CN114313062A - unmanned vehicle - Google Patents

Abstract

The utility model relates to an unmanned vehicle, which comprises a vehicle body main body and a cover body structure, wherein the vehicle body main body comprises a vehicle head and a chassis, the upper surface of the chassis comprises a first area and a second area which are arranged along the front-back direction of the unmanned vehicle, the vehicle head is arranged in the first area, the cover body structure comprises a cover body, and the cover body structure is detachably arranged on the vehicle body main body so as to enable the unmanned vehicle to have a first state and a second state, and in the first state, the second area, the vehicle head and the cover body jointly define a containing space for containing goods; in the second state, the cover structure is separated from the vehicle body main body, and the second area is used for bearing goods. Because the unmanned vehicle has the first state and the second state, the goods accommodating space of the unmanned vehicle can be changed to adapt to different transportation requirements, and the state of the unmanned vehicle can be selected according to the type and the size of goods transported by the unmanned vehicle. In addition, the cover body structure can be integrally installed and detached in a modularized mode, and the installation and detachment efficiency can be saved.

Description

unmanned vehicle

technical field

The present disclosure relates to the field of unmanned driving, and in particular, to an unmanned vehicle.

Background technique

In the field of logistics and distribution, the compartment part of the existing unmanned vehicle usually includes a container and a frame arranged outside the container. Due to the limitation of the frame boundary size, for a certain type of unmanned vehicle, the transportation space of its compartment is certain, which leads to the limitation of the transport object (goods) of the unmanned vehicle, and it is impossible to transport goods whose size is larger than the frame boundary size. As a result, the application scenarios of this type of unmanned vehicle are limited and cannot meet different transportation needs.

SUMMARY OF THE INVENTION

The purpose of the present disclosure is to provide an unmanned vehicle whose cargo accommodating space can be changed, which is beneficial to meet different transportation requirements.

In order to achieve the above object, the present disclosure provides an unmanned vehicle, comprising a body body and a cover structure, wherein the body body includes a vehicle head and a chassis, and the upper surface of the chassis includes a first surface arranged along the front-rear direction of the unmanned vehicle. an area and a second area, the vehicle head is arranged in the first area, the cover body structure includes a cover body, and the cover body structure is detachably mounted on the vehicle body body, so that the unmanned The vehicle can have a first state and a second state; in the first state, the second area, the vehicle head and the cover together define a accommodating space for accommodating cargo; in the second state, The cover structure is separated from the body body, and the second area is used for carrying cargo.

Optionally, the unmanned vehicle further includes a first threaded fastener, a first beam is arranged on the front of the vehicle, and a second beam is arranged on the front side of the cover; the first beam and the first beam A first threaded hole and a second threaded hole are respectively provided on the two beams, and the first threaded fastener is used to be inserted into the first threaded hole and the second threaded hole to connect the first threaded The beam and the second beam are connected as a whole.

Optionally, the unmanned vehicle further includes a second threaded fastener, a third beam is arranged on the chassis, and a fourth beam is arranged on the rear side of the cover; the third beam and the A third threaded hole and a fourth threaded hole are respectively provided on the four beams, and the second threaded fastener is used to be inserted into the third threaded hole and the fourth threaded hole, so as to connect the third threaded hole to the fourth threaded hole. The beam and the fourth beam are connected as a whole.

Optionally, the unmanned vehicle further includes a positioning structure, and the positioning structure includes a first positioning member and a second positioning member; the first positioning member is provided on one of the cover structure and the body body. In addition, the second positioning member is provided on the other of the cover structure and the body body; the first positioning member is provided with a positioning pin, and the second positioning member is provided with The positioning pin is matched with the positioning hole.

Optionally, the number of the first positioning members is two, and the two first positioning members are arranged on the head of the unmanned vehicle at intervals along the left and right directions of the unmanned vehicle; the number of the second positioning members is Two, two of the second positioning members are arranged on the cover structure at intervals along the left-right direction of the unmanned vehicle.

Optionally, a pair of first side beams are oppositely arranged on both sides of the front of the unmanned vehicle in the left-right direction, and a pair of first side beams are oppositely arranged on both sides of the cover body in the left-right direction of the unmanned vehicle. The second side beam; the first positioning member is installed at the rear end of the first side beam, and the second positioning member is installed at the front end of the second side beam.

Optionally, the first positioning member includes a first main body plate and a first protrusion, the first protrusion and the positioning pin are arranged opposite to both sides of the first main body plate, the first protrusion and/or, the second positioning member includes a second main body plate and a second protrusion, and the second protrusion is inserted into the first side beam inside the second side beam and welded with the inner wall of the second side beam.

Optionally, the cover body includes a first part and a second part that are connected in an L shape, the first part extends in a horizontal direction, the front end of the first part is detachably connected to the front of the vehicle, and the second part is Extending in the vertical direction, the upper end of the second part is connected to the rear end of the first part, and the lower end of the second part is detachably connected to the chassis.

