Unmanned transportation system and transportation method for connecting and distributing indoors and outdoors

Abstract

The application provides an unmanned transportation system and a transportation method for connecting and distributing indoors and outdoors, and relates to the technical field of logistics transportation. The unmanned transportation system comprises a logistics cabinet module, an outdoor connecting vehicle and an indoor robot. The logistics cabinet module comprises a logistics cabinet and a connecting assembly. The logistics cabinet is used for storing goods to be transported. The outdoor connecting vehicle comprises a vehicle body and a vehicle-mounted hanger. The vehicle-mounted hanger is matched with the connecting assembly to mount the logistics cabinet module. The indoor robot comprises a moving chassis, a lifting mechanism and a bearing platform, which are used for transporting, lifting and bearing the logistics cabinet module. The connecting assembly is matched with the vehicle-mounted hanger to mount or separate the logistics cabinet module, so as to load and unload the logistics cabinet module. A novel mounting mode of the logistics cabinet and the unmanned logistics vehicle is realized, which replaces the traditional mode of fixing the logistics cabinet on the chassis of the unmanned logistics vehicle. The loading and unloading of the logistics cabinet are more convenient, and the full-automatic connection and unmanned transportation indoors and outdoors are realized.

Description

Technical Field

[0001] This invention relates to the field of logistics and transportation technology, and more specifically, to an unmanned transportation system and method that integrates indoor and outdoor connections and delivery. Background Technology

[0002] With the development of technology, outdoor shuttle vehicles and indoor robots have become relatively mature. However, systems or technologies that can connect indoor and outdoor shuttles and deliveries are relatively rare. This is because existing outdoor unmanned logistics vehicles generally have a chassis, which is usually a frame structure formed by connecting longitudinal beams and cross beams. Because the longitudinal beams and cross beams will interfere with each other, the logistics cabinets loaded on the vehicle cannot be directly lowered to the ground through the chassis.

[0003] While some existing technologies exist for lowering logistics lockers to the ground, such as Chinese patent application number CN202122280583.6, entitled "An Unmanned Vehicle Frame and an Unmanned Vehicle," which discloses an unmanned vehicle frame including a frame body. The frame body has a hollow center and an opening at the bottom, with a bracket at the opening. The frame body is equipped with a lifting drive for moving the bracket up and down and a locking assembly for locking the bracket. When loading or unloading the logistics locker, because of the opening at the bottom of the frame body, the locking assembly unlocks, allowing the lifting drive to lower the logistics locker to the ground.

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

[0005] Firstly, when loading logistics cabinets, they need to be transported to a pallet and then secured. When using unmanned delivery robots to move logistics cabinets, ramps or other structures are needed to assist the robots in moving onto the pallets. However, when the robots move on ramps, they are prone to instability, which can cause the logistics cabinets to tip 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 pallet to the ground, or to add rollers and a power drive device to the logistics cabinet and use ramps or other structures to unload the logistics cabinet.

[0007] The above methods either have high requirements for the performance and structure of the logistics cabinets, or require manual intervention, making loading and unloading of the logistics cabinets inconvenient. They have not truly opened up indoor and outdoor connections and delivery, or achieved full automation. Summary of the Invention

[0008] The purpose of this invention is to provide an unmanned transportation system and method that connects indoor and outdoor transportation and delivery, so as to solve the technical problems of inconvenient loading and unloading of logistics cabinets and difficulty in achieving full unmanned operation in the existing technology.

[0009] To achieve the above objectives, the technical solution adopted in the embodiments of this application is as follows:

[0010] Firstly, a system is provided that integrates indoor and outdoor transportation and delivery, including:

[0011] A logistics cabinet module includes a logistics cabinet and a connecting component, wherein the logistics cabinet is used to store items to be transported;

[0012] An outdoor shuttle vehicle includes a vehicle body and a vehicle mount. The vehicle mount cooperates with the shuttle assembly to mount the logistics cabinet module. The outdoor shuttle vehicle is equipped with an autonomous driving system for driving on outdoor roads. The outdoor shuttle vehicle transports the logistics cabinet module from a first docking point to a second docking point.

