CN207191219U - Express delivery transfer cart and intelligent logistics system can be combined - Google Patents

Abstract

The utility model discloses a combinable express delivery vehicle and an intelligent logistics system. This combinable express transport vehicle includes at least two express dollies connected to each other; each express dolly includes a car body, a main control device arranged on the car body, and a power supply device connected to the main control device and an automatic driving device, as well as a storage bin arranged on the car body; it also includes a first connecting mechanism and a second connecting mechanism respectively arranged at the front and back of the car body, and one express car passes through the first The connecting mechanism is connected with the second connecting mechanism of another express car; the automatic driving device includes a navigation device, a visual recognition device and a laser distance measuring device which are arranged on the car body and communicate with the main control device device. The technical solution provided by the utility model can automatically carry out the real-time mobilization of the express delivery, can avoid mistakes caused by fatigue during manual operation and waste of labor costs, and is safe, accurate and reliable.

Description

Combinable express delivery vehicle and intelligent logistics system

technical field

The utility model relates to the technical field of logistics and express delivery, in particular to a combinable express delivery vehicle and an intelligent logistics system.

Background technique

With the rapid growth of express delivery business demand, the number of express delivery companies continues to increase, and the competition in the express delivery industry is also intensifying. In order to enhance competitiveness, some courier companies have adopted the practice of lowering courier prices. Although this approach can temporarily improve competitiveness, it will form vicious competition and directly lead to a reduction in the quality of service to consumers. Therefore, express delivery companies have gradually realized that such price reduction is not advisable. In order to enhance competitiveness, logistics costs need to be reduced and logistics efficiency improved.

In the traditional technology, it is necessary to use express delivery vehicles for real-time mobilization of express items. This kind of work is tedious but requires extreme accuracy. When manually operating this kind of express delivery vehicle, it is easy to cause fatigue and lead to mistakes, and it is also prone to traffic accidents in emergency situations; moreover, it will also be affected by factors such as the experience and personal conditions of the operators, resulting in the accuracy of manual operations. Poor, but also lead to waste of manpower.

Utility model content

Based on this, in order to solve the above problems, the utility model provides a combinable express delivery vehicle and an intelligent logistics system that can automatically carry out real-time transfer of express delivery, which can avoid mistakes caused by fatigue during manual operation and waste of labor costs. Safe, accurate and reliable.

Its technical scheme is as follows:

A combinable express delivery vehicle, comprising at least two interconnected express delivery vehicles;

Each express car includes a car body, a main control device arranged on the car body, a power supply device and an automatic driving device connected to the main control device, and a storage bin arranged on the car body ; It also includes a first connection mechanism and a second connection mechanism respectively arranged on the front and back of the car body, one of the express trolleys is connected to the second connection mechanism of another express trolley through the first connection mechanism;

The automatic driving device includes a navigation device, a visual recognition device, and a laser distance measuring device that are arranged on the vehicle body and communicated with the main control device; the navigation device is used to plan a driving route for the vehicle body, The visual identification device is used to identify objects located around the vehicle body during driving, and the laser distance measuring device is used to measure and judge the distance and dynamic information between the vehicle body and surrounding objects during driving.

The technical scheme is further described below:

Further, both the first connection mechanism and the second connection mechanism include a trolley connection structure, and the two express trolleys are connected end-to-end through the trolley connection structure;

And a power connection structure for power transmission, the power supply devices of the two express delivery cars are connected through the power connection structure.

Further, one of the express trolleys is set as a power supply vehicle, and a storage compartment of the power supply vehicle is equipped with a power supply battery.

Further, the navigation device includes an inertial navigation system and a global positioning system arranged on the vehicle body, and both the inertial navigation system and the global positioning system are communicatively connected with the main control device.

Further, the visual recognition device includes a visual sensor arranged on the vehicle body, and a real-time image recognition processing module connected to the visual sensor, the real-time image recognition processing module and the visual sensor are both connected to the main control Device communication connection.

Further, the laser distance measuring device includes a plurality of laser distance measuring sensors arranged around the vehicle body, and a distance information processing module communicatively connected with the laser distance measuring sensors, and the laser distance measuring sensors are connected with the distance information The processing modules are all communicated with the main control device.

Further, it also includes a laser object measuring device arranged on the vehicle body, and the laser object measuring device is communicatively connected with the main control device;

The laser object measuring device includes a plurality of laser object measuring sensors arranged around the vehicle body, and a three-dimensional data processing module connected in communication with the laser object measuring sensors, the laser object measuring sensors and the three-dimensional data processing module are both Communicatively connected with the master control device.

