阅读说明：本技术 一种集装箱式升降快递箱无人配送车及接驳式配送方式 (Unmanned delivery vehicle and connection type delivery mode for container type lifting express box ) 是由 姚爱军 于 2019-01-10 设计创作，主要内容包括：一种集装箱式升降快递箱无人配送车及接驳式配送方式,所述无人配送车为升降快递箱配送体系的配套装备,通过自动驾驶将升降快递箱运送到升降装置下,配送车具有车体部分,承载部分用于码放快递箱,具有驱动轮,驱动仓内控制主板具有自动驾驶模块、无线通讯模块,能够与云端后台、配送中心及升降装置进行无线连接交互,具有辅助定位组件,通过定位组件进行定位检测,通过无线交互实时调整,实现二次精确辅助定位,以及实现升降装置对升降快递箱的定位、锁定、提升以及解锁、释放的配送或更换操作,采用2个及以上所述无人配送车作为配送车和回收车,进行链式轮换交替,完成对所述升降快递箱的配送以及回收的接驳式配送更换。(A container type lifting express box unmanned distribution vehicle and a connection type distribution mode are provided, the unmanned distribution vehicle is matched with a lifting express box distribution system, the lifting express box is conveyed to the position under a lifting device through automatic driving, the distribution vehicle is provided with a vehicle body part, a bearing part is used for stacking the express boxes and is provided with a driving wheel, a control mainboard in a driving bin is provided with an automatic driving module and a wireless communication module, can be in wireless connection interaction with a cloud background, a distribution center and the lifting device, is provided with an auxiliary positioning assembly, is used for positioning detection through the positioning assembly, realizes secondary accurate auxiliary positioning through wireless interaction real-time adjustment, realizes distribution or replacement operation of positioning, locking, lifting, unlocking and releasing of the lifting express box by the lifting device, adopts 2 or more unmanned distribution vehicles as distribution vehicles and recovery vehicles to carry out chain type alternation, and finishing delivery and recovery connection type delivery and replacement of the lifting express box.)

1. The utility model provides an unmanned delivery car of container formula lift express delivery case and formula of plugging into delivery mode which characterized in that:

the unmanned distribution vehicle is matched with the lifting express box distribution system, has the functions of automatic driving and autonomous navigation and positioning, is used for unmanned distribution of the lifting express box to a matched lifting device special for the lifting express box,

the unmanned distribution vehicle is provided with a vehicle body part and a bearing part, the bearing part is arranged on an upper panel of the vehicle body part and is used for carrying and stacking the lifting express delivery box,

the vehicle body is provided with a driving bin and a driving wheel, the driving bin is internally provided with a control mainboard, a rechargeable battery and an automatic driving autonomous navigation sensor, the control mainboard is at least provided with an automatic driving module, a wireless communication module, a control module, a driving module and a power management module, the wireless communication module can be wirelessly connected and interacted with the cloud background, the distribution center and the lifting device,

unmanned delivery car or elevating gear is last to have auxiliary positioning assembly, through auxiliary positioning assembly can carry out one-way or two-way location detection, through unmanned delivery car with elevating gear's wireless connection is mutual to be adjusted in real time, realizes unmanned delivery car is in secondary accurate auxiliary positioning under elevating gear, mutually supports through wireless interaction, realizes elevating gear is right unmanned delivery car carries on the distribution or the change operation of location, locking, promotion and unblock, release of lift express delivery case.

2. The unmanned delivery vehicle and the docking delivery method for the container type lifting express delivery box according to claim 1, wherein: the bearing part is composed of stand columns and can be fixedly stacked in the stand column frame structure space of the lifting express box, the stand columns are vertical fixing stand columns or foldable stand columns, the foldable stand columns are provided with folding structures and mechanisms and can be folded by 90 degrees on the vehicle body.

3. The unmanned delivery vehicle and the docking delivery method for the container type lifting express delivery box according to claim 1, wherein: the bearing part is a structural space which is formed by the support box body and can be fixedly stacked with the lifting express box, the support box body is provided with an upper top cover plate which can be opened, and the support box body is provided with a rain-proof layer or a heat preservation layer.

4. The unmanned delivery vehicle and the docking delivery method for the container type lifting express delivery box according to claim 1, wherein: the carrying part is a frameless carrying part without a stand column and a frame, the unmanned distribution vehicle is a frameless distribution vehicle, a locking structure or a locking mechanism for locking the lifting express box is arranged on an upper panel of the vehicle body, a locking structure or a locking mechanism matched with the upper panel and a locking mechanism are arranged on an upper panel and a lower panel of the lifting express box, and the lifting express box is fixedly stacked on the vehicle body through layer-by-layer locking between the unmanned distribution vehicle and the locking structure or the locking mechanism of the lifting express box.

5. The unmanned delivery vehicle and the docking delivery method for the container type lifting express delivery box according to claim 4, wherein: the frameless distribution vehicle is characterized in that a conductive connector is arranged on an upper panel of a vehicle body of the frameless distribution vehicle, and can be connected with a connector on the lifting express box, so that power supply support is provided for the lifting express box, the locking or unlocking of a locking mechanism of the lifting express box is controlled, and the layer-by-layer separation of the lifting express boxes on the upper layer and the lower layer is realized.

6. The unmanned delivery vehicle and the docking delivery method for the container type lifting express delivery box according to claim 1, wherein: the auxiliary positioning assembly is a sensor or a module capable of realizing a positioning detection function, is installed on the unmanned distribution vehicle, or is installed on the lifting device, or is installed on the unmanned distribution vehicle and the lifting device, and comprises but is not limited to a photoelectric switch, a laser potentiometer, a proximity switch, a microswitch, a distance measurement sensor or a camera.

7. The unmanned delivery vehicle and the docking delivery method for the container type lifting express delivery box according to claim 1, wherein: the unmanned delivery vehicle is provided with an identity recognition component for recognizing express information or identity information on the lifting express box, and the identity recognition component is a sensor or a module capable of reading an NFC chip, a magnetic recording element, a two-dimensional code, a bar code or a digital code.

