Unmanned vehicle and unmanned delivery system

Abstract

The present invention provides an unmanned vehicle and an unmanned delivery system, which relate to the field of unmanned logistics. The unmanned vehicle includes a vehicle body, the vehicle body having a first frame and a second frame spaced apart and a connecting frame connecting the first frame and the second frame, a through accommodating cavity is provided between the first frame and the second frame, the bottom of the accommodating cavity is provided with an opening, a vehicle-mounted hanger is provided between the first frame and the second frame, and the vehicle-mounted hanger is accommodated in the accommodating cavity. The unmanned delivery system includes a transfer robot carrying a logistics cabinet and the aforementioned unmanned vehicle. The unmanned vehicle and the unmanned delivery system provided by the present invention have a vehicle body provided with a through accommodating cavity, the bottom of the accommodating cavity is provided with an opening, and a vehicle-mounted hanger is provided between the first frame and the second frame in the accommodating cavity, so that the transfer robot carrying the logistics cabinet can move directly to the vehicle-mounted hanger through the accommodating cavity and the opening, thereby realizing rapid loading and unloading of the logistics cabinet.

Description

Technical Field

[0001] The present application relates to the field of unmanned logistics, and more specifically, to an unmanned vehicle and an unmanned delivery system. Background Art

[0002] Existing unmanned vehicles generally have a chassis, which is generally a frame structure formed by connecting longitudinal beams and cross beams. Due to the interference between the longitudinal beams and cross beams, the logistics cabinets loaded on the vehicle cannot directly pass through the chassis and descend to the ground.

[0003] Although some existing technologies have been able to lower logistics cabinets to the ground, such as the Chinese patent application number CN204100710583.6, entitled "An Unmanned Vehicle Frame and Unmanned Vehicle," which discloses an unmanned vehicle frame comprising a frame body with a hollowed-out center and an open bottom. A bracket is provided at the opening, and the frame body is provided with a lifting drive for moving the bracket up and down and a locking assembly for locking the bracket. When loading and unloading the logistics cabinet, the lifting drive can lower the logistics cabinet to the ground after the locking assembly is unlocked, as the bottom of the frame body is open.

[0004] In this solution, although the logistics cabinet can be lowered to the ground, there is still a bracket between the logistics cabinet and the ground, which will cause the following problems when loading and unloading the logistics cabinet:

[0005] First, when loading a logistics cabinet, it needs to be transported to a bracket and then secured. When using an unmanned delivery robot to transport the logistics cabinet, a ramp or other structure is needed to assist the robot in moving to the bracket. However, when the robot moves on a slope, its center of gravity is easily unstable, causing the logistics cabinet to topple over, posing a safety hazard.

[0006] Secondly, when unloading the logistics cabinet, it is necessary to use manpower or a forklift to move the logistics cabinet from the bracket to the ground, or to add rollers and power drive devices to the logistics cabinet, and use ramps and other structures to enable the logistics cabinet to be unloaded.

[0007] The above methods either have high requirements on the performance and structure of the logistics cabinet, or require manual participation, making the loading and unloading of the logistics cabinet inconvenient. Summary of the Invention

[0008] The purpose of the present invention is to provide an unmanned vehicle and an unmanned delivery system to solve the problem of inconvenient loading and unloading of logistics cabinets in the prior art.

[0009] To achieve the above objectives, the technical solution adopted in the embodiment of the present invention is:

[0010] In a first aspect, an unmanned vehicle is provided, comprising a vehicle body, the vehicle body having a first frame and a second frame spaced apart, and a connecting frame connecting the first frame and the second frame, a through accommodating cavity being provided between the first frame and the second frame, the bottom of the accommodating cavity being provided with an opening, a vehicle-mounted hanger being provided between the first frame and the second frame, the vehicle-mounted hanger being accommodated in the accommodating cavity.

[0011] In one embodiment, the unmanned vehicle also includes a lifting platform provided on the vehicle body and symmetrically arranged at both ends of the vehicle-mounted hanger. The lifting platform includes a lifting component and a locking component that cooperate with each other. The lifting component is connected to the vehicle-mounted hanger and drives the vehicle-mounted hanger to move up and down. The locking component is provided above the lifting component for locking and unlocking the lifting component.

[0012] In one embodiment, the vehicle-mounted hanger includes:

[0013] a back-hanging bracket, one end of which is connected to the first frame and the other end of which is connected to the second frame;

[0014] The suspension component is detachably mounted on the middle portion of the back-hanging bracket.