Further, the main control device includes a main controller arranged on the vehicle body, and an intelligent learning module connected to the main controller, and the intelligent learning module is connected with the navigation device, the visual recognition device and the laser The distance measuring device is connected for communication.

Further, it also includes a trolley driving device arranged at the bottom of the car body; the trolley driving device includes a driving motor arranged on the car body and connected to the power supply device, and a universal motor connected to the driving motor A plurality of universal drive wheels are arranged at the bottom of the vehicle body.

In addition, the utility model also proposes an intelligent logistics system, including the above-mentioned combinable express delivery vehicle, and a remote control terminal communicatively connected with the combinable express delivery vehicle.

The utility model has the following beneficial effects: the unmanned combinable express delivery vehicle can continue to undertake the tedious but extremely accurate work such as real-time transfer of express delivery, and can completely avoid mistakes and manpower caused by fatigue during manual operation. Waste of cost; in people's daily life, unmanned combinable express delivery vehicles are safer and more stable than traditional cars, and can take over control of the vehicle when the driver is tired or in an emergency, and take The quick response is far better than that of humans, which can effectively reduce the possibility of traffic accidents; in addition, the unmanned and combinable express delivery vehicle is also capable of automatic parking, planning routes according to designated destinations, and autonomous driving. Users save time and effort.

Description of drawings

Fig. 1 is a schematic diagram of the three-dimensional structure of the combinable express delivery vehicle described in the embodiment of the present invention;

Fig. 2 is a schematic diagram of the three-dimensional structure of the courier trolley of the combinable courier delivery vehicle described in the embodiment of the utility model;

Fig. 3 is a schematic diagram of the rear view structure of the courier trolley of the combinable courier delivery vehicle described in the embodiment of the utility model;

Fig. 4 is a schematic structural block diagram of the main control device, power supply device and automatic driving device of the courier trolley of the combinable courier delivery vehicle described in the embodiment of the utility model.

Explanation of reference signs:

100-express trolley, 102-first connecting mechanism, 104-second connecting mechanism, 106-universal drive wheel, 110-car body, 120-main control device, 130-power supply device, 140-automatic driving device, 142- Navigation device, 144-visual identification device, 146-laser distance measuring device.

Detailed ways

Embodiments of the present utility model are described in detail below:

As shown in FIG. 1 , the present invention provides a combinable express delivery vehicle, which includes at least two express delivery vehicles 100 connected to each other. Moreover, each express delivery car 100 is set as an unmanned vehicle, has the ability to operate independently, and can be used to deliver express delivery. A plurality of said express delivery vehicles 100 can be automatically connected together for use, and can also be separated for use independently. Moreover, a plurality of express delivery cars 100 can be arranged and connected according to the transport route rules, for example, the express delivery cars 100 with overlapping paths can be connected together, specifically, the express delivery car 100 with the farthest path can be set at the first place , and the courier trolleys 100 with the most overlapping paths are connected behind the first courier trolleys 100, and then the courier trolleys 100 with gradually decreasing overlapping paths are arranged behind, and finally the courier trolleys 100 with the least overlapping paths are arranged in the back. Express car 100 is arranged at the end. Moreover, the courier trolley 100 ranked first can also be used to pull the courier trolley 100 behind to save energy and resources. Moreover, when the courier trolley 100 at the end walks the overlapped path, it separates from the courier trolley 100 in front, and begins to exercise independently, automatically transporting the courier goods on the car to the destination; The dollies 100 can also operate according to this rule until all the express dollies 100 automatically transport the express goods to the destination. In addition, if one or more express delivery vehicles 100 encounter other independent express delivery vehicles 100 in the process of running, and the paths overlap, they can also be automatically connected together for driving. In addition, the travel route of the combinable express delivery vehicle can be optimized according to the actual situation, so as to ensure that the route taken by all the express delivery vehicles connected together is the optimal route (the most time-saving and labor-saving route).

Moreover, as shown in FIGS. 2 to 4 , each express car 100 includes a car body 110 , a main control device 120 arranged on the car body 110 , and a power supply device 130 connected to the main control device 120 And the automatic driving device 140, and the storage compartment arranged on the vehicle body 110. The storage bin arranged on the car body 110 can be used to store express goods, and the storage bin can be set as a modular box structure, and different express goods can be placed in different modular boxes, and the The modular boxes are placed in different compartments of the storage bin, and the modular boxes can be used for loading and unloading, which is simple and convenient. Moreover, the express car 100 can be driven automatically by the automatic driving device 140 so that it can automatically drive according to a set route. Moreover, the power supply device 130 can supply power to the express car 100, provide electric energy for the automatic operation of the express car 100, and can also provide electric energy for the automatic driving device 140 and other devices. In addition, the main control device 120 can control the power supply device 130 , the automatic driving device and other structures to ensure the normal operation of various device structures.

