An unmanned trailer and its positioning device, control method, and unmanned freight platform

Abstract

The present invention provides an unmanned trailer and its positioning device, control method, and unmanned freight platform. The unmanned trailer positioning device includes a guide rail unit and a locking unit. The locking unit includes a stopping mechanism and a locking mechanism. The guide rail unit includes a first guide rail member and a second guide rail member. The first guide rail member and the second guide rail member are arranged at intervals to define a guiding groove. The stopping mechanism is arranged at a first position of the guiding groove, and the locking unit is arranged at a second position of the guiding groove. The guiding wheel is engaged with the guiding groove to guide the unmanned trailer to move along the guiding groove until the guiding bracket moves to the first position of the guiding groove and is stopped by the stopping mechanism. The locking unit moves to the first position of the guiding groove until it abuts against the guiding bracket to lock the unmanned trailer. Thus, through an auxiliary positioning scheme, the positioning accuracy required when the unmanned trailer docks for freight transportation can be controlled.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned freight transportation, and in particular, to an unmanned trailer and a positioning device, a control method, and an unmanned freight platform adapted thereto. Background Art

[0002] With the increasing maturity of driverless technology, the concept of unmanned freight transportation is gradually being popularized by various automated production enterprises. For example, in the prior art, there are usually solutions that directly use AGV freight robots to carry goods for transportation, or there are solutions that set up trailers and use AGV robots to tow them to increase freight transportation efficiency, or directly improve the trailers so that the trailers themselves have driverless functions and can be docked with each other in groups, thereby achieving the purpose of saving labor costs and improving automated production efficiency.

[0003] However, with the popularization of such technical concepts, people gradually found in the process of experimentation that there are certain technical thresholds in such existing unmanned freight transportation solutions. That is, due to the application of most unmanned freight robots in outdoor environments, there is a parking accuracy deviation of about 10-15 cm. Therefore, in practical applications such as freight docking, such as docking with freight lines, it is not ideal and there is still a certain gap from meeting actual production use. And if we want to further improve the positioning accuracy of such unmanned freight robots, if we start from replacing more precise positioning functional devices, the manufacturing cost will be greatly increased, which is unacceptable to the market. Summary of the Invention

[0004] Therefore, the main object of the present invention is to provide an unmanned trailer and its positioning device, control method, and unmanned freight platform, so as to achieve the required positioning accuracy when controlling the unmanned trailer for freight docking through an auxiliary positioning solution.

[0005] To achieve the above object, according to the first aspect of the present invention, there is provided an unmanned trailer, including: a frame, wheels, and further including: a guiding device provided on the first side of the frame, wherein the guiding device includes: a guiding bracket, a guiding wheel, and the guiding wheel is connected to the frame through the guiding bracket so that the guiding wheel is spaced from the frame.

[0006] In a possible preferred embodiment, the unmanned trailer further includes: a roller conveyor device provided on the top of the frame, the guiding bracket extends obliquely with respect to the frame, and the guiding wheel is arranged parallel to the frame.

[0007] To achieve the above object, according to the second aspect of the present invention, there is provided an unmanned trailer positioning device adapted to the above-mentioned unmanned trailer, which includes: a guide rail unit, a locking unit, wherein the locking unit includes: a stopping mechanism, a locking mechanism, and the guide rail unit includes: a first guide rail member, a second guide rail member, wherein the first guide rail member and the second guide rail member are arranged at intervals to define a guiding groove, the stopping mechanism is arranged at a first position of the guiding groove, the locking unit is arranged at a second position of the guiding groove, and the guiding wheel is engaged with the guiding groove to guide the unmanned trailer to move along the guiding groove until the guiding bracket moves to the first position of the guiding groove and is stopped by the stopping mechanism, and the locking unit moves to the first position of the guiding groove until it abuts against the guiding bracket to lock the unmanned trailer.

[0008] In a possible preferred embodiment, a first folding point is provided on the first guide rail member to extend obliquely to the first side to form a first guiding section, and a second folding point is provided on the second guide rail member to extend obliquely to the second side to form a second guiding section. The first guiding section and the second guiding section are spaced apart in a trumpet opening shape, and the first guiding section is longer than the second guiding section.