[0013] An indoor robot, including a mobile chassis, a lifting mechanism, and a carrying platform, is used to transport, lift, and carry the logistics cabinet module. The connecting component is used to attach or detach from the vehicle-mounted hanger to load and unload the logistics cabinet module. The indoor robot is equipped with an autonomous driving system for driving on indoor roads. The indoor robot transports the logistics cabinet module from a second connecting point to the delivery destination, or from the delivery origin to the first connecting point.

[0014] In one embodiment, the indoor robot further includes an identification module, a lifting mechanism is provided on the mobile chassis, a carrying platform is provided on the lifting mechanism, the carrying platform is used to carry the logistics cabinet module, the lifting mechanism is used to lift the logistics cabinet module, and the identification module is located around the carrying platform.

[0015] In one embodiment, the vehicle body has a first frame and a second frame spaced apart, and a connecting frame connecting the first frame and the second frame. A through-cavity is provided between the first frame and the second frame, and an opening is provided at the bottom of the cavity. The two ends of the vehicle mount are respectively connected to the first frame and the second frame and are housed in the cavity.

[0016] In one embodiment, the vehicle mount is located in the middle of the receiving cavity.

[0017] In another embodiment, the vehicle mount is disposed on one side of the receiving cavity.

[0018] In one embodiment, the vehicle mount includes a back mount bracket and a suspension assembly, with one end of the back mount bracket connected to the first vehicle frame and the other end connected to the second vehicle frame, and the suspension assembly detachably mounted in the middle of the back mount bracket.

[0019] In one embodiment, the back-mounted bracket includes:

[0020] The I-beam is detachably connected to the vehicle body at both ends.

[0021] A movable crossbeam is located in the middle of the I-beam, and both ends are detachably connected to the I-beam, allowing for vertical adjustment within a preset range;

[0022] A fixed crossbeam is fixedly connected to the I-beam at both ends.

[0023] In one embodiment, the suspension assembly includes:

[0024] The guide hooks, in pairs, are set on the side wall of the movable crossbeam. One side of the guide hook is provided with a limiting groove for docking with and limiting the connecting component.

[0025] Sensor assemblies are respectively disposed on the side walls of the movable crossbeam and the fixed crossbeam, and are used to detect the positioning status of the connecting assembly;

[0026] A guide cone is disposed on the side wall of the fixed crossbeam and is used in conjunction with the guide hook to play a guiding role when the connecting assembly is connected to the vehicle mount;

[0027] An optical guide plate is disposed on the side wall of the movable crossbeam and located between a set of guide hooks, and is used to assist in guiding the indoor robot;

[0028] A buffer block is disposed on the side wall of the fixed crossbeam to buffer the contact between the connecting assembly and the vehicle mount, and to limit the pitch of the connecting assembly during transportation.

[0029] In one embodiment, the connecting assembly includes a top frame, a bottom frame, side frames, wheels, and an identification rod. The side frames are connected to one end of the top frame and the bottom frame, respectively. Wheels are provided at the bottom of the side frames and at the ends of the bottom frames away from the side frames. The bottom of the side frames is also provided with a horn groove that mates with the guide cone. The top frame is used to support the logistics cabinet, and the identification rod is located on the side of the top frame away from the side frames.

[0030] In one embodiment, the connecting assembly further includes a clamping crossbar disposed on the side frame and a guide block disposed at the bottom of the clamping crossbar. The clamping crossbar cooperates with the guide hook, and the guide block is used to provide a guiding function when the guide hook cooperates with the clamping crossbar.

[0031] In one embodiment, the outdoor shuttle vehicle further includes a lifting assembly and a locking assembly disposed on the vehicle body. The lifting assembly is connected to the vehicle mount and drives the vehicle mount to move up and down. The locking assembly is disposed above the lifting assembly and is used to lock and unlock the lifting assembly.