Optionally, the cover body includes a frame and a plate body fixed on the frame;

The frame includes a pair of second side beams oppositely arranged in the left-right direction of the unmanned vehicle, and a first beam and a second beam connected between the pair of second side beams, the first beam is located on the front side of the frame, and is used for detachable connection with the front of the vehicle, the second beam is located on the rear side of the frame and at the lower end of the frame, and is used for detachable connection with the chassis; the Both the second side beam and the plate body are L-shaped.

Optionally, the unmanned vehicle further includes an on-board sensing element for acquiring information about the surrounding environment of the unmanned vehicle, the on-board sensing element is arranged on the body body, and/or the on-board sensing element is arranged on the vehicle body. on the cover structure.

Optionally, the vehicle-mounted sensing device includes a first camera, a second camera, a third camera, a fourth camera, and a lidar; the first camera is arranged on the top of the vehicle head to obtain environmental information in front of the unmanned vehicle. , the second camera is arranged at a position close to the rear end of the cover structure to obtain environmental information behind the unmanned vehicle; the third camera and the fourth camera are in the left and right directions of the unmanned vehicle The lidar is arranged on both sides of the cover structure to obtain the environmental information on the left and right sides of the unmanned vehicle; the lidar is installed on the outer surface of the cover or on the top surface of the head of the vehicle.

In the unmanned vehicle provided by the present disclosure, since the unmanned vehicle has the above-mentioned first state and second state, the state of the unmanned vehicle can be selected according to the type and size of the goods transported by the unmanned person. For example, when the size of the cargo is small, the autonomous vehicle can remain in the first state. When the size of the cargo is large, the cover structure can be disassembled from the unmanned vehicle. After the cover structure is disassembled, the carrying space can be increased. Rearward beyond the second area of the chassis in the fore and aft direction also allows cargo (eg cargo containers) to be higher in height than the front of the vehicle. In this way, the unmanned vehicle can no longer be constrained when loading goods, and the carrying space can be enlarged. In the present disclosure, the cargo accommodating space of the unmanned vehicle can be changed to suit different transportation needs. In this way, for goods of different sizes, one type of unmanned vehicle can be used to handle it, and there is no need to design two types of vehicles to share the same chassis, which is conducive to reducing costs.

In addition, when the unmanned vehicle is in the first state, that is, when the cover structure is installed on the body of the vehicle body, an on-board sensing device for acquiring environmental information around the unmanned vehicle to assist the automatic driving of the unmanned vehicle can be used. (such as cameras, radars, etc.) are installed on the body of the vehicle body, or the on-board sensing components can be installed on the cover structure, or when there are multiple on-board sensing components, a part of the on-board sensing components can also be arranged on the front of the car, Another part of the vehicle-mounted sensing element is arranged on the cover structure. In this way, the options for the layout of the on-board sensing components are increased, so that the on-board sensing components are not affected by space.

Other features and advantages of the present disclosure will be described in detail in the detailed description that follows.

Description of drawings

The accompanying drawings are used to provide a further understanding of the present disclosure, and constitute a part of the specification, and together with the following detailed description, are used to explain the present disclosure, but not to limit the present disclosure. In the attached image:

1 is a schematic three-dimensional structural diagram of an unmanned vehicle according to an embodiment of the present disclosure, wherein the unmanned vehicle is in a first state;

2 is a schematic three-dimensional structural diagram of an unmanned vehicle according to an embodiment of the present disclosure, wherein the unmanned vehicle is in a first state, and a container is also shown;

3 is a schematic three-dimensional structural diagram of an unmanned vehicle according to an embodiment of the present disclosure, wherein the unmanned vehicle is in a second state, and a container is also shown;

4 is a schematic three-dimensional structure diagram of an unmanned vehicle according to an embodiment of the present disclosure, wherein, in order to clearly illustrate the unmanned vehicle structure, the cover body structure and the body body are in a disassembled state;

5 is a schematic three-dimensional structure diagram of an unmanned vehicle according to an embodiment of the present disclosure, wherein, in order to clearly illustrate the unmanned vehicle structure, the cover body structure and the body body are in a disassembled state, and the positioning structure is also disassembled from the cover body and the front of the vehicle sub-status;

Fig. 6 is the enlarged schematic diagram of part A in Fig. 5;

7 is a schematic three-dimensional structural diagram of an unmanned vehicle from another perspective according to an embodiment of the present disclosure, wherein, in order to clearly illustrate the unmanned vehicle structure, the cover body structure and the body body are in a disassembled state;

8 is a schematic three-dimensional structural diagram of an unmanned vehicle from another perspective according to an embodiment of the present disclosure, wherein, in order to clearly illustrate the unmanned vehicle structure, the cover body structure and the body body are in a disassembled state, and the positioning structure and the cover body and the body are in a disassembled state. The front of the car is also in a disassembled state;

FIG. 9 is an enlarged schematic view of part B in FIG. 8 .

