An intelligent self-driving sample transport vehicle

Abstract

The present invention discloses an intelligent automatic driving sample transport vehicle, which is characterized in that it consists of a vehicle frame, a driving system, a power system, a steering device, a braking device, a cooling system, a navigation control device, a rolling door system, a safety protection device, an appearance part, a pressing tooling and an electrical device; it can realize long-distance operation indoors and outdoors around the clock (except in extremely bad weather), has unmanned driving capability, and can automatically operate in a closed park, and in most cases does not require human intervention; it realizes unmanned and intelligent decentralized secondary collection, transportation and sorting; the unmanned power-level packaged coal sample transportation system based on unmanned driving has the capabilities of automatically generating task plans, automatically issuing task instructions, automatically receiving and completing tasks, and automatically monitoring and alarming status.

Description

Technical Field

[0001] The present invention relates to the technical field of material transfer equipment, and specifically to an intelligent automatic driving sample transport vehicle that can realize unmanned and intelligent decentralized secondary transport sorting. Background Art

[0002] In the production process of large factories and docks, many large and heavy materials are transported manually or by tractors, which is not only labor-intensive, but also has low transportation efficiency and poor safety. It also does not meet the requirements of energy conservation and environmental protection. In the modern production process where intelligent automation is becoming increasingly popular, the commonly used automated transportation equipment is the sample transport vehicle, that is, the automatic guided vehicle AGV. The existing unmanned vehicles cannot be automatically docked and are only semi-automated. The disadvantages of the current transportation method are: 1. There are many steps in the operation method, and the labor intensity of the operator is high; 2. Multiple cycles of transportation and low transportation efficiency; 3. In certain dusty or strong magnetic environments, it will be harmful to the operator's health. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the above-mentioned existing technologies and provide an intelligent automatic driving sample transport vehicle.

[0004] The technical solution provided by the present invention is: an intelligent automatic driving sample transport vehicle, which is special in that it is composed of a frame, a drive system, a power system, a steering device, a braking device, a cooling system, a navigation control device, a rolling door system, a safety protection device, an appearance part, a press-fitting tool and an electrical device;

[0005] The appearance parts are installed on the periphery of the vehicle frame to play a protective role, and the rolling door system and the pressing tooling are installed on the vehicle frame;

[0006] The driving system includes a permanent magnet synchronous drive motor, a vehicle controller, a five-in-one controller, a transfer case, a steering drive axle, and a rubber tire; the permanent magnet synchronous drive motor is connected to the five-in-one controller through a circuit; the vehicle controller controls the five-in-one controller to control the output torque and speed of the permanent magnet synchronous drive motor; after the power is transmitted to the transfer case, the power is distributed to the front and rear steering drive axles, thereby driving the rubber tire to travel on a specified route; the permanent magnet synchronous drive motor, the vehicle controller, the five-in-one controller, and the transfer case are respectively fixed on the vehicle frame, and the steering drive axle is connected to the rubber tire;

[0007] The power system includes a high-voltage power battery, a BMS power management system, and a low-voltage storage battery; the high-voltage power battery provides high-voltage electricity to the permanent magnet synchronous drive motor or charges the low-voltage storage battery through a five-in-one controller under the control of the vehicle controller through the BMS power management system; the low-voltage storage battery provides a low-voltage working power supply for the vehicle electrical appliances; the BMS power management system is placed in the high-voltage power battery, and the high-voltage power battery and the low-voltage storage battery are located on the vehicle frame;

[0008] The steering system includes a five-in-one controller, a proportional solenoid valve, a hydraulic oil tank, a steering drive axle, and an angle sensor; the five-in-one controller receives a control signal from a vehicle controller, controls a permanent magnet steering drive motor to proportionally control the flow of hydraulic oil into a steering cylinder through a proportional solenoid valve, drives the deflection of the wheel through the extension and contraction of the steering cylinder, and controls the steering and return of the vehicle; the angle sensor is located on the steering drive axle, and the angle sensor feeds back the wheel deflection angle in real time to correct the vehicle's steering angle; the proportional solenoid valve, the permanent magnet synchronous drive motor and the hydraulic oil tank are connected through a hydraulic pipeline, and the steering cylinder is connected to the steering drive axle housing;

[0009] The braking device includes a permanent magnet synchronous drive motor, a five-in-one controller, an air pressure sensor, a dryer, and an air reservoir; the permanent magnet synchronous drive motor is controlled by the five-in-one controller, starts and stops as needed, and provides compressed air to enter the air reservoir and the control valve after passing through the air pressure sensor and the dryer during operation; the air pressure sensor and the dryer feedback pressure to the vehicle controller, and the vehicle controller controls the air reservoir as needed to realize the vehicle's arrival braking, emergency braking, and brake release; the permanent magnet synchronous drive motor and the air reservoir are connected through a brake pipe bundle;

[0010] The cooling system includes a DC water pump and a radiator. When the DC water pump is working, it drives the cooling water in the radiator to circulate to dissipate heat for the permanent magnet synchronous drive motor and the five-in-one controller. The radiator and the DC water pump are both fixed on the vehicle frame.

