshipment, and the cargo frame returns to the receiving area; and, the second cargo in the transshipment area is assembled in a transport vehicle and transported to the corresponding destination city Or transfer to a remote distribution center via the airport.
  • an automatic freight transportation system for implementing the automatic freight transportation method described in any of the above embodiments.
  • the automatic freight transportation system includes: a plurality of electric vehicles; a control cluster; Electric vehicle communication connection; and distribution center, including automatic equipment for automatic loading and unloading and automatic transmission.
  • Each group of wheel components of an electric vehicle has an independent power system.
  • the wheels of each group of wheel components are independently controlled by a drive device and a displacement device to improve the flexibility of the electric vehicle;
  • the drive device controls the wheel speed, which is achieved by the speed difference when the electric vehicle turns
  • the steering can be controlled flexibly, the wheels do not need to bend, which improves the stability of the electric vehicle when steering;
  • the displacement device controls the wheel expansion and contraction to realize the adjustment of the track, which can increase the track at high speed, reduce the track at low speed, and improve the electric The safety and comfort of the car;
  • FIG. 1 shows a schematic structural diagram of an electric vehicle in an embodiment of the disclosure
  • Figure 2 shows a schematic diagram of the exploded structure of the wheel assembly in the embodiment of the disclosure
  • FIG. 3 shows a schematic diagram of the assembly structure of the wheel assembly in the embodiment of the disclosure
  • FIG. 5 shows a schematic structural diagram of a wheel high jump in an embodiment of the present disclosure
  • FIG. 6 shows a schematic structural diagram of the wheel jumping in an embodiment of the present disclosure
  • Figures 7-9 show schematic diagrams of the wheelbase changes of the electric vehicle for carrying people in the embodiment of the present disclosure during straight driving;
  • FIG. 10 shows a schematic structural diagram of an electric vehicle used for loading goods in an embodiment of the disclosure
  • Figure 11 shows a schematic diagram of the structure of the electric vehicle shown in Figure 10 separated from the container box;
  • FIG. 12 shows a schematic diagram of an enlarged structure of area A in FIG. 11;
  • FIG. 13 shows a schematic side view of the electric vehicle for carrying goods in the embodiment of the disclosure
  • FIG. 14 shows a structural schematic diagram of a container box with multiple storage compartments in an embodiment of the present disclosure
  • FIG. 15 shows a schematic diagram of the steps of an electric vehicle automatic driving method in an embodiment of the present disclosure
  • FIG. 16 shows a schematic top view of the structure of the electric vehicle when steering in the embodiment of the disclosure
  • FIG. 17 shows a schematic diagram of the steps of another automatic driving method for an electric vehicle in an embodiment of the disclosure.
  • FIG. 18 shows a schematic diagram of the front view structure of the electric vehicle used for loading goods in the straight driving condition in the embodiment of the disclosure
  • FIG. 19 shows a schematic diagram of a front view structure of the electric vehicle used for loading goods in a left-turn operating condition in an embodiment of the present disclosure
  • FIG. 20 shows a schematic side view of the electric vehicle used for loading goods in a downhill working condition in an embodiment of the present disclosure
  • FIG. 21 shows a schematic structural diagram of an electronic device in an embodiment of the disclosure.
  • FIG. 22 shows a schematic structural diagram of a distribution center in an embodiment of the disclosure
  • FIGS 23 and 24 show schematic diagrams of the steps of the delivery process of the automatic shipping method in the embodiment of the present disclosure.
  • FIG. 25 and FIG. 26 show schematic diagrams of the steps of the receiving process of the automatic shipping method in the embodiment of the present disclosure.
  • connection should be interpreted broadly, for example, they can be fixedly connected, detachably connected, or integrated ; It can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication between two components or the interaction relationship between two components.
  • connection can be fixedly connected, detachably connected, or integrated ; It can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication between two components or the interaction relationship between two components.
  • the terms “upper”, “lower”, “right”, and other orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of description and simplified operations, rather than indicating It may also imply that the pointed device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present disclosure.
  • the terms “first” and “second” are only used to distinguish them in description and have no special meaning.
  • Fig. 1 shows the structure of the electric vehicle in the embodiment.
  • the electric vehicle 1 in this embodiment has multiple sets of wheel assemblies 2 arranged on the lower surface of the chassis 10.
  • the electric vehicle 1 has four sets of wheel assemblies 2.
  • the electric vehicle 1 can also be equipped with other numbers of wheel assemblies 2, such as three sets, six sets, eight sets and so on.
  • the multiple sets of wheel assemblies 2 of the electric vehicle 1 are independent of each other, so the number of wheel assemblies 2 can be flexibly increased or decreased according to the configuration of the electric vehicle 1.
  • Each wheel assembly 2 includes a wheel 21, a driving device 22, and a displacement device 23.
  • the driving device 22 can drive the wheel 21 to rotate, and the displacement device 23 can at least drive the wheel 21 to move along the width direction "X" of the electric vehicle, so that the wheel 21 can move toward Extend in the direction away from the axis of the electric vehicle 1, even if the wheels 21 extend outward, the track will increase; or if the wheels 21 are contracted closer to the axis of the electric vehicle 1, even if the wheels 21 shrink inward, the track will decrease .
  • the multiple sets of wheel assemblies 2 are independent of each other, and each set of wheel assemblies 2 can be flexibly assembled according to the configuration of the electric vehicle 1, and the wheels 21 of each set of wheel assemblies 2 can be independently controlled through the driving device 22 and the displacement device 23 to improve flexibility.
  • the driving device 22 controls the rotation speed of the wheels 21.
  • the rotation speeds of the wheels 21 may be the same or different.
  • the wheels 21 do not need to rotate, and the rotation speed difference between the wheels 21 realizes flexible control of the steering. For example, make the rotation speed of the steering side wheel smaller than the rotation speed of the non-steer side wheel to achieve steering.
  • the displacement device 23 controls the expansion and contraction of the wheels 21 to realize the adjustment of the track, which can increase the track at high speeds, improve the stability of the electric vehicle 1, and reduce the track at low speeds to improve the maneuverability of the electric vehicle 1.
  • the track referred to in the present disclosure includes the track of the front two sets of wheel assemblies 2 and the track of the rear two sets of wheel assemblies 2.
  • the steering-side wheel assembly referred to in the present disclosure includes the wheel assembly 2 of the front wheel on the steering side and the steering wheel.
  • the wheel assembly 2 of the side rear wheel, and the non-steer side wheel assembly includes the wheel assembly 2 of the non-steer side front wheel and the wheel assembly 2 of the non-steer side rear wheel.
  • the displacement device 23, the driving device 22 and the wheels 21 are sequentially arranged from the inside to the outside.
  • the drive device 22 is connected to and drives the wheel 21 through a rotating bearing 24, the displacement device 23 is connected to the drive device 22 through a telescopic bearing 25, and the drive device 22 and the wheel 21 are driven through the telescopic bearing 25.
  • the driving device 22 drives the wheel 21 to rotate through the rotating bearing 24, and each driving device 22 can independently drive and control the speed of the wheel 21; the displacement device 23 is driven by the telescopic bearing 25
  • the driving device 22 and the wheels 21 move together in the vehicle width direction "X" to realize the inward and outward expansion and contraction of the wheels 21 to adjust the track.
  • the driving device 22 can be any device that can realize rotational driving
  • the displacement device 23 can be any device that can realize telescopic pushing.
  • Fig. 2 shows the exploded structure of the wheel assembly in the embodiment
  • Fig. 3 shows the assembly structure of the wheel assembly
  • Fig. 4 shows the sectional structure of the wheel assembly. 1 to 4, in some embodiments, the displacement device 23 is a first motor fixed to the chassis 10, the first end 25a of the telescopic bearing 25 is telescopically connected to the displacement device 23, and the first end of the telescopic bearing 25 The two ends 25b are connected to the driving device 22.
  • the principle of the displacement device 23 driving the driving device 22 and the wheels 21 is: the first motor generates driving force to make the telescopic bearing 25 expand and contract in the vehicle width direction "X”, and then drive the driving device 22 to move in the vehicle width direction "X", and further The wheels 21 are driven to move along the width direction "X" of the vehicle body, so that the wheels 21 can expand and contract.
  • the driving device 22 includes a casing 221 fixed to the chassis 10 and a second motor 222 accommodated in the casing 221.
  • the housing 221 is arranged as a hollow structure, along the vehicle width direction "X", the first end surface 221a of the housing 221 is provided with a through hole for the telescopic bearing 25 to pass through and connect the displacement device 23 and the second motor 222;
  • the second end surface 221b of the 221 has an open structure and is used to provide space for the second motor 222 to move in the vehicle width direction "X".
  • Two opposite inner walls of the housing 221 are provided with guide rails 223 extending along the vehicle width direction “X”, and two opposite side walls of the second motor 222 are connected to the guide rails 223 through a rotating hinge 224 respectively.
  • the rotating hinge 224 may be a short rotating shaft, one end of which is fixedly connected to the side wall of the second motor 222 and the other end is movably embedded in the guide rail 223. Driven by the displacement device 23, the second motor 222 slides along the guide rail 223 through the rotation hinge 224, and drives the wheels 21 to move in the vehicle width direction "X". Through the cooperation of the guide rail 223 and the rotation hub 224, the lateral movement of the second motor 222 can be limited to the width direction "X" of the vehicle body, and the stability and smoothness of the movement of the second motor 222 can be ensured, so that the electric vehicle 1 can adjust the wheels. Keep steady during the distance and does not affect normal driving.
  • the wheels 21 will jump high and low with the bumps of the road.
  • the wheel 21 drives the second motor 222 to swing through the rotating bearing 24, and the rotation hinge 224 cooperates with the swing of the second motor 222 to rotate in the guide rail 223, so that when the wheel 21 jumps At this time, the second motor 222 swings to absorb the uneven road surface and avoids the vibration of the vehicle body caused by the vibration of the chassis 10.
  • FIG. 5 shows the structure of the wheel jump in the embodiment
  • FIG. 6 shows the structure of the wheel jump. 1 to 6, when the wheel 21 jumps in the upward direction “Y 1 " perpendicular to the chassis, the wheel 21 drives the second motor 222 in the housing 221 to swing upward through the rotating bearing 24.
  • the rotating hinge 224 is fitted in the guide rail 223 to rotate in the direction of the arrow "m 1 ".
  • the wheel 21 drives the second motor 222 located in the housing 221 to swing downward through the rotating bearing 24.
  • the rotating bearing 24 and the telescopic bearing 25 are rigid bearings, in order to ensure that the swing of the second motor 222 does not affect its connection with the wheel 21 and the displacement device 23, the first end 24a of the rotating bearing 24 and the second The motor 222 can be rotatably connected, the second end 24b of the rotating bearing 24 is connected to the wheel 21 through a first rotating coupling, and the second end 25b of the telescopic bearing 25 is connected to the second motor 222 through a second rotating coupling.
  • the first rotary joint and the second rotary joint can be spherical connectors or other movable connectors.
  • the rotating bearing 24 is connected to the chassis 10 through a first elastic member 271, which can be in a direction perpendicular to the chassis.
  • Y elastically expands and contracts, the first end of the first elastic member 271 is fixedly connected to the chassis 10, and the second end of the first elastic member 271 is movably connected to the rotating bearing 24 through a connecting ring 272.
  • the first elastic member 271 elastically expands and contracts in the direction "Y" perpendicular to the chassis, which can limit the amplitude of the bumps of the wheel 21 and the second motor 222 while avoiding causing the chassis 10 vibrations.
  • the first elastic member 271 is a mechanical spring structure to elastically expand and contract in a direction "Y" perpendicular to the chassis in response to road bumps.
  • each set of wheel assemblies 2 further includes a lifting device 273.
  • the housing 221 of the driving device 22 is connected to the chassis 10 through the lifting device 273.
  • the lifting device 273 can be lifted and lowered in the direction "Y" perpendicular to the chassis to adjust the separation of the chassis. Ground height. When the height of the chassis from the ground is adjusted, the height of the vehicle is adjusted accordingly.
  • the lifting device 273 may be a mechanical spring structure to elastically expand and contract in a direction "Y" perpendicular to the chassis. In some embodiments, the lifting device 273 can actively adjust the height of the chassis from the ground.
  • Figures 1 to 6 illustrate that the lifting device 273 is an elastic member, but not limited to this.
  • the lifting device 273 can be any device that can actively lift in the direction "Y" perpendicular to the chassis, such as an electric lifter or an air spring. , According to the height adjustment signal sent by the control module of the electric vehicle 1 to adjust the height of the chassis from the ground. When the electric vehicle 1 is traveling on uneven roads, the lifting device 273 can adjust the height of the chassis from the ground according to the distance between the chassis 10 and the road surface, so as to improve the passability of the electric vehicle 1 on rough roads.
  • the lifting device 273 lowers the ground clearance of the chassis to lower the center of gravity of the electric vehicle; when the vehicle speed slows down or stops, the lifting device 273 restores the ground clearance of the chassis for convenience On and off.
  • the lifting device 273 can be configured to adjust the ground clearance of the chassis in real time according to the vehicle speed. When the vehicle speed increases, the ground clearance of the chassis decreases to lower the center of gravity of the vehicle and improve driving safety and stability. When the vehicle speed gradually slows down, the ground clearance of the chassis gradually recovers.
  • the specific adjustment method is controlled by the control module of the electric vehicle, or the user can configure it as required, and this disclosure does not limit this.
  • the lifting device 273 can also play a shock-absorbing and buffering role as described by the first elastic member 271, and further ensure that the chassis 10 is stable and not affected by road bumps.
  • a side wall of the housing 221 is connected to the chassis 10 through a connecting rod 274, the first end of the connecting rod 274 is fixedly connected to the chassis 10, and the second end of the connecting rod 274 is connected through a third rotating joint. Connect the side walls of the housing 221.
  • the connecting rod 274, through its rigid body and the third rotating joint, can reduce the vibration of the chassis 10, and can also cooperate with the lifting device 273 to move relative to the housing 221.
  • the wheel 21 may be a single tire, and it may also include a plurality of tires arranged along the vehicle width direction "X".
  • FIG. 2 shows that the wheel 21 includes three tires, namely a first tire 21a, a second tire 21b, and a third tire 21c, but it is not limited thereto.
  • Each tire can be a pneumatic rubber tire or a solid plastic tire.
  • Each wheel assembly 2 wheel 21 can be provided with multiple tires to increase the total width of the wheel 21 and increase the contact area with the ground.
  • the wider wheels 21 can reduce the vibration of the chassis 10 and improve the stability and comfort of the electric vehicle 1.
  • one of the tires of the wheels 21 is pressed into a cavity or a raised obstacle, and the remaining tires are still driving on a flat ground, thereby further reducing the vibration of the chassis 10.
  • each set of wheel assemblies 2 is provided with a tire cover.
  • the tire cover includes: a cover body 28, which is arranged outside the wheel 21 to improve the aesthetics of the wheel assembly 2; a reminder module, which is arranged on the outer surface of the cover body 28, such as those indicated by arrows 281 and 282 surface.
  • the outer surface of the cover 28 may be an electronic screen, which is used to generate prompt information when the wheels 21 telescope and move, especially in the direction away from the axis of the electric vehicle 1 along the vehicle width direction "X", to prompt the surrounding vehicles in time , To avoid collision of surrounding vehicles when the wheels 21 extend outward due to the too small distance between the vehicles and the electric vehicle 1.
  • the prompting module may also be a warning light (not specifically shown in the figure) provided on the outer surface of the cover 28, as long as it can play a prompting role when the wheels 21 telescopically move.
  • the soft waterproof sheet 283, which is arranged under the rear surface of the cover 28, is used to block dust and keep the chassis 10 dry and clean when the electric vehicle 1 is running.
  • the electric vehicle 1 described in the above embodiments can be used for carrying people or goods.
  • the chassis 10 is provided with a body structure suitable for carrying people, and also includes a door opened on the side of the body, a seat provided in the body, and so on.
  • the electric vehicle 1 is independently controlled by the driving device 22 and the displacement device 23 through the wheels 21 of each group of wheel assemblies 2, which can improve the flexibility, stability, safety and comfort of the electric vehicle 1.