Description of reference numerals

100-unmanned vehicle; 10-body body; 11-head; 111-first beam; 1111-first threaded hole; 112-first side beam; 12-chassis; 121-first area; 122-second area ; 123-the third beam; 1231-the third threaded hole; 20-cover structure; 21-cover; 211-the second beam; 2111-the second threaded hole; 212-the fourth beam; 2121-the fourth threaded hole ; 213- the second side beam; 214- plate body; 201- the first part; 202- the second part; 30- the first threaded fastener; 40- the second threaded fastener; 511-positioning pin; 512-first main body plate; 5121-fourth extension; 513-first protrusion; 5131-third extension; 52-second positioning member; 521-positioning hole; 522-second main body plate; 5221-second extension part; 523-second protrusion; 5231-first extension part; 61-first camera; 62-second camera; 63-third camera; 64-fourth Camera; 70-Lidar; 80-Mounting Frame; 81-Mounting Plate; 82-Mounting Feet; 200-Container.

Detailed ways

The specific embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present disclosure, but not to limit the present disclosure.

In the present disclosure, unless otherwise stated, the directional words used such as "up, down, left, right, front, rear" are the same as up, down, left, right, front when the unmanned vehicle 100 is running normally. The direction of the front 11 of the unmanned vehicle 100 is the front, the direction opposite to the front 11 is the rear, the direction of the unmanned vehicle 100 approaching the bottom surface is the downward direction, and the direction away from the bottom surface is the upward direction. The left and right sides can be oriented according to the front and rear. For the specific directions, please refer to Figure 1 and Figure 3. "Inside and outside" refers to the inside and outside of the outline of the associated structure. In addition, the terms "first", "second" and the like used in the embodiments of the present disclosure are used to distinguish one element from another element, and have no order and importance.

As shown in FIGS. 1 to 9 , the present disclosure provides an unmanned vehicle 100 . The unmanned vehicle 100 includes a body body 10 and a cover structure 20 . The body body 10 includes a chassis 12 and a head 11 . The upper surface of the chassis 12 It includes a first area 121 and a second area 122 arranged along the front-rear direction of the unmanned vehicle 100 , the head 11 is arranged in the first area 121 , the cover structure 20 includes a cover 21 , and the cover structure 20 is detachably installed on the vehicle body on the main body 10, so that the unmanned vehicle 100 can have the first state and the second state.

In the first state, the second area 121 on the chassis 12, the vehicle head 11 and the cover body 21 together define a accommodating space for accommodating goods (such as the container 200 shown in FIG. 2 ). At this time, the size of the unmanned vehicle 100 that can transport goods mainly depends on the position where the cover body 21 is connected to the body body 10 , because the position where the cover body 21 is connected determines the size of the above-mentioned accommodation space to a certain extent. In the second state, the cover structure 20 is separated from the body body 10 , the second area 121 is used for carrying cargo, and at this time, the cover structure 20 is temporarily removed from the body body 10 . In the second state, since the cover structure 20 is removed, the limitation of the accommodating space by the cover 21 is released, and the accommodating space of the unmanned vehicle 100 for accommodating goods can be increased.

As shown in FIGS. 2 and 3 , in the unmanned vehicle 100 provided by the present disclosure, since the unmanned vehicle 100 has the above-mentioned first state and second state, the unmanned vehicle 100 can be selected according to the type and size of the goods transported by the unmanned person. The state of the person and vehicle 100. For example, when the size of the goods is small and the required size of the container 200 (such as a food delivery container) is small, the goods can be put into a special container 200, and then the container 200 can be put into the above-mentioned accommodation space. At this time, the unmanned vehicle 100 may remain in the first state. However, when the size of the goods is large and the required size of the container 200 (such as a courier container) is large, the accommodation space may be insufficient. At this time, the cover structure 20 can be disassembled from the unmanned vehicle 100, and the cover body After the structure 20 is disassembled, the carrying space can be increased, for example, the container 200 can be allowed to extend backward beyond the second area 121 of the chassis 12 in the front-rear direction of the unmanned vehicle 100 (ie, the length direction of the unmanned vehicle 100), and the container can also be 200 is higher than the front 11 in the height direction. In this way, the unmanned vehicle 100 can no longer be restricted when loading goods, and the carrying space can be enlarged. Moreover, the cover body structure 20 can be assembled and disassembled in an integral and modular manner, which can save the efficiency of assembly and disassembly.

As can be seen from the above, in the present disclosure, the cargo accommodating space of the unmanned vehicle 100 can be changed to suit different transportation requirements. For goods of different sizes, one type of unmanned vehicle 100 can be used to handle it, and there is no need to design two types of vehicles, just sharing the same chassis 12, which is beneficial to reduce costs.

