阅读说明：本技术 智能驾驶运输工具、运输工具组合及控制方法 (Intelligent driving transport tool, transport tool combination and control method ) 是由 张玉新 何文钦 于 2019-09-19 设计创作，主要内容包括：本公开涉及一种智能驾驶运输工具、运输工具组合及控制方法,用于自动装载货物,可以减小运输过程中的风阻。智能驾驶运输工具包括本体、行走装置、承载装置、传感器组和智能驾驶控制器。本体为装配基体；行走装置设置于本体底部并用于驱动和制动智能驾驶运输工具；承载装置包括能够承载货物的承载面,承载装置设置于本体上部,承载装置被设置为允许货物沿本体的纵向从承载面的一个边缘滑/滚至承载面,以及,允许货物沿纵向从另一个边缘离开承载面,运输工具未设置驾乘空间；传感器组用于获取周围环境和本车的数据；智能驾驶控制器,用于基于传感器组的数据进行感知定位、规划路径并控制智能驾驶运输工具行驶。(The disclosure relates to an intelligent driving transport tool, a transport tool combination and a control method, which are used for automatically loading goods and reducing wind resistance in the transport process. The intelligent driving transport tool comprises a body, a walking device, a bearing device, a sensor group and an intelligent driving controller. The body is an assembly matrix; the walking device is arranged at the bottom of the body and used for driving and braking the intelligent driving transport tool; the bearing device comprises a bearing surface capable of bearing goods, the bearing device is arranged on the upper part of the body, the bearing device is arranged to allow the goods to slide/roll from one edge of the bearing surface to the bearing surface along the longitudinal direction of the body and to allow the goods to leave the bearing surface from the other edge along the longitudinal direction, and the transport tool is not provided with a driving space; the sensor group is used for acquiring data of the surrounding environment and the vehicle; and the intelligent driving controller is used for sensing and positioning based on the data of the sensor group, planning a path and controlling the intelligent driving transport tool to run.)

1. a smart driving conveyance, characterized in that a driving space is not provided, the smart driving conveyance comprising:

A body, the body being an assembly base;

the walking device is arranged at the bottom of the body and used for driving and braking the intelligent driving transport tool; and

The bearing device comprises a bearing surface capable of bearing goods, the bearing device is arranged on the upper part of the body, and the bearing device is arranged to allow the goods to slide/roll from one edge of the bearing surface to the bearing surface along the longitudinal direction of the body and to allow the goods to leave the bearing surface from the other edge along the longitudinal direction;

The sensor group is used for acquiring data of the surrounding environment and the vehicle; and

And the intelligent driving controller is used for sensing and positioning based on the data of the sensor group, planning a path and controlling the intelligent driving transport tool to run.

2. The smart driving vehicle according to claim 1, further comprising a first connecting mechanism provided at one of both end portions of the body in the longitudinal direction.

3. the smart driver vehicle of claim 2, further comprising a second connection mechanism disposed in the other of the two ends; the first connecting mechanism is used for being connected with the second connecting mechanism of the other intelligent driving transport tool, and the second connecting mechanism is used for being connected with the first connecting mechanism of the other intelligent driving transport tool.

4. the smart driver transport of claim 2 or 3, wherein the first connection mechanism comprises a telescoping mechanism and a connector provided at a free end of the telescoping mechanism, the telescoping mechanism being capable of telescoping to drive the connector away from or towards the body in a longitudinal direction of the body.

5. The intelligent driving transport vehicle of claim 4, wherein the telescoping mechanism comprises a first slider, a first rocker arm and a limiting mechanism, the first slider can reciprocate along the transverse direction of the body, one end of the first rocker arm is hinged to the first slider, and the limiting mechanism is connected with the other end of the first rocker arm to limit the other end of the first rocker arm to move along the transverse direction; the other end of the first rocker arm is connected with the connecting piece and can drive the connecting piece to move in the longitudinal direction of the body.

6. The intelligent driving vehicle of claim 5, wherein the limiting mechanism comprises a second slider and a second rocker arm, the second slider can reciprocate along the transverse direction of the body, one end of the second rocker arm is hinged to the second slider, the other end of the second rocker arm is hinged to the other end of the first rocker arm, and the first slider and the second slider are respectively located on two sides of a hinge point of the first rocker arm and the second rocker arm.

7. the intelligent driving vehicle according to claim 1, wherein the carrying device comprises a lifting mechanism and a supporting mechanism, and the lifting mechanism can drive the supporting mechanism to lift or tilt;

Preferably, the lifting mechanism comprises four connecting points for connecting the supporting mechanism, and the connecting points are distributed in a quadrilateral shape;

Preferably, the supporting mechanism is a supporting plate or a conveyor belt, and further preferably, the conveyor belt can convey the goods along the longitudinal direction of the body.