In addition, the power supply device 130 includes a battery module disposed on the vehicle body 110 , and a power management module connected to the battery module. The power supply module is electrically connected to structures such as the main control device 120 and the automatic driving device 140 to supply electric energy to these structures. Moreover, the power management module can control the charging and power consumption of the battery module, so that the battery module and the entire express car can achieve the optimal power consumption capacity. In addition, a trolley driving device is provided at the bottom of the car body 110 , and the trolley driving device is connected with the power supply device 130 and the main control device 120 . The trolley driving device includes a drive motor arranged on the car body 110 and connected to the power supply device 130, and a universal drive wheel 106 connected to the drive motor, and a plurality of the universal drive wheels 106 are provided at the bottom of the vehicle body 110 . The battery module of the power supply device 130 can supply power to the driving motor, so as to make the driving motor work so as to drive the universal driving wheel 106 to rotate, so as to drive the vehicle body 110 to run. Moreover, each of the universal driving wheels 106 can be independently configured with one of the driving motors, so that each of the universal driving wheels 106 can be driven independently. Therefore, the universal driving wheel 106 can rotate in various directions, so that the express trolley can not only turn around in situ, but also move horizontally, longitudinally, obliquely, etc. The direction of movement is flexible and can adapt to various road conditions.

In addition, the express trolley also includes a first connecting mechanism and a second connecting mechanism 104 respectively arranged at the front and back of the car body 110, one express trolley communicates with the other express trolley through the first connecting mechanism 102. The second connection mechanism 104 of the courier dolly is connected. In this way, the two express trolleys can be automatically connected together through the first connection mechanism 102 and the second connection mechanism 104 . Moreover, both the first connection mechanism 102 and the second connection mechanism 104 include a trolley connection structure, and the two express delivery trolleys 100 are connected end-to-end through the trolley connection structure. Moreover, the trolley connection structure can be configured as a connection hook or a connection suction cup. When it is necessary to connect two express dollies 100 together, the two are gradually approached, and then the connecting hook (or connection suction cup) on one of the express dollies is connected with the connecting hook of the other express dolly. parts (or connecting suction cups) are automatically connected, thereby the two are connected together; Once the connecting hook (or connecting suction cup) of the express delivery car is automatically released, the two are automatically separated.

Moreover, both the first connection mechanism and 102 and the second connection mechanism 104 also include a power connection structure for power transmission, and the power supply devices 130 of the two express trolleys 100 are connected through the power connection structure. By arranging a power connection structure on the car body, it is possible to make use of the power connection structure to connect the two courier dollies at the same time after the two courier cars are connected together through the dolly connection structure Realize electric power connection, thereby can charge to one described express car with less power, also can be positioned at the first described express car 100 that plays main traction role to supply power, to ensure that all the express cars that are connected together can run normally . Moreover, one of the express trolleys 100 can be set as a power supply vehicle, and a storage compartment of the power supply vehicle is equipped with a power supply battery. That is, a courier car for power supply is specially set up to charge other said courier cars 100 with insufficient electric power. Or it can be combined with express delivery vehicle to charge.

In addition, the automatic driving device 140 may include a navigation device 142 , a visual recognition device 144 and a laser distance measuring device 146 arranged on the vehicle body 110 and communicatively connected with the main control device 120 . The navigation device 142 is used to plan a driving route for the vehicle body, the visual recognition device 144 is used to identify objects located around the vehicle body during driving, and the laser distance measuring device 146 is used to measure and judge the driving process The distance and dynamic information between the car body and the surrounding objects mentioned in the above. Although the navigation device 142 can be used to plan a specific driving route for the express delivery car 100 and the combinable express delivery vehicle, the actual road conditions change in real time, and the express delivery car will encounter many unexpected problems during driving. Happening. Therefore, by setting the visual identification device 144, the information of various objects encountered by the express delivery car can be recognized in real time, and the distance between these objects and the express delivery car can be determined by using the laser distance measuring device 146. The distance information, as well as the moving speed and state information of these objects, and the speed, direction and path of the express car can be adjusted in real time according to these information, so as to ensure the safe, reliable and accurate operation of the express car.