In addition, in the present disclosure, when the unmanned vehicle 100 is in the first state, that is, when the cover structure 20 is installed on the body body 10, as shown in FIG. The vehicle-mounted sensing element (such as a camera, radar, etc.) that plays the role of assisting the automatic driving of the unmanned vehicle 100 is installed on the body body 10, and the vehicle-mounted sensing element can also be installed on the cover structure 20, or the vehicle-mounted sensing element is When there are more than one, one part of the vehicle-mounted sensing element may also be arranged on the head 11 of the vehicle, and another part of the vehicle-mounted sensing element may be arranged on the cover structure 20 . In this way, the options for the layout of the on-board sensing components are increased, so that the on-board sensing components are not affected by space.

In addition, when the unmanned vehicle 100 is in the second state as shown in FIG. 3 , the container 200 can be designed so that the volume and shape of the container 200 can meet the requirements. In other embodiments, the container 200 may have other shapes.

It can be understood that, when the unmanned vehicle 100 is in the first state and the second state, the container 200 can be fixed on the second area 121 of the chassis 12 to avoid displacement of the container 200 or accidental removal from the container during transportation. Falling out of space.

In the present disclosure, the cover structure 20 and the vehicle body body 10 may adopt any appropriate structure to realize the detachable connection between the two, which is not limited in the present disclosure. Optionally, as shown in FIGS. 4 to 9 , in an embodiment of the present disclosure, a first beam 111 is provided on the vehicle head 11 , the unmanned vehicle 100 further includes a first threaded fastener 30 , a cover body 21 The front side is provided with a second beam 211, the first beam 111 and the second beam 211 are respectively provided with a first threaded hole 1111 and a second threaded hole 2111, the first threaded fastener 30 is used for inserting in the first thread The hole 1111 and the second threaded hole 2111 are formed to connect the first cross beam 111 and the second cross beam 211 into one body, thereby connecting the front side of the cover body 21 to the vehicle body.

As shown in FIG. 7 and FIG. 8 , the chassis 12 may be provided with a third beam 123 , the unmanned vehicle 100 further includes a second threaded fastener 40 , and a fourth beam 212 is provided on the rear side of the cover 21 . The third beam A third threaded hole 1231 and a fourth threaded hole 2121 are respectively provided on the 123 and the fourth cross beam 212, and the second threaded fastener 40 is used to be inserted into the third threaded hole 1231 and the fourth threaded hole 2121 to The three cross beams 123 and the fourth cross beam 212 are integrally connected, thereby connecting the rear side of the cover body 21 to the vehicle body.

In this embodiment, the first beam 111 , the second beam 211 , the third beam 123 and the fourth beam 212 are provided, and the first threaded fasteners 30 and the second threaded fasteners 40 are used together to make the unmanned vehicle When 100 is in the first state, the cover body structure 20 can form a screw connection with the body body 10, and the screw connection has the advantage of reliable installation while realizing detachable installation.

Specifically, in the first state of the unmanned vehicle 100, the first cross beam 111 and the second cross beam 211 are connected together by the first threaded fastener 30, and the third cross beam 123 and the second cross beam 211 are connected by the second threaded fastener 40. The four beams 212 can be connected as a whole. When the unmanned vehicle 100 needs to be switched to the second state, the locking of the first beam 111 and the second beam 211 by the first threaded fastener 30 and the second threaded fastening are released. It is only necessary to lock the third beam 123 and the fourth beam 212 by the member 40 , and the installation and disassembly of the cover structure 20 and the body body are convenient.

Among them, in order to improve the reliability of the connection between the cover structure 20 and the body body 10, as shown in FIG. 6, FIG. 8 and FIG. Each of the holes 2121 may be multiple, and the multiple first screw holes 1111 , the multiple second screw holes 2111 , the multiple third screw holes 1231 and the multiple fourth screw holes 2121 may be arranged at intervals along the left-right direction of the unmanned vehicle 100 On the corresponding first beam 111 , second beam 211 , third beam 123 and fourth beam 212 .

The first threaded fastener 30 and the second threaded fastener 40 may be M8 bolts, which are not limited in the present disclosure.

It can be understood that, in the above embodiment, the connection structure between the front side of the cover structure 20 and the head 11 and the connection structure between the rear side of the cover structure 20 and the chassis 12 are the same (both are screwed). In other embodiments, different connection structures may be used for the two, and other connection structures other than the above-mentioned screw connection may also be used. For example, in an embodiment of the present disclosure, the front side of the cover structure 20 may be provided with a snap, the front 11 may be provided with a tab that fits with the snap, and the rear side of the cover structure 20 is connected to the chassis. 12 can be riveted.