[0011] The navigation control device includes an industrial computer, a laser radar, and a camera. The camera provides images to correct the vehicle's route in real time. The laser radar is used for precise positioning and obstacle avoidance. The hand remote control controls the vehicle's movements manually. The industrial computer is fixed to the frame through a bracket, and the laser radar and camera are installed on the exterior parts.

[0012] The safety protection device includes a travel switch, an emergency stop switch, a signal light, an audible and visual alarm, and a bumper; the industrial computer sends a deceleration or braking command to the vehicle controller based on the obstacle distance determined by the laser radar, and when the bumper hits the obstacle, the travel switch is triggered to send an emergency braking command to the vehicle controller; the emergency stop switch is used to manually trigger the emergency braking of the vehicle when the vehicle encounters an emergency; the signal light and the audible and visual alarm are used to issue corresponding warnings when the vehicle performs corresponding actions; the travel switch, the emergency stop switch, the signal light and the audible and visual alarm are connected through a low-voltage wiring harness, and the bumper is assembled on the frame;

[0013] The electrical device includes a power switch, an ignition lock, an electrical box and high and low voltage wiring harnesses; the power switch is used to control the on and off of the low-voltage 24V low-voltage power supply, the ignition lock is used to control the vehicle self-inspection and start-up, and the electrical box contains fuses and relays for the protection and control of the vehicle's low-voltage electrical appliances; the electrical appliances of each device are interconnected through high and low voltage wiring harnesses, which are used for the transmission of high and low voltage power and communication and control signals, thereby realizing the various functional actions of the vehicle.

[0014] Furthermore, the rolling door system includes a carriage and a rolling door. The carriage is fixed to the frame through a bracket, and the rolling door is located at the rear end of the carriage.

[0015] Furthermore, the frame adopts a carbon steel structure.

[0016] Furthermore, the five-in-one controller consists of a motor controller module, two AC / DC modules, a DC / DC module, and a high-voltage power distribution module. The motor controller module sends a signal to the permanent magnet synchronous drive motor, the two AC / DC modules are used to control the permanent magnet synchronous steering motor respectively, the DC / DC module is used to charge the low-voltage battery, and the high-voltage power distribution module is used to distribute the electric energy of the high-voltage power battery to the motor controller module, the two AC / DC modules, and the DC / DC module.

[0017] Beneficial effects of the present invention:

[0018] 1. Achieve long-distance operation that can meet all-weather requirements indoors and outdoors (except for extremely bad weather);

[0019] 2. The vehicle has low requirements for the road surface and strong passability. It can pass through speed bumps and potholes smoothly. It has unmanned driving capabilities and can operate automatically in a closed park. In most cases, no human intervention is required;

[0020] 3. Realize unmanned and intelligent decentralized secondary collection, transportation and sorting;

[0021] 4. The unmanned power-level packaged coal sample transportation system has the functions of automatically generating task plans, automatically issuing task instructions, automatically receiving and completing tasks, and automatically monitoring and alarming the status;

[0022] 5. The rolling door system and pressing tooling are used to complete the automation of the entire process of intelligent fuel circulation, and realize seamless connection between the unmanned sample transport vehicle and the secondary collection unit and the decentralized secondary automatic sorting and feeding unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the structure of the present invention;

[0024] Figure 2 It is a schematic diagram of the three-dimensional structure of the present invention;

[0025] Figure 3 Schematic diagram of a navigation control device of the present invention.