Moreover, the navigation device 142 may include an inertial navigation system and a global positioning system arranged on the vehicle body 110 , and both the inertial navigation system and the global positioning system are in communication connection with the main control device 120 . The inertial navigation system refers to an inertial navigation system (INS, Inertial Navigation System), which is an autonomous navigation system that does not rely on external information and does not radiate energy to the outside. The basic working principle of the inertial navigation system is based on Newton's laws of mechanics. By measuring the acceleration of the carrier in the inertial reference system, integrating it with time, and transforming it into the navigation coordinate system, we can get the acceleration in the navigation coordinate system. information such as speed, yaw angle and position. The Global Positioning System (Global Positioning System, usually referred to as GPS) is an all-weather space-based navigation system, which can meet the needs of users located anywhere in the world or in near-Earth space to continuously and accurately determine the three-dimensional position, three-dimensional motion and time of objects. Through the inertial navigation system and the global positioning system, the pose information of the express car (including the heading angle, pitch angle, roll angle and position of the express car) can be calculated.

In addition, the visual recognition device 144 may include a visual sensor disposed on the vehicle body 110, and a real-time image recognition processing module connected to the visual sensor, the real-time image recognition processing module and the visual sensor are both connected to the main control device communication connection. Through the visual sensor arranged on the car body, the objects around the express delivery car can be visually sensed, and the image of the object sensed by the visual sensor can be judged and recognized by the image real-time recognition processing module, and can be recognized Information such as the size, shape and type of the object can be obtained, and the information can be transmitted to the main control device 120. Moreover, in this embodiment, the visual sensor can be set in multiples, and it can be set on the top of the vehicle body 110, or on the side of the vehicle body 110, or on the side of the vehicle body 110. Both the top and the surrounding sides are provided to realize precise identification of objects around the vehicle body 110 .

Moreover, the laser distance measuring device 146 may include a plurality of laser distance measuring sensors arranged around the vehicle body 110, and a distance information processing module communicated with the laser distance measuring sensors. The distance information processing modules are all communicatively connected with the main control device. The distance between the objects recognized by the visual recognition device 144 and the vehicle body 110 can be measured by the laser ranging sensor, and it can also be judged whether these objects are moving, as well as the speed and direction of the movement, and can also These information are transmitted to the main control device 120 . Moreover, in this embodiment, the laser ranging sensors can be set in multiples, and can be set on one side of the vehicle body 110, or can be set on the surrounding sides of the vehicle body 110, so as to realize Precise judgment of distances and dynamic information of objects around the vehicle body 110 . In addition, the laser distance measuring device 146 and the visual recognition device 144 can also be connected with the navigation device 142, and the identified dynamic information can be combined with the original planned route information, so as to adjust the planned route, and Real-time adjustments are made to the running status of the express car.

In addition, the courier trolley also includes a laser object measuring device arranged on the car body 110, and the laser object measuring device is in communication connection with the main control device. The laser object measuring device includes a plurality of laser object measuring sensors arranged around the vehicle body, and a three-dimensional data processing module connected in communication with the laser object measuring sensors, the laser object measuring sensors and the three-dimensional data processing module are both Communicatively connected with the master control device. Through the laser object measuring device arranged on the car body, the three-dimensional laser point cloud data around the car body can be obtained through the calculation of the laser object measuring sensor and the three-dimensional data processing module, and the obtained three-dimensional point cloud data can be directly obtained The data is transmitted to the main control device 120 and the navigation device 142 through the data interface, and can be used for subsequent scene understanding and semantic map construction. In addition, only the laser object measuring device or the visual recognition device 144 may be provided, or both may be provided at the same time.

In addition, the main control device 120 may include a main controller arranged on the vehicle body, and an intelligent learning module connected to the main controller, the intelligent learning module is connected with the navigation device, the visual recognition device and The communication connection of the laser distance measuring device. The main control device 120 can not only control the navigation device, the visual recognition device and the laser distance measuring device, etc., but also can use the intelligent learning module to carry out deep learning and actively learn the visual recognition device and the laser distance measuring device. The device can control various road condition information encountered during the actual driving of the courier car, and can control the navigation device to automatically make route adjustments and dynamic adjustments to the driving information of the courier car.

In addition, the utility model also proposes an intelligent logistics system, including the above-mentioned combinable express delivery vehicle, and a remote control terminal communicatively connected with the combinable express delivery vehicle. Through the remote control terminal, a plurality of combinable express delivery vehicles can be connected and controlled by communication, and then connected with some intelligent warehouses and transfer stations, an intelligent logistics network system can be formed.