[0015] In one embodiment, the back-hanging bracket comprises:

[0016] an I-beam, both ends of which are detachably connected to the vehicle body;

[0017] A movable crossbeam is provided in the middle of the I-beam, and its two ends are detachably connected to the I-beam, and can be adjusted up and down within a preset range;

[0018] A fixed crossbeam, with both ends fixedly connected to the I-beam.

[0019] In one embodiment, the suspension assembly comprises:

[0020] A set of two guide hooks is provided on the side wall of the movable beam;

[0021] sensor components, respectively disposed on the side walls of the movable beam and the fixed beam;

[0022] A guide cone block is provided on the side wall of the fixed beam and is used in conjunction with the guide hook;

[0023] an optical guide plate, disposed on a side wall of the movable beam and located between a group of the guide hooks;

[0024] The buffer block is arranged on the side wall of the fixed beam.

[0025] In one embodiment, the guide hook includes an integrally formed hook fixing plate and a hook supporting plate, a hook limiting groove is opened on the side of the hook supporting plate, and the hook limiting groove includes a hook supporting surface and a hook correction surface arranged on both sides of the hook supporting surface.

[0026] In one embodiment, the guiding cone block includes a cone block fixing plate and a cone block supporting plate that are perpendicular to each other. A cone block limiting groove is opened on the side of the cone block supporting plate. The cone block limiting groove includes a cone block supporting surface and a cone block correction surface arranged on both sides of the cone block supporting surface.

[0027] In one embodiment, the cone block fixing plate further comprises an auxiliary positioning block provided on a side of the cone block fixing plate away from the cone block bearing plate.

[0028] In one embodiment, the vehicle-mounted hanger is arranged in the middle of the accommodating cavity, or the vehicle-mounted hanger is arranged on one side of the accommodating cavity.

[0029] In one embodiment, the unmanned vehicle further includes a perception system, which includes a top radar arranged at the upper end of the connecting frame, side radars arranged on both sides of the first frame, a front-view camera arranged on the front side of the first frame, side-view cameras arranged on both sides of the first frame and the second frame, and ultrasonic radars arranged around the vehicle body.

[0030] In a second aspect, an unmanned delivery system is provided, comprising a transfer robot and an unmanned vehicle as described in any of the above items, wherein the transfer robot comprises:

[0031] A mobile chassis and a logistics cabinet arranged above the mobile chassis, wherein the mobile chassis has a lifting mechanism for driving the logistics cabinet to rise and fall.

[0032] Compared with the prior art, the advantages of the embodiments of the present invention are:

[0033] The unmanned vehicle provided by the present invention has a body provided with a through accommodating cavity, a bottom of the accommodating cavity is provided with an opening, and a vehicle-mounted hanger is arranged between the first frame and the second frame in the accommodating cavity, so that the transfer robot carrying the logistics cabinet can move directly through the accommodating cavity and the opening to the vehicle-mounted hanger, thereby realizing rapid loading and unloading of the logistics cabinet.

[0034] The unmanned delivery system provided by the present invention includes the above-mentioned unmanned vehicle and therefore also has the above-mentioned advantages. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0036] Figure 1 1 is a schematic structural diagram of an unmanned vehicle provided by an embodiment of the present invention;

[0037] Figure 2 1 is a schematic structural diagram of a lifting platform provided by an embodiment of the present invention;

[0038] Figure 3 1 is a schematic structural diagram of a vehicle-mounted hanger provided by an embodiment of the present invention;

[0039] Figure 4 This is a structural diagram of a guide hook provided by an embodiment of the present invention;

[0040] Figure 5 1 is a schematic structural diagram of a pilot cone block provided in an embodiment of the present invention;

[0041] Figure 6 This is a schematic diagram of the position of a vehicle-mounted hanger in one embodiment of the present invention;

[0042] Figure 7 is a schematic diagram of the position of a vehicle-mounted hanger in another embodiment of the present invention;

[0043] Figure 8 It is a structural schematic diagram of the transfer robot provided by an embodiment of the present invention.