  • a box structure suitable for loading is provided on the chassis 10, so that the electric vehicle 1 can meet the requirements of fully automatic, high efficiency, high accuracy, low cost and high safety of goods transportation .
  • Figures 7-9 show the structure of the wheel base of the electric vehicle used for carrying people in the embodiment during straight driving, wherein Figure 7 shows the structure of the conventional wheel base, and Figure 8 shows the structure of the wheel base increased.
  • Figure 9 illustrates the structure of the reduced track.
  • the track between the wheels 21 of each two sets of wheel assemblies 2, including the front wheel track and the rear wheel track maintains the normal track L1.
  • the electric vehicle 1 is running at a high speed, if the wheel base is too small, the electric vehicle 1 will easily roll over due to centrifugal force.
  • the wheels 21 are driven to extend outward through the displacement devices 23 of the wheel assemblies 2 of each group, and the wheel base is increased to improve the stability of the vehicle.
  • the displacement device 23 of each set of wheel assemblies 2 drives the drive device 22 and the wheels 21 through the telescopic bearing 25 to move along the vehicle width direction "X", in the direction "X 1 "away from the axis of the electric vehicle 1. , To achieve the outward extension of the wheels 21, so that the track is increased to L2.
  • the displacement device 23 can drive the wheels 21 to shrink inward, reducing the wheel base to save energy consumption when running at low speeds, and reducing the footprint of the wheels 21 to facilitate parking. Referring to FIG.
  • the displacement device 23 of each set of wheel assembly 2 drives the drive device 22 and the wheels 21 through the telescopic bearing 25 along the vehicle width direction "X" and moves in the direction "X 2 "close to the axis of the electric vehicle 1 ,
  • the specific extent of extension and contraction of the wheel 21 is determined according to parameters such as the configuration of the electric vehicle 1 and the size of the wheel 21.
  • the wheel 21 can extend outward by a maximum of 1 m and contract inward by a minimum of 50 cm, but it is not limited to this.
  • the user can also configure the degree of extension and contraction of the wheel 21 as required, and this disclosure does not limit this.
  • the above-mentioned normal vehicle speed, high speed, and low speed are also determined according to the configuration of the electric vehicle 1. For example, between 30km/h and 100km/h are normal vehicle speeds, less than 30km/h is low speed, and greater than 100km/h is high speed.
  • the user can also configure according to needs, for example, configure the vehicle speed into multiple stages, each 5km is a stage, and this disclosure does not limit this.
  • the electric vehicle 1 also has other driving conditions, which will be described in detail below in conjunction with the automatic driving method.
  • the electric vehicle 1 in this embodiment further includes: a fixed frame 11 provided on a bearing surface 10a of the electric vehicle 1, the bearing surface 10a is located on the upper surface of the chassis 10, and the fixed frame 11 is provided with a sliding channel 111 and a switch 112 that controls at least the sliding channel 111; the container box 3, the container box 3 is pushed into the fixed frame 11 through the sliding channel 111, and the container box 3 is pushed into the fixed frame 11, the switch 112 at least partially closes the sliding channel 111, the container box 3 Fixed to the bearing surface 10a.
  • the fixed frame 11 includes a multi-section connected right-angle column 113 and a side plate 114 that provides a sliding channel 111.
  • a five-section right-angle column 113 and two-section side plate 114 are marked.
  • the container box 3 is pushed into the fixed frame 11 from the side plate 114, and part of the side of the container box 3 is embedded in the inner wall of the right-angle column 113. Part of the side of the container box 3 at the side plate 114 is restricted and fixed by the switch 112.
  • the container box 3 can be stably embedded in the fixed frame 11 and move with the electric vehicle 1.
  • One or more sides of the container box 3, for example, the two sides shown in FIG. 11 can be equipped with electronic display screens 30.
  • the electronic display screens 30 are used to play mobile advertisements so that the container box 3 becomes a movable billboard.
  • FIG. 12 shows the enlarged structure of the area A in FIG. 11, specifically the structure of the switch 112.
  • the switch 112 may be an electric control switch or a telescopic switch provided on the side plate 114. 10 to 12, in the first state where the electric vehicle 1 is not loaded with the container box 3, the switch 112 can move in the first direction "D 1 "shown in FIG. 12 under the first control signal, thereby
  • the side plate 114 provides a sliding channel 111 for pushing the supply cabinet 3 into the fixed frame 11.
  • the switch 112 can expand and contract in the second direction “D 2 ”shown in FIG. 12 under the second control signal to partially close the sliding channel 111 and fix the container box 3.
  • On each side plate 114 one or more switches 112 can be provided as required.
  • the first control signal and the second control signal for controlling the switch 112 may be provided by the control cluster. The content of the control cluster will be described in detail below in conjunction with the automatic shipping method.
  • FIG. 13 shows the side structure of the electric vehicle used for loading goods in the embodiment.
  • the fixed frame 11 of the electric vehicle 1 is provided with a plurality of rotatable cameras 115 for detecting the surrounding environment and an antenna 116 for the camera 115 to communicate with the electric vehicle 1;
  • the antenna 116 is provided on the top of the fixed frame 11.
  • the electric vehicle 1 has an automatic driving function, and the electric vehicle 1 performs automatic driving based on the surrounding environment detected by the camera 115.
  • the cameras 115 are respectively arranged at the four corners of the electric vehicle 1 to assist the automatic driving of the electric vehicle 1.
  • One or more scanners 12 are also provided on the fixed frame 11 for the user to scan the corresponding pickup code and mailing code when picking up and sending the package.
  • the communicator 117 has a call button. By pressing the call button, the target user and the sender can talk to the control cluster through the communicator 117, so as to solve the doubts of the target user and the sender during the automatic receiving and automatic shipping process.
  • the control cluster can also obtain the surrounding situation of the electric vehicle 1 through the camera 115 at any time.
  • the scanner 12, the intercom 117, and the alarm 118 can all be installed in the four corners of the fixed frame 11 for the convenience of the user.
  • the scanning function, the call function and the alarm function of the electric vehicle 1 are not affected by the partial scanner 12, The damage of the talker 117 and the alarm 118 is affected.
  • the scanner 12, the intercom 117, and the alarm 118 may also be provided on the container box.
  • the chassis 10 of the electric vehicle 1 is provided with a battery slot 13, and the battery pack of the electric vehicle 1 is detachably installed in the battery slot 13.
  • the battery pack can be flexibly inserted into the battery slot 13 and drawn out from the battery slot 13. In this way, when the electric vehicle 1 is exhausted, the battery pack can be quickly replaced, so that the electric vehicle 1 maintains a long-term endurance function. Or when the electric vehicle 1 returns to the distribution center, after unloading the container box, replace with a new fully charged battery pack, and then proceed to the next delivery.
  • Fig. 14 shows a structure in which the container box has a plurality of storage compartments in the embodiment.
  • FIG 14 there are multiple replaceable storage compartments 31 with different capacities in the container box 3.
  • Each storage compartment 31 stores goods through a cargo frame.
  • the storage compartment 31 can be easily replaced, so that the container box 3 has storage compartments 31 of different sizes, so as to adapt to the size of the goods and make full use of the internal space of the container box.
  • the container box is provided with a first memory (not specifically shown in Figure 14).
  • the first memory stores user information and storage path for each piece of goods.
  • the user information indicates the target user and target address of the goods, and the storage path indicates the storage corresponding to the goods. Character and cargo frame.
  • Part of the storage compartment 31 may also have a heat preservation function and an alarm function for detecting whether the door is closed.
  • the storage path of each piece of goods is generated according to the first identification code of the container box, the second identification code of the storage compartment corresponding to the goods, and the third identification code of the cargo frame corresponding to the goods.
  • Each container box has a first identification code
  • each storage compartment in the container box has a second identification code
  • each cargo frame in the storage compartment has a third identification code.
  • the storage path of the goods is generated according to the first identification code of the container box, the second identification code of the storage compartment corresponding to the goods, and the third identification code of the cargo frame corresponding to the goods, so that each piece of goods can uniquely correspond to a container in a container.
  • the user information of the goods is transported along with the goods.
  • a label is affixed to the goods, and the label corresponds to the user information of the stored goods.
  • the user information can be stored in an encrypted manner, as long as it can be read by the computer that controls the cluster. Encrypted storage can improve the confidentiality of information and prevent user information from leaking.
  • the storage path of the goods is generated in stages according to the transportation status of the goods.
  • the transportation status of the goods includes at least: the goods are loaded into the cargo frame and the cargo and the cargo frame are loaded into the storage compartment of the container box. First, when the goods are loaded into the cargo box, a temporary storage path is generated according to the third identification code of the cargo box, such as "No. 1 cargo: No. 1 cargo box".
  • a complete storage path is generated according to the third identification code of the cargo frame, the second identification code of the storage compartment and the first identification code of the container box, such as " No. 1 cargo: No. 1 container box ⁇ No. 1 storage compartment ⁇ No. 1 cargo box".
  • the first memory obtains the user information and storage path of each item.
  • the switch is a split switch
  • the split switch includes a first switch contact arranged on the container box and a second switch contact arranged on the fixed frame; when the container box is pushed into the fixed frame, the split switch is closed ,
  • the first memory exchanges data with the electric vehicle. Specifically, the first memory exchanges data with the electric vehicle through the control cluster.
  • the container box is pushed into the fixed frame to complete the assembly, the first switch contact and the second switch contact contact, so that the split switch is closed and an electrical signal is transmitted to the control cluster.
  • the electric signal carries the fourth identification code of the electric vehicle and the first identification code of the container box.
  • control cluster After the control cluster receives the electrical signal, it can learn that the electric vehicle and the container box have been assembled, so as to obtain the user information and storage path of each piece of goods stored in the first memory associated with the first identification code. The user information and storage path of each piece of goods stored in the memory generate distribution information, which is then sent to the electric vehicle associated with the fourth identification code.
  • the electric vehicle is equipped with a control module. When the control module receives the distribution information, it can automatically distribute the goods in the delivery cabinet.
  • the embodiment of the present disclosure also provides an automatic driving method of an electric vehicle, which is applied to the electric vehicle described in any of the foregoing embodiments.
  • the automatic driving method of the present disclosure can be executed by the control module of the electric vehicle.
  • the control module is a functional module configured in the electric vehicle with automatic driving function. The following steps are added to the control module in this disclosure, and the control module is not changed.
  • the control module can communicate with the navigation system and the automatic driving system to realize the automatic driving of the control electric vehicle.
  • FIG. 15 shows the main steps of the automatic driving method of the electric vehicle in the embodiment.
  • the automatic driving method of the electric vehicle in this embodiment mainly includes: in step S110, when the driving speed of the electric vehicle is greater than a first preset value, a wheelbase increase signal is sent to each group of wheel assemblies to make The displacement device of each wheel assembly drives each wheel to extend in the direction away from the axis of the electric vehicle along the width of the vehicle body.
  • a wheelbase increase signal is sent to each group of wheel assemblies to make The displacement device of each wheel assembly drives each wheel to extend in the direction away from the axis of the electric vehicle along the width of the vehicle body.
  • the displacement device responds to the wheelbase increase signal
  • the drive device and the wheels are driven along the width of the vehicle body through the telescopic bearing to move away from the axis of the electric vehicle.
  • the wheels stretch to increase the track.
  • step S120 when the driving speed of the electric vehicle is lower than the second preset value, a wheelbase reduction signal is sent to each group of wheel assemblies, so that the displacement devices of each group of wheel assemblies drive each wheel to approach the electric vehicle along the width direction of the vehicle body.
  • the direction of the axis shrinks.
  • the displacement device responds to the wheelbase reduction signal
  • the drive device and the wheels are driven along the width of the vehicle body through the telescopic bearing to move closer to the axis of the electric vehicle to achieve The wheels shrink, reducing the track.
  • the first preset value is much larger than the second preset value.
  • the control module can also send a track adjustment signal to each group of wheel assemblies according to the driving speed, so that the displacement device can realize real-time Adjust the wheel base to adapt the wheel base to the speed of the vehicle to obtain the best driving experience.
  • step S130 when the electric vehicle is steering, a first speed signal is sent to the steering wheel assembly, so that the driving device of the steering wheel assembly drives the steering wheel to travel forward at the first speed, and sends it to the non-steer wheel assembly
  • the second rotation speed signal causes the driving device of the non-steer side wheel assembly to drive the non-steer side wheel to travel forward at the second rotation speed.
  • the second rotation speed is greater than the first rotation speed.
  • Fig. 16 shows a top view structure of the electric vehicle when steering in the embodiment.
  • the wheels 21 do not need to bend and still maintain the forward direction, so as to increase the stability of the electric vehicle 1 when turning.
  • the driving device 22 of each set of wheel assemblies 2 controls the rotation speed difference between the steering side wheel and the non-steer side wheel to realize steering. Taking the right turn shown in FIG.
  • the steering side that is, the driving device 22 of the two sets of wheel assemblies 2 on the right
  • the non-steer side that is, the two on the left
  • the driving device 22 of the group wheel assembly 2 provides the two wheels 21 on the left with a second rotation speed V2, V1 ⁇ V2. Since the rotation speed V1 of the right wheel 21 is less than the rotation speed V2 of the left wheel 21, the electric vehicle 1 realizes a right steering due to the difference in the rotation speed of the left and right wheels.
  • the specific rotation speed difference is calculated by the control module of the electric vehicle 1, and this disclosure does not limit this.
  • sequence numbers of the steps in the above embodiments are only used to indicate the control mode of the electric vehicle under different driving conditions, and do not limit the logical relationship and execution sequence between the steps.
  • the automatic driving method of the electric vehicle further includes: when the electric vehicle is turning, sending a contraction signal to the steering wheel assembly, so that the displacement device of the steering wheel assembly drives the steering wheel along the width direction of the vehicle body toward the electric vehicle.
  • the direction of the axis of the vehicle is contracted; and an extension signal is sent to the non-steer wheel assembly, so that the displacement device of the non-steer wheel assembly drives the non-steer wheel to extend in the direction away from the axis of the electric vehicle along the width of the vehicle.
  • the side wheel assembly sends an extension signal so that the displacement device of the non-steer wheel assembly drives the non-steer wheel to extend in the direction away from the axis of the electric vehicle along the width of the vehicle body.
  • the control module uses the drive devices of each set of wheel assemblies to achieve the difference in speed between the steering side wheels and the non-steer side wheels, and can also use the displacement device to shrink the front and rear wheels on the steering side, or make the non-steer side
  • the front and rear wheels are extended, or both the front and rear wheels on the steering side are retracted and the front and rear wheels on the non-steer side are extended.
  • the steering wheel assembly namely the displacement devices 23 of the two sets of wheel assemblies 2 on the right side
  • the steering wheel assembly can be used to drive the steering wheel to shrink appropriately in the direction "X 2 "close to the axis of the electric vehicle 1, and/or
  • the non-steer wheel assembly that is, the displacement device 23 of the two sets of wheel assemblies 2 on the left side
  • the specific contraction degree of the steering side wheel and the specific extension degree of the non-steer side wheel are calculated by the control module, which is not limited in this disclosure.
  • the automatic driving method of the electric vehicle may further include: when the driving speed of the electric vehicle is greater than a first preset value, sending a height reduction signal to each group of wheel assemblies to enable the lifting device of each group of wheel assemblies Reduce the height of the chassis from the ground to lower the center of gravity of the electric vehicle, and improve the stability and safety of the electric vehicle at high speed; and, when the electric vehicle is parked, send a height increase signal to each group of wheel components to make each group The lifting device of the wheel assembly raises the ground clearance of the chassis to restore the height of the vehicle body to a height that is convenient for getting on and off the car.
  • the lifting device can adjust the ground clearance of the chassis in real time according to the vehicle speed.
  • the ground clearance of the chassis is lowered to lower the center of gravity of the vehicle.
  • the ground clearance of the chassis is gradually restored to facilitate getting on and off the car.
  • the above-mentioned process of adjusting the wheel speed, the degree of expansion of the wheels, and the height of the chassis from the ground can be continuous adjustment or stepwise adjustment, depending on the configuration of the control module, which is not limited in this disclosure.