[0026] In the figure: 1 car body, 2 rolling door system, 3 frame, 4 drive system, 5 power system, 6 steering system, 7 cooling system, 8 braking device, 9 navigation control device, 10 safety protection device, 11 appearance parts, 12 electrical device, 13 high-voltage box, 14 vehicle controller, 15 angle sensor, 16 transfer case, 17 rubber tire, 18 control box, 20 permanent magnet synchronous drive motor, 21 five-in-one controller, 22 steering drive axle, 23 high-voltage power battery, 24 BMS power management system, 25 low-voltage battery, 26 proportional solenoid valve, 27 hydraulic oil tank, 28 pressing tooling, 29 industrial computer, 30 air pressure sensor, 31 dryer, 32 air cylinder, 33 DC water pump, 34 radiator, 35 laser radar, 36 camera, 37 bumper, 38 rolling door. Implementation

[0027] For better understanding and implementation, the present invention is further described in detail below with reference to the accompanying drawings.

[0028] like Figure 1 , 2 As shown in FIG. 3 , an intelligent automatic driving sample transport vehicle is composed of a frame 3, a drive system 4, a power system 5, a steering device 6, a brake device 8, a cooling system 7, a navigation control device 9, a rolling door system 2, a safety protection device 10, an appearance part 11, a press-fitting tool 28 and an electrical device 12;

[0029] The frame 3 is made of carbon steel structure, which is stable and not easy to deform;

[0030] The appearance part 11 is installed on the periphery of the frame 3 to play a protective role, and the press-fitting tool 28 is installed on the frame 3;

[0031] The rolling door system 2 includes a carriage 1 and a rolling door 38. The carriage 1 is fixed to the frame 3 through a bracket, and the rolling door 38 is located at the rear end of the carriage 1.

[0032] The drive system 4 includes a permanent magnet synchronous drive motor 20, a vehicle controller 14, a five-in-one controller 21, a transfer case 16, a steering drive axle 22, and a rubber tire 17; the permanent magnet synchronous drive motor 20 is connected to the five-in-one controller 21 through a circuit; the vehicle controller 14 controls the five-in-one controller 21 to control the output torque and speed of the permanent magnet synchronous drive motor 20; after the power is transmitted to the transfer case 16, the power is distributed to the front and rear steering drive axles 22, thereby driving the rubber tire 17 to travel on a specified route; the permanent magnet synchronous drive motor 20, the vehicle controller 14, the five-in-one controller 21, and the transfer case 16 are respectively fixed on the frame 3, and the steering drive axle 22 is connected to the rubber tire 17;

[0033] The power system 5 includes a high-voltage power battery 23, a BMS power management system 24, and a low-voltage storage battery 25; the high-voltage power battery 23 provides high-voltage electricity to the permanent magnet synchronous drive motor 20 or charges the low-voltage storage battery 25 through the five-in-one controller 21 under the control of the vehicle controller 14 through the BMS power management system 24; the low-voltage storage battery 25 provides a low-voltage working power supply for the vehicle electrical appliances; the BMS power management system 24 is placed in the high-voltage power battery 23, and the high-voltage power battery 23 and the low-voltage storage battery 25 are located on the frame 3;

[0034] The five-in-one controller 21 is composed of a motor controller module, two AC / DC modules, a DC / DC module, and a high-voltage power distribution module. The motor controller module sends a signal to the permanent magnet synchronous drive motor 20. The two AC / DC modules are used to control the permanent magnet synchronous steering motor, the DC / DC module is used to charge the low-voltage battery, and the high-voltage power distribution module is used to distribute the electric energy of the high-voltage power battery 23 to the motor controller module, the two AC / DC modules, and the DC / DC module.

[0035] The steering system 6 includes a five-in-one controller 21, a proportional solenoid valve 26, a hydraulic oil tank 27, a steering drive axle 22, and an angle sensor 15; the five-in-one controller 21 receives a control signal from a vehicle controller 14, controls a permanent magnet steering drive motor 20 to proportionally control the hydraulic oil to flow into a steering cylinder through a proportional solenoid valve 26, drives the wheel to deflect through the extension and contraction of the steering cylinder, and controls the steering and return of the vehicle; the angle sensor 15 is located on the steering drive axle 22, and the angle sensor 15 feeds back the wheel deflection angle in real time to correct the vehicle steering angle; the proportional solenoid valve 26, the permanent magnet synchronous drive motor 20 and the hydraulic oil tank 27 are connected through a hydraulic pipeline, and the steering cylinder is connected to the axle housing of the steering driver 22;