8. The utility model provides an unmanned delivery car of container formula lift express delivery case and formula of plugging into delivery mode which characterized in that: unmanned delivery car is right the delivery mode of lift express delivery case adopts the formula of plugging into delivery mode, the formula of plugging into delivery mode includes unmanned delivery car is right the delivery and the recovery of lift express delivery case, the formula of plugging into does, adopts 2 and above unmanned delivery car as the delivery car with retrieve the car, carry out the chain and alternate in turn, accomplish right the delivery of lift express delivery case and the formula of plugging into delivery of retrieving are changed.

9. The unmanned delivery vehicle and the docking delivery method for the container type lifting express delivery box according to claim 8, wherein: the connection type distribution mode is that firstly, an empty unmanned distribution vehicle is used as a recovery vehicle, according to the distribution sequence of the lifting express box, the empty express boxes under the lifting devices corresponding to the distribution sequence are sequentially recovered in the front, then the unmanned distribution vehicle loaded with full express boxes is taken as a distribution vehicle, the full express boxes are sequentially transported to the positions under the corresponding lifting devices according to the distribution sequence, the full express box is lifted to the position below the lifting device through the lifting device and locked, the distribution of the full express box is completed, when the full express box on the distribution vehicle is completely distributed, namely the empty delivery vehicle is changed into a recovery vehicle automatically immediately, other empty express boxes after the delivery sequence are sequentially recovered in the same way, and so on, the delivery and the recovery of the lifting express box are completed through the chain type alternate connection type delivery and recovery mode.

Technical Field

The invention relates to the field of express logistics, in particular to a container type lifting express box unmanned distribution vehicle and a connection type distribution mode.

Background

At present, some unmanned intelligent express delivery vehicles are tested, although no real commercial unmanned express delivery vehicle exists, however, the situation that the unmanned express delivery is always in the trend, the existing tested unmanned express delivery vehicles basically load the express delivery into the bodies of the unmanned express delivery vehicles, the express delivery mode of the unmanned express delivery vehicle still needs the user to get the express delivery vehicle in time by automatically driving the express delivery vehicle to the user's express delivery position and contacting the user to take the express delivery by himself, the mode only changes the mode of manually sending the express by the traditional express guy into the mode of sending the express by the unmanned express vehicle, only reduces the labor cost, and still needs the user to wait for taking the express, if the user is not at home, although the reservation can be made, the user still needs to wait, and sometimes the user is not convenient to take the express delivery box directly after coming back from work.

This application will adopt a different delivery mode, directly adorn express delivery in a container formula over-and-under type express delivery case, directly transport user's assigned address's supporting elevating gear department through unmanned delivery car, for example under the elevating gear of user's house corridor, hang lift express delivery case under the ceiling of corridor through elevating gear, need not directly to send to in the user's hand, need not the user and wait for, can avoid completely that the user waits for the express delivery bitter, can also remove the misery of getting back toward the transport at home from express delivery cabinet or unmanned express delivery car, especially when getting heavier express delivery to the women, it is especially light convenient.

The difference still lies in, the express delivery piece of unmanned express delivery car delivery generally is the express delivery piece of packing, also includes paper express delivery case, express delivery box or other materials express delivery case certainly. And this application the lift express delivery case that unmanned delivery car delivered is the lift express delivery case of a cabinet type of express delivery, or the lift express delivery cabinet of saying so, is the express delivery case of a dress express delivery piece, express delivery case, certainly also can regard as the express delivery case direct use of packing shopping list goods, but this application lift express delivery case be the lift express delivery case that has supporting lift locking structure, the express delivery case that regards as dress express delivery case uses more times.

The utility model provides a container formula, mean to put into general packing express delivery case, express delivery piece ann in the delivery center in the over-and-under type express delivery case, through the unmanned delivery car of this application, with these over-and-under type express delivery cases transport supporting elevating gear department, or transport freight train and transport each district with a plurality of such unmanned delivery cars are concentrated through delivering, the supporting elevating gear department is independently transported to these unmanned delivery cars, lock under the elevating gear of the upper portion space of wall after lifting these over-and-under type express delivery cases through elevating gear, whole process is similar to transporting the pier from the mill with the container of filling with the goods, the process on the ship is hoisted to the rethread crane, can greatly improve holistic delivery efficiency like this.

The application unmanned delivery car, the supporting equipment of the elevating gear of a container formula lift express delivery case that this applicant applied for earlier, be the supporting equipment of container formula lift express delivery case delivery system belongs to a whole ring that adopts lift express delivery case to carry out the delivery chain of unmanned express delivery in the middle of, through with elevating gear cooperatees, accomplishes the unmanned delivery to the need not user's of express delivery piece and waits, is a more efficient more convenient scheme of delivery express delivery.

Disclosure of Invention

The invention relates to an unmanned distribution vehicle for a distribution container type lifting express box, which adopts the unmanned technology, transports the lifting express box with express items to the lower part of a matched lifting device at an express address in an unmanned mode, locks or unlocks the lifting express box after accurate positioning, and the lifting device lifts the lifting express box to the lower part of the lifting device at the upper space of a wall to be locked or lowers the lifting express box into the distribution vehicle to finish the distribution or replacement process of the lifting express box.

Fig. 1 is a schematic view of an example 1 of the unmanned distribution vehicle, in which the distribution vehicle a0 is a distribution vehicle with a pillar a2 at four corners, and the distribution vehicle a0 includes a vehicle body portion a1 and a very simple pillar frame formed by four right-angle pillars a2, and the pillar frame is used as a carrying portion for carrying the lifting express box.

Fig. 2 is a schematic diagram showing a state that the upper panel of the car body a1 of the distribution car a0 is opened, the lower side of the upper panel of the car body a1 is a driving bin, the distribution car a0 of the present example adopts four steering driving wheels a10, the driving wheels a10 comprise steering and driving motors a100, and the driving motors a100 are installed at four corners in the driving bin.