  • the driving speed of the electric vehicle may be set with multiple preset values to adjust the wheels of each group of wheel assemblies and the ground clearance of the chassis in stages.
  • the driving parameters of the electric vehicle may be adjusted in real time according to the driving conditions of the electric vehicle.
  • the driving conditions of the electric vehicle can be obtained by the control module of the electric vehicle according to the surrounding environment collected by the camera, combined with the navigation system and the automatic driving system.
  • Fig. 17 shows the main steps of another automatic driving method in the embodiment.
  • the automatic driving method of the electric vehicle in this embodiment includes: in step S210, when the electric vehicle is traveling in a straight line, each driving device controls each wheel to rotate at the same speed, and each displacement device controls the width direction of the vehicle
  • the wheelbase of the electric vehicle increases with the increase of vehicle speed, and the height of the body of the electric vehicle is controlled by each lifting device to decrease with the increase of vehicle speed; wherein, each set of wheel components is connected to the chassis through the lifting device.
  • step S220 when the electric vehicle is steering, the rotation speed of the non-steer side wheel is controlled by each drive device to be greater than the rotation speed of the steering side wheel, and each displacement device is used to control the non-steer side wheel to move outward in the width direction of the vehicle body relative to the steering side wheel, and The height of the vehicle body on the non-steer side is controlled by each lifting device to be greater than the height of the vehicle body on the steering side.
  • step S230 when the electric vehicle passes through the slope, the height of the vehicle body upstream of the slope is controlled by each lifting device to be lower than the height of the vehicle body downstream of the slope to reduce the degree of inclination of the automatic electric vehicle.
  • FIG. 18 shows the front view structure of the electric vehicle in the embodiment in a straight driving condition.
  • the electric vehicle in this embodiment is, for example, an electric vehicle carrying goods.
  • the wheels 21 of each set of wheel assemblies 2 are controlled by the respective driving devices 22 to have the same rotation speed, so that the electric vehicle 1 carries the container box 3 and runs smoothly.
  • the displacement device 23 of each wheel assembly 2 drives the wheels 21 to extend outward in the vehicle width direction "X" to increase the wheelbase. L" to improve the stability of electric vehicles.
  • the displacement device 23 can drive the wheels 21 to shrink inward along the vehicle width direction "X", reduce the wheelbase "L” to save energy consumption at low speeds, and reduce the wheels 21 area, easy to pass through narrow passages. Further, as the vehicle speed increases, the ground clearance "H” of the chassis of the electric vehicle 1 is reduced by the lifting device, so as to lower the center of gravity of the electric vehicle 1 and improve the stability and safety of the electric vehicle 1 at high speed. When the electric vehicle 1 is parked, the ground clearance "H" of the chassis of the electric vehicle 1 can be raised by the lifting device, so that the goods in the container box 3 can be picked up.
  • FIG. 19 shows the front view structure of the electric vehicle used for loading goods in the left-turn operating condition in the embodiment.
  • the driving device 22 controls the rotation speed of the non-steer side wheel 21' to be greater than the rotation speed of the steering side wheel 21" to make the steering side wheel There is a wheel speed difference between 21" and the non-steer side wheel 21' to realize steering. Both the steering side wheel 21" and the non-steer side wheel 21' do not need to bend, and still maintain the forward driving direction, so as to increase the stability of the electric vehicle 1 when steering.
  • the non-steer is controlled by the displacement device 23
  • the side wheel 21' moves outward in the vehicle width direction "X" relative to the steering side wheel 21", which makes the steering process more smooth.
  • the non-steer side wheel 21' is moved outward along the vehicle width direction "X”, or the steered side wheel 21" is moved inward along the vehicle width direction "X", or the non-steer side wheel 21' is simultaneously moved along the vehicle width direction
  • the "X” moves outward and the steering wheel 21" moves inward in the vehicle width direction "X” to assist steering.
  • the height H1 of the chassis on the non-steer side can be controlled to be greater than the height H2 of the chassis on the steering side through the lifting device to further assist the steering.
  • the ground height H1 of the chassis on the non-steer side can be controlled to increase by the lifting device on the non-steer side, or the ground height H2 of the chassis on the steering side can be reduced by the lifting device on the steering side.
  • the elevator on the steering side controls the height H1 of the chassis on the non-steer side to increase, and the elevator device on the steering side controls the height H2 of the chassis on the steering side to decrease, so that the electric vehicle 1 is loaded with the container box 3 as a whole to the steering side Tilt slightly to assist steering.
  • FIG. 20 shows the side view structure of the electric vehicle used for loading cargo in the downhill working condition in the embodiment.
  • the height H3 of the chassis upstream of the slope is controlled by the lifting device to be lower than the height H4 of the chassis downstream of the slope to reduce the electric vehicle 1
  • the degree of inclination makes the electric vehicle 1 and the container box 3 remain stable when passing the slope.
  • the lifting device of the wheel assembly 2'located upstream of the slope that is, the height of the slope
  • the lifting device of the wheel assembly 2" located downstream of the slope that is, the height of the slope can be raised.
  • the ground clearance H4 of the downstream chassis makes the ground clearance H3 of the chassis upstream of the slope lower than the ground clearance H4 of the chassis downstream of the slope, thereby reducing the inclination of the electric vehicle 1 and keeping the electric vehicle 1 stable on the slope Driving.
  • the lifting device can be connected to the chassis of the electric vehicle 1 through a shock-absorbing mechanism to achieve smooth adjustment of the height of the chassis from the ground.
  • each lifting device is also used to control the upstream of the slope, that is, the height of the chassis at the height of the slope is lower than the height of the chassis at the downstream of the slope, that is, the height of the chassis at the low slope, to reduce the automatic The degree of inclination of the electric car.
  • the driving device, the displacement device and the lifting device in each group of wheel assemblies independently control the wheels, which improves the flexibility of the electric vehicle to adapt to different driving conditions.
  • the displacement device When the electric vehicle is running at high speed, the displacement device is used to control the increase in the wheelbase to improve stability and safety; when the electric vehicle is running at low speed, the displacement device is used to control the reduction of the wheelbase to save energy.
  • the driving device When the electric vehicle is steering, the driving device generates a wheel speed difference between the steering wheel and the non-steer wheel to realize the steering. At the same time, the height of the vehicle body from the ground is adjusted by the lifting device to further enhance the safety, stability and mobility of the electric vehicle.
  • each wheel when each set of wheel assemblies includes at least two wheels arranged in the width direction of the vehicle body, in each set of wheel assemblies, each wheel is jointly driven by a driving device and has the same speed; and each wheel is driven by a displacement device. Driven separately, it can extend and retract independently along the width of the car body.
  • the automatic driving method of the electric vehicle further includes: when the electric vehicle passes through the cavity, the displacement device of the wheel assembly at the cavity increases the width of the wheel between the plurality of wheels of the wheel assembly at the cavity. Distance to avoid cavities.
  • the way to increase the track in the vehicle width direction between the multiple wheels of the wheel assembly located in the cavity may be to extend the outer wheel of the wheel assembly located in the cavity outward in the vehicle width direction, or to make the wheel located in the cavity extend outward in the vehicle width direction.
  • the inner wheel of the wheel assembly at the hole shrinks inward in the vehicle width direction, or the outer wheel of the group wheel assembly at the cavity extends outward in the vehicle width direction and the inner wheel shrinks inward in the vehicle width direction, so that the The wheel base of the wheel assembly at the cavity is stretched to avoid the cavity.
  • the displacement device of the wheel assembly at the cavity drives the wheels of the wheel assembly at the cavity to expand and contract in the vehicle width direction to avoid the cavity. That is, in addition to pulling the track of the wheel assembly at the cavity to avoid the cavity, it is also possible to avoid the cavity by moving the entire wheel of the wheel assembly at the cavity in the vehicle width direction.
  • An embodiment of the present disclosure also provides an electronic device, including a processor and a memory, where executable instructions are stored, and the processor is configured to execute the automatic driving method for an electric vehicle described in any of the above embodiments by executing the executable instructions A step of.
  • the electronic equipment is configured in the electric vehicle, and the electronic equipment independently controls the wheels of each group of wheel assemblies through the driving device, the displacement device and the lifting device, assists in automatic driving, and improves the flexibility, stability, safety and comfort of the electric vehicle.
  • Electronic equipment can cooperate with navigation systems (such as GPS or Beidou) and automatic driving software to jointly realize automatic driving of electric vehicles.
  • FIG. 21 is a schematic diagram of the structure of the electronic device in the embodiment of the present disclosure. It should be understood that FIG. 21 only schematically shows various modules. These modules may be virtual software modules or actual hardware modules. The combination of these modules, The split and the addition of other modules are within the protection scope of this disclosure.
  • the electronic device 400 of the present disclosure is described below with reference to FIG. 21.
  • the electronic device 400 shown in FIG. 21 is only an example, and should not bring any limitation to the function and application scope of the embodiment of the disclosure.
  • the electronic device 400 is represented in the form of a general-purpose computing device.
  • the components of the electronic device 400 may include but are not limited to: at least one processing unit 410, at least one storage unit 420, a bus 430 connecting different platform components (including the storage unit 420 and the processing unit 410), a display unit 440, and the like.
  • the storage unit stores program codes, and the program codes can be executed by the processing unit 410 so that the processing unit 410 executes the steps of the automatic driving method described in any of the foregoing embodiments.
  • the storage unit 420 may include a readable medium in the form of a volatile storage unit, such as a random access storage unit (RAM) 4201 and/or a cache storage unit 4202, and may further include a read-only storage unit (ROM) 4203.
  • RAM random access storage unit
  • ROM read-only storage unit
  • the storage unit 420 may also include a program/utility tool 4204 having a set of (at least one) program module 4205.
  • program module 4205 includes but is not limited to: an operating system, one or more application programs, other program modules, and program data, Each of these examples or some combination may include the implementation of a network environment.
  • the bus 430 may represent one or more of several types of bus structures, including a storage unit bus or a storage unit controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local area using any bus structure among multiple bus structures. bus.
  • the electronic device 400 may also communicate with one or more external devices 500 (such as keyboards, pointing devices, Bluetooth devices, etc.), and may also communicate with one or more devices that enable a user to interact with the electronic device 400, and/or communicate with Any device (such as a router, modem, etc.) that enables the electronic device 400 to communicate with one or more other computing devices. This communication can be performed through an input/output (I/O) interface 450.
  • the electronic device 400 may also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and/or a public network, such as the Internet) through the network adapter 460.
  • the network adapter 460 can communicate with other modules of the electronic device 400 through the bus 430.
  • the embodiment of the present disclosure also provides an automatic freight transportation system.
  • the automatic freight transportation system includes a plurality of electric vehicles.
  • the electric vehicles in this embodiment are the electric vehicles described in any of the foregoing embodiments for carrying goods.
  • the electric vehicle is connected to the control cluster to realize automatic freight transportation under the control of the control cluster.
  • the automatic freight system also includes a distribution center.
  • the distribution center is equipped with two freight channels, namely an inward freight channel and an outward freight channel.
  • the inward freight channel is used to deliver goods transferred from other distribution centers to the destination; the outward freight channel is used to transfer the collected goods to other distribution centers.
  • the collection and distribution center can be set according to the freight volume. For example, for a city with a small freight volume, one collection and distribution center can be set in the unit of the city; for a city with a large volume of freight, multiple collection and distribution centers can be set up in different areas of the city.
  • the distribution center is equipped with automatic equipment including automatic loading and unloading and automatic transmission.
  • the automatic equipment is, for example, a belt conveyor with a movable mechanical arm and an automatic code scanner.
  • Automatic equipment can automatically load goods into the cargo box, remove the goods from the cargo box, load the cargo box and the goods into the storage compartment of the container box, take the cargo box and the goods out of the storage compartment of the container box, and put the container The box is loaded on the electric vehicle and the container box is unloaded from the electric vehicle.
  • Automatic equipment can connect the inward freight channel and the outward freight channel, so that the electric vehicles, container boxes, and cargo frames can be transferred to the corresponding freight channels according to the needs of cargo transportation.
  • the automatic equipment can also scan to obtain the third identification code of the cargo frame, the second identification code of the storage compartment and the first identification code of the container box at each stage of the transportation of goods, thereby obtaining the storage path of the goods.
  • Fig. 22 shows the structure of a distribution center in the embodiment.
  • the distribution center 6 is provided with an inward freight passage 61 and an outward freight passage 62.
  • the inward cargo passage 61 includes a receiving area 611 and a shipping area 612.
  • the receiving area 611 receives the transferred first cargo 610, and loads the first cargo 610 into the corresponding cargo frame 600 through the automatic device 60, and transports it to the outbound In the cargo area 612, the cargo frame 600 and the first cargo 610 are then loaded into the corresponding container box 3, and the container box 3 is then loaded on the electric vehicle 1 for automatic delivery.
  • the outward freight passage 62 includes an unloading area 621 and a transfer area 622.
  • the unloading area 621 receives the electric vehicle 1, and the electric vehicle 1 contains the second cargo 620 that needs to be transferred to other areas.
  • the automatic device 60 unloads the container box 3 and the cargo frame 600 containing the second goods 620 in the container box 3 in sequence. Then, the container box 3 and the electric vehicle (the electric vehicle here refers to the electric vehicle with the container box 3 unloaded, marked as electric vehicle 1'in Figure 22) can return to the shipping area 612 to continue to deliver the first Goods 610.
  • the electric vehicle 1'can also first arrive at a battery center, automatically replace the fully charged battery pack, and then return to the shipping area 612. The replaced battery pack is automatically fully charged in the charging center and then ready for use.
  • the cargo frame 600 containing the second cargo 620 is transported to the transfer area 622 by the automatic equipment 60, and then the second cargo 620 is taken out of the cargo frame 600, waiting to be transferred to other corresponding distribution centers.
  • the second cargo 620 can be transferred by any existing transportation means.
  • the cargo frame 600 returns to the receiving area 611 through the automatic device 60.
  • the delivery process and the delivery process in the automatic shipping method will be specifically described below in conjunction with two embodiments.
  • the automatic freight method is mainly realized by the control cluster.
  • Figures 23 and 24 show the main steps of the delivery process of the automatic shipping method in the embodiment.
  • the automatic shipping method includes: in step S710, receiving the first goods to be delivered in the receiving area of the distribution center, and obtaining user information of each first goods; in step S720, according to each For the size of the first cargo, each piece of the first cargo is loaded into a cargo frame, and the first cargo can be loaded into the cargo frame by the above-mentioned automatic equipment; in step S730, the cargo frame and the first cargo are automatically transported to the distribution center In the shipping area, the shipping area is equipped with multiple container boxes with empty storage compartments and multiple fully-charged electric vehicles; in step S740, the cargo frame and the first cargo are respectively loaded into the storage of the container box In the grid, the first goods in each container box have the same target area, and the storage path of each first goods is obtained; in step S750, the container box is loaded on the electric vehicle, and each container is stored in the memory of the electric vehicle.
  • the target area belongs to the distribution area of the distribution center, and is a small-scale distribution area pointed to by the target address of the first cargo. That is, the collection and distribution center corresponds to a large distribution area, and the large distribution area of the collection and distribution center contains many small distribution areas.
  • the goods that point to the same small distribution area are allocated to the same group of container boxes, and the same group of container boxes are allocated one or more electric vehicles. Therefore, the electric vehicle is assembled with one container box at a time, and the first goods can be distributed in a small-scale distribution area, saving resources and speeding up efficiency.
  • the process of controlling the electric vehicle to automatically deliver and deliver the first goods in the container in step S760 specifically includes: step S760-2, generating a delivery according to the target address of each first goods in the container Route, pickup time of each first item, pickup location, and pickup code related to the storage path of each first item.
  • Step S760-4 Send the delivery route to the electric vehicle, and send the pickup time, pickup location and pickup code to the target user of each first item.
  • the pickup location is a pickup location near the target address agreed with the target user. At the agreed pickup time, when the electric vehicle arrives at the pickup location, the target user also goes to the pickup location for pickup.