[0036] The brake device 8 includes a permanent magnet synchronous drive motor 20, a five-in-one controller 21, an air pressure sensor 30, a dryer 31, and an air reservoir 32; the permanent magnet synchronous drive motor 20 is controlled by the five-in-one controller 21, starts and stops as needed, and provides compressed air to enter the air reservoir 32 and the control valve after passing through the air pressure sensor 30 and the dryer 31 during operation; the air pressure sensor 30 and the dryer 31 feedback pressure to the vehicle controller 14, and the vehicle controller 14 controls the air reservoir 32 as needed to realize the vehicle's arrival braking, emergency braking, and brake release; the permanent magnet synchronous drive motor 20 and the air reservoir 32 are connected through a brake pipe bundle;

[0037] The cooling system 7 includes a DC water pump 33 and a radiator 34. When the DC water pump 33 is working, it drives the cooling water in the radiator 34 to circulate to dissipate heat for the permanent magnet synchronous drive motor 20 and the five-in-one controller 21. The radiator 34 and the DC water pump 33 are both fixed on the frame 3.

[0038] The navigation control device 9 includes an industrial computer 29, a laser radar 35, and a camera 36. The camera 36 provides images to correct the vehicle's route in real time. The laser radar 35 is used for precise positioning and obstacle avoidance. The personnel remotely controls the vehicle's movements through a manual remote controller. The industrial computer 29 is fixed to the vehicle frame 3 through a bracket, and the laser radar 35 and the camera 36 are installed on the exterior part 11.

[0039] The safety protection device 10 includes a travel switch, an emergency stop switch, a signal light, an audible and visual alarm, and a bumper 37; the industrial computer 29 sends a deceleration or braking command to the vehicle controller 14 based on the obstacle distance determined by the laser radar 35, and when the bumper 37 hits an obstacle, the travel switch is triggered to send an emergency braking command to the vehicle controller 14; the emergency stop switch is used to manually trigger the emergency braking of the vehicle when the vehicle encounters an emergency; the signal light and the audible and visual alarm are used to issue corresponding warnings when the vehicle performs corresponding actions; the travel switch, the emergency stop switch, the signal light and the audible and visual alarm are connected through a low-voltage wiring harness, and the bumper 37 is assembled on the frame 3;

[0040] The electrical device 12 includes a power switch, an ignition lock, an electrical box and high and low voltage wiring harnesses; the power switch is used to control the on and off of the low-voltage 24V low-voltage power supply, the ignition lock is used to control the vehicle self-test and start-up, and the electrical box contains fuses and relays for protecting and controlling the vehicle's low-voltage electrical appliances; the electrical appliances of the vehicle controller 14, BMS power management system 24, five-in-one controller 21, hand remote control, proportional solenoid valve 26 and other devices need to be interconnected through high and low voltage wiring harnesses for high and low voltage power transmission and communication and control signal transmission, thereby realizing various functional actions of the vehicle.

[0041] The working principle of the intelligent automatic driving sample transport vehicle of the present invention is as follows:

[0042] When the key is in the ON position, the vehicle electrical system is connected to a 24V low voltage power supply, and the system self-checks. If there is no problem in the self-check, it can continue to rotate to the START position to connect to the high voltage, or wait for the background industrial computer to command to connect to the high voltage. After the high voltage is started, the vehicle controller controls the permanent magnet synchronous drive motor to work, and the permanent magnet synchronous drive motor works to charge the air reservoir, and stops working when the set pressure is reached; after the vehicle controller receives the parking brake contact signal sent back by the pressure sensor in the brake system, it can move forward, backward, turn, etc. according to the instructions of the industrial computer;

[0043] When an obstacle appears during operation, the product will take emergency braking or slowly decelerate to the set distance for braking, depending on the set distance, until the obstacle leaves the channel range and then continues to run along the prescribed route;

[0044] The BMS power management system is responsible for managing battery data collection, battery state estimation (SOC), battery pack safety management, battery pack thermal management, and CAN bus communication. At the same time, it communicates with the charger data through the CAN bus to complete both fast charging and normal charging modes.

[0045] The sample transport vehicle is automatically and accurately connected with the secondary collection unit and the decentralized secondary automatic sorting and feeding unit; the sample transport vehicle is seamlessly connected with the secondary collection unit and the decentralized secondary automatic sorting and feeding unit, and the sample barrels are automatically transported; the high-precision positioning technology is used, and under the coordinated command of the sample barrel circulation system and the traffic control system, the route is automatically planned, and accurate positioning can be achieved, so that unmanned loading and unloading of sample barrels can be realized; it has the functions of automatic opening and closing of rolling doors and fixing of sample barrels in the vehicle. The control center can realize real-time monitoring of the vehicle's position and driving trajectory. The vehicle is equipped with a driving recorder and video monitoring equipment, and the rolling door is opened automatically;

[0046] The decentralized secondary automatic sorting and feeding unit mainly includes an automatic sample barrel sorting device, a conveying system, an automatic lid opening device, a cleaning device, a stacking and transferring device, an automatic capping device, an empty barrel buffer and an electrical system. Each secondary collection unit has an automatic lid opening device, which has the functions of automatically positioning, fixing and opening the empty barrel. The opened barrels and lids are respectively sent to the empty sample barrel buffer and the stacking and transferring device through the conveying system to facilitate the replenishment of barrels and lids.