Optionally, as shown in FIG. 7 , the installation direction of the first threaded fastener 30 may be installed along the front-rear direction of the unmanned vehicle 100 . Specifically, the axes of the first threaded hole and the second threaded hole are the same as the front and rear directions of the unmanned vehicle 100 , and the front end of the first threaded fastener 30 passes through the second threaded hole and is screwed and fixed in the first threaded hole.

Optionally, as shown in FIGS. 7 and 8 , the installation direction of the second threaded fastener 40 may be installed along the up-down direction of the unmanned vehicle 100 . Specifically, the axes of the third threaded hole and the fourth threaded hole are the same as the vertical direction of the unmanned vehicle 100 , and the lower end of the second threaded fastener 40 passes through the fourth threaded hole and is screwed and fixed in the third threaded hole.

Optionally, the first beam 111 can be mounted on the rear end surface of the head 11 by welding, screwing, etc., and the third beam 122 can be mounted on the second area 121 of the chassis 12 by welding, screwing, etc. The present disclosure This is not limited.

In order to facilitate the installation of the cover structure 20, the unmanned vehicle 100 may further include a positioning structure 50. Optionally, as shown in FIG. 5 to FIG. 9, the positioning structure 50 includes a first positioning member 51 and a second positioning member 52. A positioning member 51 is provided on one of the cover structure 20 and the body body 10 , a second positioning member 52 is provided on the other of the cover structure 20 and the body body 10 , and the first positioning member 51 is provided with The positioning pin 511 and the second positioning member 52 are provided with a positioning hole 521 which is matched with the positioning pin 511 . When installing the cover structure 20 , the positioning pins 511 on the first positioning member 51 can be inserted into the positioning holes 521 on the second positioning member 52 to realize the pre-positioning of the installation, so as to facilitate the installation of the cover structure 20 and the body body 10 .

The present disclosure does not limit the specific numbers and installation positions of the first positioning members 51 and the second positioning members 52 , as long as the pre-positioning of the cover structure 20 and the body body 10 can be achieved. Optionally, as shown in FIG. 4 , in an embodiment of the present disclosure, the number of the first positioning members 51 is two, and the two first positioning members 51 are along the left-right direction (ie, the width direction) of the unmanned vehicle 100 . ) are arranged on the front 11 at intervals. Correspondingly, the number of the second positioning members 52 is two, and the two second positioning members 52 are arranged on the cover structure 20 at intervals along the left-right direction of the unmanned vehicle 100 . Through the cooperation of the two first positioning members 51 and the two second positioning members 52 , the positioning of the front side of the cover structure 20 and the vehicle body can be achieved, so that the positioning of the entire cover structure 20 can be achieved.

Wherein, the second positioning member 52 can be installed at any suitable position on the cover structure 20, for example, can be installed on the above-mentioned second beam 211, or can be installed on the second side beam 213 mentioned below. There is no limit to the disclosure.

As shown in FIGS. 5 to 9 , a pair of first side beams 112 are oppositely arranged on both sides of the vehicle head 11 in the left-right direction of the unmanned vehicle 100 , and the cover body 21 is oppositely arranged on both sides of the unmanned vehicle 100 in the left-right direction. There are a pair of second side beams 213 , the first positioning member 51 is mounted on the rear end of the first side beam 112 , and the second positioning member 52 is mounted on the front end of the second side beam 213 . By arranging the second side beam 213 to install the second positioning member 52 , after the cover structure 20 is installed on the body body 10 , it is beneficial to avoid the interference of the second positioning member 52 with the cargo accommodation space of the unmanned vehicle 100 . In addition, the provision of the second side beam 213 is beneficial to improve the structural strength of the cover plate to a certain extent.

The present disclosure does not limit the specific structures of the first positioning member 51 and the second positioning member 52 and the installation methods of the corresponding side beams. Optionally, as shown in FIGS. 6 and 9 , in an embodiment of the present disclosure, the first positioning member 51 includes a first main body plate 512 and a first protrusion 513 , the first protrusion 513 and the positioning pin 511 Oppositely arranged on both sides of the first main body plate 512, the first protrusions 513 are inserted into the first side beam 112 and welded with the inner wall of the first side beam 112, and/or the second positioning member 52 includes a second main body plate 522 and the second protrusion 523, the second protrusion 523 is inserted into the second side beam 213 and welded with the inner wall of the second side beam 213, and the positioning hole 521 at least passes through the second main body plate 522. By setting the first protrusion 513 to be inserted into the first side beam 112 and the second protrusion 523 to be inserted into the second side beam 213 and connected by welding, the first positioning member 51 and the first side beam 112 and the second positioning member 52 and the first side beam 112 are lifted. In addition to the reliability of the connection of the two side beams 213, the internal hollow structures of the first side beam 112 and the second side beam 213 are used to hide part of the structure of the positioning member, thereby reducing the size of the first positioning member 51 and the second positioning member 52. The exposed size further reduces the risk of the first positioning member 51 and the second positioning member 52 interfering with the cargo accommodating space of the unmanned vehicle 100 .