  • Step S760-6 When the electric vehicle arrives at a pickup location, the scanner of the electric vehicle recognizes the pickup code, and the electric vehicle sends the pickup code back to the control cluster. After the control cluster confirms that the pickup code is correct, it sends instructions to the target user The notification message of the location of the storage compartment corresponding to the pickup code is sent, and the unlocking instruction corresponding to the storage compartment is sent to the container box to enable the container box to open the storage compartment corresponding to the pickup code for the target user to receive the first goods.
  • step S760-8 detecting whether the door of the storage compartment is closed, and if it is not closed, a return notification is sent to the target user to notify the target user to return to closing the door until the electric vehicle continues to move forward after detecting that the door of the storage compartment is closed.
  • the target user receives the first goods, close the door of the storage compartment, and the electric vehicle continues to move forward.
  • Figures 25 and 26 show the main steps of the receiving process of the automatic shipping method in the embodiment.
  • the automatic shipping method further includes: in step S810, receiving a shipping request, the shipping request includes sender information and recipient information, and the sender information includes at least the sender user and the address of the sender user And the size of the second cargo, where the sender's information and recipient's information are the information that the sender fills out online.
  • step S820 an electric vehicle with an empty storage compartment matching the size of the second cargo in the target area where the mailing user address is located is obtained.
  • the sending time, the sending location and the sending code are sent to the sending user.
  • step S840 send the receiving route pointing to the sending time and the sending location to the electric vehicle.
  • the receiving process further includes: in step S850, when the electric vehicle arrives at the shipping location, the scanner recognizes the shipping code, and the control cluster confirms the shipping code returned by the scanner, and sends The user sends a notification message indicating the location of the empty storage compartment, and sends an unlock instruction to the container box, so that the container box opens the door of the empty storage compartment, so that the sender can put the second goods into the empty storage compartment. in. After the sender finishes placing the second cargo, close the door of the storage compartment.
  • step S860 it is detected whether the door of the storage compartment is closed, and if it is not closed, a return notification is sent to the sending user to notify the sending user to return to the closed storage compartment door, until it is detected that the storage compartment door is closed.
  • the car went on.
  • step S870 when the electric vehicle is full of the second cargo, the electric vehicle is controlled to travel to the unloading area of the distribution center.
  • step S880 unload the container box, its inner cargo frame and the second goods, and return the electric vehicle and the container box to the shipping area; the electric vehicle can first reach the battery center to replace the fully charged battery pack, and the replaced battery pack It will charge automatically. After returning to the shipping area, the container box can be loaded with new first goods.
  • the container box containing the new first goods is placed in a suitable size storage compartment of the container box. After the container is filled with the new first cargo, it is loaded on the electric vehicle for automatic delivery of the new first cargo.
  • the cargo frame and the second cargo are automatically transported to the corresponding transfer area, and the cargo frame and the second cargo can be automatically transported by the aforementioned automatic equipment.
  • the second cargo is removed for transshipment, and the cargo frame returns to the receiving area. After returning to the receiving area, the cargo frame is loaded with the new first cargo, and then transported to the shipping area to be loaded into the storage compartment of the container box.
  • the second cargo in the transfer area can be transported to other distribution centers by large trucks. If it is a long distance, it will be transferred to the airport and then to the remote distribution center. In other distribution centers, large trucks can transport the first cargo back to the receiving area of the transfer center.
  • the first cargo is automatically distributed and the second cargo is automatically collected, without manual involvement in the whole process, which greatly accelerates the efficiency of freight transportation.
  • the electric vehicles and the container boxes can be set separately, and the container boxes can be easily loaded and unloaded from the electric vehicles.
  • the entire electric vehicle has a simple structure and is convenient to install; the electric vehicle can be quickly installed.

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Abstract

一种电动车、自动驾驶方法和设备、自动货运方法和系统，电动车（1）具有多组设于底盘（10）下表面的车轮组件（2），多组车轮组件（2）相互独立，每组车轮组件（2）包括车轮（21）、驱动装置（22）和位移装置（23）；驱动装置（22）能驱动车轮（21）转动，位移装置（23）能至少驱动车轮（21）沿电动车（1）的车身宽度方向（X）移动。电动车（1）的每组车轮组件（2）有独立的动力系统，每组车轮组件（2）的车轮（21）通过驱动装置（22）和位移装置（23）独立控制，使电动车（1）用于载人时，可以满足高灵活性、高稳定性、高安全性和高舒适性的驾驶需求；当电动车（1）用于载货时，可以满足全自动、高效率、高准确性、低成本和高安全性的货物运输需求。

Description

电动车、自动驾驶方法和设备、自动货运方法和系统 技术领域
本揭露涉及车辆技术领域，具体地说，涉及一种电动车、自动驾驶方法和设备、自动货运方法和系统。
背景技术
在能源问题和环境问题的影响下，车辆行业逐渐发展出节能、环保的电动汽车。电动汽车具有无污染、噪声低、结构简单等优点。
但现有的电动汽车功能比较单一，无法适应不同驾驶条件、不同路况环境的使用。例如，电动汽车转向时控制不方便、高速行驶时底盘不平稳、低速行驶时机动性能低、遇崎岖不平路况时底盘震动明显等。
另外，电动汽车为了增加行车距离，节省电源，其底盘重量不断降低，造成电动汽车的稳定性逐步降低。尤其是在高速行驶、转弯、道路不平等情形下，由于稳定性降低造成危险性急剧升高。
发明内容
本揭露提供一种电动车、自动驾驶方法和设备、自动货运方法和系统，电动车的每组车轮组件有独立的动力系统，每组车轮组件的车轮通过驱动装置和位移装置独立控制，使电动车用于载人时，可以满足高灵活性、高稳定性、高安全性和高舒适性的驾驶需求；当电动车用于载货时，可以满足全自动、高效率、高准确性、低成本和高安全性的货物运输需求。
根据本揭露的第一个方面，提供一种电动车，所述电动车具有多组设于底盘下表面的车轮组件，多组所述车轮组件相互独立，每组所述车轮组件包括车轮、驱动装置和位移装置；所述驱动装置能驱动所述车轮转动，所述位移装置能至少驱动所述车轮沿所述电动车的车身宽度方向移动。
在一些实施例中，沿所述车身宽度方向，所述位移装置、所述驱动装置和所述车轮依次从内向外设置；所述驱动装置通过一转动轴承连接并驱动所述车轮；所述位移装置通过一伸缩轴承连接所述驱动装置，并通过所述伸缩轴承驱动所述驱动装置和所述车轮。
在一些实施例中，所述位移装置包括固定于所述底盘的一第一电动机，所述伸缩轴承的第一端与所述第一电动机可伸缩连接，所述伸缩轴承的第二端与所述驱动装置连接。
在一些实施例中，所述驱动装置包括固定于所述底盘的壳体和容置于所述壳体内的一第二电动机；所述壳体的两个相对的内壁设有沿所述车身宽度方向延伸的导轨，所述第二电动机的两个相对的侧壁分别通过旋转枢纽连接所述导轨；在所述第一电动机的驱动下，所述第二电动机通过所述旋转枢纽沿所述导轨滑行，带动所述车轮沿所述车身宽度方向移动。
在一些实施例中，当所述车轮沿垂直于所述底盘的方向跳动时，所述车轮通过所述转动轴承带动所述第二电动机摆动，所述旋转枢纽配合所述第二电动机的摆动在所述导轨内转动。
在一些实施例中，所述转动轴承的第一端与所述第二电动机可转动连接，所述转动轴承的第二端通过一第一转动接合器连接所述车轮；以及，所述伸缩轴承的第二端通过一第二转动接合器连接所述第二电动机。
在一些实施例中，所述转动轴承通过一第一弹性件与所述底盘连接，所述第一弹性件能沿所述垂直于所述底盘的方向弹性伸缩，所述第一弹性件的第一端与所述底盘固定连接，所述第一弹性件的第二端通过一连接环与所述转动轴承活动连接。
在一些实施例中，每个所述车轮组件还包括升降装置，所述壳体通过所述升降装置与所述底盘连接，所述升降装置能沿垂直于所述底盘的方向升降，以调整所述底盘的离地高度；以及，所述壳体的一侧壁通过一连接杆与所述底盘连接，所述连接杆的第一端与所述底盘固定连接，所述连接杆的第二端通过一第三转动接合器连接所述壳体的侧壁。
在一些实施例中，所述升降装置为电动升降器或第二弹性件。