8. The intelligent driving conveyance of claim 1, wherein the carrier is a conveyor belt.

9. The intelligent driving conveyance of claim 1, further comprising a pressure sensor disposed on a bearing surface of the bearing device.

10. The intelligent transportation vehicle of claim 1, further comprising a clamping device disposed on the carrying device and configured to clamp the cargo.

11. The smart driver vehicle of claim 1, further comprising a sensor carrier configured to telescope or rotate to be received to the body.

12. A vehicle combination comprising at least two vehicles, said vehicles being as claimed in any one of claims 1 to 11, said at least two vehicles being capable of performing transportation operations in a fleet.

13. A vehicle control method, characterized in that the vehicle is a vehicle according to any one of claims 4 to 6, and at least two vehicles are connected to form a fleet and travel through the first connection structure.

14. the vehicle control method according to claim 13, wherein the first link mechanism is in a contracted state when the vehicle is traveling straight.

15. The vehicle control method of claim 13, wherein the first linkage is in a deployed state when the at least two vehicles are turning.

Technical Field

The disclosure relates to the technical field of intelligent driving, in particular to an intelligent driving transport tool, a transport tool combination and a control method.

background

Existing carrier vehicles (trucks, construction vehicles, etc.) are basically driven by drivers, and a cab provided for a driver occupies a large space in the front of the vehicle, reducing the occupation ratio of the space of the vehicle for loading goods. Also, since the height and width of the cab are large, a large air resistance is applied during traveling, resulting in a reduction in fuel economy. In addition, when the cargo capacity is large, the transportation can be performed by using a transportation means composed of a tractor and one or more trailers (trailers) pulled by the tractor. Such a conveyance has the following problems: 1. the goods need to be loaded manually, the efficiency is low, and the situation that workers throw the goods is avoided in the technical aspect; 2. the trailer is not powered and needs to be driven by a tractor, so that the trailer is not flexible; 3. the trailers can not be steered, and when the number of the trailers is large, the trailer queue is difficult to steer; 4. the trailer is not braked, the trailer queue integrally depends on the brake of the tractor, and the hidden trouble of poor brake exists; 5. when trailers arriving at a destination in the trailer queue need to be separated from the queue, the whole queue needs to be stopped for the separation operation, so that the transportation efficiency is reduced; 6. when the automatic driving tractor breaks down, the transportation operation of the whole motorcade can be interrupted.

Disclosure of Invention

to solve the above technical problem or at least partially solve the above technical problem, the present disclosure provides an intelligent driving vehicle, a vehicle combination, and a control method.

The intelligent driving transport tool is not provided with a driving space and comprises a body, a walking device, a bearing device, a sensor group and an intelligent driving controller. The body is an assembly matrix. The walking device is arranged at the bottom of the body and used for driving and braking the intelligent driving transport tool; the bearing device comprises a bearing surface capable of bearing goods, the bearing device is arranged on the upper part of the body, the bearing device is arranged to allow the goods to slide/roll from one edge of the bearing surface to the bearing surface along the longitudinal direction of the body and to allow the goods to leave the bearing surface from the other edge along the longitudinal direction, and the transport tool is not provided with a driving space; the sensor group is used for acquiring data of the surrounding environment and the vehicle; and the intelligent driving controller is used for sensing and positioning based on the data of the sensor group, planning a path and controlling the intelligent driving transport tool to run.

Compared with the prior art, the technical scheme provided by the embodiment of the disclosure has the following advantages: the carrying device is used for carrying goods, and the carrying surface of the carrying device is arranged to allow the goods to slide/roll from one edge of the carrying surface to the carrying surface along the traveling direction and to allow the goods to leave the carrying surface from the other edge along the traveling direction. In other words, there is no structure on the intelligent driving transport that restricts the cargo from moving back and forth on the carrying surface. When the bearing surface is arranged to be flush with or slightly lower than the surface of the conveying belt, the goods can be directly pushed to the bearing surface from the conveying belt through the edge of the bearing surface without manual intervention, and automatic loading of the goods is realized.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.

In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present disclosure, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.