In other embodiments of the present disclosure, a first positioning member 51 may be installed on the front side of the cover structure 20 to cooperate with a second positioning member 52 installed on the vehicle head 11 and position the other first positioning member 51 . The member 51 is installed on the rear side of the cover structure 20 to cooperate with another second positioning member 52 installed on the chassis 12 . In this way, the pre-positioning of the cover structure 20 during installation can also be achieved by arranging the positioning members in the front and rear.

In the present disclosure, the second protrusion 523 of the second positioning member 52 can be adapted to the shape of the hollow portion of the second side beam 213 , for example, when the cross section of the second side beam 213 is a regular shape such as a rectangle or a circle , the cross section of the second protrusion 523 may also be a regular shape such as a rectangle or a circle of a corresponding size. And when the cross section of the second side beam 213 includes the special-shaped structure as shown in FIG. 9 , the second protrusion 523 can also be provided with a matching special-shaped structure.

As shown in FIG. 6 and FIG. 9 , as an optional embodiment, the second protrusion 523 includes two connected first extension parts 5231 , and each extension part of the two first extension parts 5231 extends from the two The size of the connected end to the other end gradually increases, and the positioning hole 521 is located at the position where the two first extending portions 5231 are connected.

The second main body plate 522 of the second positioning member 52 can be adapted to the shape of the cross section of the second side beam 213 , so as to improve the appearance of the unmanned vehicle 100 in the second state of the unmanned vehicle 100 . Optionally, the second main body plate 522 may include two second extension parts 5221 having the same shape as the first extension part 5231 , and the size of the second extension parts 5221 may be larger than that of the first extension part 5231 .

Likewise, in the present disclosure, the first protrusion 513 of the first positioning member 51 may be adapted to the shape of the hollow portion of the first side rail 112 . As shown in FIG. 6 and FIG. 9 , in an optional embodiment, the first protrusion 513 includes two connected third extension parts 5131 , and each extension part of the two third extension parts 5131 extends from the two The size of the connected end to the other end gradually increases, and the positioning pin 511 is located at the position where the two third extension parts 5131 are connected.

The first main body plate 512 of the first positioning member 51 can be adapted to the shape of the cross section of the first side beam 112 , so as to improve the appearance of the unmanned vehicle 100 in the second state of the unmanned vehicle 100 . Optionally, the first body plate 512 may include two fourth extension parts 5121 having the same shape as the third extension part 5131 , and the size of the fourth extension part 5121 may be larger than that of the third extension part 5131 .

The present disclosure does not limit the specific structure of the cover body 21 of the cover body structure 20 . Optionally, as shown in FIG. 4 , in an embodiment of the present disclosure, the cover body 21 includes a first part 201 and a second part 202 that are connected in an L-shape, the first part 201 extends in a horizontal direction, and the first part 201 is The front end is detachably connected to the vehicle head 11 , the second part 202 extends in the vertical direction, the upper end of the second part 202 is connected to the rear end of the first part 201 , and the lower end of the second part 202 is detachably connected to the chassis 12 . Based on this, when the cover body 21 is connected to the body body 10 , the first part 201 of the cover body 21 corresponds to the roof of the unmanned vehicle 100 , and the second part 202 of the cover body 21 corresponds to the rear side wall of the unmanned vehicle 100 . , the cover body 21 is configured in an L shape, which is beneficial to increase the accommodating space of the unmanned vehicle 100, and at the same time has a simple structure.

As shown in FIG. 4 and FIG. 7 , the cover body 21 may include a frame and a plate body 214 fixed on the frame. As mentioned above, the frame may include a pair of second sides oppositely arranged in the left-right direction of the unmanned vehicle 100 The beam 213, and the first beam 111 and the second beam 211 connected between the pair of second side beams 213, the first beam 111 is located on the front side of the frame for detachable connection with the front 11, the second beam 211 is located in The rear side of the frame is located at the lower end of the frame for detachable connection with the chassis 12. The second side beam 213 and the plate body 214 may both be L-shaped, that is, the second side beam 213 may also include a horizontal beam and a vertical beam , the halves may include horizontal and vertical plates. The cover body 21 includes the structure of a frame and a plate body. While ensuring that the strength of the cover plate 21 meets the requirements, it is also convenient to connect with the head 11 and the chassis 12, for example, it is convenient to install the above-mentioned second positioning member 52 and open the second thread. hole 2111 and fourth threaded hole 2121.

In order to facilitate the installation of the half body and the second side beams 213 , the surfaces of the pair of second side beams 213 facing each other are further provided with stepped surfaces, and the plates 214 can be overlapped and welded on the stepped surfaces.