在一些实施例中，每个所述车轮组件中，所述车轮包括沿所述车身宽度方向设置的多个轮胎，多个所述轮胎均通过所述转动轴承与所述驱动装置连接。
在一些实施例中，每组所述车轮组件设有轮胎罩，所述轮胎罩包括：罩体，罩设于所述车轮外；提示模块，设于所述罩体的外表面，所述提示模块能当所述车轮移动时生成提示信息；以及软性防水片，设于所述罩体的后表面下方。
在一些实施例中，所述电动车用于载人。
在一些实施例中，所述电动车用于载货。
在一些实施例中，所述电动车还包括：固定框架，设于所述电动车的承载表面，所述承载表面位于所述底盘的上表面，所述固定框架设有滑动通道和至少控制所述滑动通道的开关；货柜箱，所述货柜箱经由所述滑动通道推 入所述固定框架，随所述货柜箱推入所述固定框架，所述开关至少部分关闭所述滑动通道，所述货柜箱固定于所述承载表面。
在一些实施例中，所述储物格可以抽换，使所述货柜箱具有不同大小组合的储物格。
在一些实施例中，所述货柜箱内设有多个可换式的不同容量的储物格，每个所述储物格中通过货框存放货物；所述货柜箱设有第一存储器，所述第一存储器中存储每件所述货物的用户信息和存放路径，所述用户信息指示所述货物的目标用户和目标地址，所述存放路径指示所述货物对应的储物格和货框。
在一些实施例中，每件所述货物的存放路径根据所述货柜箱的第一标识码、所述货物对应的储物格的第二标识码和所述货物对应的货框的第三标识码生成。
在一些实施例中，所述开关是分体式开关，所述分体式开关包括设于所述货柜箱的第一开关触点和设于所述固定框架的第二开关触点；当所述货柜箱推入所述固定框架，所述分体式开关闭合，所述第一存储器与所述电动车交换数据。
在一些实施例中，所述固定框架包括多段相连的直角立柱和提供所述滑动通道的侧板，所述货柜箱自所述侧板处推入所述固定框架，所述货柜箱的部分侧边嵌设于所述直角立柱的内壁；所述开关是设于所述侧板上的电控开关或伸缩开关。
在一些实施例中，所述固定框架上设有多个用于检测周围环境的可转动的摄像头和供所述摄像头与所述电动车通信的天线；所述摄像头至少设于所 述电动车沿前进方向的前端、后端和侧面，所述天线设于所述固定框架的顶部；以及，所述固定框架上还设有一个或多个扫描器、一个或多个通话器、以及一个或多个警报器。
在一些实施例中，所述货柜箱的一个或多个侧面设置电子显示屏，所述电子显示屏用于播放流动广告。
在一些实施例中，所述电动车的底盘设有电池槽，所述电池槽内可拆卸地安装所述电动车的电池包。
根据本揭露的第二个方面，提供一种自动驾驶方法，应用于上述任意实施例所描述的用于载人的或者用于载货的电动车，所述自动驾驶方法包括如下步骤：当所述电动车的行车速度大于第一预设值，向各组所述车轮组件发出轮距增大信号，使各组所述车轮组件的位移装置驱动各所述车轮沿所述车身宽度方向，向背离所述电动车的轴心的方向伸展；当所述电动车的行车速度小于第二预设值，向各组所述车轮组件发出轮距减小信号，使各组所述车轮组件的位移装置驱动各所述车轮沿所述车身宽度方向，向靠近所述电动车的轴心的方向收缩；其中，所述第一预设值大于所述第二预设值；以及，当所述电动车转向时，向转向侧车轮组件发出第一转速信号，使所述转向侧车轮组件的驱动装置驱动转向侧车轮以第一转速向前行驶，并向非转向侧车轮组件发出第二转速信号，使所述非转向侧车轮组件的驱动装置驱动非转向侧车轮以第二转速向前行驶；其中，所述第二转速大于所述第一转速。
在一些实施例中，所述自动驾驶方法还包括：当所述电动车转向时，向所述转向侧车轮组件发送收缩信号，使所述转向侧车轮组件的位移装置驱动所述转向侧车轮沿所述车身宽度方向，向靠近所述电动车的轴心的方向收缩； 和/或，向所述非转向侧车轮组件发送伸展信号，使所述非转向侧车轮组件的位移装置驱动所述非转向侧车轮沿所述车身宽度方向，向背离所述电动车的轴心的方向伸展。
在一些实施例中，所述自动驾驶方法还包括：当所述电动车的行车速度大于所述第一预设值，向各组所述车轮组件发出高度降低信号，使各组所述车轮组件的升降装置降低所述底盘的离地高度；以及，当所述电动车停车时，向各组所述车轮组件发出高度升高信号，使各组所述车轮组件的升降装置升高所述底盘的离地高度。
在一些实施例中，所述自动驾驶方法还包括：所述电动车的行车速度设定多个预设值，以阶段性调整各组所述车轮组件的轮距和/或所述底盘的离地高度。
在一些实施例中，根据所述电动车的行驶工况实时调整所述电动车的行驶参数，包括：当所述电动车直线行驶时，通过各所述驱动装置控制各所述车轮同速转动，通过各所述位移装置控制沿所述车身宽度方向的轮距随车速增大而增大，并通过各组所述车轮组件的升降装置控制所述电动车的车身离地高度随车速增大而降低；其中，每组所述车轮组件通过所述升降装置与所述底盘连接；当所述电动车转向时，通过各所述驱动装置控制非转向侧车轮的转速大于转向侧车轮的转速，通过各所述位移装置控制所述非转向侧车轮相对所述转向侧车轮沿所述车身宽度方向外移，并通过各所述升降装置控制非转向侧的车身离地高度大于转向侧的车身离地高度；以及，当所述电动车通过斜坡时，通过各所述升降装置控制斜坡上游的车身离地高度低于斜坡下游的车身离地高度，以减小所述自动电动车的倾斜程度。
在一些实施例中，每组所述车轮组件包括至少两个沿所述车身宽度方向排列的车轮，所述自动驾驶方法还包括：当所述电动车通过凹洞时，通过位于凹洞处的车轮组件的位移装置，增大所述位于凹洞处的车轮组件的多个车轮之间沿所述车身宽度方向的轮距，以避开所述凹洞；或者，当所述电动车通过凹洞时，通过位于凹洞处的车轮组件的位移装置，驱动位于凹洞处的车轮组件的车轮沿所述车身宽度方向伸缩，以避开所述凹洞。
根据本揭露的第三个方面，提供一种电子设备，包括：一处理器；一存储器，所述存储器中存储有供所述处理器执行的可执行指令；所述处理器被配置为经由执行所述可执行指令来执行上述任意实施例所描述的自动驾驶方法的步骤；所述电子设备被配置于所述电动车，所述电子设备能与导航系统和自动驾驶系统通信连接，以控制各组所述车轮组件。
根据本揭露的第四个方面，提供一种自动货运方法，应用于上述任意实施例所描述的用于载货的电动车，所述自动货运方法包括如下步骤：在集散中心的收货区，接收待配送的第一货物，获得每件所述第一货物的用户信息；根据每件所述第一货物的尺寸，将每件所述第一货物装入一相应大小的货框；将所述货框连同所述第一货物自动输送至所述集散中心的出货区，所述出货区布设有多个具有空置的储物格的货柜箱和多辆满电的电动车；分别将所述货框连同所述第一货物装入货柜箱的储物格内，使每个所述货柜箱内的第一货物具有相同的目标区域，并获得每件所述第一货物的存放路径；将所述货柜箱装上所述电动车，形成所述电动车，所述电动车的存储器中存储每件所述第一货物的用户信息和存放路径；以及，控制所述电动车自动配送所述货柜箱内的第一货物。
在一些实施例中，控制所述电动车自动配送所述货柜箱内的第一货物的步骤包括：根据所述货柜箱内的每件所述第一货物的目标地址，生成配送路径、每件所述第一货物的取件时间、取件地点和每件所述第一货物的与存放路径相关的取件编码；向所述电动车发送所述配送路径，并向每件所述第一货物的目标用户发送取件时间、取件地点和取件编码；当所述电动车到达一取件地点，通过所述电动车的扫描器获得取件编码，确认所述取件编码是否正确，若正确则告知所述目标用户所述取件编码对应的储物格的位置，并通知所述货柜箱开启所述取件编码对应的储物格，供所述目标用户领取所述第一货物；以及，检测所述储物格的门是否关闭，若未关闭则向所述目标用户发送返回通知，直到检测到所述储物格的门关闭后所述电动车继续前进。
在一些实施例中，所述自动货运方法还包括：接收寄件请求，所述寄件请求包括寄件人信息和收件人信息，所述寄件人信息至少包括寄件用户、寄件用户地址和第二货物的尺寸；获得所述寄件用户地址所在的目标区域内、具有匹配所述第二货物的尺寸的空储物格的电动车；向所述寄件用户发送寄件时间、寄件地点和寄件编码；以及，向所述电动车发送指向所述寄件地点和所述寄件时间的收件路径。
在一些实施例中，所述自动货运方法还包括：当所述电动车到达所述寄件地点，通过所述扫描器获得所述寄件编码，告知所述寄件用户所述空储物格的位置，并通知所述货柜箱开启所述空储物格；检测所述空储物格的门是否关闭，若未关闭则向所述寄件用户发送返回通知，直到检测到所述储物格的门关闭后所述电动车继续前进；当所述电动车装满第二货物，控制所述电动车行驶至所述集散中心的卸货区；卸下所述货柜箱，及其内部的货框和第 二货物，所述电动车和所述货柜箱返回所述出货区；根据每件所述第二货物的收件人信息，将所述货框连同所述第二货物自动输送至对应的转运区；取下所述第二货物进行转运，且所述货框回到所述收货区；以及，转运区的第二货物集合在一运输车里，被运输至对应目的地城市的集散中心或者经由机场再转运至远地的集散中心。
根据本揭露的第五个方面，提供一种自动货运系统，用于实现上述任意实施例所描述的自动货运方法，所述自动货运系统包括：多辆电动车；控制集群，与每辆所述电动车通信连接；以及集散中心，包括用于自动装卸和自动传送的自动设备。
本揭露的有益效果包括：
电动车的每组车轮组件有独立的动力系统，每组车轮组件的车轮通过驱动装置和位移装置独立控制，提高电动车的灵活性；驱动装置控制车轮转速，当电动车转向时通过转速差实现灵活控制转向，车轮无需打弯，提高转向时电动车的稳定性；位移装置控制车轮伸缩，实现轮距调整，可以在高速行驶时增大轮距，在低速行驶时减小轮距，提高电动车的安全性和舒适性；
当电动车用于载人时，可以满足高灵活性、高稳定性、高安全性和高舒适性的驾驶需求；当电动车用于载货时，可以满足全自动、高效率、高准确性、低成本和高安全性的货物运输需求。
附图说明
为了更清楚地说明本揭露实施例中的技术方案，下面将对本揭露实施例描述中所需要使用的附图作简单的介绍，显而易见地，下面描述中的附图仅 仅是本揭露的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据本揭露实施例的内容和这些附图获得其他的附图。
图1示出本揭露实施例中电动车的结构示意图；
图2示出本揭露实施例中车轮组件的爆炸结构示意图；
图3示出本揭露实施例中车轮组件的组装结构示意图；
图4示出本揭露实施例中车轮组件的剖视结构示意图；
图5示出本揭露实施例中车轮跳高的结构示意图；
图6示出本揭露实施例中车轮跳低的结构示意图；
图7-图9示出本揭露实施例中用于载人的电动车在直行过程中的轮距变化的示意图；
图10示出本揭露实施例中用于载货的电动车的结构示意图；
图11示出图10所示的电动车与货柜箱分离的结构示意图；
图12示出图11中A区域的放大结构示意图；
图13示出本揭露实施例中用于载货的电动车的侧面结构示意图；
图14示出本揭露实施例中货柜箱具有多个储物格的结构示意图；
图15示出本揭露实施例中电动车的自动驾驶方法的步骤示意图；
图16示出本揭露实施例中电动车转向时的俯视结构示意图；
图17示出本揭露实施例中电动车的另一种自动驾驶方法的步骤示意图；
图18示出本揭露实施例中用于载货的电动车在直行工况下的前视结构示意图；
图19示出本揭露实施例中用于载货的电动车在左转工况下的前视结构示意图；
图20示出本揭露实施例中用于载货的电动车在下坡工况下的侧视结构示意图；
图21示出本揭露实施例中电子设备的结构示意图；
图22示出本揭露实施例中集散中心的结构示意图；
图23和图24示出本揭露实施例中自动货运方法的送货过程的步骤示意图；以及
图25和图26示出本揭露实施例中自动货运方法的收货过程的步骤示意图。
具体实施方式
下面结合附图和实施例对本揭露作进一步的详细说明。可以理解的是，此处所描述的具体实施例仅仅用于解释本揭露，而非对本揭露的限定。另外还需要说明的是，为了便于描述，附图中仅示出了与本揭露相关的部分而非全部结构。
在本揭露的描述中，除非另有明确的规定和限定，术语“相连”、“连接”、“固定”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本揭露中的具体含义。
在本实施例的描述中，术语“上”、“下”、“右”、等方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述和简化操作，而不是指示 或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本揭露的限制。此外，术语“第一”、“第二”仅仅用于在描述上加以区分，并没有特殊的含义。
图1示出实施例中电动车的结构。参照图1所示，本实施例中电动车1具有多组设于底盘10的下表面的车轮组件2。通常情况下，电动车1具有四组车轮组件2，在一些特殊用途中，电动车1也可以根据需要配置其他数量的车轮组件2，例如三组、六组、八组等等。电动车1的多组车轮组件2相互独立，因此可以根据电动车1的配置灵活地增减车轮组件2的数量。
每组车轮组件2包括车轮21、驱动装置22和位移装置23，驱动装置22能驱动车轮21转动，位移装置23能至少驱动车轮21沿电动车的车身宽度方向“X”移动，使车轮21向背离电动车1的轴心的方向伸展，即使车轮21向外伸展，轮距增大；或使车轮21向靠近电动车1的轴心的方向收缩，即使车轮21向内收缩，轮距减小。
多组车轮组件2相互独立，可以能根据电动车1的配置灵活装配各组车轮组件2，还能通过驱动装置22和位移装置23独立控制每组车轮组件2的车轮21，提高灵活性。驱动装置22控制车轮21的转速，各个车轮21的转速可以相同或不同，当电动车1转向时，车轮21无需转动，通过各个车轮21之间的转速差实现灵活控制转向。例如，使转向侧车轮的转速小于非转向侧车轮的转速，以实现转向。位移装置23控制车轮21伸缩，实现轮距调整，可以在高速行驶时增大轮距，提高电动车1的平稳性，在低速行驶时减小轮距，提高电动车1的机动性能。其中，本揭露所称的轮距包括前两组车轮组件2的轮距和后两组车轮组件2的轮距，本揭露所称的转向侧车轮组件包括 转向侧前轮的车轮组件2和转向侧后轮的车轮组件2，非转向侧车轮组件包括非转向侧前轮的车轮组件2和非转向侧后轮的车轮组件2。
在一些实施例中，每组车轮组件2中，沿车身宽度方向“X”，位移装置23、驱动装置22和车轮21依次从内向外设置。驱动装置22通过一转动轴承24连接并驱动车轮21，位移装置23通过一伸缩轴承25连接驱动装置22，并通过伸缩轴承25驱动驱动装置22和车轮21。当位移装置23、驱动装置22和车轮21装配完成后，驱动装置22通过转动轴承24驱动车轮21转动，且各个驱动装置22能够独立驱动和控制车轮21的转速；位移装置23通过伸缩轴承25驱动驱动装置22和车轮21一起沿车身宽度方向“X”移动，实现车轮21向内向外伸缩，调整轮距。其中，驱动装置22可以是任意能够实现转动驱动的装置，位移装置23可以是任意能实现伸缩推动的装置。
图2示出实施例中车轮组件的爆炸结构，图3示出车轮组件的组装结构，图4示出车轮组件的剖视结构。结合图1至图4所示，在一些实施例中，位移装置23是一个固定于底盘10的第一电动机，伸缩轴承25的第一端25a与位移装置23可伸缩连接，伸缩轴承25的第二端25b与驱动装置22连接。位移装置23驱动驱动装置22和车轮21的原理是：第一电动机产生驱动力，使伸缩轴承25沿车身宽度方向“X”伸缩，进而带动驱动装置22沿车身宽度方向“X”移动，并进一步带动车轮21沿车身宽度方向“X”移动，实现车轮21伸缩。
进一步的，驱动装置22包括固定于底盘10的壳体221和容置于壳体221内的第二电动机222。壳体221设置为中空的结构，沿车身宽度方向“X”，壳体221的第一端面221a设置一通孔，用于供伸缩轴承25穿过并连接位移装置23和第二电动机222；壳体221的第二端面221b为敞开式结构，用于为 第二电动机222沿车身宽度方向“X”移动提供空间。壳体221的两个相对的内壁设有沿车身宽度方向“X”延伸的导轨223，第二电动机222的两个相对的侧壁分别通过旋转枢纽224连接导轨223。旋转枢纽224可以是短转轴，其一端固定连接第二电动机222的侧壁，另一端活动嵌设于导轨223中。在位移装置23的驱动下，第二电动机222通过旋转枢纽224沿导轨223滑行，带动车轮21沿车身宽度方向“X”移动。通过导轨223和旋转枢纽224的配合，能将第二电动机222的横向移动限定于沿车身宽度方向“X”，并保证第二电动机222移动时的平稳性和顺滑性，使电动车1调整轮距时保持平稳，不影响正常行驶。
在电动车1行驶过程中，当遭遇高低不平的崎岖路面，车轮21会随路面颠簸跳高和跳低。当车轮21沿垂直于底盘10的方向“Y”跳动时，车轮21通过转动轴承24带动第二电动机222摆动，旋转枢纽224配合第二电动机222的摆动在导轨223内转动，使得当车轮21跳动时，通过第二电动机222摆动吸收路面不平，避免底盘10震动导致车身震动。