The unmanned combinable express delivery vehicle and intelligent logistics system provided by the utility model can continue to undertake the tedious but extremely accurate work such as real-time transfer of express delivery, and can completely avoid mistakes and errors caused by fatigue during manual operation. Waste of labor costs; in people's daily life, unmanned combinable express delivery vehicles are safer and more stable than traditional cars, and can take over the control of the vehicle when the driver is tired or in an emergency Adopting a quick response that is far superior to humans can effectively reduce the possibility of traffic accidents; in addition, the unmanned express delivery vehicle can also be capable of automatic parking, planning routes according to designated destinations, and autonomous driving. Humanized functions, Save time and energy for users.

The technical features of the above-mentioned embodiments can be combined arbitrarily. To make the description concise, all possible combinations of the technical features in the above-mentioned embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, should be considered as within the scope of this specification.

The above-mentioned embodiments only express several implementation modes of the utility model, and the description thereof is relatively specific and detailed, but it should not be understood as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the scope of protection of the utility model patent should be based on the appended claims.

Claims (10)

1. A combinable express delivery vehicle, characterized in that it comprises at least two interconnected express delivery vehicles; Each express car includes a car body, a main control device arranged on the car body, a power supply device and an automatic driving device connected to the main control device, and a storage bin arranged on the car body ; It also includes a first connection mechanism and a second connection mechanism respectively arranged on the front and back of the car body, one of the express trolleys is connected to the second connection mechanism of another express trolley through the first connection mechanism; The automatic driving device includes a navigation device, a visual recognition device, and a laser distance measuring device that are arranged on the vehicle body and communicated with the main control device; the navigation device is used to plan a driving route for the vehicle body, The visual identification device is used to identify objects located around the vehicle body during driving, and the laser distance measuring device is used to measure and judge the distance and dynamic information between the vehicle body and surrounding objects during driving. 2. The combinable express delivery vehicle according to claim 1, characterized in that, the first connection mechanism and the second connection mechanism both include a trolley connection structure, and the two express delivery vehicles are connected head to tail through the trolley connection structure ; And a power connection structure for power transmission, the power supply devices of the two express delivery cars are connected through the power connection structure. 3. The combinable express delivery vehicle according to claim 1, wherein one of the express delivery vehicles is configured as a power supply vehicle, and a power supply battery is installed in the storage compartment of the power supply vehicle. 4. The combinable express delivery vehicle according to any one of claims 1-3, wherein the navigation device includes an inertial navigation system and a global positioning system arranged on the vehicle body, and the inertial navigation system and the global positioning system are in communication connection with the main control device. 5. The combinable express delivery vehicle according to claim 4, wherein the visual recognition device includes a visual sensor arranged on the vehicle body, and an image real-time recognition processing module connected with the visual sensor, Both the image real-time recognition processing module and the visual sensor are connected in communication with the main control device. 6. The combinable express delivery vehicle according to claim 5, wherein the laser distance measuring device comprises a plurality of laser distance measuring sensors arranged around the vehicle body, and communicates with the laser distance measuring sensors The connected distance information processing module, the laser ranging sensor and the distance information processing module are both in communication connection with the main control device. 7. The combinable express delivery vehicle according to claim 6, further comprising a laser object measuring device arranged on the vehicle body, and the laser object measuring device is communicatively connected with the main control device; The laser object measuring device includes a plurality of laser object measuring sensors arranged around the vehicle body, and a three-dimensional data processing module connected in communication with the laser object measuring sensors, the laser object measuring sensors and the three-dimensional data processing module are both Communicatively connected with the master control device. 8. The combinable express delivery vehicle according to any one of claims 1-3, wherein the main control device includes a main controller arranged on the vehicle body, and is connected to the main controller An intelligent learning module, the intelligent learning module communicates with the navigation device, the visual recognition device and the laser distance measuring device. 9. The combinable express delivery vehicle according to any one of claims 1-3, further comprising a trolley driving device arranged at the bottom of the vehicle body; the trolley driving device includes a a drive motor connected to the power supply device, and a universal drive wheel connected to the drive motor, and a plurality of the universal drive wheels are arranged at the bottom of the vehicle body. 10. An intelligent logistics system, characterized in that it comprises the combinable express delivery vehicle according to any one of claims 1-9, and a remote control terminal communicatively connected with the combinable express delivery vehicle.