Have control mainboard a01 and supporting autopilot autonomous navigation sensor in the drive storehouse, this application unmanned delivery vehicle's autopilot function will adopt the third ripe autopilot and navigation technique to come to complement, realize delivery vehicle a0 arrives through autonomous navigation autopilot unmanned function under elevating gear, this application will all use autopilot or autonomous navigation to summarize this application unmanned delivery vehicle's autopilot function.

Because the functional appeal factor of general unmanned express delivery car self, the positioning accuracy of the autopilot function of its design generally is below the sub-meter level, does not reach this application elevating gear's lift hoist snatchs the locking the centimeter level positioning accuracy of the lift express delivery case on the unmanned delivery car, certainly, also do not need to reach centimeter level's required precision completely, and this application then need be relative elevating gear's lift hoist the positioning accuracy design of snatching the locking of lift express delivery case is at the tolerance scope about 2 cm.

Because, even if the autopilot positioning accuracy of unmanned express delivery car, especially indoor positioning accuracy can reach within 2cm, the cost also can be very high, and this is mainly not necessary at all.

Consequently, this application will combine the independent location technique of third party autopilot's wide range formula, in addition the special secondary accurate assistance-localization real-time scheme that goes on that this application provided is directed to elevating gear's lift hoist realizes this application unmanned delivery car is right the delivery and the recovery function of lift express delivery case.

Since the unmanned delivery vehicle described in the present application only needs to perform auxiliary accurate positioning within a local range of a specified location, it is fully possible to perform low-cost design only for those requirements that are only needed at specific locations.

This application will be through unmanned delivery car or on elevating gear, the installation be used for carrying on secondary accurate assistance-localization real-time's low-cost assistance-localization real-time subassembly, realize unmanned delivery car with secondary accurate assistance-localization real-time between the elevating gear, through unmanned delivery car or one-way or two-way detection between elevating gear's the locating component, and pass through unmanned delivery car with wireless connection between the elevating gear mutually supports, accomplishes secondary accurate positioning, and the realization is right the delivery and the change of lift express delivery case.

In this example, promptly unmanned delivery car a0 is at first based on elevating gear's express delivery position carries out autonomous navigation autopilot, works as delivery car a0 reaches behind the elevating gear below, its positioning accuracy is not enough, belongs to wide sub-meter level and independently fixes a position, delivery car a0 with elevating gear carries out real-time wireless interaction, through delivery car a 0's assistance-localization real-time subassembly is right elevating gear carries out one-way location and detects, perhaps positioning component on the elevating gear is right delivery car a0 carries out one-way location and detects, perhaps delivery car a0 with positioning component on the elevating gear mutually cooperatees and carries out two-way location and detects, unmanned delivery car carries out real-time position control through wireless information interaction between the two, accomplishes secondary accurate assistance-localization real-time.

The positioning assembly includes various sensors or modules capable of performing positioning detection functions, such as a photoelectric switch, a laser head, a proximity switch, a micro switch, a distance measuring sensor, a camera, and the like.

The control mainboard a01 at least has an automatic driving module, a wireless communication module, a control module, a driving module and a power management module, and the control mainboard a01 can be wirelessly connected and interacted with a cloud background, a distribution center, a distribution truck, a lifting device and the like through the wireless communication module.

The drive cabin is internally provided with a rechargeable battery a02, the battery is directly replaced in the present example, the upper panel is provided with a battery box cover plate a25, and the battery box cover plate a25 can be opened to replace the battery a 02.

The right angle stand a2 has two-layer structure, and the outer bearing structure that is can adopt the metal material, and the inlayer is the wear-resisting plastics material of silence, and the top is inclined plane limit tolerance structure, can adopt the nylon material.

In this example, the upper part of the upright a2 is provided with a camera a08, and cameras a08 for image recognition and positioning as auxiliary positioning components are arranged in different directions on the upper parts of 3 upright a 2. Of course, more than 1 camera may be installed according to actual conditions, and is not limited to being installed at other positions of the delivery vehicle a0, or being shared with a camera for automatic driving that performs image recognition autonomous navigation using a camera.

In this example, the cameras a08 installed on the upright a2 in 3 different directions are used for secondary auxiliary accurate positioning, firstly, the cloud background stores positioning photos or video data which are tested and debugged and are set at each lifting device for accurate positioning in advance, when the express box a51 is put on the delivery vehicle a0 in a stacking manner, the relevant environment photos of the lifting devices at the express address of the express box a51 are sent to the control main board a01 of the delivery vehicle a0 for temporary storage or written into the NFC chip of the express box a51, and the delivery vehicle a0 reads relevant data through the NFC identification module a 09.

When the delivery vehicle a0 enters the lifting device through automatic driving, 3 cameras a08 shoot pictures or videos of the environment such as the floor, the wall or the top of the delivery vehicle in real time, the control main board a01 compares the pictures with prestored positioning pictures or video data, or sends the real-time pictures to a cloud background to compare the pictures with the prestored positioning pictures or video data, and the delivery vehicle a0 calculates the data in real time through comparison and drives the driving wheel a10 to perform real-time positioning adjustment so as to complete accurate positioning of the lifting sling of the lifting device. The positioning method of the present example, which performs real-time calculation through image contrast, is more suitable for scenes with vivid and stable environmental features, such as floors and walls, for example, environments with clear tile pattern features.

In this example, an NFC identification module a09 is arranged at the corresponding position of each express box position on the inner side of one of the posts a2, and is used for identifying an NFC chip on the lifting express box, where the NFC chip on the lifting express box records the identity information of the lifting express box, and may also record the current express information.

The vehicle body a1 side of the delivery vehicle a0 is provided with an identification component a07 for recording the identification information of the delivery vehicle a0, in this example, the NFC chip a07 is also used as the identification component, and of course, the identification component may also be marked by a magnetic recording element, a two-dimensional code, a bar code or a visible digital code.