具体来说，图5示出实施例中车轮跳高的结构，图6示出车轮跳低的结构。结合图1至图6所示，当车轮21沿垂直于底盘的向上方向“Y 1”跳高时，车轮21通过转动轴承24带动位于壳体221内的第二电动机222向上摆动，当第二电动机222向上摆动时，旋转枢纽224配合在导轨223内沿箭头“m 1”方向转动。当车轮21沿垂直于底盘的向下方向“Y 2”跳低时，车轮21通过转动轴承24带动位于壳体221内的第二电动机222向下摆动，当第二电动机222向下摆动时，旋转枢纽224配合在导轨223内沿箭头“m 2”方向转动。从而，通过第二电动机222的向上向下摆动，吸收由于路面不平造成的车轮21 跳动，第二电动机222的摆动不影响底盘10，因此避免了底盘10震动造成的车身震动。并且通过旋转枢纽224的配合转动，使第二电动机222的摆动平稳顺滑，确保车轮21的平稳跳动。
进一步的，由于转动轴承24和伸缩轴承25均为刚性轴承，为保证第二电动机222的摆动不影响其与车轮21和位移装置23之间的连接，转动轴承24的第一端24a与第二电动机222可转动连接，转动轴承24的第二端24b通过一第一转动接合器连接车轮21，且伸缩轴承25的第二端25b通过一第二转动接合器连接第二电动机222。第一转动接合器和第二转动接合器可以是球形连接器，也可以是其他可活动的连接件。通过第一转动接合器，可以保证在路面颠簸时车轮21始终附着地面，提高崎岖路况下电动车1的稳定性和安全性；通过第二转动接合器，可以在第二电动机222摆动时保证其与位移装置23的稳定连接。
继续参照图1至图6，为控制车轮21和第二电动机222的上下颠簸幅度，转动轴承24通过一第一弹性件271与底盘10连接，第一弹性件271能沿垂直于底盘的方向“Y”弹性伸缩，第一弹性件271的第一端与底盘10固定连接，第一弹性件271的第二端通过一连接环272与转动轴承24活动连接。随车轮21和第二电动机222的上下颠簸，第一弹性件271沿垂直于底盘的方向“Y”弹性伸缩，可以起到限制车轮21和第二电动机222的颠簸幅度的作用，同时避免引起底盘10的震动。第一弹性件271是机械弹簧结构，以配合路面颠簸沿垂直于底盘的方向“Y”弹性伸缩。
进一步的，每组车轮组件2还包括升降装置273，驱动装置22的壳体221通过升降装置273与底盘10连接，升降装置273能沿垂直于底盘的方向“Y” 升降，以调整底盘的离地高度。当底盘的离地高度调整，则车身高度随之调整。升降装置273可以是机械弹簧结构，以沿垂直于底盘的方向“Y”弹性伸缩。在一些实施例中，升降装置273可以主动调整底盘的离地高度。图1至图6示意出升降装置273是一个弹性件，但不以此为限，升降装置273可以是任意能主动沿垂直于底盘的方向“Y”升降的装置，例如电动升降器或空气弹簧，以根据电动车1的控制模块发出的高度调整信号进行底盘的离地高度的调整。当电动车1行驶于高低不平的路面时，升降装置273能根据底盘10与路面之间的距离适时调整底盘的离地高度，以提高电动车1在崎岖路面的通过性。当电动车1高速行驶时，为提高稳定性，升降装置273降低底盘的离地高度，以降低电动车的重心；当车速变缓或停车时，升降装置273恢复底盘的离地高度，以便利上下车。在一些实施例中，升降装置273可以配置为根据车速实时地调整底盘的离地高度，当车速越大，则底盘的离地高度降得越低，以降低车辆重心，提高行车安全性和稳定性；当车速逐渐减缓，则底盘的离地高度逐渐恢复。具体的调整方法由电动车的控制模块来控制，或者用户可以根据需要进行配置，本揭露对此不做限制。当然，升降装置273也可以如第一弹性件271所述，起到避震和缓冲作用，进一步保证底盘10平稳，不受路面颠簸影响。
在一些实施例中，壳体221的一侧壁通过一连接杆274与底盘10连接，连接杆274的第一端与底盘10固定连接，连接杆274的第二端通过一第三转动接合器连接壳体221的侧壁。连接杆274通过其刚性本体和第三转动接合器，在减轻底盘10震动的同时，也能配合升降装置273的升降与壳体221相对活动。
每组车轮组件2中，车轮21可以是单独的一个轮胎，也包括沿车身宽度方向“X”设置的多个轮胎。例如，图2中示出车轮21包括三个轮胎，分别是第一轮胎21a、第二轮胎21b和第三轮胎21c，但不以此为限。多个轮胎之间有适当间隙，并均通过转动轴承24与驱动装置22的第二电动机222连接。每个轮胎可以是充气式橡胶轮胎或者实心的塑胶轮胎。每组车轮组件2车轮21均可以设置多个轮胎，以增加车轮21的总宽度，增大与地面的接触面积。当电动车1行驶在凹凸不平的地面时，较宽的车轮21可以减轻底盘10震动，提升电动车1的稳定性和舒适性。在一些场景中，当电动车1行驶在凹凸不平的地面时，车轮21中一个轮胎压到凹洞或凸起障碍物，其余轮胎仍行驶在平地，从而可以进一步减轻底盘10震动。
在一些实施例中，每组车轮组件2设有轮胎罩。参照图2所示，轮胎罩包括：罩体28，罩设于车轮21外，提高车轮组件2的美观性；提示模块，设于罩体28的外表面，例如设于箭头281和282标示的表面。罩体28的外表面可以是电子屏，用于当车轮21伸缩移动，尤其是沿车身宽度方向“X”，向背离电动车1的轴心的方向伸展时，生成提示信息，及时提示周围车辆，避免周围车辆因与电动车1的车距过小而在车轮21向外伸展时发生碰撞。提示模块也可以是设置于罩体28的外表面的警示灯(图中未具体示意)，只要能当车轮21伸缩移动时起到提示作用即可。以及软性防水片283，设于罩体28的后表面下方，用于在电动车1行驶过程中挡住尘土，保持底盘10干洁。
上述各实施例所描述的电动车1，可以用于载人或载货。当电动车1用于载人时，在底盘10上设有适合载人的车身结构，还包括开设于车身侧面的车门，设于车身内的座位等等。电动车1通过每组车轮组件2的车轮21由驱 动装置22和位移装置23独立控制，可以提高电动车1的灵活性、稳定性、安全性和舒适性。当电动车1用于载货时，在底盘10上设有适合载货的箱体结构，使电动车1可以满足全自动、高效率、高准确性、低成本和高安全性的货物运输需求。
例如，图7-图9示出实施例中用于载人的电动车在直行过程中的轮距变化结构，其中图7示意出常规轮距的结构，图8示意出轮距增大的结构，图9示意出轮距减小的结构。参照图7所示，电动车1以常规车速直行时，每两组车轮组件2的车轮21之间的轮距，包括前轮轮距和后轮轮距保持常规轮距L1。当电动车1高速行驶时，如果轮距过小，则由于离心力作用电动车1容易发生侧翻。因此，通过各组车轮组件2的位移装置23驱动车轮21向外伸展，增大轮距以提高车辆平稳性。参照图8所示，由各组车轮组件2的位移装置23通过伸缩轴承25驱动驱动装置22和车轮21沿车身宽度方向“X”，向背离电动车1的轴心的方向“X 1”移动，实现车轮21向外伸展，使轮距增大至L2。当电动车1低速行驶，或者停车时，可以通过位移装置23驱动车轮21向内收缩，减小轮距以节省低速行驶时的能耗，并减小车轮21占地面积，便于停车。参照图9所示，由各组车轮组件2的位移装置23通过伸缩轴承25驱动驱动装置22和车轮21沿车身宽度方向“X”，向靠近电动车1的轴心的方向“X 2”移动，实现车轮21向内收缩，使轮距减小至L3。其中，L2＞L1＞L3，车轮21具体伸展和收缩的程度根据电动车1的配置和车轮21的尺寸等参数而定。例如，通常情况下，车轮21最大可向外伸展1m，最小可向内收缩50cm，但不以此为限。用户也可以根据需要配置车轮21伸展和收缩的程度，本揭露对此不做限制。另外，上述的常规车速、高速、低速也根据电 动车1的配置而定，例如30km/h～100km/h之间为常规车速，小于30km/h为低速，大于100km/h为高速。用户也可以根据需要进行配置，例如将车速配置成多个阶段，每5km为一阶段，本揭露对此不做限制。
当然，电动车1还具有其他的行驶工况，将在下文中结合自动驾驶方法具体说明。
图10示出实施例中用于载货的电动车的结构，图11示出电动车与货柜箱分离的结构。结合图10和图11所示，本实施例中电动车1还包括：固定框架11，设于电动车1的承载表面10a，承载表面10a位于底盘10的上表面，固定框架11设有滑动通道111和至少控制滑动通道111的开关112；货柜箱3，货柜箱3经由滑动通道111推入固定框架11，随货柜箱3推入固定框架11，开关112至少部分关闭滑动通道111，货柜箱3固定于承载表面10a。
固定框架11包括多段相连的直角立柱113和提供滑动通道111的侧板114，例如图11中标示出五段直角立柱113和两段侧板114。货柜箱3自侧板114处推入固定框架11，货柜箱3的部分侧边嵌设于直角立柱113的内壁。货柜箱3的位于侧板114处的部分侧边则被开关112限位固定。从而，货柜箱3可以稳定地嵌入固定框架11中，随电动车1一起移动。货柜箱3的一个或多个侧面，例如图11中示出两个侧面可装设电子显示屏30，电子显示屏30用于播放流动广告，使货柜箱3成为可移动的广告牌。
图12示出图11中A区域的放大结构，具体是开关112的结构。开关112可以是设于侧板114上的电控开关或伸缩开关。结合图10至图12所示，在电动车1未装载货柜箱3的第一状态下，开关112可以在第一控制信号下沿图12所示的第一方向“D 1”移动，从而在侧板114处提供供货柜箱3推入固定 框架11的滑动通道111。当货柜箱3完全推入固定框架11，开关112可以在第二控制信号下沿图12所示的第二方向“D 2”伸缩，以部分关闭滑动通道111，固定货柜箱3。每个侧板114上，可以根据需要设置一个或多个开关112。用于控制开关112的第一控制信号和第二控制信号可以由控制集群提供，关于控制集群的内容将在下文中结合自动货运方法具体说明。
图13示出实施例中用于载货的电动车的侧面结构。参照图13所示，电动车1的固定框架11上设有多个用于检测周围环境的可转动的摄像头115和供摄像头115与电动车1通信的天线116；其中，摄像头115至少设于电动车1沿前进方向F的前端F 1、后端F 2和侧面，天线116设于固定框架11的顶部。电动车1具有自动驾驶功能，电动车1基于摄像头115检测的周围环境进行自动驾驶。在一些实施例中，摄像头115分别设于电动车1的四个角落，以辅助电动车1的自动驾驶。固定框架11上还设有一个或多个扫描器12，供用户取件和寄件时扫描对应的取件编码和寄件编码。固定框架11上还有一个或多个通话器117。通话器117具有通话按钮，按下通话按钮，目标用户和寄件用户可以通过通话器117与控制集群通话，从而解决目标用户和寄件用户在自动收货和自动寄货过程中的疑问。固定框架11上还有一个或多个警报器118。在电动车1遭到破坏时，或出现其他紧急情况，警报器118可以通报控制集群并发出警报声。在一些情况下，路人也可通过通话器117向控制集群报告电动车1的紧急状况。控制集群也可以随时通过摄像头115获取到电动车1的周围情况。扫描器12、通话器117和警报器118均可设在固定框架11的四个角落，以方便用户使用，也使电动车1的扫描功能、通话功能和警报功能不会因部分扫描器12、通话器117和警报器118的损坏而受 影响。在一些实施例中，扫描器12、通话器117和警报器118也可以设于货柜箱上。
进一步的，电动车1的底盘10设有电池槽13，电池槽13内可拆卸地安装电动车1的电池包。电池包可以灵活地装入电池槽13，并自电池槽13中抽出。这样，当电动车1的电量用尽的时候，可以快速地更换电池包，使电动车1保持长效的续航功能。或者当电动车1回到集散中心，卸下货柜箱后，更换新的充满电的电池包，再进行下一次的配送。
图14示出实施例中货柜箱具有多个储物格的结构。参照图14所示，货柜箱3内设有多个可换式的不同容量的储物格31，例如图14中示出了四种不同大小的储物格31，使货柜箱3可以适应不同大小的货物存放需求。每个储物格31中通过货框存放货物。储物格31可以方便地抽换，使货柜箱3具有不同大小组合的储物格31，从而适应货物的尺寸，充分利用货柜箱的内部空间。货柜箱设有第一存储器(图14中未具体示出)，第一存储器中存储每件货物的用户信息和存放路径，用户信息指示货物的目标用户和目标地址，存放路径指示货物对应的储物格和货框。部分储物格31还可以具有保温功能，以及检测门是否关闭的报警功能。
在一些实施例中，每件货物的存放路径根据货柜箱的第一标识码、货物对应的储物格的第二标识码和货物对应的货框的第三标识码生成。每个货柜箱具有一第一标识码，货柜箱中的每个储物格具有一第二标识码，每个储物格中的货框具有一第三标识码。货物的存放路径根据货柜箱的第一标识码、货物对应的储物格的第二标识码和货物对应的货框的第三标识码生成，使每件货物能唯一对应至一货柜箱中的一储物格内的一货框。
其中，货物的用户信息是跟随货物一起运输的。例如，货物上贴有标签，标签对应存储货物的用户信息，用户信息可以采用加密的方式存储，只要能被控制集群的计算机读取即可。加密存储的方式可以提高信息的保密性，防止用户信息泄露。货物的存放路径根据货物的运输状态分阶段生成。货物的运输状态至少包括：货物被装入货框以及货物连同货框被装入货柜箱的储物格。首先，当货物被装入货框时，根据货框的第三标识码生成一个临时存放路径，如“一号货物：一号货框”。其次，当货物连同货框被装入货柜箱的储物格，根据货框的第三标识码、储物格的第二标识码和货柜箱的第一标识码生成完整的存放路径，如“一号货物：一号货柜箱→一号储物格→一号货框”。最后，将每件货物的存放路径和用户信息存入货柜箱的第一存储器。从而，第一存储器获得了每件货物的用户信息和存放路径。
在一些实施例中，开关是分体式开关，分体式开关包括设于货柜箱的第一开关触点和设于固定框架的第二开关触点；当货柜箱推入固定框架，分体式开关闭合，第一存储器与电动车交换数据。具体来说，第一存储器通过控制集群与电动车交换数据。当货柜箱推入固定框架完成组装，第一开关触点和第二开关触点接触，使分体式开关闭合产生一个电信号传输至控制集群。电信号中携带着电动车的第四标识码和货柜箱的第一标识码。控制集群接收到电信号，即可获知电动车与货柜箱完成了组装，从而获取与该第一标识码关联的第一存储器中存储的每件货物的用户信息和存放路径，并可以根据第一存储器中存储的每件货物的用户信息和存放路径生成配送信息，然后发送给与第四标识码关联的电动车。电动车中设有控制模块，当控制模块接收到配送信息，即可自动配送货柜箱中的货物。
本揭露实施例还提供电动车的自动驾驶方法，应用于上述任意实施例所描述的电动车。本揭露的自动驾驶方法可以由电动车的控制模块执行，控制模块是具备自动驾驶功能的电动车中配置的功能模块，本揭露在控制模块的基础上新增了以下步骤，并不改变控制模块的基础控制原理。控制模块可与导航系统和自动驾驶系统通信连接，以实现控制电动车的自动驾驶。
图15示出实施例中电动车的自动驾驶方法的主要步骤。参照图15所示，本实施例中电动车的自动驾驶方法主要包括：在步骤S110中，当电动车的行车速度大于第一预设值，向各组车轮组件发出轮距增大信号，使各组车轮组件的位移装置驱动各个车轮沿车身宽度方向，向背离电动车的轴心的方向伸展。参照图8所示电动车的轮距增大的结构，位移装置响应轮距增大信号时，通过伸缩轴承驱动驱动装置和车轮沿车身宽度方向，向背离电动车的轴心的方向移动，实现车轮伸展，增大轮距。
在步骤S120中，当电动车的行车速度小于第二预设值，向各组车轮组件发出轮距减小信号，使各组车轮组件的位移装置驱动各个车轮沿车身宽度方向，向靠近电动车的轴心的方向收缩。参照图9所示电动车的轮距减小的结构，位移装置响应轮距减小信号时，通过伸缩轴承驱动驱动装置和车轮沿车身宽度方向，向靠近电动车的轴心的方向移动，实现车轮收缩，减小轮距。
其中，第一预设值远大于第二预设值。进一步的，当电动车的行车速度位于第一预设值与第二预设值之间，控制模块还可以根据行车速度向各组车轮组件发出轮距调整信号，使位移装置根据行车速度，实时调整轮距，使轮距适应车速，从而获得最优的行车体验。
在步骤S130中，当电动车转向时，向转向侧车轮组件发出第一转速信号， 使转向侧车轮组件的驱动装置驱动转向侧车轮以第一转速向前行驶，并向非转向侧车轮组件发出第二转速信号，使非转向侧车轮组件的驱动装置驱动非转向侧车轮以第二转速向前行驶。其中，第二转速大于第一转速。
图16示出实施例中电动车转向时的俯视结构。参照图16所示，当电动车1转向时，车轮21无需打弯，仍然保持向前行驶的方向，以增加电动车1转向时的稳定性。通过各组车轮组件2的驱动装置22控制转向侧车轮和非转向侧车轮之间产生转速差，实现转向。以图16所示的右转为例，使转向侧，即右侧的两组车轮组件2的驱动装置22提供给右侧两个车轮21第一转速V1，非转向侧，即左侧的两组车轮组件2的驱动装置22提供给左侧两个车轮21第二转速V2，V1＜V2。由于右侧车轮21的转速V1小于左侧车轮21的转速V2，在左右侧车轮的转速差的作用下，电动车1实现向右转向。当转向角度较大时则转速差较大，转向角度较小时则转速差较小，具体的转速差由电动车1的控制模块计算，本揭露对此不做限制。