[0032] Secondly, a method for unmanned transportation that integrates indoor and outdoor connections and delivery is provided. This method employs the unmanned transportation system described above, which integrates indoor and outdoor connections and delivery. The transportation method includes the following steps:

[0033] The outdoor shuttle bus arrives at the first pick-up point;

[0034] The indoor robot travels to the delivery point and scans the identification bar on the connecting component through the identification module. Then it adjusts its angle to enter the connecting component and lifts the logistics cabinet module.

[0035] The indoor robot carries the logistics cabinet module to the first docking point and enters the receiving cavity of the outdoor shuttle vehicle. After alignment, it descends to connect the docking components with the vehicle-mounted hanger.

[0036] The indoor robot leaves the outdoor shuttle vehicle to carry the next logistics cabinet module. After all the logistics cabinet modules are loaded, it returns to the standby point.

[0037] An outdoor shuttle vehicle carrying a logistics cabinet module moves from the first docking point to the second docking point;

[0038] The indoor robot located at the second docking point moves into the receiving cavity of the outdoor shuttle vehicle, scans the identification bar on the docking component through the identification module, then adjusts the angle to enter the docking component and lifts the logistics cabinet module, so that the docking component is separated from the vehicle-mounted hanger;

[0039] The indoor robot carries the logistics cabinet module, moves it away from the outdoor shuttle vehicle, and transports it to the delivery destination. After all the logistics cabinet modules are unloaded, it returns to the standby point.

[0040] Thirdly, another unmanned transportation method is provided to connect indoor and outdoor transportation and delivery. This method employs the unmanned transportation system described above, which integrates indoor and outdoor transportation and delivery. The transportation method includes the following steps:

[0041] The outdoor shuttle bus arrives at the first pick-up point;

[0042] The indoor robot travels to the delivery point and scans the identification bar on the connecting component through the identification module. Then it adjusts its angle to enter the connecting component and lifts the logistics cabinet module.

[0043] The indoor robot carries the logistics cabinet module to the first docking point and enters the receiving cavity of the outdoor shuttle vehicle. After alignment, it descends to connect the docking components with the vehicle-mounted hanger.

[0044] The indoor robot leaves the outdoor shuttle vehicle to carry the next logistics cabinet module, and does not get off the vehicle after the last logistics cabinet module is loaded.

[0045] The outdoor shuttle vehicle is lifted by a lifting component and moves from the first docking point to the second docking point, carrying the logistics cabinet module and the indoor robot;

[0046] The outdoor shuttle vehicle descends via a lifting assembly, while the indoor robot lifts the logistics cabinet module, thus separating the shuttle assembly from the vehicle-mounted hanger.

[0047] The indoor robot carries the logistics cabinet module and moves it away from the outdoor shuttle vehicle. After all the logistics cabinet modules are unloaded, it returns to the standby point.

[0048] Compared with the prior art, the advantages of the embodiments of this application are as follows: The unmanned transportation system and method provided by this application, which connects indoor and outdoor connections and delivery, realizes the mounting of logistics cabinet modules by cooperating with the vehicle-mounted hangers of outdoor shuttle vehicles and the docking components of logistics cabinet modules. This achieves a new way of mounting logistics cabinets and unmanned logistics vehicles, replacing the traditional method of fixing logistics cabinets to the chassis of unmanned logistics vehicles, making it more convenient to load and unload logistics cabinets. The transportation, loading, and lifting of logistics cabinet modules are realized through the mobile chassis, lifting mechanism, and carrying platform of indoor robots, so that the docking components cooperate with the vehicle-mounted hangers to load or detach, thereby loading and unloading the logistics cabinet modules. This realizes the rapid switching of logistics cabinet modules on different vehicles and fully automatic connection and unmanned transportation between indoor and outdoor environments, truly connecting indoor and outdoor connections and delivery and achieving full unmanned operation, thus broadening the application scenarios and operating scope. Attached Figure Description

[0049] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0050] Figure 1 This is a schematic diagram of the unmanned transportation system that integrates indoor and outdoor connections and delivery, provided in an embodiment of the present invention.