In order to further ensure that the structural strength of the cover plate meets the requirements, optionally, in addition to the second beam 211 and the fourth beam 212 , the frame structure of the cover plate may also include other beams located between the second beam 211 and the fourth beam 212 .

In addition, in the present disclosure, the unmanned vehicle 100 further includes an in-vehicle sensing element for acquiring information about the surrounding environment of the unmanned vehicle 100 , the in-vehicle sensing element is arranged on the body body 10 , and/or the vehicle-mounted sensing element is arranged on the cover structure 20 on. Obtaining environmental information around the unmanned vehicle 100 through the in-vehicle sensing device can play a role in assisting the automatic driving of the unmanned vehicle 100 . As mentioned above, when the unmanned vehicle 100 is in the first state, the vehicle-mounted sensing element may be installed on the body body 10, the vehicle-mounted sensing element may also be installed on the cover structure 20, or the vehicle-mounted sensing element may be multiple In the case of each, one part of the vehicle-mounted sensing element may also be arranged on the head 11 of the vehicle, and the other part of the vehicle-mounted sensing element may be arranged on the cover structure 20 . In this way, the options for the layout of the in-vehicle sensing elements are increased, which is beneficial to make the in-vehicle sensing elements not affected by space. When the unmanned vehicle 100 is in the second state, the vehicle-mounted sensing element may be arranged on the vehicle head 11 .

Here, the in-vehicle perception component may include at least one of components such as radar, sensor, camera, antenna, and GPS navigator, but is not limited thereto.

Optionally, in an embodiment of the present disclosure, as shown in FIG. 2 , the in-vehicle sensing device includes a first camera 61 , a second camera 62 , a third camera 63 , a fourth camera 64 and a lidar 70 . The camera 61 is arranged on the top of the vehicle head 11 for obtaining environmental information in front of the unmanned vehicle 100 , and the second camera 62 is arranged at a position near the rear end of the cover structure 20 for obtaining environmental information behind the unmanned vehicle 100 . The third camera 63 and the fourth camera 64 are arranged on both sides of the cover structure 20 in the left-right direction of the unmanned vehicle 100 , so as to obtain environmental information on the side of the unmanned vehicle 100 . The laser radar 70 is installed on the outer surface of the cover body 21 or on the top surface of the vehicle head 11. When the unmanned vehicle 100 is in the first state, as shown in FIG. 2, the laser radar 70 can be installed on the outer surface of the cover body 21. When the unmanned vehicle 100 is in the second state, as shown in FIG. 3 , the lidar 70 can be installed on the top surface of the vehicle head 11 , and the lidar 70 can be used to obtain environmental information around the unmanned vehicle 100 together with the above-mentioned camera.

As shown in FIG. 2 and FIG. 3 , the unmanned vehicle 100 further includes a mounting bracket 80 . The mounting bracket 80 includes a mounting plate 81 and feet opposite to the two ends of the mounting plate 81 , and the lower ends of each of the feet are connected to the cover body. 21 or connected to the front 11, and the lidar 70 is mounted on the mounting plate 81, so that the lidar 70 can be kept away from the cover 21 or the front 11 by a certain distance, so as to prevent the lid 21 or the top surface of the front 11 from affecting the lidar. 70 , thereby increasing the detection range of the lidar 70 .

The preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings. However, the present disclosure is not limited to the specific details of the above-mentioned embodiments. Within the scope of the technical concept of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure. These simple modifications all fall within the protection scope of the present disclosure.

In addition, it should be noted that the various specific technical features described in the above-mentioned specific embodiments can be combined in any suitable manner unless they are inconsistent. In order to avoid unnecessary repetition, the present disclosure provides The combination method will not be specified otherwise.

In addition, the various embodiments of the present disclosure can also be arbitrarily combined, as long as they do not violate the spirit of the present disclosure, they should also be regarded as the contents disclosed in the present disclosure.

Claims (11)