[0009] In a possible preferred embodiment, the locking mechanism includes: a first telescopic device, a first sliding track, a first slider, a locking member, a stop post, and an elastic member. The first slider and the first sliding track are engaged to form a track sliding mechanism. The telescopic end of the first telescopic device is connected to the first slider. The locking member is rotatably connected to the first slider. The stop post is connected to the first slider near the tail limit position of the locking member. The two ends of the elastic member are respectively connected to the tail end of the locking member and the first slider.

[0010] In a possible preferred embodiment, the stopping mechanism includes: a second telescopic device, a second sliding track, a second slider, a blocking member, a limiting member, and a bracket. The second sliding track and the second slider are engaged to form a track sliding mechanism. The second telescopic device and the second sliding track are fixed on the first side of the bracket. The telescopic end of the second telescopic device is connected to the second slider. The blocking member is rotatably connected to the second side of the bracket. The limiting member is arranged on the second side of the bracket near the blocking member. The blocking member is located in the moving path of the second slider. The blocking member is arched by the second slider and then abuts against the limiting member to form a positioning.

[0011] In a possible preferred embodiment, the blocking member is hook-shaped, wherein an inner arc guiding wall is provided on the back of the hook body of the blocking member, and a damping portion is provided on the hook head. At least part of the top surface of the second slider is inclined. When the second slider moves, it gradually arches the guiding wall of the blocking member through its top surface, causing the blocking member to rotate until it abuts against the limiting member, so that the hook head of the blocking member abuts against the guiding bracket.

[0012] In a possible preferred embodiment, the unmanned trailer positioning device further includes: a proximity sensor, which is respectively arranged at the third and fourth positions of the guide groove, the proximity sensor is communicatively connected to the control server, the interception mechanism, the locking mechanism, and the unmanned trailer are connected to the control server and controlled. When the proximity sensor arranged at the third position of the guide groove obtains the passing sensing of the guide device, the control server stops the unmanned trailer's own power and makes the locking mechanism push the guide device to drive the unmanned trailer to move toward the first position of the guide groove. When the proximity sensor arranged at the fourth position of the guide groove obtains the passing sensing of the guide device, the control server starts the interception mechanism to clamp the guide device simultaneously with the locking mechanism to lock the position of the unmanned trailer on the guide groove.

[0013] In order to achieve the above-mentioned purpose, according to the third aspect of the present invention, a control method for an unmanned trailer positioning device is further provided, the steps of which include: S1 when the unmanned trailer is guided by the guide rail unit to enter the third position of the guide groove through the guide device, the proximity sensor feeds back a detection signal to the control server; S2 the control server stops the power of the unmanned trailer itself, and orders the locking mechanism to push the guide device to drive the unmanned trailer to move in the direction of the first position of the guide groove; S3 when the proximity sensor arranged at the fourth position of the guide groove obtains the passing of the unmanned trailer, the control server orders the stop mechanism to start, so as to clamp the guide device together with the locking mechanism, and lock the unloading position on the guide groove at the unmanned trailer position; S4 after the unmanned trailer is unloaded, the control server orders the stop mechanism to close the locking mechanism and retract, so as to release the guide device, and order the unmanned trailer to start and drive out along the guide groove.

[0014] In order to achieve the above-mentioned purpose, according to the fourth aspect of the present invention, there is also provided an unmanned freight platform, which includes: a transport line, a positioning device, wherein the positioning device is composed of the above-mentioned unmanned trailer positioning device, and the transport line is arranged on one side of the guide rail unit to connect with the cargo part of the unmanned trailer entering the locking position of the unmanned trailer positioning device.