FIG. 1 is a schematic diagram of a configuration of a smart-driven vehicle in some embodiments of the present disclosure;

FIG. 2 is a schematic structural diagram of a carrier according to some embodiments of the present disclosure;

FIG. 3 is a schematic diagram of a connection configuration between intelligent transportation vehicles in some embodiments of the present disclosure;

FIG. 4 is a schematic view of the connection structure of FIG. 3 in a retracted state;

FIG. 5 is a schematic view of a connection configuration for a combination turn of a smart vehicle in some embodiments;

FIG. 6 is a schematic diagram of a configuration of a smart-driving vehicle according to further embodiments of the present disclosure;

FIG. 7 is a schematic view of the combination of the intelligent vehicle of FIG. 6 in an operational state;

FIG. 8 is a schematic structural view of a first coupling mechanism according to some embodiments of the present disclosure;

FIG. 9 is a schematic illustration of the first coupling mechanism and the second coupling mechanism in further embodiments of the present disclosure;

FIG. 10 is a schematic view of the first and second coupling mechanisms of FIG. 9 shown disengaged;

FIG. 11 is a schematic view of a first coupling mechanism and a second coupling mechanism according to further embodiments of the present disclosure.

Description of reference numerals:

10-cargo;

100-the main body of the container body,

200-a walking device for the patient to walk,

300-carrier means, 310-support means, 320-lifting means, 330-clamping means,

300 a-carrier means, 310 a-support means, 320 a-lifting means,

400-the pressure sensor is used for measuring the pressure,

510-a first connecting mechanism, 511-a first slider, 512-a second slider, 513-a first rocker, 514-a second rocker, 515-a connecting element, 516-a first limiting device, 517-a second limiting device, 520-a second connecting mechanism,

511 a-first slider, 512 a-guide, 513 a-first rocker, 154 a-sleeve, 515 a-link, 516 a-slide, 520 a-second link;

511 b-first connecting rod, 512 b-connecting piece, 521 b-valve, 522 b-torsion spring;

511 c-first connecting rod, 521 c-pin, 100 c-body;

600-baffle, 700-sensor carrier;

E-cargo exit conveyor, M-first vehicle, N-second vehicle, P-front angle, Q-rear angle, S-lane.

Detailed Description

In order that the above objects, features and advantages of the present disclosure may be more clearly understood, aspects of the present disclosure will be further described below. It should be noted that the embodiments and features of the embodiments of the present disclosure may be combined with each other without conflict.

in the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced in other ways than those described herein; it is to be understood that the embodiments disclosed in the specification are only a few embodiments of the present disclosure, and not all embodiments.

In locations such as logistics centers, airports or warehouses, it is often necessary for freight vehicles (vehicles) to load goods at the end of a conveyor belt during the transport of goods. Specifically, the freight car is stopped at the end of the conveyor belt, and after the goods reach the end of the conveyor belt, the goods are taken off by a worker with hands or by using a tool and then loaded on the freight car. The efficiency, safety and normative of manual operation are not ideal enough.

The utility model provides an intelligence driving transport means can carry out autopilot based on sensor group and intelligent driving controller, does not set up the driver's cabin in locomotive department, and the proportion of load-carrying device loading face is great. The carrying device is used for carrying goods, and the carrying surface of the carrying device is arranged to allow the goods to slide/roll from one edge of the carrying surface to the carrying surface along the traveling direction and to allow the goods to leave the carrying surface from the other edge along the traveling direction; in other words, there is no structure on the intelligent driving transport that restricts the cargo from moving back and forth on the carrying surface. The intelligent driving transport tool can automatically stop at the tail end of the goods transmission belt, when the bearing surface of the bearing device is flush with the surface of the tail end of the transmission belt or slightly lower than the surface of the transmission belt, goods can be directly pushed to the bearing surface through the edge of the bearing surface by the transmission belt, manual intervention is not needed, and automatic loading of the goods is achieved. When the bearing device comprises a conveyor belt mechanism, the upper surface of the conveyor belt is a bearing surface, and the conveying direction of the conveyor belt is along the driving direction. The transport vehicle with the conveyor belt mechanism can directly receive goods from other conveyor belt tail ends and convey the goods to other receiving parties, and automatic loading and unloading can be achieved. And the intelligent driving transport tool is controlled by the intelligent driving controller, manual driving is not needed, and a cab is not required, so that the overall height of the intelligent driving transport tool can be reduced, and the wind resistance during driving is reduced.

The present disclosure is further described below with reference to the drawings and examples of the specification.

Referring to fig. 1, fig. 1 is a schematic structural diagram of a smart driving vehicle in some embodiments of the present disclosure. The intelligent driving transport tool comprises a body 100, a walking device 200, a carrying device 300, a pressure sensor 400, a baffle 600, a sensor carrier 700, a sensor group (not shown) and an intelligent driving controller (not shown).