1. An unmanned vehicle, characterized by comprising a body body (10) and a cover structure (20), the body body (10) comprising a head (11) and a chassis (12), the chassis (12) The upper surface of the unmanned vehicle (100) includes a first area (121) and a second area (122) arranged in the front-rear direction of the unmanned vehicle (100), and the vehicle head (11) is arranged in the first area (121), so The cover body structure (20) includes a cover body (21), and the cover body structure (20) is detachably mounted on the body body (10), so that the unmanned vehicle (100) can have a first a state and a second state; In the first state, the second area (121), the vehicle head (11) and the cover body (21) together define a accommodating space for accommodating goods; In the second state, the cover structure (20) is separated from the body body (10), and the second area (122) is used for carrying cargo. 2. The unmanned vehicle according to claim 1, characterized in that, the unmanned vehicle (100) further comprises a first threaded fastener (30), and a first beam ( 111), the front side of the cover body (21) is provided with a second beam (211); A first threaded hole (1111) and a second threaded hole (2111) are respectively provided on the first beam (111) and the second beam (211), and the first threaded fastener (30) is used for It is inserted into the first threaded hole (1111) and the second threaded hole (2111) to connect the first beam (111) and the second beam (211) into one. 3. The unmanned vehicle according to claim 2, characterized in that, the unmanned vehicle (100) further comprises a second threaded fastener (40), and a third beam ( 123), the rear side of the cover body (21) is provided with a fourth beam (212); A third threaded hole (1231) and a fourth threaded hole (2121) are respectively provided on the third beam (123) and the fourth beam (212), and the second threaded fastener (40) is used for It is inserted into the third threaded hole (1231) and the fourth threaded hole (2121) to connect the third beam (123) and the fourth beam (212) into one. 4. The unmanned vehicle according to claim 1, wherein the unmanned vehicle (100) further comprises a positioning structure (50), and the positioning structure (50) comprises a first positioning member (51) and a first positioning member (51) and a first positioning member (51). two positioning pieces (52); The first positioning member (51) is provided on one of the cover structure (20) and the body body (10), and the second positioning member (52) is provided on the cover structure ( 20) and the other of the body body (10); The first positioning member (51) is provided with a positioning pin (511), and the second positioning member (52) is provided with a positioning hole (521) matched with the positioning pin (511). 5 . The unmanned vehicle according to claim 4 , wherein the number of the first positioning members ( 51 ) is two, and the two first positioning members ( 51 ) are located along the unmanned vehicle ( 5 . 100) are arranged on the front (11) at intervals in the left and right directions; The number of the second positioning members (52) is two, and the two second positioning members (52) are arranged on the cover structure (20) at intervals along the left-right direction of the unmanned vehicle (100). . The unmanned vehicle according to claim 4 or 5, characterized in that, a pair of first side beams ( 112), a pair of second side beams (213) are oppositely arranged on both sides of the cover body (21) in the left-right direction of the unmanned vehicle (100); The first positioning member (51) is installed at the rear end of the first side beam (112), and the second positioning member (52) is installed at the front end of the second side beam (213). 7 . The unmanned vehicle according to claim 6 , wherein the first positioning member ( 51 ) comprises a first main body plate ( 512 ) and a first protrusion ( 513 ), and the first protrusion ( 513) and the positioning pins (511) are arranged opposite to the two sides of the first main body plate (512), the first protrusions (513) are inserted into the first side beams (112), and are connected to the welding the inner wall of the first side beam (112); and/or, The second positioning member (52) includes a second main body plate (522) and a second protrusion (523), and the second protrusion (523) is inserted into the second side beam (213) and is connected to the second side beam (213). The inner wall of the second side beam (213) is welded. 8. The unmanned vehicle according to claim 1, wherein the cover body (21) comprises a first part (201) and a second part (202) which are connected in an L shape, and the first part (201) Extending in the horizontal direction, the front end of the first part (201) is detachably connected to the head (11), the second part (202) extends in the vertical direction, and the upper end of the second part (202) Connected to the rear end of the first part (201), the lower end of the second part (202) is detachably connected to the chassis (12). 9. The unmanned vehicle according to claim 8, wherein the cover body (21) comprises a frame and a plate body (214) fixed on the frame; The frame includes a pair of second side beams (213) oppositely arranged in the left-right direction of the unmanned vehicle (100), and a first cross beam (213) connected between the pair of second side beams (213). 111) and a second beam (211), the first beam (111) is located on the front side of the frame and is used for detachable connection with the head (11), the second beam (211) is located on the The rear side of the frame is located at the lower end of the frame, and is used for detachable connection with the chassis (12); The second side beam (213) and the plate body (214) are both L-shaped. 10. The unmanned vehicle according to claim 1, characterized in that, the unmanned vehicle (100) further comprises a vehicle-mounted sensor for acquiring information about the surrounding environment of the unmanned vehicle (100), The vehicle-mounted sensing element is arranged on the body body (10), and/or the vehicle-mounted sensing element is arranged on the cover body structure (20). 11. The unmanned vehicle according to claim 10, characterized in that, the vehicle-mounted sensing element comprises a first camera (61), a second camera (62), a third camera (63), and a fourth camera (64) and lidar (70); The first camera (61) is arranged on the top of the vehicle head (11), so as to obtain environmental information in front of the unmanned vehicle (100), and the second camera (62) is arranged on the cover structure (20) A position close to the rear end for obtaining environmental information behind the unmanned vehicle (100); The third camera (63) and the fourth camera (64) are arranged on both sides of the cover structure (20) in the left-right direction of the unmanned vehicle (100), so as to obtain the unmanned vehicle (100). 100) Environmental information on the left and right sides; The lidar (70) is mounted on the outer surface of the cover (21) or on the top surface of the vehicle head (11).

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