[0044] The reference numerals in the figures are:

[0045] 100. Vehicle body;

[0046] 1. First frame; 2. Second frame; 3. Connecting frame; 4. Vehicle-mounted hanger; 5. Accommodation cavity; 6. Opening; 7. Lifting platform; 8. Mobile chassis; 9. Logistics cabinet; 10. Front wheel assembly; 11. Rear wheel assembly; 12. Top radar; 13. Side radar; 14. Front-view camera; 15. Side-view camera; 16. Ultrasonic radar;

[0047] 411, I-beam; 412, movable crossbeam; 413, fixed crossbeam; 421, guide hook; 422, sensor assembly; 423, guide cone; 424, optical guide plate; 425, buffer block; 71, lifting assembly; 72, locking assembly; 81, lifting mechanism;

[0048] 4211. Hook fixing plate; 4212. Hook bearing plate; 4213. Hook limiting groove; 4214. Hook bearing surface; 4215. Hook correction surface; 4231. Cone block fixing plate; 4232. Cone block bearing plate; 4233. Cone block limiting groove; 4234. Cone block bearing surface; 4235. Cone block correction surface; 4236. Auxiliary positioning block. DETAILED DESCRIPTION

[0049] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application more clearly understood, this application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0050] It should be noted that when an element is referred to as being “fixed to” or “disposed on” another element, it may be directly located on the other element or indirectly located on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0051] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present application, and do not indicate that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be understood as a limitation on the present application.

[0052] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate relative importance or the number of technical features. In the description of this application, "plurality" means two or more, unless otherwise specifically defined. The following is a more detailed description of the specific implementation of this application in conjunction with specific embodiments:

[0053] See also Figure 1An embodiment of the present invention provides an unmanned vehicle for use in unmanned logistics distribution. The unmanned vehicle includes a vehicle body 100. The vehicle body 100 has a first frame 1 and a second frame 2 spaced apart and a connecting frame 3 connecting the first frame 1 and the second frame 2. A through accommodating cavity 5 is provided between the first frame 1 and the second frame 2, and an opening 6 is provided at the bottom of the accommodating cavity. A vehicle-mounted hanger 4 is provided between the first frame 1 and the second frame 2, and the vehicle-mounted hanger 4 is accommodated in the accommodating cavity 5. In this embodiment, the vehicle-mounted hanger 4 and the first frame 1 and the second frame 2 are fixedly connected by screw locking. The accommodating cavity 5 is provided between the first frame 1 and the second frame 2, so that the vehicle body 100 has a door-shaped structure. The logistics cabinet 9 is placed between the first frame 1 and the second frame 2, so that the center of gravity of the vehicle body 100 is located in the middle of the vehicle, making it less likely to roll over during driving, thereby ensuring stability.

[0054] Specifically, the vehicle body 100 is also provided with a front wheel assembly 10 and a rear wheel assembly 11, the first frame 1 is located above the front wheel assembly 10, and the second frame 2 is located above the rear wheel assembly 11. The front wheel assembly 10 and / or the rear wheel assembly 11 are connected to the power system, which can drive the vehicle body 100 to move. As a further preferred embodiment, the front wheel assembly 10 and the rear wheel assembly 11 are simultaneously connected to the power system, with dual steering and dual drive, making transportation more flexible.

[0055] As a preferred embodiment, Figure 2 As shown, the unmanned vehicle also includes a lifting platform 7 provided on the vehicle body 100 and symmetrically arranged at both ends of the vehicle-mounted hanger 4. The lifting platform 7 includes a lifting assembly 71 and a locking assembly 72 that cooperate with each other. The lifting assembly 71 is connected to the vehicle-mounted hanger 4 and drives the vehicle-mounted hanger 4 to move up and down. The locking assembly 72 is provided above the lifting assembly 71 and is used to lock and unlock the lifting assembly 71. The lifting assembly 71 can be an electric cylinder, a hydraulic cylinder or other device. After the logistics cabinet 9 is hung on the vehicle-mounted hanger 4, the bottom of the logistics cabinet 9 is at a relatively low height from the ground and may come into contact with obstacles on the ground. In order to ensure the safety of the driving process, the logistics cabinet 9 needs to be lifted to a certain height so that the distance between it and the ground is large enough to prevent the logistics cabinet 9 from colliding with obstacles on the ground and being damaged or falling during driving.