As shown in fig. 3, 3 container type lifting express boxes a51, a52 and a53 of the same specification are stacked in a column bracket of the distribution vehicle a0, two sides of the express box a51 are provided with lifting locking structures a500, and one side of the express box a51 is provided with an NFC chip, and when the express box a51 is stacked in a column frame of the distribution vehicle a0, the NFC chip corresponds to the position of the NFC identification module a 09. Of course, the stacking of the lifting express delivery boxes is obviously not limited to 3 in the example and the stacking mode in the figure.

Fig. 4 shows a state diagram of the delivery vehicle a0 running under the lifting device, the lifting device a4 is provided with a lifting sling a3, and the express box a51 is positioned and locked by the lifting sling a3 by assisting accurate positioning.

The lifting device a4 shown in the figure is an example of the lifting device of the previous application, the lifting device a4 is installed on a wall or a ceiling, the lifting device a4 suspends the lifting sling a3 through a lifting mechanism, the lifting sling a3 can grab and lock the lifting express box a51, the lifting express box a51 is lifted to the upper space of the wall, and the lifting sling a3 and the lifting of the express box a51 are driven through the lifting mechanism, so that the function of accessing express items by a user is realized.

The lifting express box distribution mode of the unmanned distribution vehicle adopts an alternate connection type distribution mode, namely, firstly, an empty delivery vehicle is used as a recovery vehicle, and according to the delivery sequence of the lifting express delivery boxes, the empty express boxes suspended by the corresponding lifting devices are sequentially recovered in the front, then the full-load delivery vehicle sequentially delivers the full express boxes to the positions below the corresponding lifting devices according to the delivery sequence, lifting the full express box to the position below the lifting device through the lifting device and locking the full express box to complete the distribution and replacement of the lifting express box, and after the lifting express box on the full-load distribution vehicle is completely distributed, namely becomes a no-load distribution vehicle, then automatically changes into a recovery vehicle, sequentially recovers other empty express boxes after the distribution sequence by adopting the same way, therefore, the alternate connection type distribution mode is the connection type distribution mode. In such a docking type delivery manner, the design requirement on the structure of the bearing part of the delivery vehicle is very simple, and the overall cost of the delivery vehicle can be greatly reduced.

The distribution mode of this example is that, a distribution center reads the NFC chip information of the lifting express box a51 and opens a box door through distribution chain equipment, places an express item into the lifting express box a51 according to express information of a user, reads the NFC chip information a07 of the distribution vehicle a0 through distribution chain equipment, places the lifting express box a51 and the like in a frame of a support column a2 of the distribution vehicle a0, and the distribution vehicle a0 can read and identify the carried express box information through a chip identification module a 09.

Further, the delivery vehicle interacts with the cloud background to acquire the delivery information of the delivered delivery box a51 and the like, the positioning information of the environment picture or video of the corresponding lifting device, and the related position information of the empty delivery box to be recovered after the delivery vehicle becomes the recovery vehicle, and the information is stored in the control main board a 01. Certainly, the positioning information and the positioning calculation can also be completed by a cloud background, so that the remote calculation is realized, and the accurate positioning of the delivery vehicle is remotely controlled and adjusted.

Further, the unmanned delivery vehicle a0 and the like loaded with a plurality of the lifting express boxes a51 and the like are loaded into a dedicated regional delivery truck, and the simulation of the present example uses one regional delivery truck capable of loading 48 delivery vehicles a0 at the same time, loading 47 full delivery vehicles a0 of the same model at the same time, and 1 empty delivery vehicle as a recovery vehicle, and the delivery trucks are transported to each delivery cell or each building of the same cell according to a set route based on a delivery sequence generated by express information.

Further, the distribution vehicle a0 and the recovery vehicle automatically navigate to the position under the lifting device of the first distribution point according to the express delivery information address, such as the lifting device a4, and establish wireless connection interaction with the control system of the lifting device a4, so that the specification information of the recovery vehicle, the specification information, the number of layers or the number of the empty express boxes which have been recovered, and the common total height information are subjected to information interaction with the lifting device a4, and the lifting device a4 drives the lifting sling a3 to descend to the height calculated in real time according to the interactive real-time data.

Furthermore, the recycling vehicle starts the camera a08 to shoot the ground, the wall or the top in real time, the shot picture or video is compared with the stored positioning picture or video in real time, the control main board a01 drives the driving wheel a10 to perform corresponding adjustment through real-time calculation data, and the accurate positioning of the lifting sling a3 is realized.

Further, the recovery vehicle sends the information that the accurate positioning is completed to the lifting device a4, the lifting device a4 drives the lifting sling a3 to continue descending, an empty express box is placed on the recovery vehicle, after the lifting sling a3 releases the locking of the empty express box, a lifting action is operated, and the recovery vehicle hovers at a set height position according to the real-time height information of the distribution vehicle a0, and waits for the distribution vehicle a0 to perform positioning. And the recycling vehicle continues to recycle the next empty express box, and automatically runs to the delivery truck after the recycled empty express box is filled with the recycled empty express box, and the recycled empty express box is recycled by the delivery truck.

Further, the distribution vehicle a0 autonomously runs under the lifting device a4 as with the recovery vehicle, and completes the accurate positioning of the lifting spreader a3 as with the recovery vehicle.

Further, the delivery vehicle a0 notifies the lifting device a4 to drive the lifting sling a3 to operate and descend, locks the lifting express box a51, then operates the lifting motion, locks the lifting express box a51 under the lifting device a4, and completes delivery and replacement of the lifting express box a 51.

Further, delivery car a0 independently moves to the next delivery point through autopilot, and after all the full express delivery casees that carry on are all delivered, automatic becoming to retrieve the car, according to the delivery order that the high in the clouds backstage sent, automatically retrieve next empty express delivery case, when filling with empty express delivery case, independently move to delivery freight train department, so on, accomplish the delivery task of formula of plugging into lift express delivery case that this application. In this way, the last delivery vehicle, which may be empty, may of course also retrieve the empty delivery box that was not retrieved last time, and the empty delivery vehicle autonomously travels to the delivery truck, and all the delivery vehicles that have completed retrieving the empty delivery box are returned to the delivery center by the delivery truck.