需要说明的是，上述实施例中各步骤的序号仅用于表示电动车在不同行驶工况下的控制方式，并不限定步骤之间的逻辑关系和执行顺序。
在一些实施例中，电动车的自动驾驶方法还包括：当电动车转向时，向转向侧车轮组件发送收缩信号，使转向侧车轮组件的位移装置驱动转向侧车轮沿车身宽度方向，向靠近电动车的轴心的方向收缩；以及，向非转向侧车轮组件发送伸展信号，使非转向侧车轮组件的位移装置驱动非转向侧车轮沿车身宽度方向，向背离电动车的轴心的方向伸展。或者，当电动车转向时，向转向侧车轮组件发送收缩信号，使转向侧车轮组件的位移装置驱动转向侧车轮沿车身宽度方向，向靠近电动车的轴心的方向收缩；或者，向非转向侧 车轮组件发送伸展信号，使非转向侧车轮组件的位移装置驱动非转向侧车轮沿车身宽度方向，向背离电动车的轴心的方向伸展。
为帮助电动车转向，控制模块在通过各组车轮组件的驱动装置实现转向侧车轮与非转向侧车轮产生转速差的同时，还可以通过位移装置，使转向侧前后轮收缩，或者使非转向侧前后轮伸展，或者同时使转向侧前后轮收缩且非转向侧前后轮伸展。参照图16所示，可以通过转向侧车轮组件，即右侧的两组车轮组件2的位移装置23驱动转向侧车轮沿靠近电动车1的轴心的方向“X 2”适当收缩，和/或，通过非转向侧车轮组件，即左侧的两组车轮组件2的位移装置23驱动非转向侧车轮沿背离电动车1的轴心的方向“X 1”适当伸展，以进一步帮助电动车1实现转向。转向侧车轮具体的收缩程度和非转向侧车轮具体的伸展程度由控制模块计算，本揭露对此不做限制。
进一步的，在一些实施例中，电动车的自动驾驶方法还可以包括：当电动车的行车速度大于第一预设值，向各组车轮组件发出高度降低信号，使各组车轮组件的升降装置降低底盘的离地高度，以降低电动车的重心，提高电动车在高速行驶时的稳定性和安全性；以及，当电动车停车时，向各组车轮组件发出高度升高信号，使各组车轮组件的升降装置升高底盘的离地高度，使车身高度恢复至便利上下车的高度。在一些实施例中，基于电动车的控制模块的控制信号，升降装置可以根据车速实时地调整底盘的离地高度，当车速越大，则底盘的离地高度降得越低，以降低车辆重心，提高行车安全性和稳定性；当车速逐渐减缓至停止，则底盘的离地高度逐渐恢复，以便利上下车。
上述调整车轮转速、车轮伸缩程度、底盘的离地高度的过程可以是连续 性调整，也可以是阶段性调整，具体根据控制模块的配置而定，本揭露对此不做限制。例如，在一些实施例中，电动车的行车速度可以设定多个预设值，以阶段性调整各组车轮组件的车轮，以及底盘的离地高度。
在一些实施例中，可以根据电动车的行驶工况实时调整电动车的行驶参数。其中，电动车的行驶工况可以由电动车的控制模块根据摄像头采集的周围环境、并结合导航系统和自动驾驶系统获得。
图17示出实施例中另一种自动驾驶方法的主要步骤。参照图17所示，本实施例中电动车的自动驾驶方法包括：在步骤S210中，当电动车直线行驶时，通过各驱动装置控制各车轮同速转动，通过各位移装置控制沿车身宽度方向的轮距随车速增大而增大，并通过各升降装置控制电动车的车身离地高度随车速增大而降低；其中，每组车轮组件通过升降装置与底盘连接。在步骤S220中，当电动车转向时，通过各驱动装置控制非转向侧车轮的转速大于转向侧车轮的转速，通过各位移装置控制非转向侧车轮相对转向侧车轮沿车身宽度方向外移，并通过各升降装置控制非转向侧的车身离地高度大于转向侧的车身离地高度。在步骤S230中，当电动车通过斜坡时，通过各升降装置控制斜坡上游的车身离地高度低于斜坡下游的车身离地高度，以减小自动电动车的倾斜程度。
图18示出实施例中电动车在直行工况下的前视结构，本实施例中的电动车例如是载货的电动车。参照图18所示，电动车1直行时，各组车轮组件2的车轮21由各个驱动装置22控制，具有相同的转速，使电动车1搭载着货柜箱3平稳地行驶。当电动车1的车速超过一定阈值时，由于离心力作用电动车容易发生侧翻，因此通过各个车轮组件2的位移装置23驱动车轮21沿 车身宽度方向“X”向外伸展，增大轮距“L”以提高电动车的平稳性。当电动车1的车速小于一定阈值时，可以通过位移装置23驱动车轮21沿车身宽度方向“X”向内收缩，减小轮距“L”以节省低速行驶时的能耗，并减小车轮21的占地面积，便于通过狭窄的通道。进一步的，随着车速的增大，通过升降装置降低电动车1的底盘的离地高度“H”，以降低电动车1的重心，提高电动车1在高速行驶时的稳定性和安全性。当电动车1停车时，可以通过升降装置升高电动车1的底盘的离地高度“H”，以便于拿取货柜箱3内的货物。
图19示出实施例中用于载货的电动车在左转工况下的前视结构。参照图19所示，电动车1搭载着货柜箱3沿箭头“R1”向左转向时，通过驱动装置22控制非转向侧车轮21’的转速大于转向侧车轮21”的转速，使转向侧车轮21”和非转向侧车轮21’之间产生轮速差，实现转向。转向侧车轮21”和非转向侧车轮21’均无需打弯，仍然保持向前行驶的方向，以增加电动车1转向时的稳定性。进一步的，为帮助转向，通过位移装置23控制非转向侧车轮21’相对转向侧车轮21”沿车身宽度方向“X”外移，使转向过程更加顺利。例如使非转向侧车轮21’沿车身宽度方向“X”向外移动，或者使转向侧车轮21”沿车身宽度方向“X”向内移动，或者同时使非转向侧车轮21’沿车身宽度方向“X”向外移动且转向侧车轮21”沿车身宽度方向“X”向内移动，以辅助转向。在转向过程中，还可通过升降装置控制非转向侧的底盘的离地高度H1大于转向侧的底盘的离地高度H2，进一步辅助转向。具体来说，可以通过非转向侧的升降装置控制非转向侧的底盘的离地高度H1增大，或者通过转向侧的升降装置控制转向侧的底盘的离地高度H2减小，或者同时通过非转向侧的升降装置控制非转向侧的底盘的离地高度H1增大且转向侧的升降装置控制转向侧的 底盘的离地高度H2减小，使电动车1搭载着货柜箱3整体向转向侧轻微倾斜，以辅助转向。当然，需要控制电动车1的倾斜程序在一定的安全范围内，以确保电动车1转向时保持平稳。
图20示出实施例中用于载货的电动车在下坡工况下的侧视结构。参照图20所示，当电动车1搭配着货柜箱3下坡时，通过升降装置控制斜坡上游的底盘的离地高度H3低于斜坡下游的底盘的离地高度H4，以减小电动车1的倾斜程度，使电动车1和货柜箱3在通过斜坡时保持平稳。例如，可以通过位于斜坡上游，即坡高处的车轮组件2’的升降装置降低斜坡上游的底盘的离地高度H3，或者通过位于斜坡下游，即坡低处的车轮组件2”的升降装置升高斜坡下游的底盘的离地高度H4，或者同时通过位于斜坡上游的车轮组件2’的升降装置降低斜坡上游的底盘的离地高度H3且位于斜坡下游的车轮组件2”的升降装置升高斜坡下游的底盘的离地高度H4，使斜坡上游的底盘的离地高度H3低于斜坡下游的底盘的离地高度H4，从而减小电动车1的倾斜程度，使电动车1在斜坡上保持平稳行驶。升降装置可以通过减震机构与电动车1的底盘连接，以实现平顺地调整底盘的离地高度。
在电动车搭配着货柜箱上坡时，同样通过各升降装置控制斜坡上游，即坡高处的底盘的离地高度低于斜坡下游，即坡低处的底盘的离地高度，以减小自动电动车的倾斜程度。
上述的自动驾驶方法中，每组车轮组件中驱动装置、位移装置和升降装置独立控制车轮，提高电动车的灵活性，以适应不同的行驶工况。当电动车高速行驶时，通过位移装置控制轮距增大以提高平稳性和安全性；当电动车低速行驶时，通过位移装置控制轮距减小以节约能耗。当电动车转向时通过 驱动装置使转向侧车轮和非转向侧车轮之间产生轮速差，实现转向。同时通过升降装置调整车身离地高度，进一步提升电动车的安全性、稳定性和机动性。
在一些实施例中，当每组车轮组件包括至少两个沿车身宽度方向排列的车轮时，每组车轮组件中，各个车轮由驱动装置共同驱动，具有相同的转速；而每个车轮由位移装置单独驱动，可以单独沿车身宽度方向伸缩。
电动车的自动驾驶方法还包括：当电动车通过凹洞时，通过位于凹洞处的车轮组件的位移装置，增大位于凹洞处的车轮组件的多个车轮之间沿车身宽度方向的轮距，以避开凹洞。增大位于凹洞处的车轮组件的多个车轮之间沿车身宽度方向的轮距的方式可以是，使位于凹洞处的车轮组件的外侧车轮沿车身宽度方向向外伸展，或者使位于凹洞处的车轮组件的内侧车轮沿车身宽度方向向内收缩，或者同时位于凹洞处的组车轮组件的外侧车轮沿车身宽度方向向外伸展且内侧车轮沿车身宽度方向向内收缩，从而使位于凹洞处的车轮组件的车轮之间拉开轮距，以避开凹洞。或者，当电动车通过凹洞时，通过位于凹洞处的车轮组件的位移装置，驱动位于凹洞处的车轮组件的车轮沿车身宽度方向伸缩，以避开凹洞。也即，除了拉开位于凹洞处的组车轮组件的轮距的方式避开凹洞，还可以通过位于凹洞处的组车轮组件的车轮整体沿车身宽度方向移动避开凹洞。
本揭露实施例还提供一种电子设备，包括处理器和存储器，存储器中存储有可执行指令，处理器被配置为经由执行可执行指令来执行上述任意实施例所描述的电动车的自动驾驶方法的步骤。电子设备被配置于电动车中，电子设备通过驱动装置、位移装置和升降装置独立控制每组车轮组件的车轮， 辅助自动驾驶，提高电动车的灵活性、稳定性、安全性和舒适性。电子设备可与导航系统(如GPS或北斗)及自动驾驶软件配合，共同实现电动车的自动驾驶。
图21是本揭露实施例中电子设备的结构示意图，应当理解的是，图21仅仅是示意性地示出各个模块，这些模块可以是虚拟的软件模块或实际的硬件模块，这些模块的合并、拆分及其余模块的增加都在本揭露的保护范围之内。
下面参照图21来描述本揭露的电子设备400。图21显示的电子设备400仅仅是一个示例，不应对本揭露实施例的功能和使用范围带来任何限制。
如图21所示，电子设备400以通用计算设备的形式表现。电子设备400的组件可以包括但不限于：至少一个处理单元410、至少一个存储单元420、连接不同平台组件(包括存储单元420和处理单元410)的总线430、显示单元440等。
其中，存储单元存储有程序代码，程序代码可以被处理单元410执行，使得处理单元410执行上述任意实施例所描述的自动驾驶方法的步骤。
存储单元420可以包括易失性存储单元形式的可读介质，例如随机存取存储单元(RAM)4201和/或高速缓存存储单元4202，还可以进一步包括只读存储单元(ROM)4203。
存储单元420还可以包括具有一组(至少一个)程序模块4205的程序/实用工具4204，这样的程序模块4205包括但不限于：操作系统、一个或者多个应用程序、其它程序模块以及程序数据，这些示例中的每一个或某种组合中可能包括网络环境的实现。
总线430可以为表示几类总线结构中的一种或多种，包括存储单元总线或者存储单元控制器、外围总线、图形加速端口、处理单元或者使用多种总线结构中的任意总线结构的局域总线。
电子设备400也可以与一个或多个外部设备500(例如键盘、指向设备、蓝牙设备等)通信，还可与一个或者多个使得用户能与该电子设备400交互的设备通信，和/或与使得该电子设备400能与一个或多个其它计算设备进行通信的任何设备(例如路由器、调制解调器等等)通信。这种通信可以通过输入/输出(I/O)接口450进行。并且，电子设备400还可以通过网络适配器460与一个或者多个网络(例如局域网(LAN)，广域网(WAN)和/或公共网络，例如因特网)通信。网络适配器460可以通过总线430与电子设备400的其它模块通信。应当明白，尽管图中未示出，可以结合电子设备400使用其它硬件和/或软件模块，包括但不限于：微代码、设备驱动器、冗余处理单元、外部磁盘驱动阵列、RAID系统、磁带驱动器以及数据备份存储平台等。
本揭露实施例还提供一种自动货运系统，自动货运系统包括多辆电动车，本实施例所称的电动车是上述任意实施例所描述的用于载货的电动车。电动车与控制集群通信连接，在控制集群的控制下实现自动货运。
自动货运系统还包括集散中心，集散中心设置有两条货运通道，分别是向内的货运通道和向外的货运通道。向内的货运通道用于将从其他集散中心转运来的货物配送至目的地；向外的货运通道用于将收取的货物转运至其他集散中心。集散中心可以根据货运量设置，例如，对于货运量小的城市，可以以该城市为单位设置一个集散中心；对于货运量大的城市，则可以分别在该城市的不同区域设置多个集散中心。
集散中心设有包括用于自动装卸和自动传送的自动设备。自动设备例如是带有可移动的机械臂和自动扫码机的皮带传输机。自动设备可以自动将货物装入货框、将货物从货框中取出、将货框连同货物装入货柜箱的储物格、将货框连同货物从货柜箱的储物格中取出、将货柜箱装上电动车、以及从电动车上卸下货柜箱。自动设备可以连通向内的货运通道和向外的货运通道，使电动车、货柜箱、货框分别根据货物运输需要，流转至对应的货运通道。自动设备还可以在运输货物的每个阶段，扫描获得货框的第三标识码、储物格的第二标识码和货柜箱的第一标识码，从而获得货物的存放路径。
图22示出实施例中一个集散中心的结构。参照图22所示，在该集散中心6中，设有向内的货运通道61和向外的货运通道62。向内的货运通道61包括收货区611和出货区612，收货区611接收转运来的第一货物610，通过自动设备60将第一货物610装入对应的货框600，运输至出货区612，然后货框600连同第一货物610一起被装入对应的货柜箱3中，货柜箱3再被装上电动车1，进行自动配送。向外的货运通道62包括卸货区621和转运区622，在卸货区621接收电动车1，电动车1中装有需要转运至其他区域的第二货物620。通过自动设备60依次卸下货柜箱3和货柜箱3中的装有第二货物620的货框600。接着，货柜箱3和电动车(此处的电动车是指卸下了货柜箱3的电动车，在图22中标示为电动车1’)可回到出货区612，以继续配送第一货物610。电动车1’还可以先到达一电池中心，自动更换充满电的电池包后再回到出货区612，换下来的电池包在充电中心自动充满电后待用。装有第二货物620的货框600则被自动设备60运输至转运区622，然后第二货物620自货框600中取出，等待被转运至对应的其他集散中心。第二货物620可通 过任何现有的运输工具实现转运。货框600则通过自动设备60回到收货区611。
下面结合两个实施例分别具体说明自动货运方法中的送货过程和寄货过程。自动货运方法主要由控制集群实现。
图23和图24示出实施例中自动货运方法的送货过程的主要步骤。参照图23所示，自动货运方法包括：在步骤S710中，在集散中心的收货区，接收待配送的第一货物，获得每件第一货物的用户信息；在步骤S720中，根据每件第一货物的尺寸，将每件第一货物装入一货框，可以通过上述的自动设备将第一货物装入货框；在步骤S730中，将货框连同第一货物自动输送至集散中心的出货区，出货区布设有多个具有空置的储物格的货柜箱和多辆满电的电动车；在步骤S740中，分别将货框连同第一货物装入货柜箱的储物格内，使每个货柜箱内的第一货物具有相同的目标区域，并获得每件第一货物的存放路径；在步骤S750中，将货柜箱装上电动车，电动车的存储器中存储每件第一货物的用户信息和存放路径；在步骤S760中，控制电动车自动配送货柜箱内的第一货物。
其中，目标区域隶属于集散中心的配送范围，是第一货物的目标地址指向的一个小范围的配送区域。也即，集散中心对应一个大配送区，在集散中心的大配送区的范围内，包含很多小配送区。分配货物时，将指向同一小配送区的货物分配到同一组货柜箱里，同一组货柜箱分配一辆或多辆电动车。从而，电动车每次装配一个货柜箱，可以在一个小范围的配送区域集中配送第一货物，节省资源，加快效率。
进一步的，参照图24所示，步骤S760中控制电动车自动配送货柜箱内 的第一货物的过程具体包括：步骤S760-2、根据货柜箱内的每件第一货物的目标地址，生成配送路径、每件第一货物的取件时间、取件地点和每件第一货物的与存放路径相关的取件编码。步骤S760-4、向电动车发送配送路径，并向每件第一货物的目标用户发送取件时间、取件地点和取件编码。其中，取件地点是与目标用户约定的位于目标地址附近的一个取件点，在约定的取件时间，电动车到达取件地点，目标用户也前往取件地点进行取件。例如，目标用户的目标地址是在一栋大厦的15楼，则可与该目标用户约定取件地点为该大厦的门口，即该大厦在地图上的门牌地址。步骤S760-6、当电动车到达一取件地点，通过电动车的扫描器识别取件编码，电动车将取件编码传回控制集群，控制集群确认取件编码正确后，向目标用户发送指示取件编码对应的储物格的位置的通知短信，同时向货柜箱发送对应该储物格的解锁指令，使货柜箱开启取件编码对应的储物格，供目标用户领取第一货物。目标用户领取第一货物后，将储物格的门关上。以及步骤S760-8、检测储物格的门是否关闭，若未关闭则向目标用户发送返回通知，以通知目标用户返回关门，直到检测到储物格的门关闭后电动车继续前进。也就是说，当目标用户领取第一货物后，关上储物格的门，则电动车继续前进。