[0015] The unmanned trailer and its positioning device, control method, and unmanned freight platform provided by the present invention can assist in positioning the unmanned trailer through an external positioning device without increasing the cost of precision positioning devices, thereby reducing the cost required to improve the parking positioning accuracy of the unmanned trailer. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0017] Figure 1Schematic structural diagram of the unmanned trailer according to the first embodiment of the present invention;

[0018] Figure 2 Schematic adaptation structure diagram of the unmanned trailer and the unmanned trailer positioning device according to the second embodiment of the present invention;

[0019] Figure 3 Schematic adaptation structure diagram of the unmanned trailer and the unmanned trailer positioning device according to the second embodiment of the present invention;

[0020] Figure 4 Schematic structural diagram of the opened state of the unmanned trailer positioning device according to the second embodiment of the present invention;

[0021] Figure 5 Schematic structural diagram of the opened state of the unmanned trailer positioning device according to the second embodiment of the present invention;

[0022] Figure 6 Schematic structural diagram of the closed state of the unmanned trailer positioning device according to the second embodiment of the present invention;

[0023] Figure 7 Schematic structural diagram of the closed state of the unmanned trailer positioning device according to the second embodiment of the present invention;

[0024] Figure 8 Schematic diagram of the steps of the control method of the unmanned trailer positioning device according to the third embodiment of the present invention;

[0025] Figure 9 Schematic structural diagram of the unmanned freight platform according to the fourth embodiment of the present invention.

[0026] Description of reference numerals

[0027] Frame 1, wheels 2, guiding device 3, roller conveyor device 4, guide rail unit 5, locking unit 6, transport line 7, guiding bracket 31, guiding wheel 32, first guide rail member 51, second guide rail member 52, guiding groove 53, stopping mechanism 61, locking mechanism 62, first guiding section 511, second guiding section 521, first telescopic device 621, first sliding track 622, first slider 623, locking member 624, stop post 625, spring 626, second telescopic device 611, second sliding track 612, second slider 613, blocking member 614, limiting member 615, bracket 616, damping portion 617, proximity sensors 618, 618'. Detailed implementation manners

[0028] To enable those skilled in the art to better understand the technical solution of the present invention, the following will describe the specific technical solution of the present invention clearly and completely in conjunction with embodiments to assist those skilled in the art to further understand the present invention. Obviously, the embodiments described in this case are only a part of the embodiments of the present invention, rather than all the embodiments. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention and without conflict with each other, the embodiments and the features in the embodiments in this application can be combined with each other. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative labor shall fall within the scope of disclosure and protection of the present invention.

[0029] In addition, the terms "first", "second", "S1", "S2", etc. in the specification, claims and drawings of the present invention are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described here can be implemented in an order other than those described here. At the same time, the terms "including" and "having" in the present invention and any of their deformations are intended to cover non-exclusive inclusion. Unless otherwise clearly specified and limited, the terms "set", "arranged", "installed", "connected", "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this case can be understood in combination with the prior art according to specific circumstances.

[0030] It should be noted that the unmanned trailer in this embodiment can be understood as the mounted trailer used by the unmanned freight robot, or can be interpreted as a trailer with autonomous driving function, and it is not limited in this embodiment.

[0031] In order to replace the positioning function of high-precision positioning devices, this solution preferably adopts a physical interference method in concept to guide the existing unmanned trailer to adjust its position when docking, so as to improve the docking positioning accuracy of the unmanned trailer, thereby reducing the dependence on high-precision positioning devices and further reducing the manufacturing cost.

[0032] Therefore, the unmanned trailer in this embodiment is designed to have a structure corresponding and adapted to the unmanned trailer positioning device.

[0033] Embodiment 1

[0034] As Figure 1As shown in the figure, this embodiment provides an unmanned trailer solution, which includes: a vehicle frame 1 and wheels 2. It further includes: a guiding device 3 arranged on the first side of the vehicle frame 1, where the guiding device 3 includes: a guiding bracket 31 and guiding wheels 32. The guiding wheels 32 are connected to the vehicle frame 1 via the guiding bracket 31, so that the guiding wheels 32 are spaced from the vehicle frame 1. The guiding bracket 31 preferably extends obliquely with respect to the vehicle frame 1, so that the guiding wheels 32 are close to the height of the wheels 2. On the one hand, this can enable the force received by the guiding wheels 32 to adjust the force application position via the guiding bracket 31 to stabilize the center of gravity of the vehicle frame 1. On the other hand, it can also leave a docking space for the cargo part on the vehicle frame 1. In addition, each of the guiding wheels 32 is preferably arranged parallel to the vehicle frame 1.