Fig. 5 is a schematic view of an example 2 of the unmanned delivery vehicle according to the present invention, and the delivery vehicle b0 of the present example is a folding right-angle upright b2 that is formed by changing the upright a2 to a folding upright that can be rotated 90 degrees based on the delivery vehicle a0 of the above example 1.

The delivery vehicle b0 of this example has a vehicle body part b1, and two corners of the vehicle body b1 have folding pillars b2 that can be folded by rotating 90 degrees, as shown in fig. 6, in a state where the folding pillars b2 are folded, so that the space occupation when the vehicle is empty can be reduced.

As shown in fig. 7, the inside of the car body b1 is schematically illustrated after the upper cover is opened, a driving bin is provided below the upper cover of the car body b1, in this example, the distribution car b0 adopts 2 steering driving wheels a10 which are the same as the distribution car a0 and are respectively located at diagonal positions in the driving bin, the other 2 diagonal positions are universal wheels b10, the driving wheels a10 include a steering and driving motor a100, and the driving motor a100 is installed at two diagonal positions in the driving bin. Therefore, only 2 driving wheels are arranged at the diagonal positions, so that part of cost can be saved, the system is suitable for communities with better road conditions, certainly, 4 or more driving wheels can be arranged, and certainly, a driving chassis of a third party can be adopted for configuration, and the use of the distribution vehicle is not influenced.

The root of the upright post b2 is provided with a rotary folding structure and mechanism, the root of one side of a right-angle side of the upright post b2 is provided with a sector-shaped tooth rotary structure b23, the root of the other side of the upright post b2 is provided with a locking structure b21, a folding driving motor b20 and a locking mechanism b22 are arranged at corresponding positions in the driving bin, the folding motor b20 is used for realizing the rising and folding actions of the folding upright post b2, and when the upright post b2 is in a vertical rising state, the locking structure b21 is inserted into the locking mechanism b22 to be locked, so that a certain fixing effect is achieved. Since the upright b2 is installed by only two opposite angles in the example, the right-angle sides of the upright b2 are slightly wider than the right-angle sides of the upright a2, so that the stacked lifting express boxes can be prevented from falling out.

The driving cabin of the vehicle body b1 in this example also has a control main board b01 and a battery b 02.

In this example, the delivery vehicle b0 uses its own distance measuring sensor and proximity switch to perform secondary accurate auxiliary positioning, the two sides of the vehicle body b1 near the left and right ends respectively have ultrasonic distance measuring modules b081, the middle position of the two sides has proximity switch b082, correspondingly, when the lifting device is installed, a positioning body for accurate detection by the proximity switch b082 is installed at the corresponding position on the wall, the proximity switch b082 can also include a photoelectric sensor, a reed switch and the like as positioning detection elements, and the positioning body is positioning point detection materials which can be detected by the proximity switch b082, such as metal, magnet, reflective material and the like. The ranging module b081 may also be other distance detection elements, such as a laser ranging module or the like.

Certainly, in order to reduce cost, locating component includes range module, proximity switch, also can only be in distribution car b 09's one side installation, because this application carries out the locating component that secondary accurate assistance-localization real-time adopted all is ordinary conventional sensor or module, and the cost is not high, and both sides are all installed and are used more conveniently under the scene that has the turn or space inconvenience.

Of course, the folding mechanism and the folding mode of the pillar b2 are obviously possible, and many design methods, such as folding to be flush with the upper panel of the vehicle body b1, and designing to be a telescopic pillar, are also feasible.

The secondary accurate auxiliary positioning method of the delivery vehicle b0 in this example is that after the delivery vehicle b0 reaches the position under the lifting device by automatic driving, the delivery vehicle b0 automatically adjusts the direction parallel to the wall to run left and right, the distance between the two ends of the delivery vehicle b0 and the wall is detected by the distance measuring module b081, the standard distance data required to be kept between the delivery vehicle b0 and the wall is acquired by wireless information interaction of the delivery vehicle b0 and the lifting device, the parallel state and the distance between the delivery vehicle b 3526 and the wall are adjusted in real time by left and right running, when the parallel state and the distance are within a tolerance range, the positioning body mounted on the wall is detected by the proximity switch b082, the delivery vehicle b0 can stop after detection, namely the accurate positioning of the lifting device by the delivery vehicle b0 is completed, and after the positioning is completed, the lifting device is informed to perform corresponding operation, the process of distributing and replacing the lifting express box can be realized.

The folding upright post delivery vehicle b0 in this example may be the same as the delivery vehicle a0, and automatically complete the work of delivering and recovering the express delivery box, or may be used as a recovery vehicle in the above example 1, and may be used as the first empty recovery vehicle in the above example, and at the same time, may be used as the last delivery vehicle, and such a configuration may not occupy the main space of the delivery truck, and if the delivery vehicle b0 is placed at another position at the bottom of the carriage, so as to facilitate the carrying and transportation of the delivery truck, the delivery truck may be loaded with 48 full-load delivery vehicles for transportation, and may improve the delivery efficiency.

Certainly, the delivery truck may further carry a plurality of the folding upright delivery vehicles b0, and the lifting express boxes are simultaneously delivered, replaced and recovered in a docking manner in a plurality of groups in a delivery cell, for example, 4 empty delivery vehicles b0 are carried, and the lifting express boxes can be simultaneously delivered and replaced in four groups, so that the overall efficiency of the delivery truck can be greatly improved.

Fig. 8 is a schematic diagram of an example 3 of the unmanned distribution vehicle according to the present application, in which the distribution vehicle c0 is a unmanned distribution vehicle without a pillar, a bracket, and a frame, in this example, the distribution vehicle c0 only has a vehicle body portion, and as with the vehicle body portion of the distribution vehicle a0 in the above example, the vehicle body of the distribution vehicle c0 also has a driving cabin, which has driving wheels, a control main board and a rechargeable battery, in this example, an automatic charging mode that automatically charges a charging jack connected to a distribution center is adopted, an automatic charging socket c17 is arranged at one end of the distribution vehicle c0, and when the electric quantity is low, automatic charging is performed at the charging pile of the distribution center through the autonomous navigation.