[0047] The secondary collection units are all equipped with automatic capping devices, which can automatically fix the sample barrels, automatically deliver the lids, press the lids, and cap the barrels, and can automatically accept the barrel lids added by the stacking and transferring device. The automatic sample barrel sorting device has the function of automatically docking with the AGV unmanned transport vehicle, automatically transporting the sample barrels to the system, and then waiting to receive commands from the control center. When the command is issued, the system automatically uses the barrel bottom code as the main batch information confirmation code. If the barrel bottom code cannot be recognized, the system automatically uses the barrel lid code as the batch information confirmation code, and automatically sorts out the batches of coal samples that need to be prepared based on the batch code information and automatically transports the batch of sample barrels to the designated location.

[0048] The intelligent automatic driving sample transport vehicle of the present invention adopts a reliable electric commercial vehicle chassis structure, can realize forward, backward, left and right turns under load, has stable operation, flexible steering, adjustable speed, and has an audible and visual alarm device;

[0049] When the sample transport vehicle arrives at the destination, it communicates with the equipment and confirms that the sample transport vehicle has arrived. The docking success signal is reported to the upper system (if the docking equipment does not involve the production information flow, such as a hoist or rolling door, the docking signal may not be reported to the upper system, but directly reported to the AGV scheduling system); after confirmation, the upper system issues an action command, and the sample transport vehicle and the equipment start to move;

[0050] Through the sample barrel circulation system, the vehicle status (standby, running, charging, maintenance, fault) of the sample transport vehicle, vehicle power tracking, vehicle location information (update frequency is not less than 1S / time) and operation route tracking, and remote real-time monitoring of the vehicle (through the on-board camera) can be achieved.

[0051] The above embodiments are further detailed descriptions of the present invention, and it cannot be determined that the specific embodiments of the present invention are limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, several simple deductions or substitutions can be made without departing from the concept of the present invention, and the above structures should be regarded as belonging to the protection scope of the present invention.