[0035] In addition, for the convenience of cargo transportation, the unmanned trailer may further include: a drum conveying device 4, which can be arranged on the top of the vehicle frame 1 for carrying goods.

[0036] Embodiment Two

[0037] As Figures 2 to 7 shown in the figure, in order to facilitate guiding the unmanned trailer in Embodiment One into a preset docking position, this embodiment provides an unmanned trailer positioning device, which includes: a guide rail unit 5 and a locking unit 6. The locking unit 6 includes: a stopping mechanism 61 and a locking mechanism 62. The guide rail unit 5 includes: a first guide rail member 51 and a second guide rail member 52. The first guide rail member 51 and the second guide rail member 52 are arranged at intervals to define a guiding groove 53. The stopping mechanism 61 is arranged at a first position of the guiding groove 53 to limit the parking position of the unmanned trailer on the guiding groove 53, and the locking unit 6 is arranged at a second position of the guiding groove 53 for cooperating with the stopping mechanism 61 to lock the unmanned trailer. The guiding wheels 32 are engaged with the guiding groove 53 to guide the unmanned trailer to move along the guiding groove 53 until the guiding bracket 31 moves to the first position of the guiding groove 53 and is stopped by the stopping mechanism 61, and the locking unit 6 then moves to the first position of the guiding groove 53 until it abuts against the guiding bracket 31 to lock the unmanned trailer.

[0038] Specifically, as Figures 2 to 3As shown, in order to meet the driving positioning accuracy of the existing unmanned trailer and facilitate the guiding wheel 32 to smoothly enter the guiding groove 53, in the preferred embodiment, a first folding point is provided on the first guide member 51 to extend obliquely towards the first side to form a first guiding section 511, and a second folding point is provided on the second guide member 52 to extend obliquely towards the second side to form a second guiding section 521. The inclination angle of the second guiding section 521 is greater than that of the first guiding section 511, so as to better adapt to the driving positioning accuracy of the unmanned trailer, and thus reliably guide the guiding wheel 32 into the guiding groove 53 on the driving-in side of the unmanned trailer. Based on this design concept, structurally, the first guiding section 511 and the second guiding section 521 are spaced apart in a horn-shaped opening, and preferably the first guiding section 511 is longer than the second guiding section 521, thereby further ensuring that the guiding wheel 32 smoothly enters the guiding groove 53.

[0039] At this time, since the guiding bracket 31 extends obliquely towards the outside of the vehicle frame 1, an interval can be formed between the wheels 2 of the unmanned trailer and the second guide member 52 to avoid collision between the two.

[0040] On the other hand, as Figures 4 to 7 shown, the locking mechanism 62 includes: a first telescopic device 621, a first sliding track 622, a first slider 623, a locking member 624, a stop post 625, and a spring 626. The first slider 623 and the first sliding track 622 are engaged to form a track sliding mechanism. The first telescopic device 621 can be a telescopic cylinder in this embodiment, and its telescopic end is connected to the first slider 623. The locking member 624 is rotatably connected to the first slider 623. The stop post 625 is connected to the first slider 623 near the tail limit of the locking member 624. Both ends of the elastic member are respectively connected to the tail end of the locking member 624 and the first slider 623.

[0041] It is worth mentioning that an arc-shaped guiding wall is provided on one side of the locking member 624 close to the guiding groove 53, and the stop post 625 abuts against the tail of the locking member 624 to keep the arc-shaped guiding wall of the locking member 624 extending into the guiding groove 53 in the normal state. Thus, when the guiding bracket 31 of the unmanned trailer passes by, the locking member 624 can be smoothly pushed open by the arc-shaped guiding wall of the locking member 624 to allow the guiding bracket 31 to pass through. After that, the locking member 624 can return to its normal position under the action of the spring 626. At this time, by the push of the first telescopic device 621, the locking member 624 can abut against the back of the guiding bracket 31, thereby realizing the function of the locking mechanism 62 of allowing passage in the forward direction and locking in the reverse direction on the guiding groove 53 to prevent the unmanned trailer from slipping backward.