[0056] As a preferred embodiment, the accommodating chamber 5 is through-hole to facilitate the transfer robot carrying the logistics cabinet 9 in and out of the accommodating chamber 5. An opening 6 is provided at the bottom of the accommodating chamber 5 to facilitate the transfer robot to move directly to the side of the vehicle-mounted hanger 4, while leaving space for the lifting and lowering of the lifting platform 7. The transfer robot only needs to lift or lower to connect or separate the logistics cabinet 9 from the vehicle-mounted hanger 4 to achieve rapid loading and unloading of the logistics cabinet. Compared with the closed accommodating chamber on the unmanned logistics vehicle in the related art, the semi-open accommodating chamber in this embodiment can provide a larger operating space for loading and unloading the logistics cabinet 9, and can support multiple transfer robots to pick up and place the logistics cabinet 9 at the same time, thereby improving the efficiency of logistics distribution.

[0057] Compared to existing unmanned logistics vehicles with chassis or brackets, the unmanned vehicle provided by this embodiment has no chassis or bracket interfering with the movement of the transfer robot. The transfer robot also does not need to use structures such as ramps to move onto the chassis or bracket, making it more convenient for the transfer robot to load and unload logistics cabinets. It also avoids the problem of the transfer robot tipping over due to unstable center of gravity when traveling on slopes, thereby improving safety. Furthermore, the unmanned vehicle frame provided by this embodiment has no chassis or bracket. Compared to vehicles with lower chassis in related technologies, this unmanned vehicle frame has lower requirements for ground conditions and can be used on uneven surfaces, thus expanding its application range.

[0058] Specifically, the vehicle-mounted hanger 4 can be a structure such as a horizontal bar, a vertical frame or a flat plate. In this embodiment, the vehicle-mounted hanger 4 is preferably a horizontal bar structure and has an installation plane parallel to the vertical plane to facilitate the mounting of the logistics cabinet 9, so that the logistics cabinet 9 can be hung vertically on the vehicle-mounted hanger 4.

[0059] As a preferred embodiment, Figure 3 As shown, the vehicle-mounted hanger 4 includes a back-hanging bracket 41 and a suspension component 42. The suspension component 42 is connected to the installation plane of the back-hanging bracket 41, and the logistics cabinet 9 is vertically suspended on the suspension component 42. When the transfer robot is connected to the suspension component 42, the logistics cabinet 9 is suspended on the vehicle-mounted hanger 4 under the action of gravity, thereby fixing the logistics cabinet.

[0060] As a preferred embodiment, one or more suspension components 42 can be installed, installed on one side of the back-hanging bracket 41 or on both sides at the same time. When multiple are installed, they are spaced apart along the length direction of the back-hanging bracket 41. Multiple suspension components 42 can mount multiple logistics cabinets 9, so that the unmanned vehicle can transport multiple logistics cabinets at a time to improve its transportation efficiency.

[0061] One end of the back-hanging bracket 41 is connected to the first frame 1 and the other end is connected to the second frame 2. The suspension component 42 is detachably installed in the middle of the back-hanging bracket 41. Users can choose the installation quantity and installation position according to their needs, which is flexible to use.

[0062] As a preferred embodiment, the back-hanging bracket 41 includes an I-beam 411, a movable beam 412 and a fixed beam 413, wherein the two ends of the I-beam 411 are respectively detachably connected to the vehicle body 100; the movable beam 412 is arranged in the middle of the I-beam 411, and the two ends are detachably connected to the I-beam 411, and can be adjusted up and down within a preset range. The final position is adjusted to a suitable position according to actual conditions and then fixed to the I-beam 411 by screws; the two ends of the fixed beam 413 are fixedly connected to the I-beam 411; in this embodiment, the I-beam 411 is made of pipe, and the movable beam 412 and the fixed beam 413 are made of sheet metal.

[0063] As a preferred embodiment, the suspension assembly 42 includes a guide hook 421, a sensor assembly 422, a guide cone 423, an optical guide plate 424, a buffer block 425, etc.; wherein,

[0064] The two guide hooks 421 are arranged in a group on the side wall of the movable beam 412; the sensor components 422 are respectively arranged on the side wall of the movable beam 412 and the side wall of the fixed beam 413, for detecting the position of the logistics cabinet 9; the guide cone block 423 is arranged on the side wall of the fixed beam 413, and is used in conjunction with the guide hook 421 to play a guiding role when the logistics cabinet 9 is docked with the vehicle-mounted hanger 4; the optical guide plate 424 is arranged on the side wall of the movable beam 412 and Located between a group of the guide hooks 421, it is used to assist in guiding the transfer robot. It uses EPG and PET reflective films, and refers to the guide plate on the transfer robot charging pile. The buffer block 425 in this embodiment uses rubber material and is arranged on the side wall of the fixed beam 413. It is used to play a buffering role during the contact between the logistics cabinet 9 and the vehicle-mounted hanger 4, and at the same time limit the pitch movement of the logistics cabinet 9 during transportation, to ensure that the logistics cabinet 9 and the vehicle-mounted hanger 4 do not collide during the driving of the unmanned vehicle.