[0051] Figure 2 This is a schematic diagram of the structure of the logistics cabinet module provided in an embodiment of the present invention;

[0052] Figure 3 This is a schematic diagram of the structure of the outdoor shuttle vehicle provided in an embodiment of the present invention;

[0053] Figure 4 This is a structural schematic diagram of the indoor robot provided in an embodiment of the present invention;

[0054] Figure 5 This is a schematic diagram of the structure of the vehicle mount provided in an embodiment of the present invention;

[0055] Figure 6 This is a schematic diagram of the connection component provided in an embodiment of the present invention;

[0056] Figure 7 This is an assembly diagram of the vehicle mount and connecting components provided in an embodiment of the present invention;

[0057] Figure 8 This is a schematic diagram of the structure of the lifting assembly and locking assembly in cooperation according to an embodiment of the present invention;

[0058] Figure 9 This is a schematic diagram showing the position of the vehicle-mounted mount in Embodiment 1 of the present invention;

[0059] Figure 10 This is a schematic diagram showing the position of the vehicle-mounted mount in Embodiment 2 of the present invention;

[0060] Figure 11 This is a flowchart illustrating the unmanned transportation method for connecting indoor and outdoor transportation and delivery provided in Embodiment 3 of the present invention.

[0061] Figure 12 This is a flowchart illustrating the unmanned transportation method for connecting indoor and outdoor transportation and delivery provided in Embodiment 4 of the present invention.

[0062] The labels for the attached figures are as follows:

[0063] 1. Logistics cabinet module; 2. Outdoor shuttle vehicle; 3. Indoor robot;

[0064] 11. Logistics cabinet; 12. Connecting component; 21. Vehicle mount; 22. Vehicle body; 23. First frame; 24. Second frame; 25. Connecting frame; 26. Receiving cavity; 27. Opening; 28. Lifting component; 29. ​​Locking component; 31. Mobile chassis; 32. Lifting mechanism; 33. Loading platform; 34. Identification module;

[0065] 121. Top frame; 122. Base frame; 123. Side frame; 124. Wheels; 125. Identification pole; 126. Clamping crossbar; 127. Guide block; 128. Speaker slot; 211. Back-mounted bracket; 212. Suspension assembly;

[0066] 2111, I-beam; 2112, movable crossbeam; 2113, fixed crossbeam; 2121, guide hook; 2122, sensor assembly; 2123, guide cone; 2124, optical guide plate; 2125, buffer block. Detailed Implementation

[0067] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0068] It should be noted that when a component is referred to as "fixed to" or "set on" another component, it can be located directly on or indirectly on the other component. When a component is referred to as "connected to" another component, it can be directly or indirectly connected to the other component.

[0069] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate that the device or element must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0070] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating relative importance or the number of technical features. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified. The specific implementation of this invention will be described in more detail below with reference to specific embodiments:

[0071] Please see Figures 1 to 4 The present invention provides an unmanned transportation system that connects indoor and outdoor transportation and delivery, which is applied to unmanned logistics delivery. The unmanned transportation system includes a logistics cabinet module 1, an outdoor shuttle vehicle 2, and an indoor robot 3.

[0072] The logistics cabinet module 1 includes a logistics cabinet 11 and a connecting component 12 that are easy to assemble and disassemble and can be locked together by buckles or screws when used together. The logistics cabinet 11 is used to store items to be transported. It can be understood that the logistics cabinet 11 can be a regular logistics cabinet or a smart express cabinet. When the logistics cabinet 11 is a smart express cabinet, the items to be transported can be placed inside the smart express cabinet. The door of the smart express cabinet can be opened by means of password, key, NFC sensing technology, biometrics (fingerprint, face, etc.).

[0073] The outdoor shuttle vehicle 2 includes a vehicle body 22 and a vehicle mount 21. The vehicle mount 21 cooperates with the shuttle assembly 12 to mount the logistics cabinet module 1. The outdoor shuttle vehicle 2 is equipped with an automatic driving system for driving on outdoor roads. The outdoor shuttle vehicle 2 transports the logistics cabinet module 1 from the first docking point to the second docking point.