[0042] Corresponding to the locking mechanism 62, in order to form a stopping effect in front of the guiding bracket 31, the stopping mechanism 61 in this embodiment includes: a second expander 611, a second sliding track 612, a second slider 613, a blocking member 614, a limiting member 615, and a bracket 616. The second sliding track 612 and the second slider 613 are mated to form a track sliding mechanism. The second expander 611 and the second sliding track 612 are fixed on the first side of the bracket 616. In this embodiment, the second expander 611 is an expansion cylinder, and its expansion end is connected to the second slider 613. The blocking member 614 is rotatably connected to the second side of the bracket 616. The limiting member 615 is arranged on the second side of the bracket 616 near the blocking member 614. The back part of the blocking member 614 is on the moving path of the second slider 613, so that the blocking member 614 can be propped against the limiting member 615 after being propped by the second slider 613 to form positioning.

[0043] Specifically, due to the self-weight of the unmanned trailer and its load generating a moving inertia force, the stopping mechanism 61 needs to fully consider the force problem in design. Therefore, in the preferred embodiment, the blocking member 614 is in a hook shape. An inner arc guiding wall is provided on the back of the hook body of the blocking member 614, and a damping portion 617 is provided on the hook head. The damping portion 617 can be a damping rubber pad. At least part of the top surface of the second slider 613 is inclined, so that when the second slider 613 moves, it gradually props the guiding wall of the blocking member 614 through its top surface, prompting the blocking member 614 to gradually rotate until it abuts against the limiting member 615, so that the hook head of the blocking member 614 abuts against the guiding bracket 31.

[0044] As Figures 6 to 7 shown, after the blocking member 614 is designed in a hook shape, part of the inertia force transmitted by the guiding bracket 31 can be dispersed to the hook body. At the same time, relying on the high anti-deformation ability of the hook shape itself, it can ensure that the hook head resists the inertia impact force of the unmanned trailer with the support of the damping portion 617. On the other hand, in order to ensure that the blocking member 614 is not knocked open by this inertia impact force, the stopping mechanism 61 is designed with a back-to-back force-bearing structure, that is, the track sliding mechanism is fixed on the first side of the bracket 616, so that the back of the blocking member 614 can rely on the second slider 613, and at the same time, this inertia impact force is dispersed on the second slider 613 and the bracket 616, thereby improving the overall structural rigidity of the stopping mechanism 61 and the anti-inertia impact force of the blocking member 614.

[0045] On the other hand, in order to achieve automatic control, as Figure 4As shown, in the preferred embodiment, the unmanned trailer positioning device further includes proximity sensors 618 and 618', which are respectively arranged at the third and fourth positions of the guiding groove 53. The proximity sensors 618 and 618' can be connected to the control server, while the stopping mechanism 61, the locking mechanism 62, and the unmanned trailer can be connected to the control server and controlled. When the proximity sensor 618 arranged at the third position of the guiding groove 53 senses the passing of the guiding device 3, the control server can stop the self-power of the unmanned trailer and make the locking mechanism 62 push the guiding device 3 to drive the unmanned trailer to move in the direction of the first position of the guiding groove 53. When the proximity sensor 618' arranged at the fourth position of the guiding groove 53 senses the passing of the guiding device 3, the control server can activate the stopping mechanism 61 to clamp the guiding device 3 simultaneously with the locking mechanism 62, thereby locking the position of the unmanned trailer on the guiding groove 53.