The appearance of the flat plate type distribution vehicle c0 is similar to that of an AGV transfer robot for a warehouse, common AGV equipment basically works in a flat warehouse environment, a transfer shelf generally does not need to be fixed, even multi-layer goods are transferred, multi-layer goods do not need to be fixed, the unmanned distribution vehicle further needs to run outdoors, the road condition is completely different from the warehouse environment, and the goods need to go up and down a slope in many times, so that the distribution vehicle c0 stacks multi-layer express boxes without the protection of the supporting part of the distribution vehicle c0 in the example, and the distribution vehicle c0 top and the lifting express boxes are required to be provided with corresponding locking and unlocking mechanisms and structures.

The upper panel of the distribution vehicle c0 is provided with a locking structure c11 similar to the locking corner fittings at the four corners of the container, unlike the container corner fittings which are of a square perforated structure, the locking structure c11 in this example is a trapezoidal structure with locking holes, the trapezoidal structure is designed as a tolerance structure which is convenient to be inserted into the locking holes of the locking mechanism of the lifting express box c51, and correspondingly, the bottom of the container type lifting express box c51 carried by the distribution vehicle c0 is also provided with the locking holes and the locking mechanism which lock the locking structure c 11.

Fig. 9 is a schematic diagram of 3 layers of lifting express boxes c51, c52 and c53 stacked on the distribution vehicle c0, where four corners of the top panel of the lifting express box c51 are provided with suspension locking structures c500 identical to the locking structures c11, the bottom sides of the lifting express box c51 are provided with locking structures c501 locking the locking structures c11 and c500, the lifting express box c52 is locked by the trapezoidal locking structures c500, and so on, the locking structure c501 at the bottom of the lifting express box c53 is also locked by the locking structure c11 on the distribution vehicle c0, so that the lifting express boxes c51 and the like stacked on the distribution vehicle c0 can be locked layer by layer like containers to form a whole body, and the lifting express boxes are placed similarly to the supporting frames formed by 4 supporting columns a2 in the above example 1, that is, the locking mechanism c501 at the bottom of the lifting express boxes locks the lifting express boxes and the locking structures c0 c500 on the lifting express box c501 and the lifting express box c51 are locked by the locking structures on the distribution vehicle c0 The function of the locking structure c11 is basically the same as the supporting and fixing function of the strut a 2.

Of course, the locking structures c11 and c500 can be interchanged with the locking mechanism c501 and the locking hole at the bottom of the lifting express box, and the same fixing function of stacking support can be realized. Of course, the design of the locking structure c11 and the matching locking mechanism can be replaced by other shapes and structures, and the similar ways are many, and the way of achieving the same function of the present example should be replaced by similar functions.

As shown in fig. 8, one side of the top panel of the delivery vehicle c0 is provided with a conductive connector c16, and the corresponding positions of the bottom panel and the top panel of the lifting express box c51 and the like are also provided with a connector c506, as shown in fig. 9, the lifting express boxes stacked in multiple layers can be provided with power support, the unlocking and locking actions of the lifting mechanisms c501 of all the lifting express boxes can be controlled, and the lifting express boxes on the upper and lower layers can be separated layer by the control of the control main board of the delivery vehicle c0 and the wireless connection of the lifting device c4 in interactive cooperation, so that the lifting express boxes can be conveniently locked by the lifting device and then lifted.

The photoelectric sensors c081, c082 are arranged in the middle of four sides of the top panel of the car c0, wherein the sensor in the middle of the left end and the right end is c081, the sensor in the middle of the front side and the rear side is c082, the photoelectric sensors in the example adopt a multi-channel receiving pipe, and the laser positioning line or point sent by the positioning laser head on the lifting device c4 is detected and judged by a comparison circuit.

The present example will employ the dispensing cart c0 in cooperation with a complementary positioning assembly on both of the lift devices c4 to achieve precise, assisted positioning of the dispensing cart c0 of the present example.

Fig. 10 is a schematic diagram illustrating that the distribution vehicle c0 carries the lifting express box and autonomously moves to a position under a lifting device c4, the lifting device c4 is provided with a lifting sling c3, and the schematic diagram illustrates that the lifting sling c3 stops when descending to a certain height from the lifting express box c51 carried on the distribution vehicle c0, and waits for the distribution vehicle c0 to perform accurate positioning.

In this example, a laser positioner serving as a positioning component is arranged below the fixed support of the lifting device c4 or the lifting sling c3, and the laser positioner can punch out laser positioning lines or points perpendicular to the ground, and can punch out cross or grid lines on the wall or the ground to serve as tracking guide lines or positioning points for positioning the delivery vehicle c 0.

The method of the distribution vehicle c0 for distributing and replacing the express boxes is basically the same as that of the above example 1, but the method of secondary accurate auxiliary positioning is different, because the distribution vehicle c0 has no pillar frame part, the volume is smaller when the express box is empty, when the connection type distribution mode is adopted, more groups can be distributed in groups as in the above example 2, and the front and back sequence when the express box is empty does not need to be distinguished, so that the use is more convenient.

The precise positioning mode of the delivery vehicle c0 in this example is that the delivery vehicle c0 autonomously runs to the lifting device c4 and wirelessly connects and interacts with the lifting device c4, the control system of the lifting device c4 acquires real-time quantity and height data of lifting express boxes carried by the delivery vehicle c0, drives the lifting sling c3 to descend to a set height according to the height information and then stops, and simultaneously the lifting device c4 opens the laser positioner and drives out a positioning guide line or a positioning point, in this example, a simple cross positioning line which is parallel and vertical to a wall is driven on the ground, the delivery vehicle c0 moves back and forth under the lifting sling c4, parallel laser lines are captured by the photoelectric sensors c081 at the left and right ends, the delivery vehicle c0 carries out real-time calculation according to signals received by the sensors c081, and is adjusted to a state that the parallel laser lines are in the middle of the sensors c081, similarly, the delivery vehicle c0 moves left and right, and is adjusted to a state that the sensor c082 captures the laser line perpendicular to the wall is in the middle, namely, the positioning process of accurate auxiliary positioning is completed, and then the lifting device is informed to operate the set flow of delivery, so that the delivery and replacement of the lifting express box are realized.