Claims

1. An intelligent automatic driving sample transport vehicle, characterized in that: It is composed of a vehicle frame (3), a drive system (4), a power system (5), a steering device (6), a brake device (8), a cooling system (7), a navigation control device (9), a rolling door system (2), a safety protection device (10), an exterior part (11), a press-fitting tool (28), and an electrical device (12); The appearance part (11) is installed on the periphery of the vehicle frame (3) to play a protective role, and the rolling door system (2) and the pressing tool (28) are installed on the vehicle frame (3); The driving system (4) comprises a permanent magnet synchronous driving motor (20), a vehicle controller (14), a five-in-one controller (21), a transfer case (16), a steering drive axle (22), and a rubber tire (17); the permanent magnet synchronous driving motor (20) is connected to the five-in-one controller (21) via a circuit; the vehicle controller (14) controls the five-in-one controller (21) to control the output torque and speed of the permanent magnet synchronous driving motor (20); after the power is transmitted to the transfer case (16), the power is distributed to the front and rear steering drive axles (22), thereby driving the rubber tire (17) to travel on a specified route; the permanent magnet synchronous driving motor (20), the vehicle controller (14), the five-in-one controller (21), and the transfer case (16) are respectively fixed to the vehicle frame (3), and the steering drive axle (22) is connected to the rubber tire (17); The power supply system (5) comprises a high-voltage power battery (23), a BMS power management system (24), and a low-voltage storage battery (25); the high-voltage power battery (23) provides high-voltage electricity to the permanent magnet synchronous drive motor (20) or charges the low-voltage storage battery (25) through the five-in-one controller (21) under the control of the vehicle controller (14) via the BMS power management system (24); the low-voltage storage battery (25) provides low-voltage working power to the vehicle electrical appliances; the BMS power management system (24) is placed in the high-voltage power battery (23), and the high-voltage power battery (23) and the low-voltage storage battery (25) are located on the vehicle frame (3); The steering device (6) comprises a five-in-one controller (21), a proportional solenoid valve (26), a hydraulic oil tank (27), a steering drive axle (22), and an angle sensor (15); the five-in-one controller (21) receives a control signal from a vehicle controller (14), controls a permanent magnet synchronous drive motor (20) to proportionally control the flow of hydraulic oil into a steering cylinder through a proportional solenoid valve (26), drives the deflection of the wheel through the extension and contraction of the steering cylinder, and controls the steering and return of the vehicle; the angle sensor (15) is located on the steering drive axle (22), and the angle sensor (15) feeds back the wheel deflection angle in real time to correct the vehicle steering angle; the proportional solenoid valve (26), the permanent magnet synchronous drive motor (20) and the hydraulic oil tank (27) are connected through a hydraulic pipeline, and the steering cylinder is connected to the axle housing of the steering drive axle (22); The braking device (8) comprises a permanent magnet synchronous drive motor (20), a five-in-one controller (21), an air pressure sensor (30), a dryer (31), and an air reservoir (32); the permanent magnet synchronous drive motor (20) is controlled by the five-in-one controller (21), starts and stops as needed, and provides compressed air during operation, which enters the air reservoir (32) and the control valve after passing through the air pressure sensor (30) and the dryer (31); the air pressure sensor (30) and the dryer (31) feed back pressure to the vehicle controller (14), and the vehicle controller (14) controls the air reservoir (32) as needed to realize the vehicle's arrival braking, emergency braking, and brake release; the permanent magnet synchronous drive motor (20) and the air reservoir (32) are connected via a brake pipe bundle; The cooling system (7) comprises a DC water pump (33) and a radiator (34). When the DC water pump (33) is in operation, it drives the cooling water in the radiator (34) to circulate to dissipate heat for the permanent magnet synchronous drive motor (20) and the five-in-one controller (21). The radiator (34) and the DC water pump (33) are both fixed on the vehicle frame (3). The navigation control device (9) comprises an industrial computer (29), a laser radar (35), and a camera (36). The camera (36) provides images to correct the vehicle's route in real time. The laser radar (35) is used for accurate positioning and obstacle avoidance. The hand remote control controls the movement of the vehicle manually. The industrial computer (29) is fixed to the vehicle frame (3) via a bracket, and the laser radar (35) and the camera (36) are mounted on the exterior part (11). The safety protection device (10) comprises a travel switch, an emergency stop switch, a signal light, an audible and visual alarm, and a bumper (37); the industrial computer (29) sends a deceleration or braking command to the vehicle controller (14) based on the obstacle distance determined by the laser radar (35); when the bumper (37) hits the obstacle, the travel switch is triggered to send an emergency braking command to the vehicle controller (14); the emergency stop switch is used to manually trigger the emergency braking of the vehicle when the vehicle encounters an emergency; the signal light and the audible and visual alarm are used to issue a corresponding warning when the vehicle performs a corresponding action; the travel switch, the emergency stop switch, the signal light and the audible and visual alarm are connected via a low-voltage wiring harness, and the bumper (37) is mounted on the vehicle frame (3); The electrical device (12) comprises a power switch, an ignition lock, an electrical box and high and low voltage wiring harnesses; the power switch is used to control the on and off of a low voltage 24V low voltage power supply, the ignition lock is used to control vehicle self-checking and starting, and the electrical box comprises a fuse and a relay for protecting and controlling the low voltage electrical appliances of the vehicle; the electrical appliances of each device are interconnected through the high and low voltage wiring harnesses for high and low voltage electrical energy transmission and communication and control signal transmission, thereby realizing various functional actions of the vehicle; The five-in-one controller (21) is composed of a motor controller module, two AC / DC modules, a DC / DC module, and a high-voltage power distribution module. The motor controller module sends a signal to the permanent magnet synchronous drive motor (20). The two AC / DC modules are used to control the permanent magnet synchronous steering motors respectively. The DC / DC module is used to charge the low-voltage battery. The high-voltage power distribution module is used to distribute the electric energy of the high-voltage power battery (23) to the motor controller module, the two AC / DC modules, and the DC / DC module.

2. The intelligent automatic driving sample transport vehicle according to claim 1, characterized in that: The rolling door system (2) comprises a carriage (1) and a rolling door (38); the carriage (1) is fixed to a frame (3) via a bracket, and the rolling door (38) is located at the rear end of the carriage (1).

3. The intelligent automatic driving sample transport vehicle according to claim 1, characterized in that: The vehicle frame (3) adopts a carbon steel structure.

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