[0065] More specifically, if Figure 4As shown, the guide hook 421 includes an integrally formed hook fixing plate 4211 and a hook carrying plate 4212, the angle between the hook fixing plate 4211 and the hook carrying plate 4212 is 90° to 120°, and a hook limiting groove 4213 is opened on the side of the hook carrying plate 4212. The hook limiting groove 4213 has left and right guiding and front and back limiting functions, including a hook carrying surface 4214 and a hook correction surface 4215 arranged on both sides of the hook carrying surface 4214; when in use, The hook fixing plate 4211 is fixed to the movable crossbeam 412 by screws, and the hanger carried on the logistics cabinet 9 (not shown in the figure, a conventional square tube structure can be used) is clamped in the hook limiting groove 4213, and the hook bearing surface 4214 plays a supporting role, and the hook correction surfaces 4215 on both sides play a guiding and limiting role; the logistics cabinet 9 can be hung on the said guiding hook 421, so that the logistics cabinet 9 is hung on the unmanned vehicle 2, and when the logistics cabinet 9 is separated from the guiding hook 421, the logistics cabinet 9 is removed from the unmanned vehicle.

[0066] More specifically, if Figure 5 As shown, the guiding cone block 423 includes a cone block fixing plate 4231 and a cone block bearing plate 4232 which are perpendicular to each other. A cone block limiting groove 4233 is provided on the side of the cone block bearing plate 4232. The cone block limiting groove 4233 includes a cone block bearing surface 4234 and a cone block correcting surface 4235 arranged on both sides of the cone block bearing surface 4234. When in use, the cone block fixing plate 4231 is fixed to the fixed beam 413 by screws, and the horn groove (not shown) opened at the lower end of the logistics cabinet 9 is clamped in the cone block limiting groove 4233. The cone block bearing surface 4234 plays a supporting role, and the cone block correcting surfaces 4235 on both sides play a guiding and limiting role.

[0067] As a preferred technical solution, the cone block fixing plate 4231 also includes an auxiliary positioning block 4236 arranged on the side of the cone block fixing plate 4231 away from the cone block supporting plate 4232. The auxiliary positioning block 4236 cooperates with the positioning hole opened on the fixed beam 413 to ensure the accuracy of the direction of the installation position and the installation accuracy.

[0068] In one embodiment, the sensor assembly 422 uses multiple magnetic sensors, and a long strip magnet (not shown) is provided on the back of the logistics cabinet 9. The cooperation between the long strip magnet and the magnetic sensor realizes the output of different states of the logistics cabinet 9 relative to the vehicle-mounted hanger 4 in the form of electrical signals.

[0069] During specific use, taking loading as an example, the optical guide plate 424 provided on the vehicle-mounted hanger 4 can guide the transfer robot to accurately reach the docking position with the unmanned vehicle. After reaching the docking position, the two magnetic sensors installed on the side wall of the upper moving beam 412 detect it, proving that the logistics cabinet 9 is in place, and the transfer robot can complete the operation of lowering the logistics cabinet 9. During the descent of the logistics cabinet 9, the signal of the magnetic sensor installed on the side wall of the upper moving beam 412 changes from the N pole to the S pole, and at the same time, a magnetic sensor installed on the lower fixed beam 413 detects the N pole signal. At this time, the logistics cabinet 9 falls into the engaging position completely and accurately.

[0070] During specific use, when all the logistics cabinets 9 are mounted, if there is a certain deviation between the logistics cabinet 9 and the vehicle-mounted hanger 4, in the process of the lifting assembly 71 lifting the vehicle-mounted hanger 4, the hanger on the logistics cabinet 9 contacts the guide hook 421, and the guide cone block 423 contacts the horn groove at the bottom of the logistics cabinet 9. Due to the action of gravity, the logistics cabinet 9 will not rise during the contact with the guide hook 421 and the guide cone block 423, and will only move sideways to the left and right, and finally be guided to the accurate locking position to complete the mounting.