This application is to this application required only be used for specific position to carry out the special requirement of accurate positioning of lift express delivery case unmanned delivery car, adopt simple low-cost locating component relatively to carry out the mode of secondary accurate assistance-localization real-time, be on the unmanned basis of general sub-meter level autonomous navigation, a low-cost specific design of going on aims at both satisfying the required location of this application, the specific required accuracy requirement of locking, unblock, change, can reduce this application again unmanned running cost of unmanned delivery car. This application is through adopting the formula of plugging into delivery mode, can reduce right the express delivery case of unmanned delivery car bears the structural requirement of part, can adopt simplest structure, satisfies right the transportation of lift express delivery case can reduce to the maximize the overall cost of delivery car.

For summarizing, this application is an unmanned delivery car of container formula lift express delivery case and formula of plugging into delivery mode, a serial communication port, unmanned delivery car does the supporting equipment of lift express delivery case delivery system has autopilot and autonomous navigation locate function, is used for unmanned delivery lift express delivery case is under supporting lift special elevating gear of lift express delivery case, unmanned delivery car has automobile body part and bears the weight of the part, be the bearing part on the top panel of automobile body part, the bearing part is used for carrying the pile-up put lift express delivery case, the automobile body has drive storehouse, drive wheel, control mainboard, rechargeable battery and autopilot autonomous navigation sensor have in the drive storehouse, the control mainboard has autopilot module, wireless communication module, control module, drive module, power management module at least, wireless communication module can with high in the clouds backstage in the high clouds, Distribution center and elevating gear carry out the wireless connection and interact, unmanned delivery car or the last assistance-localization real-time subassembly that has of elevating gear, through assistance-localization real-time subassembly can carry out one-way or two-way location and detect, through unmanned delivery car with elevating gear's wireless connection is mutual to be adjusted, realizes unmanned delivery car is in secondary accurate assistance-localization real-time under elevating gear mutually supports through wireless interaction, realizes elevating gear is right unmanned delivery car carries on the distribution or the change operation of location, locking, promotion and unblock, release of lift express delivery case.

The bearing part is composed of stand columns and can be fixedly stacked in the stand column frame structure space of the lifting express box, the stand columns are vertical fixing stand columns or foldable stand columns, the foldable stand columns are provided with folding structures and mechanisms and can be folded by 90 degrees on the vehicle body.

The bearing part is a structural space which is formed by the support box body and can be fixedly stacked with the lifting express box, the support box body is provided with an upper top cover plate which can be opened, and the support box body is provided with a rain-proof layer or a heat preservation layer.

The carrying part is a frameless carrying part without a stand column and a frame, the unmanned distribution vehicle is a frameless distribution vehicle, a locking structure or a locking mechanism for locking the lifting express box is arranged on an upper panel of the vehicle body, a locking structure or a locking mechanism matched with the upper panel and a locking mechanism are arranged on an upper panel and a lower panel of the lifting express box, and the lifting express box is fixedly stacked on the vehicle body through layer-by-layer locking between the unmanned distribution vehicle and the locking structure or the locking mechanism of the lifting express box.

The frameless distribution vehicle is characterized in that a conductive connector is arranged on an upper panel of a vehicle body of the frameless distribution vehicle, and can be connected with a connector on the lifting express box, so that power supply support is provided for the lifting express box, the locking or unlocking of a locking mechanism of the lifting express box is controlled, and the layer-by-layer separation of the lifting express boxes on the upper layer and the lower layer is realized.

The auxiliary positioning assembly is a sensor or a module capable of realizing a positioning detection function, is installed on the unmanned distribution vehicle, or is installed on the lifting device, or is installed on the unmanned distribution vehicle and the lifting device, and comprises but is not limited to a photoelectric switch, a laser potentiometer, a proximity switch, a microswitch, a distance measurement sensor or a camera.

The unmanned delivery vehicle is provided with an identity recognition component for recognizing express information or identity information on the lifting express box, and the identity recognition component is a sensor or a module capable of reading an NFC chip, a magnetic recording element, a two-dimensional code, a bar code or a digital code.

Unmanned delivery car is right the delivery mode of lift express delivery case adopts the formula of plugging into delivery mode, the formula of plugging into delivery mode includes unmanned delivery car is right the delivery and the recovery of lift express delivery case, the formula of plugging into does, adopts 2 and above unmanned delivery car as the delivery car with retrieve the car, carry out the chain and alternate in turn, accomplish right the delivery of lift express delivery case and the formula of plugging into delivery of retrieving are changed.

The connection type distribution mode is that firstly, an empty unmanned distribution vehicle is used as a recovery vehicle, according to the distribution sequence of the lifting express box, the empty express boxes under the lifting devices corresponding to the distribution sequence are sequentially recovered in the front, then the unmanned distribution vehicle loaded with full express boxes is taken as a distribution vehicle, the full express boxes are sequentially transported to the positions under the corresponding lifting devices according to the distribution sequence, the full express box is lifted to the position below the lifting device through the lifting device and locked, the distribution of the full express box is completed, when the full express box on the distribution vehicle is completely distributed, namely the empty delivery vehicle is changed into a recovery vehicle automatically immediately, other empty express boxes after the delivery sequence are sequentially recovered in the same way, and so on, the delivery and the recovery of the lifting express box are completed through the chain type alternate connection type delivery and recovery mode.

Drawings

Fig. 1 is a schematic view of the unmanned delivery vehicle a 0.

Fig. 2 is a schematic view of the dispensing cart a0 with the top panel of the cart body a1 open.

Fig. 3 is a schematic view of the distribution vehicle a0 stacking the lifting express box.