[0046] Embodiment III

[0047] As Figure 8 shown, corresponding to the unmanned trailer positioning device in the above Embodiment II, this embodiment also provides a control method for the unmanned trailer positioning device, and its steps include:

[0048] S1 When the unmanned trailer is guided by the guiding device 3 and enters the third position of the guiding groove 53 under the guidance of the guide rail unit 5, after the proximity sensor 618 feeds back a detection signal to the control server;

[0049] S2 The control server stops the self-power of the unmanned trailer and makes the locking mechanism 62 push the guiding device 3 to drive the unmanned trailer to move in the direction of the first position of the guiding groove 53;

[0050] S3 When the proximity sensor 618 arranged at the fourth position of the guiding groove 53 senses the passing of the unmanned trailer, the control server activates the stopping mechanism 61 to clamp the guiding device 3 simultaneously with the locking mechanism 62, and locks the unloading position of the unmanned trailer on the guiding groove 53;

[0051] S4 After the unmanned trailer unloads the goods, the control server makes the stopping mechanism 61 close and the locking mechanism 62 retract to release the guiding device 3, and makes the unmanned trailer start to drive out along the guiding groove 53.

[0052] In addition, it should be noted that the method steps of this embodiment are only used to illustrate an exemplary control method that can be performed by the structure of the unmanned trailer positioning device of this embodiment. Therefore, those skilled in the art can adjust the front and back steps of various control methods according to the structure of the device and in combination with the on-site conditions. Therefore, any improvement of any control step made without departing from the structural scope of the unmanned trailer positioning device of this embodiment falls within the scope of the disclosure of this embodiment.

[0053] Embodiment 4

[0054] like Figure 9 As shown, corresponding to the unmanned trailer of the above-mentioned embodiment 1 and the unmanned trailer positioning device of embodiment 2, the present invention further provides an unmanned freight platform, which includes: a transportation line 7, a positioning device, wherein the positioning device is composed of the unmanned trailer positioning device in the above-mentioned embodiment, and the transportation line 7 is arranged on one side of the guide rail unit 5 to connect with the cargo-carrying part of the unmanned trailer entering the locking position of the unmanned trailer positioning device, thereby facilitating the unmanned trailer to be connected with the transportation line 7 to unload / load goods.

[0055] In summary, the unmanned trailer and its positioning device, control method, and unmanned freight platform provided by the present invention can assist in positioning the unmanned trailer through an external positioning device without increasing the cost of precision positioning devices, thereby reducing the cost required to improve the parking positioning accuracy of the unmanned trailer.

[0056] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is only limited by the claims and their full scope and equivalents. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

[0057] Those skilled in the art can understand that, in addition to implementing the systems, devices, and their respective modules provided by the present invention in the form of pure computer-readable program codes, the method steps can be logically programmed to enable the systems, devices, and their respective modules provided by the present invention to be implemented in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc. to achieve the same program. Therefore, the systems, devices, and their respective modules provided by the present invention can be regarded as a kind of hardware component, and the modules included therein for implementing various programs can also be regarded as the structures within the hardware component; the modules for implementing various functions can also be regarded as either software programs for implementing the methods or the structures within the hardware component.

[0058] In addition, all or part of the steps in the methods of the above embodiments can be completed by a program instructing relevant hardware. The program is stored in a storage medium, including several instructions for enabling a single-chip microcomputer, a chip, or a processor to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs.

[0059] In addition, any combinations can be made among the various different implementation manners of the embodiments of the present invention, as long as they do not violate the idea of the embodiments of the present invention, and they should also be regarded as the content disclosed by the embodiments of the present invention.