The body 100 is a mounting base, which can be regarded as a frame in a vehicle, and is used for mounting the running gear 200, the carrying gear 300 and other structures. The body 100 is a rectangular parallelepiped structure, the two sides in the width direction are side faces, and the two ends in the length direction are end faces.

the traveling device 200 includes four wheels, a power device for driving the wheels, a transmission device, a brake device, and the like. The running gear 200 is disposed at the bottom of the body 100, wherein four wheels are respectively disposed at two sides of the body 100 in the width direction, and the running direction is the length direction of the body 100. In some alternative embodiments, the walking device can be a wheel-side motor or a wheel-hub motor, and can also be a wheel train driven by an internal combustion engine, a hybrid power or a centralized driving motor, and the like. The steering can be realized by controlling the differential speed of the motors on the two sides, or the steering can be controlled by a traditional mechanical steering structure, an electric steering structure or a hydraulic steering structure. The brake device can adopt the brake device of a traditional fuel automobile or an electric automobile.

The carrier 300 includes a support mechanism 310, a lift mechanism 320, and a clamping device 330. The lifting mechanism 320 is fixed on the body 100, and is connected to the supporting mechanism 310, and the lifting mechanism 320 can drive the supporting mechanism 310 to ascend and descend. The supporting mechanism 310 is a loading plate, and the upper surface of the loading plate is a loading surface capable of loading goods. The lifting mechanism 320 is a hydraulic cylinder vertically disposed on the body 100, and a piston rod thereof can extend and contract to push the supporting mechanism 310 to ascend and descend. The number of the elevating mechanisms 320 is four, and the elevating mechanisms are respectively disposed at four corners of the body 100. When the four elevating mechanisms 320 are raised and lowered to the same height, the supporting mechanism 310 can be translated up and down. When the four elevating mechanisms 320 are elevated at different heights, the supporting mechanism 310 may be inclined, for example, if the two elevating mechanisms 320 at the front end of the main body 100 make the supporting mechanism 310 have a height, and the two elevating mechanisms 320 at the rear end of the main body 100 make the supporting mechanism 310 have b height, and a > b, the supporting mechanism 310 is inclined. The telescopic length of the lifting mechanism 320 may be set according to actual needs so that the supporting mechanism 310 is at a desired inclination angle and height.

The bearing surface of the supporting mechanism 310 is further provided with a plurality of pressure sensors 400, and the pressure sensors 400 are embedded in the bearing surface and can detect the pressure of the goods on the bearing surface. The pressure data obtained by the pressure sensors can be used for the control system to analyze the pressure distribution condition on the bearing surface and serve as a basis for judging whether the center of gravity of the cargo load is reasonable or not.

The clamping devices 330 are disposed at four corners of the supporting mechanism 310 for clamping the goods carried by the supporting mechanism 310. The clamping device 330 may be a pneumatic, hydraulic, or electromechanical structure for applying lateral and/or downward forces to the load to stabilize the load relative to the load bearing device. The gripping device 330 can be retracted below the load-bearing surface or be positioned on both sides of the load-bearing device so as not to interfere with the longitudinal passage of cargo along the body 100. In some alternative embodiments, the clamping device may also be a screw clamp, a wedge clamp, a lever clamp, or the like.

The baffle 600 is disposed at the edge of the supporting mechanism 310 for preventing the goods from slipping off. The baffle 600 is hinged to the edge of the support mechanism 310 and can be actively or passively turned to switch between a standing state and a lying state. The surface of the baffle 600 is flush with the surface of the supporting mechanism 310 or lower than the surface of the supporting mechanism 310 in a flat state, so that the baffle does not interfere with goods during loading and unloading.

The sensor carrier 700 is used to carry various sensors required for the control system and to receive and transmit signals. The sensor carrier 700 includes a support rod movably coupled to one side of the body 100 and a receiving structure at an end of the support rod. When the support rod rotates relative to the body 100, the support rod can be stored to one side of the body 100, and wind resistance in driving can be reduced. A sensor group is arranged in the accommodating structure. In some embodiments, the sensor group is used for collecting data of the external environment of the vehicle and detecting position data of the vehicle. The sensor group includes, for example, but not limited to, at least one of a camera, a laser radar, a millimeter wave radar, a GPS (Global Positioning System), and an IMU (Inertial Measurement Unit). In other embodiments, the sensor group is further used for collecting dynamic data of the vehicle, and the sensor group further includes, for example and without limitation, at least one of a wheel speed sensor, a speed sensor, an acceleration sensor, and a front wheel steering angle sensor. The intelligent driving controller is internally provided with a program and can automatically control the running and the operation of the intelligent driving transport tool based on environmental data, external instructions and internal control logic thereof. In some alternative embodiments, a smart steering controller is also disposed within the sensor carrier 700. In other alternative embodiments, the intelligent steering controller is disposed within the body 100.