Fig. 4 is a schematic view of the dispensing car a0 running under the lift.

Fig. 5 is a schematic view of the unmanned distribution vehicle b 0.

Fig. 6 is a schematic view of the folded stand b2 after folding.

Fig. 7 is an internal view of the vehicle body b1 with the upper cover opened.

Fig. 8 is a schematic view of the unmanned delivery vehicle c 0.

Fig. 9 is a schematic view of the distribution vehicle c0 stacking the lifting express boxes.

Fig. 10 is a schematic view of the dispensing car c0 running autonomously under the elevator c 4.

Fig. 11 is a schematic view of the unmanned dispensing vehicle d 0.

Fig. 12 is a schematic view of the state where the top cover d27 is opened.

Fig. 13 is a schematic view of the dispensing car d0 autonomously operating under the lifting device d 4.

Detailed Description

More solutions of the unmanned delivery vehicle and the docking delivery method for the container type lifting express box according to the invention are described below by specific embodiments.

Fig. 11 is a schematic view of an embodiment of the unmanned distribution vehicle according to the present application, in which the lower portion of the distribution vehicle d0 is a vehicle body d1 portion, and like the vehicle body portion a1 of the distribution vehicle a0, the distribution vehicle has a driving cabin portion and the same driving wheel a10, and the driving cabin portion at least has a control main board, a rechargeable battery, and the like, and also adopts a third-party automatic driving technology to perform autonomous navigation and automatic driving.

Distribution car d 0's automobile body d1 upper portion is support box d2, support box d2 top has top cap d27, support box d2 is for laying the part of bearing the weight of lift express delivery case, this embodiment support box d2 adopts the rectangle box structure, and is convenient the distribution freight train carries out the scale transportation, rectangle support box d2 is the closure structure, has rain-proof water-proof effect or heat preservation thermal-insulated effect, is applicable to the distribution and is not waterproof and need waterproof lift express delivery case, perhaps need heat preservation temporarily lift express delivery case.

As shown in fig. 12, which is a schematic view of a state when an upper top cover d27 at the upper part of a rack box d2 of the distribution vehicle d0 is opened, in this embodiment, the rack box d2 is divided into left and right sides, a plurality of single-door lifting express boxes d5 smaller than the lifting express boxes a51 can be placed, a dividing plate d26 is arranged in the rack box d2, the top of the dividing plate d26 has a tolerance slope structure, so that the lifting express boxes d5 can be conveniently placed in the rack box d2, and a lifting sling d3 of the lifting device descends into the rack box d2 to lock the lifting express boxes d 5.

A plurality of NFC reading modules d09 are arranged on a partition plate b26 of the inner wall of the rack box body d2, and the number, the position and the express information of the lifting express box carried in the rack box body d2 can be acquired through the NFC modules d 09.

Fig. 13 is a schematic diagram of the distribution vehicle d0 running autonomously under the lifting device d4, the lifting device d4 has a lifting sling d3, the distribution vehicle d0 of this embodiment does not have a positioning component for secondary precise auxiliary positioning, and the precise positioning of the distribution vehicle d0 relative to the lifting device d4 depends on the positioning component of the lifting device d 4.

The lifting device d4 is provided with a positioning component for the d0 of the lifting device d4, the positioning component is 6 laser photoelectric sensors arranged at four corners and the middle of four sides of the bottom of a fixed support of the lifting device d4, when the d0 of the delivery vehicle runs under the lifting device d4, wireless connection interaction is established with a control system of the lifting device d4, the lifting device d4 determines the specification of the d0 of the delivery vehicle according to interaction information, the photoelectric sensors are opened to start detection, the lifting sling d3 is driven to descend at the same time, the descending height of the lifting sling d3 is slightly higher than the opening height of an upper top cover d27 of the d0 of the delivery vehicle, and if an empty express box is suspended under the lifting sling d3, the height of the empty express box is calculated.

Further, the lifting device d4 instructs the distribution vehicle d0 to correspondingly move through wireless interaction according to level signals returned by 6 photoelectric sensors until the distribution vehicle d0 is adjusted to complete accurate positioning, the distribution vehicle d0 opens the upper top cover d27, the lifting device d4 drives the lifting sling d3 to continuously descend, the express box d5 is locked and lifted, or the empty express box is unlocked and lifted, and after the distribution or replacement task is completed, the lifting device d4 informs the distribution vehicle d0 to close the upper top cover d27, so that the distribution or replacement task of the lifting express box is completed. In this embodiment, the empty delivery box is replaced and recovered, and the connection type distribution mode adopted in the above example is also adopted.

The positioning component of the lifting device d4 in this embodiment can also be used to perform positioning in other manners, such as by matching a camera, a distance measuring sensor, and a proximity switch, and can also perform auxiliary precise positioning of unidirectional detection of the delivery vehicle d0, including the positioning manners of the above examples, more positioning manners are also referred to in the application document of the lifting device of the container type lifting express delivery box described in the previous application, and the present application is a matching device of the lifting device described in the previous application, so that the positioning manner of the unmanned delivery vehicle of the container type lifting express delivery box described in the present application can also be used to perform unidirectional detection and positioning on the lifting device by using the positioning component on the delivery vehicle, or perform unidirectional detection and positioning on the delivery vehicle by using the positioning component on the lifting device, or the lifting device and the positioning assembly on the delivery vehicle are adopted to carry out bidirectional detection and positioning, coordination and interaction are carried out through bidirectional wireless interaction, and the processes of delivery, locking, unlocking and replacement of the lifting express box are jointly completed.

The specific data, materials used, forms and proportions of the figures described in all the examples and illustrations of this application are set forth merely for the purpose of illustration and are not intended to limit the invention to the particular forms or proportions disclosed. One skilled in the relevant art may recognize, however, that one or more of the specific details, embodiments, or materials may be omitted, or other methods, components, or materials may be used, in which some embodiments are not described or are not described in detail. Furthermore, the described features, implementations, or characteristics may be combined in any suitable manner in one or more embodiments and should not be construed as limiting the present invention.