Claims

1. An unmanned trailer positioning device for adapting to an unmanned trailer, characterized in that Comprising: A guide rail unit and a locking unit, wherein the unmanned trailer comprises a vehicle frame, wheels, and a guiding device. The guiding device is arranged on the first side of the vehicle frame and includes a guiding bracket and guiding wheels. The guiding wheels are connected to the vehicle frame via the guiding bracket, so that the guiding wheels are spaced from the vehicle frame. The locking unit includes a stopping mechanism and a locking mechanism. The guide rail unit includes a first guide rail member and a second guide rail member. The first guide rail member and the second guide rail member are spaced apart to define a guiding groove. The stopping mechanism is arranged at a first position of the guiding groove, and the locking unit is arranged at a second position of the guiding groove. The guiding wheels are engaged with the guiding groove to guide the unmanned trailer to move along the guiding groove until the guiding bracket moves to the first position of the guiding groove and is stopped by the stopping mechanism. The locking unit moves to the first position of the guiding groove until it abuts against the guiding bracket to lock the unmanned trailer. Wherein, a first folding point is provided on the first guide rail member to obliquely extend a first guiding section towards the first side, and a second folding point is provided on the second guide rail member to obliquely extend a second guiding section towards the second side. The first guiding section and the second guiding section are spaced apart in a trumpet-shaped opening, and the first guiding section is longer than the second guiding section. The locking mechanism includes a first telescopic device, a first sliding track, a first slider, a locking member, a stop post, and an elastic member. The first slider is engaged with the first sliding track to form a track sliding mechanism. The telescopic end of the first telescopic device is connected to the first slider. The locking member is rotatably connected to the first slider. The stop post is connected to the first slider near the tail limit position of the locking member. The two ends of the elastic member are respectively connected to the tail end of the locking member and the first slider.

2. The unmanned trailer positioning device according to claim 1, characterized in that, The stopping mechanism includes a second telescopic device, a second sliding track, a second slider, a blocking member, a limiting member, and a bracket. The second sliding track is engaged with the second slider to form a track sliding mechanism. The second telescopic device and the second sliding track are fixed on the first side of the bracket. The telescopic end of the second telescopic device is connected to the second slider. The blocking member is rotatably connected to the second side of the bracket. The limiting member is arranged on the second side of the bracket near the blocking member. The back part of the blocking member is on the moving path of the second slider. The blocking member is arched by the second slider and then abuts against the limiting member to form a positioning.

3. The unmanned trailer positioning device according to claim 2, characterized in that, The blocking member is hook-shaped. An inner arc-shaped guiding wall is provided on the back of the hook body of the blocking member, and a damping portion is provided on the hook head. At least part of the top surface of the second slider is inclined. When the second slider moves, it gradually arches the guiding wall of the blocking member through its top surface, prompting the blocking member to rotate until it abuts against the limiting member, so that the hook head of the blocking member abuts against the guiding bracket.

4. The unmanned trailer positioning device according to claim 1, wherein It also includes: proximity sensors, which are respectively arranged at the third and fourth positions of the guide groove, the proximity sensors are communicatively connected to the control server, the interception mechanism, the locking mechanism, and the unmanned trailer are connected to the control server and controlled. When the proximity sensor arranged at the third position of the guide groove obtains the passing of the guide device, the control server stops the power of the unmanned trailer itself, and makes the locking mechanism push the guide device to drive the unmanned trailer to move toward the first position of the guide groove. When the proximity sensor arranged at the fourth position of the guide groove obtains the passing of the guide device, the control server starts the interception mechanism to clamp the guide device together with the locking mechanism to lock the position of the unmanned trailer on the guide groove.

5. A control method for the unmanned trailer positioning device according to any one of claims 1 to 4, characterized in that the steps are as follows include: S1 When the unmanned trailer is guided by the guide rail unit into the third position of the guide groove through the guide device, the proximity sensor feeds back a detection signal to the control server; S2: The control server stops the power of the unmanned trailer and causes the locking mechanism to push the guide device to drive the unmanned trailer to move toward the first position of the guide groove; S3 When the proximity sensor disposed at the fourth position of the guide groove senses the passing of the unmanned trailer, the control server activates the interception mechanism to clamp the guide device together with the locking mechanism to lock the unloading position on the guide groove at the position of the unmanned trailer; S4 After the unmanned trailer is unloaded, the control server instructs the stopping mechanism to close the locking mechanism and retract to release the guide device, and the unmanned trailer is started to drive out along the guide groove.

6. An unmanned freight platform, characterized in that include: A transport line, a positioning device, wherein the positioning device is composed of an unmanned trailer positioning device as described in any one of claims 1 to 4, and the transport line is arranged on one side of the guide rail unit to connect with the cargo part of the unmanned trailer entering the locking position of the unmanned trailer positioning device.

Images