[0071] The lifting assembly 71 continues to lift the vehicle-mounted hanger 4, so that the logistics cabinet 9 rises together with the lifting assembly 71; when it rises into place, the signals of the two magnetic sensors installed on the side walls of the upper movable beam 412 change from S pole to N pole, and a magnetic sensor installed on the side wall of the lower fixed beam 413 cannot detect any signal input. At this time, the logistics cabinet 9 has been lifted into place, and the unmanned vehicle can perform the next transportation operation.

[0072] When the unmanned vehicle arrives at the docking station of the next delivery point, the lifting assembly 71 carrying the vehicle-mounted hanger 4 and the logistics cabinet 9 descends, and the logistics cabinet 9 can touch the ground. The guide hook 421 and the guide cone block 423 are separated from the logistics cabinet 9. At this time, the logistics cabinet 9 and the unmanned vehicle have been separated; the logistics cabinet 9 can also be at a certain height from the ground, and the lifting action of the transfer robot completes the separation of the logistics cabinet 9 and the unmanned vehicle.

[0073] When the lifting assembly 71 descends to contact the ground, the logistics cabinet 9 is completely separated from the vehicle-mounted hanger 4, but there are left and right limits. At this time, the signal of the magnetic sensor installed on the side wall of the upper movable beam 412 changes from the N pole to the S pole, and the magnetic sensor installed on the side wall of the lower fixed beam 413 detects the N pole signal. At this time, the logistics cabinet 9 has landed completely and correctly; the unmanned vehicle informs the transfer robot to the docking position through communication, and the transfer robot lifts the logistics cabinet 9 and drives away from the unmanned vehicle 2, and completes the subsequent transportation task.

[0074] In one embodiment, Figure 6As shown, the vehicle-mounted hanger 4 is arranged in the middle of the accommodating cavity 5. At this time, there is placement space on both sides of the accommodating cavity 5, which is suitable for placing logistics cabinet modules 1 with smaller volume and larger number.

[0075] In another embodiment, Figure 7 As shown, the vehicle-mounted hanger 4 is arranged on one side of the accommodating cavity 5. At this time, one side of the accommodating cavity 5 has a larger space, which is suitable for placing a larger logistics cabinet module 1.

[0076] In one embodiment, the unmanned vehicle also includes a perception system, which includes a top radar 12 arranged at the upper end of the connecting frame 3, side radars 13 arranged on both sides of the first frame 1, a front-view camera 14 arranged on the front side of the first frame 1, side-view cameras 15 arranged on both sides of the first frame 1 and the second frame 2, and an ultrasonic radar 16 arranged around the vehicle body 100.

[0077] The perception system carried by the unmanned vehicle, combined with the autonomous driving system (including hardware system and software system), can automatically plan its travel route. It also stores map information of the delivery route, docking point coordinates, traffic information, etc., to achieve unmanned delivery throughout the entire process.

[0078] The unmanned vehicle provided by the embodiment of the present invention has a vehicle body provided with a through accommodating cavity, an opening at the bottom of the accommodating cavity, and a vehicle-mounted hanger is arranged between the first frame and the second frame in the accommodating cavity, so that the transfer robot carrying the logistics cabinet can move directly through the accommodating cavity and the opening to the vehicle-mounted hanger, thereby realizing rapid loading and unloading of the logistics cabinet.

[0079] The embodiment of the present invention further provides an unmanned delivery system, including a transfer robot and the unmanned vehicle as described above, such as Figure 8 As shown, the transfer robot includes:

[0080] The mobile chassis 8 and the logistics cabinet 9 are arranged above the mobile chassis 8. The mobile chassis 8 has a lifting mechanism 81 for driving the logistics cabinet 9 to rise and fall. Through lifting and lowering operations, the connection and separation of the logistics cabinet and the vehicle-mounted hanger are realized, thereby realizing the rapid loading and unloading of the logistics cabinet.

[0081] It should be noted that the transfer robot described in the present invention also includes a power system, a navigation system, a perception system, etc. The transfer robot as a whole adopts existing technologies and will not be elaborated here.

[0082] The unmanned delivery system provided in this embodiment is not only suitable for logistics delivery from the gate to the building in a closed park, but also for delivery between buildings across indoor and outdoor scenes; it is not only suitable for express delivery and takeout delivery, but also for park material transfer, commodity retail, intelligent waste removal and other applications.