In some alternative embodiments, the lifting mechanism may not be provided. In other alternative embodiments, the support mechanism may also be a conveyor belt mechanism. In other alternative embodiments, the lifting mechanism can only change the height of the support mechanism relative to the body and cannot change the angle of the support mechanism relative to the body.

the intelligent driving transport tool provided by the disclosure can be particularly applied to transport equipment such as containers, accident cars, conveyor belt devices, other types of cabins, carriages, additional trailers and the like. The intelligent driving transport tool is not provided with a cab, is not provided with a mechanical input interface (a steering wheel, a pedal, an instrument panel, a seat and the like) of a driver, is controlled by an automatic driving controller or a remote control system, and has the functions of automatically loading and unloading goods, automatically forming a formation and transporting a plurality of vehicles. The structure of the intelligent driving transport means provided by the disclosure can improve the automation degree of transportation and save manpower. The intelligent driving transport tool has the advantages that the overall height and the center of gravity can be reduced after the driving cab is not arranged, the aerodynamic performance of the vehicle is optimized, the energy consumption caused by wind resistance is reduced, and the driving is more stable. In addition, after a cab is eliminated, riding comfort does not need to be considered, so that the hub motor drive and four-wheel differential steering can be applied, the steering is flexible, and multi-vehicle assisted transportation is convenient to realize.

Referring to fig. 2, fig. 2 illustrates a smart driving vehicle and a carrier therefor. The bearing device comprises a supporting mechanism 310 and a lifting mechanism, wherein the supporting mechanism 310 is a bearing plate, and the lifting mechanism is a combined mechanism of a hydraulic oil cylinder and a mechanical structure. Specifically, the lift mechanism includes an oil cylinder 321a, two swing arms 322a, and two connecting rods 323 a. One end of the rocker 322a is hinged on the body 100, and the other end is hinged with the bottom surface of the bearing plate. The number of the swing arms 322a is two, which are parallel and are collinear with the hinge axis on which the body 100 is hinged. The number of the connecting rods 323a is two, and the two connecting rods 323a are respectively crossed with the two swing arms 322a and are hinged at the crossed point. One end of the link 323a is hinged to the bottom surface of the support mechanism 310, and the other end is slidable on the body 100. The rocker arm 322a and the connecting rod 323a form two sets of crossed hinge structures, and jointly drive the supporting mechanism 310 to ascend and descend. The cylinder 321a is used for driving the lifting, and a piston rod thereof can drive the rocker arm 322a to change an angle between the rocker arm 322a and the body 100, so that a distance between a free end of the rocker arm 322a and the body 100 is changed, and a lifting function is realized. In some alternative embodiments, the lifting mechanism 320 may also be a cylinder; in other alternative embodiments, the lifting mechanism 320 may also be a nut and screw mechanism; in other alternative embodiments, the lifting mechanism 320 may also be a combination of a mechanical mechanism and a hydraulic cylinder, pneumatic cylinder, or nut-and-screw mechanism.

In some alternative embodiments, support mechanism 310 may also be a belt mechanism, 322a and 323a may drive the belt mechanism up and down relative to body 100. The belt surface of the belt mechanism may carry and transport cargo.

referring to fig. 3 to 5, fig. 3 is a schematic view of a connection structure between intelligent transportation vehicles according to some embodiments of the present disclosure, fig. 4 is a schematic view of a retracted state of the connection structure in fig. 3, and fig. 5 is a schematic view of the connection structure when the intelligent transportation vehicle combination turns a corner according to some embodiments.

The front end of the body 100 of the intelligent driving transport tool is provided with a first connecting mechanism, the rear end of the body 100 is provided with a second connecting mechanism, and when the two intelligent driving transport tools are connected front and back, the first connecting mechanism of the intelligent driving transport tool at the rear can be connected with the second connecting mechanism of the intelligent driving transport tool at the front. Taking fig. 3 as an example, the first transportation means M and the second transportation means N are connected by a first connection mechanism 510 and a second connection mechanism 520. The first connection mechanism 510 includes a telescoping mechanism and a connection 515. One part of the telescopic mechanism is fixed at the front end of the body 100, the other part is a free end which can be extended and retracted relative to the body 100, and the connecting piece 515 is arranged at the free end of the telescopic mechanism which can be extended and retracted to drive the connecting piece 515 to be far away from or close to the body 100 in the longitudinal direction of the body 100.