通过上述的送货过程，可以实现在每个集散中心，自动配送第一货物，全程无需人工参与，极大加快货运效率，且没有人为因素造成的错误和信息泄露。
图25和图26示出实施例中自动货运方法的收货过程的主要步骤。参照图25所示，自动货运方法还包括：在步骤S810中，接收寄件请求，寄件请求包括寄件人信息和收件人信息，寄件人信息至少包括寄件用户、寄件用户 地址和第二货物的尺寸，其中寄件人信息和收件人信息是寄件人上网填写的资料。在步骤S820中，获得寄件用户地址所在的目标区域内、具有匹配第二货物的尺寸的空储物格的电动车。在步骤S830中，向寄件用户发送寄件时间、寄件地点和寄件编码。以及在步骤S840中，向电动车发送指向寄件时间和寄件地点的收件路径。
进一步的，参照图26所示，收货过程还包括：在步骤S850中，当电动车到达寄件地点，通过扫描器识别寄件编码，控制集群确认扫描器传回的寄件编码，向寄件用户发送指示空储物格的位置的通知信息，并向货柜箱发送解锁指令，使货柜箱开启空储物格的门，供寄件用户将第二货物放入空储物格的货框中。寄件用户放完第二货物后，将储物格的门关上。在步骤S860中，检测储物格的门是否关闭，若未关闭则向寄件用户发送返回通知，以通知寄件用户返回关闭储物格的门，直到检测到储物格的门关闭后电动车继续前进。在步骤S870中，当电动车装满第二货物，控制电动车行驶至集散中心的卸货区。在步骤S880中，卸下货柜箱，及其内部的货框和第二货物，电动车和货柜箱返回出货区；电动车可以先到达电池中心更换充满电的电池包，换下的电池包会自动进行充电。返回出货区后，货柜箱可以装载新的第一货物，具体是将装有新的第一货物的货框放入货柜箱的合适大小的储物格内。货柜箱装满新的第一货物后被装上电动车进行新的第一货物的自动配送。在步骤S890中，根据每件第二货物的收件人信息，将货框连同第二货物自动输送至对应的转运区，可以通过上述的自动设备自动运输货框和第二货物。以及在步骤S8910中，取下第二货物进行转运，且货框回到收货区。返回收货区后，货框被装上新的第一货物，然后再运到出货区被装入货柜箱的储物格中。在 转运区的第二货物可通过大货车运输到其他的集散中心，如果是远途，则转运到机场，再去往远地的集散中心。在其他集散中心，大货车可以将第一货物运回本转运中心的收货区。
通过上述的收货过程，实现与送货过程的自动对接。从而，在每个集散中心，自动配送第一货物并自动收取第二货物，全程无需人工参与，极大加快货运效率。上述用于载货的电动车中，电动车与货柜箱可分离设置，货柜箱可以很轻松地装上电动车和从电动车上卸下，整个电动车结构简单，安装方便；电动车可以迅速更换新的充满电的电池包，取下的电池包可以送到充电中心充电备用，使用效率高；电动车可以分次运输多个货柜箱内的货物，节省成本，提高效率；电动车可以实现全自动、高效率、高准确性、低成本和高安全性的货物运输，没有人为因素造成的错误和信息泄露。
显然，本揭露的上述实施例仅仅是为了清楚说明本揭露所作的举例，而并非是对本揭露的实施方式的限定。对于所属领域的普通技术人员来说，能够进行各种明显的变化、重新调整和替代而不会脱离本揭露的保护范围。这里无需也无法对所有的实施方式予以穷举。凡在本揭露的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本揭露权利要求的保护范围之内。

Claims (34)

  1. 一种电动车，具有多组设于底盘下表面的车轮组件，其特征在于：
    多组所述车轮组件相互独立，每组所述车轮组件包括车轮、驱动装置和位移装置；
    所述驱动装置能驱动所述车轮转动，所述位移装置能至少驱动所述车轮沿所述电动车的车身宽度方向移动。
  2. 如权利要求1所述的电动车，其特征在于，沿所述车身宽度方向，所述位移装置、所述驱动装置和所述车轮依次从内向外设置；
    所述驱动装置通过一转动轴承连接并驱动所述车轮；
    所述位移装置通过一伸缩轴承连接所述驱动装置，并通过所述伸缩轴承驱动所述驱动装置和所述车轮。
  3. 如权利要求2所述的电动车，其特征在于，所述位移装置包括固定于所述底盘的一第一电动机，所述伸缩轴承的第一端与所述第一电动机可伸缩连接，所述伸缩轴承的第二端与所述驱动装置连接。
  4. 如权利要求3所述的电动车，其特征在于，所述驱动装置包括固定于所述底盘的壳体和容置于所述壳体内的一第二电动机；
    所述壳体的两个相对的内壁设有沿所述车身宽度方向延伸的导轨，所述第二电动机的两个相对的侧壁分别通过旋转枢纽连接所述导轨；
    在所述第一电动机的驱动下，所述第二电动机通过所述旋转枢纽沿所述导轨滑行，带动所述车轮沿所述车身宽度方向移动。
  5. 如权利要求4所述的电动车，其特征在于，当所述车轮沿垂直于所述 底盘的方向跳动时，所述车轮通过所述转动轴承带动所述第二电动机摆动，所述旋转枢纽配合所述第二电动机的摆动在所述导轨内转动。
  6. 如权利要求5所述的电动车，其特征在于，所述转动轴承的第一端与所述第二电动机可转动连接，所述转动轴承的第二端通过一第一转动接合器连接所述车轮；以及
    所述伸缩轴承的第二端通过一第二转动接合器连接所述第二电动机。
  7. 如权利要求5所述的电动车，其特征在于，所述转动轴承通过一第一弹性件与所述底盘连接，所述第一弹性件能沿所述垂直于所述底盘的方向弹性伸缩，所述第一弹性件的第一端与所述底盘固定连接，所述第一弹性件的第二端通过一连接环与所述转动轴承活动连接。
  8. 如权利要求4所述的电动车，其特征在于，每个所述车轮组件还包括升降装置，所述壳体通过所述升降装置与所述底盘连接，所述升降装置能沿垂直于所述底盘的方向升降，以调整所述底盘的离地高度；以及
    所述壳体的一侧壁通过一连接杆与所述底盘连接，所述连接杆的第一端与所述底盘固定连接，所述连接杆的第二端通过一第三转动接合器连接所述壳体的侧壁。
  9. 如权利要求8所述的电动车，其特征在于，所述升降装置为电动升降器或第二弹性件。
  10. 如权利要求2所述的电动车，其特征在于，每个所述车轮组件中，所述车轮包括沿所述车身宽度方向设置的多个轮胎，多个所述轮胎均通过所述转动轴承与所述驱动装置连接。
  11. 如权利要求1所述的电动车，其特征在于，每组所述车轮组件设有 轮胎罩，所述轮胎罩包括：
    罩体，罩设于所述车轮外；
    提示模块，设于所述罩体的外表面，所述提示模块能当所述车轮移动时生成提示信息；以及
    软性防水片，设于所述罩体的后表面下方。
  12. 如权利要求1-11任一项所述的电动车，其特征在于，所述电动车用于载人。
  13. 如权利要求1-11任一项所述的电动车，其特征在于，所述电动车用于载货。
  14. 如权利要求13所述的电动车，其特征在于，还包括：
    固定框架，设于所述电动车的承载表面，所述承载表面位于所述底盘的上表面，所述固定框架设有滑动通道和至少控制所述滑动通道的开关；
    货柜箱，所述货柜箱经由所述滑动通道推入所述固定框架，随所述货柜箱推入所述固定框架，所述开关至少部分关闭所述滑动通道，所述货柜箱固定于所述承载表面。
  15. 如权利要求14所述的电动车，其特征在于，所述货柜箱内设有多个不同容量的储物格，每个所述储物格中通过货框存放货物；
    所述货柜箱设有第一存储器，所述第一存储器中存储每件所述货物的用户信息和存放路径，所述用户信息指示所述货物的目标用户和目标地址，所述存放路径指示所述货物对应的储物格和货框。
  16. 如权利要求15所述的电动车，其特征在于，每件所述货物的存放路径根据所述货柜箱的第一标识码、所述货物对应的储物格的第二标识码和所 述货物对应的货框的第三标识码生成。
  17. 如权利要求15所述的电动车，其特征在于，所述开关是分体式开关，所述分体式开关包括设于所述货柜箱的第一开关触点和设于所述固定框架的第二开关触点；
    当所述货柜箱推入所述固定框架，所述分体式开关闭合，所述第一存储器与所述电动车交换数据。
  18. 如权利要求15所述的电动车，其特征在于，所述储物格可以抽换，使所述货柜箱具有不同大小组合的储物格。
  19. 如权利要求14所述的电动车，其特征在于，所述固定框架包括多段相连的直角立柱和提供所述滑动通道的侧板，所述货柜箱自所述侧板处推入所述固定框架，所述货柜箱的部分侧边嵌设于所述直角立柱的内壁；
    所述开关是设于所述侧板上的电控开关或伸缩开关。
  20. 如权利要求14所述的电动车，其特征在于，所述固定框架上设有多个用于检测周围环境的可转动的摄像头和供所述摄像头与所述电动车通信的天线；
    所述摄像头至少设于所述电动车沿前进方向的前端、后端和侧面，所述天线设于所述固定框架的顶部；以及
    所述固定框架上还设有一个或多个扫描器、一个或多个通话器、以及一个或多个警报器。
  21. 如权利要求14所述的电动车，其特征在于，所述货柜箱的一个或多个侧面设置电子显示屏，所述电子显示屏用于播放流动广告。
  22. 如权利要求14所述的电动车，其特征在于，所述电动车的底盘设有 电池槽，所述电池槽内可拆卸地安装所述电动车的电池包。
  23. 一种自动驾驶方法，应用于权利要求1-22任一项所述的电动车，所述自动驾驶方法包括如下步骤：
    当所述电动车的行车速度大于第一预设值，向各组所述车轮组件发出轮距增大信号，使各组所述车轮组件的位移装置驱动各所述车轮沿所述车身宽度方向，向背离所述电动车的轴心的方向伸展；
    当所述电动车的行车速度小于第二预设值，向各组所述车轮组件发出轮距减小信号，使各组所述车轮组件的位移装置驱动各所述车轮沿所述车身宽度方向，向靠近所述电动车的轴心的方向收缩；
    其中，所述第一预设值大于所述第二预设值；以及
    当所述电动车转向时，向转向侧车轮组件发出第一转速信号，使所述转向侧车轮组件的驱动装置驱动转向侧车轮以第一转速向前行驶，并向非转向侧车轮组件发出第二转速信号，使所述非转向侧车轮组件的驱动装置驱动非转向侧车轮以第二转速向前行驶；
    其中，所述第二转速大于所述第一转速。
  24. 如权利要求23所述的自动驾驶方法，其特征在于，还包括：
    当所述电动车转向时，向所述转向侧车轮组件发送收缩信号，使所述转向侧车轮组件的位移装置驱动所述转向侧车轮沿所述车身宽度方向，向靠近所述电动车的轴心的方向收缩；和/或
    向所述非转向侧车轮组件发送伸展信号，使所述非转向侧车轮组件的位移装置驱动所述非转向侧车轮沿所述车身宽度方向，向背离所述电动车的轴心的方向伸展。
  25. 如权利要求23所述的自动驾驶方法，其特征在于，还包括：
    当所述电动车的行车速度大于所述第一预设值，向各组所述车轮组件发出高度降低信号，使各组所述车轮组件的升降装置降低所述底盘的离地高度；以及
    当所述电动车停车时，向各组所述车轮组件发出高度升高信号，使各组所述车轮组件的升降装置升高所述底盘的离地高度。
  26. 如权利要求25所述的自动驾驶方法，其特征在于，还包括：
    所述电动车的行车速度设定多个预设值，以阶段性调整各组所述车轮组件的轮距和/或所述底盘的离地高度。
  27. 如权利要求23所述的自动驾驶方法，其特征在于，根据所述电动车的行驶工况实时调整所述电动车的行驶参数，包括：
    当所述电动车直线行驶时，通过各所述驱动装置控制各所述车轮同速转动，通过各所述位移装置控制沿所述车身宽度方向的轮距随车速增大而增大，并通过各组所述车轮组件的升降装置控制所述电动车的车身离地高度随车速增大而降低；
    其中，每组所述车轮组件通过所述升降装置与所述底盘连接；
    当所述电动车转向时，通过各所述驱动装置控制非转向侧车轮的转速大于转向侧车轮的转速，通过各所述位移装置控制所述非转向侧车轮相对所述转向侧车轮沿所述车身宽度方向外移，并通过各所述升降装置控制非转向侧的车身离地高度大于转向侧的车身离地高度；以及
    当所述电动车通过斜坡时，通过各所述升降装置控制斜坡上游的车身离地高度低于斜坡下游的车身离地高度，以减小所述自动电动车的倾斜程度。
  28. 如权利要求23所述的自动驾驶方法，其特征在于，每组所述车轮组件包括至少两个沿所述车身宽度方向排列的车轮，所述自动驾驶方法还包括：
    当所述电动车通过凹洞时，通过位于凹洞处的车轮组件的位移装置，增大所述位于凹洞处的车轮组件的多个车轮之间沿所述车身宽度方向的轮距，以避开所述凹洞；或者
    当所述电动车通过凹洞时，通过位于凹洞处的车轮组件的位移装置，驱动位于凹洞处的车轮组件的车轮沿所述车身宽度方向伸缩，以避开所述凹洞。
  29. 一种电子设备，其特征在于，包括：
    一处理器；
    一存储器，所述存储器中存储有供所述处理器执行的可执行指令；
    所述处理器被配置为经由执行所述可执行指令来执行如权利要求23至28任一项所述的自动驾驶方法的步骤；
    所述电子设备被配置于所述电动车，所述电子设备能与导航系统和自动驾驶系统通信连接，以控制各组所述车轮组件。
  30. 一种自动货运方法，其特征在于，应用于权利要求14-22任一项所述的电动车，所述自动货运方法包括如下步骤：
    在集散中心的收货区，接收待配送的第一货物，获得每件所述第一货物的用户信息；
    根据每件所述第一货物的尺寸，将每件所述第一货物装入一货框；
    将所述货框连同所述第一货物自动输送至所述集散中心的出货区，所述出货区布设有多个空置的货柜箱和多辆满电的电动车；
    分别将所述货框连同所述第一货物装入货柜箱的储物格，使每个所述货 柜箱内的第一货物具有相同的目标区域，并获得每件所述第一货物的存放路径；
    将所述货柜箱装上所述电动车，形成所述电动车，所述电动车的存储器中存储每件所述第一货物的用户信息和存放路径；以及
    控制所述电动车自动配送所述货柜箱内的第一货物。
  31. 如权利要求30所述的自动货运方法，其特征在于，控制所述电动车自动配送所述货柜箱内的第一货物的步骤包括：
    根据所述货柜箱内的每件所述第一货物的目标地址，生成配送路径、每件所述第一货物的取件时间、取件地点和每件所述第一货物的与存放路径相关的取件编码；
    向所述电动车发送所述配送路径，并向每件所述第一货物的目标用户发送取件时间、取件地点和取件编码；
    当所述电动车到达一取件地点，通过所述电动车的扫描器识别取件编码，开启所述取件编码对应的储物格，供所述目标用户领取所述第一货物；以及
    检测所述储物格的门是否关闭，若未关闭则向所述目标用户发送返回通知，直到检测到所述储物格的门关闭后所述电动车继续前进。
  32. 如权利要求30所述的自动货运方法，其特征在于，还包括：
    接收寄件请求，所述寄件请求包括寄件人信息和收件人信息，所述寄件人信息至少包括寄件用户、寄件用户地址和第二货物的尺寸；
    获得所述寄件用户地址所在的目标区域内、具有匹配所述第二货物的尺寸的空储物格的电动车；
    向所述寄件用户发送寄件时间、寄件地点和寄件编码；以及
    向所述电动车发送指向所述寄件地点和寄件时间的收件路径。
  33. 如权利要求32所述的自动货运方法，其特征在于，还包括：
    当所述电动车到达所述寄件地点，通过所述扫描器识别所述寄件编码，开启所述空储物格；
    检测所述空储物格的门是否关闭，若未关闭则向所述寄件用户发送返回通知，直到检测到所述储物格的门关闭后所述电动车继续前进；
    当所述电动车装满第二货物，控制所述电动车行驶至所述集散中心的卸货区；
    卸下所述货柜箱，及其内部的货框和第二货物，所述电动车和所述货柜箱返回所述出货区；
    根据每件所述第二货物的收件人信息，将所述货框连同所述第二货物自动输送至对应的转运区；以及
    取下所述第二货物进行转运，且所述货框回到所述收货区。
  34. 一种自动货运系统，其特征在于，用于实现权利要求30-33任一项所述的自动货运方法，所述自动货运系统包括：
    多辆电动车；
    控制集群，与每辆所述电动车通信连接；以及
    集散中心，包括用于自动装卸和自动传送的自动设备。
PCT/CN2020/093443 2019-05-29 2020-05-29 电动车、自动驾驶方法和设备、自动货运方法和系统 WO2020239099A1 (zh)

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