[0083] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An unmanned vehicle, comprising a vehicle body (100), characterized in that: The vehicle body (100) comprises a first frame (1) and a second frame (2) arranged at intervals, and a connecting frame (3) connecting the first frame (1) and the second frame (2); a through accommodating cavity (5) is provided between the first frame (1) and the second frame (2); an opening (6) is provided at the bottom of the accommodating cavity (5); a vehicle-mounted hanging device (4) is provided between the first frame (1) and the second frame (2); the vehicle-mounted hanging device (4) is accommodated in the accommodating cavity (5); The vehicle-mounted hanger (4) comprises: A back-hanging bracket (41), one end of which is connected to the first vehicle frame (1) and the other end of which is connected to the second vehicle frame (2); A suspension assembly (42) is detachably mounted on the middle portion of the back-hanging bracket (41); The back-hanging bracket (41) comprises: An I-beam (411), both ends of which are detachably connected to the vehicle body (100); A movable crossbeam (412) is provided in the middle of the I-beam (411), and both ends are detachably connected to the I-beam (411), and can be adjusted up and down within a preset range; A fixed crossbeam (413), both ends of which are fixedly connected to the I-beam (411); The suspension assembly (42) includes: Two guide hooks (421) are arranged in a group and are arranged on the side wall of the movable beam (412); Sensor components (422) are respectively arranged on the side walls of the movable beam (412) and the side walls of the fixed beam (413); A guide cone block (423) is provided on the side wall of the fixed beam (413) and is used in conjunction with the guide hook (421); An optical guide plate (424) is arranged on a side wall of the movable beam (412) and is located between a group of the guide hooks (421); A buffer block (425) is provided on a side wall of the fixed beam (413); The vehicle body (100) is further provided with a front wheel assembly (10) and a rear wheel assembly (11).

2. The unmanned vehicle according to claim 1, wherein: The vehicle also includes a lifting platform (7) provided on the vehicle body (100) and symmetrically arranged at both ends of the vehicle-mounted hanger (4). The lifting platform (7) includes a lifting component (71) and a locking component (72) that cooperate with each other. The lifting component (71) is connected to the vehicle-mounted hanger (4) and drives the vehicle-mounted hanger (4) to move up and down. The locking component (72) is provided above the lifting component (71) and is used to lock and unlock the lifting component (71).

3. The unmanned vehicle according to claim 1, wherein: The guide hook (421) comprises an integrally formed hook fixing plate (4211) and a hook bearing plate (4212); a hook limiting groove (4213) is provided on a side of the hook bearing plate (4212); the hook limiting groove (4213) comprises a hook bearing surface (4214) and hook deviation correcting surfaces (4215) arranged on both sides of the hook bearing surface (4214).

4. The unmanned vehicle according to claim 1, wherein: The guiding cone block (423) comprises a cone block fixing plate (4231) and a cone block bearing plate (4232) which are perpendicular to each other; a cone block limiting groove (4233) is provided on the side of the cone block bearing plate (4232); the cone block limiting groove (4233) comprises a cone block bearing surface (4234) and cone block correction surfaces (4235) arranged on both sides of the cone block bearing surface (4234); the cone block fixing plate (4231) further comprises an auxiliary positioning block (4236) arranged on the side of the cone block fixing plate (4231) away from the cone block bearing plate (4232).

5. The unmanned vehicle according to any one of claims 1 to 4, characterized in that: The vehicle-mounted hanger (4) is arranged in the middle of the accommodating cavity (5), or the vehicle-mounted hanger (4) is arranged on one side of the accommodating cavity (5).

6. The unmanned vehicle according to any one of claims 1 to 4, characterized in that: The vehicle further comprises a perception system, the perception system comprising a top radar (12) arranged at the upper end of the connecting frame (3), side radars (13) arranged on both sides of the first frame (1), a front view camera (14) arranged on the front side of the first frame (1), side view cameras (15) arranged on both sides of the first frame (1) and the second frame (2), and ultrasonic radars (16) arranged around the vehicle body (100).

7. An unmanned delivery system, characterized in that: The unmanned vehicle comprises a transfer robot and the unmanned vehicle according to any one of claims 1 to 6, wherein the transfer robot comprises: A mobile chassis (8) and a logistics cabinet (9) arranged above the mobile chassis (8), wherein the mobile chassis (8) has a lifting mechanism (81) for driving the logistics cabinet (9) to rise and fall.

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