Specifically, the telescopic mechanism includes a first slider 511, a first swing arm 513, and a limit mechanism. The first slider 511 is disposed at the front end of the body 100 and can reciprocate along the lateral direction of the body 100. The first swing arm 513 is hinged at one end to the first slider 511 and at the other end is a free end, which is connected to the connection member 515. The limiting mechanism is used for limiting the other end of the first rocker arm 513 to move transversely, so that the other end can only move back and forth along the longitudinal direction of the body 100. In this embodiment, the limiting mechanism includes a second slider 512 and a second swing arm 514. The second sliding block 512 is disposed at the front end of the body 100 and can reciprocate along the transverse direction (lateral direction) of the body 100, one end of the second swing arm 514 is hinged to the second sliding block 512, and the other end thereof is hinged to the free end of the first swing arm 513, so as to form transverse limit for the free end of the telescopic mechanism. The first and second sliders 511 and 512 are located at both sides of a hinge point of the first and second rocker arms 513 and 514, respectively, i.e., they are symmetrical with respect to the central longitudinal section of the body 100. The sliding connection between the first sliding block 511 and the main body 100 can be realized by the cooperation of the sliding block and the sliding groove, or the cooperation of the sliding block and the guide rod.

the connection member 515 is a plate member having a receptacle, and one end of the connection member 515 is hinged to the free end of the first swing arm 513 and the other end is provided with the receptacle.

When the first sliding block 511 moves towards the center of the first transportation means M, the second sliding block 512 is controlled to approach the center of the first transportation means M at the same speed, and the free end of the first rocker arm 513 can only move away from the front end face of the body 100 along the longitudinal direction of the body 100 under the limit of the second rocker arm 514. When the first sliding block 511 moves away from the center of the first transportation tool M, the second sliding block 512 is controlled to move away from the center of the first transportation tool M at the same speed, and the free end of the first rocker arm 513 can only be close to the front end face of the body 100 along the longitudinal direction of the body 100 under the limit of the second rocker arm 514.

the free end of the first swing arm 513 is connected with a connecting piece 515, and a telescopic mechanism consisting of the first sliding block 511, the first swing arm 513 and a limiting mechanism can drive the connecting piece 515 to move in the longitudinal direction of the body 100.

In the above embodiment, the second connection mechanism 520 is an axially retractable pin, which is disposed at the rear end of the body 100 and is used to form a connection with the insertion hole of the connection piece 515 in the first connection mechanism 510. During operation, when the connecting piece 515 is aligned with the plug pin, the plug pin extends out of the body 100 and is inserted into the jack of the connecting piece 515, so that the connecting operation is completed; when the two vehicles need to be separated, the bolt is withdrawn from the jack of the connecting piece 515 and retracted to the body 100, and the separation operation is completed. The first connecting mechanism 510 and the second connecting mechanism 520 may be paired by moving the first transportation tool M and the second transportation tool N closer to each other to align the plug and the jack, or by moving the first transportation tool M and the second transportation tool N at a constant distance, and the first connecting mechanism 510 and the second connecting mechanism 520 are coupled by driving the connecting member 515.

After the first connecting mechanism 510 of the first transport means M and the second connecting mechanism 520 of the second transport means N are connected, the distance between the first transport means M and the second transport means N can be adjusted by adjusting the extending distance of the telescoping mechanism.

referring to fig. 4 and 5, fig. 4 is a schematic view illustrating a state where the connection structure of fig. 3 is retracted, and fig. 5 is a schematic view illustrating the connection structure when the intelligent transportation vehicle combination turns a corner in some embodiments. After the first transport tool M and the second transport tool N are connected in series through the first connecting mechanism and the second connecting mechanism, the intelligent driving transport tool can be used for combined operation. In the straight-driving state of the transportation tool combination, the first and second sliders 511 and 512 can move away from each other, and the connection member 515 is pulled to the front end of the body 100 by the first and second swing arms 513 and 514, so that the second transportation tool N and the first transportation tool M have a small distance therebetween. When the distance between the two is small, the goods can be prevented from falling from the gap between the two transportation vehicles.

When the vehicle combination needs to turn, the first slider 511 and the second slider 512 can move close to each other, so that the first swing arm 513 and the second swing arm 514 push the connecting piece 515 to move away from the front end of the body 100, so as to increase the distance between the second vehicle N and the first vehicle M. After the distance between the first vehicle M and the second vehicle N is increased, the turning radius can be effectively reduced, and the front angle P of the first vehicle M and the rear angle Q of the second vehicle N are prevented from colliding.

based on the intelligent driving transport tool and the transport tool combination provided by the disclosure, the following transport tool control method can be realized. At least two intelligent driving transport means are connected through a first connecting structure to form a team and run, the first connecting structure is in a contraction state when the transport means combination runs in a straight line, and the first connecting structure is in an expansion state when the transport means combination turns.

The existing trailer running mode is that a plurality of trailers are carried by a front trailer to run, the trailers have no braking function, and the braking of the whole queue can be realized only by the front trailer, so that the rapid braking capacity of the whole queue is reduced. And the transport means combination that this disclosure provided, every intelligence driving transport means all can brake alone, and the whole braking efficiency improves in the process of the queue driving, can improve the security of traveling.

referring to fig. 6, fig. 6 is a schematic structural diagram of an intelligent driving vehicle according to other embodiments of the present disclosure. In the illustrated intelligent driving transport vehicle, the carrying device 300a includes a supporting mechanism 310a and a lifting mechanism 320a, the supporting mechanism 310a is a conveyor belt mechanism, and the lifting mechanism 320a is a hydraulic cylinder respectively disposed at the front and rear ends of the body 100. The lifting process and the lifting height of the two hydraulic cylinders can be independently controlled, so that the conveying belt can reach the required height and angle.

The belt mechanism includes a pulley for tensioning and supporting the belt and providing power for movement of the belt and the belt. The belt surface can carry goods, and the direction of conveyance of the belt mechanism is along the longitudinal direction of the body 100, and can pass the goods 10 from the front end to the rear end of the body 100, or from the rear end to the front end. Of course, the belt mechanism is not limited to the above-described configuration, and in alternative embodiments, the belt mechanism may also be a metal link belt, or an array of multiple parallel idlers.

When the intelligent driving transport vehicle is used for automatically loading cargos, the intelligent driving transport vehicle firstly runs to the tail end of the conveyor belt of the cargo outlet, the rear end of the intelligent driving transport vehicle is aligned with the tail end of the conveyor belt, and the height of the conveyor belt mechanism is adjusted to enable the bearing surface of the conveyor belt to be flush with (or slightly lower than) the surface of the conveyor belt of the cargo outlet. The linear speed of the conveyor belt mechanism of the intelligent driving transport tool is adjusted to be consistent with (or slightly larger than) the speed of the cargo outlet conveyor belt, and the cargo 10 can be directly conveyed to the intelligent driving transport tool without manual intervention.

When the amount of the cargo 10 is large, a plurality of intelligent transportation vehicles can be used for loading, and referring to fig. 7, fig. 7 is a schematic view of an operation state of the combination of the intelligent transportation vehicles in fig. 6, which can improve loading efficiency. In the following description, "front end" and "rear end" refer to one end in front and one end in rear when the vehicle is moving forward.

Specifically, the end of the goods exit conveyor E is used to output the goods 10 and the intelligent driving vehicles A, B and C are lined up to form a vehicle combination. The end of the support mechanism 310 of the intelligent driving transport means C is aligned with the goods exit conveyor E, and the height of the front end of the support mechanism 310 is lower than that of the rear end, so that the surface of the support mechanism 310 forms an inclined surface. The support mechanism 310 of the smart driver vehicle B has the same angle as the support mechanism 310 of the smart driver vehicle C, and is continuously inclined flush with the support mechanism 310. The support mechanism 310 of the intelligent driving transport vehicle a is at the lowest height and horizontally disposed, and this state of the support mechanism 310 is a state during transportation. The number of vehicles having the same configuration as the smart driver vehicle a may be plural and may be in tandem with the smart driver vehicle a.

After the loading operation begins, the conveyor mechanisms of intelligent vehicles A, B and C are maintained at the same speed as the cargo exit conveyor E, and the cargo 10 from cargo exit conveyor E can be slid directly onto the support mechanism 310 of intelligent vehicle C and transported to the endmost intelligent vehicle. After the end intelligent driving transport tool finishes transshipment, the transport operation can be directly started, and after other intelligent driving transport tools finish loading, the transport operation can be started again by serially connecting the first connecting mechanism and the second connecting mechanism into a longitudinal team.

Referring to fig. 8, fig. 8 is a schematic structural diagram of a first connecting mechanism according to some embodiments of the present disclosure, in which another limiting mechanism is shown. The structure in the figure is a mechanical principle schematic diagram, is only used for explaining the working principle and does not represent the actual structure. The first connecting mechanism is disposed at the front end of the body 100, and includes a telescopic mechanism and a connecting member 515 a. The telescopic mechanism includes a first slider 511a, a guide rail 512a, and a first swing arm 513 a. The guide rail 512a is fixed on the front end surface of the body 100 and is parallel to the transverse direction of the body 100, the first sliding block 511a is slidably disposed on the guide rail 512a, and one end of the first swing arm 513a is hinged on the first sliding block 511a and can move and rotate along with the first sliding block 511 a. The limiting mechanism comprises a sleeve 514a and a sliding rod 516a, and a connecting piece 515a is arranged at the tail end of the sliding rod 516 a. The sleeve 514a is fixed to the front end of the body 100 with an axis perpendicular to the guide rail 512 a. A sliding rod 516a is slidably disposed within the sleeve 514a and is hinged to the other end of the first rocker arm 513 a. When the first sliding block 511a slides along the guiding rail 512a, the first swing arm 513a can be driven to move, and the first swing arm 513a can drive the sliding rod 516a to slide in the second swing arm 514, so that the connecting piece 515a moves away from or approaches the front end of the body 100. When connecting element 515a is connected to the second connection mechanism of another intelligent-driving vehicle, the spacing between the two intelligent-driving vehicles can be changed by the movement of the first connection mechanism.

referring to fig. 9 and cargo 10, fig. 9 is a schematic view of a first and second coupling mechanism according to further embodiments of the present disclosure, and fig. 10 is a schematic view of the first and second coupling mechanisms of fig. 9 when they are disengaged.

the first connecting mechanism is arranged at the front end of the body 100 and comprises a first connecting rod 511b and a connecting piece 512b, wherein the first connecting rod 511b is perpendicular to the front end surface of the body 100, can extend and retract relative to the body 100 along the length direction of the first connecting rod 511b, and can rotate around the axis of the first connecting rod 511 b. The connecting member 512b is disposed at a free end of the first connecting rod 511b, the width of the connecting member 512b is greater than the width of the first connecting rod 511b, and the front end thereof is two wedge surfaces.

The second connecting mechanism is disposed at the rear end of the body 100 and includes two sets of symmetrically disposed shutter mechanisms, a channel S is disposed between the two shutter mechanisms, and the width of the channel S is smaller than the width of the connecting member 512b, larger than the thickness of the connecting member 512b, and larger than the width of the first connecting rod 511 b. The shutter mechanism includes a shutter 521b and a torsion spring 522 b. One end of the shutter 521b is hinged to the body 100 and is configured to be rotatable only in a direction toward the front end of the body 100. The initial position of the shutter 521b is parallel to the rear end surface of the body 100. The torsion spring 522b is disposed at the hinge of the shutter 521b, and is used for resetting the shutter 521b to the initial position.

when the two intelligent driving transportation tools are connected through the first connection mechanism and the second connection mechanism, the distance between the two intelligent driving transportation tools is reduced or the first connection rod 511b is extended relative to the body 100, so that the connection member 512b moves toward the passage S between the shutter mechanisms. After the connection member 512b ejects the shutter and completely passes through the passage S, the shutter 521b is reset by the torsion spring 522b, completing the connection. The smart-driven transport on the right side of the figure may drag the smart-driven transport on the left side at this time.

when the two are required to be separated, the first connecting rod 511b rotates 90 degrees, the distance between the two intelligent driving transportation tools is increased, or the first connecting rod 511b retracts relative to the body 100, so that the connecting piece 512b is separated from the valve mechanism, and the separation is completed.

Referring to fig. 11, fig. 11 is a schematic structural view of a first connection mechanism and a second connection mechanism in further embodiments of the present disclosure. The first connecting mechanism comprises a first connecting rod 511c arranged on the body, a connecting hole is arranged at the tail end of the first connecting rod 511c, and the first connecting rod 511c can stretch and retract relative to the body in the horizontal direction. The second connecting mechanism includes a pin 521c (specifically, a rod in a nut-screw pair, a piston rod of an air cylinder or a hydraulic cylinder, or the like) which is capable of extending and retracting in a vertical direction with respect to the body 100 c. When two smart vehicles are connected, the pin 521c is retracted to ensure that the top of the pin is lower than the bottom of the first connecting rod 511 c. The distance between the two intelligent driving transportation tools is reduced or the first connecting rod 511c extends out, so that the connecting hole of the first connecting rod 511c is aligned with the connecting hole 21c, and then the pin 521c extends out and enters the connecting hole of the first connecting rod 511c, so that the connection is completed.

The foregoing are merely exemplary embodiments of the present disclosure, which enable those skilled in the art to understand or practice the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.