[0074] The indoor robot 3 includes a mobile chassis 31, a lifting mechanism 32, and a carrying platform 33 for transporting, lifting, and carrying the logistics cabinet module 1. The connecting component 12 is engaged with or disengaged from the vehicle-mounted hanger 21 to load and unload the logistics cabinet module 1. The indoor robot 3 is equipped with an autonomous driving system for driving on indoor roads. The indoor robot 3 transports the logistics cabinet module 1 from the second connecting point to the indoor destination, or from the delivery starting point to the first connecting point.

[0075] The outdoor shuttle vehicle 2 and the indoor robot 3 are equipped with autonomous driving systems (including hardware and software systems) that can automatically plan their travel paths. They also store map information of the delivery route, docking point coordinates, traffic information, etc., enabling fully unmanned delivery. Specifically, the autonomous driving system is prior art well known to those skilled in the art and will not be described in detail here. The outdoor shuttle vehicle 2 is not limited to outdoor transportation; if conditions permit (such as sufficient space), it can also transport goods indoors. Similarly, the indoor robot 3 can also transport goods outdoors; this is not a limitation.

[0076] As a preferred implementation method, such as Figure 3 As shown, the vehicle body 22 has a first frame 23 and a second frame 24 spaced apart, and a connecting frame 25 connecting the first frame 23 and the second frame 24. A through-cavity 26 is provided between the first frame 23 and the second frame 24, and an opening 27 is provided at the bottom of the cavity. The two ends of the vehicle hanger 21 are respectively connected to the first frame 23 and the second frame 24 and are housed in the cavity 26. In this embodiment, the vehicle hanger 21 is fixedly connected to the first frame 23 and the second frame 24 by screw locking. The cavity 26 is located between the first frame 23 and the second frame 24, making the vehicle body 22 have a U-shaped structure. The logistics cabinet module 1 is placed between the first frame 23 and the second frame 24, so that the center of gravity of the vehicle body 22 is located in the middle of the vehicle, making it less likely to tip over during driving and ensuring stability.

[0077] Specifically, the vehicle body 22 is also provided with a front wheel assembly and a rear wheel assembly. The first frame 23 is located above the front wheel assembly, and the second frame 24 is located above the rear wheel assembly. The front wheel assembly and / or the rear wheel assembly are connected to the power system, which can drive the vehicle body 22 to move. As a further preferred embodiment, the front wheel assembly and the rear wheel assembly are connected to the power system at the same time, with dual steering and dual drive, making transportation more flexible.

[0078] In a preferred embodiment, the receiving cavity 26 is through-hole to facilitate the indoor robot 3 carrying the logistics cabinet module 1 in and out of the receiving cavity 26. The bottom of the receiving cavity 26 has an opening 27 to allow the indoor robot 3 to move directly to the vehicle-mounted hanger 21, while also providing space for the outdoor shuttle vehicle 2 to lift and lower. The indoor robot 3 only needs to raise or lower itself to connect or disconnect the connecting component 12 from the vehicle-mounted hanger 21, enabling rapid loading and unloading of the logistics cabinet module 1. Compared to the enclosed receiving cavity on unmanned logistics vehicles in related technologies, the semi-open receiving cavity in this embodiment provides a larger operating space for loading and unloading the logistics cabinet module 1, supporting multiple indoor robots 3 to simultaneously pick up and place the logistics cabinet module 1, thereby improving the efficiency of logistics delivery.

[0079] Compared to existing unmanned logistics vehicles with chassis or brackets, the unmanned transportation system provided in this embodiment eliminates the need for a chassis or bracket to interfere with the movement of the indoor robot 3. The indoor robot 3 also does not require ramps or other structures to move onto the chassis or bracket, making it more convenient for loading and unloading the logistics cabinet module 1. This also avoids the risk of tipping over due to instability when the indoor robot is traveling on ramps, thus improving safety. Furthermore, the outdoor unmanned vehicle frame provided in this embodiment has no chassis or bracket. Compared to vehicles with lower chassis in related technologies, this outdoor unmanned vehicle frame has lower requirements for ground conditions and can be used on uneven ground, thus expanding its application area.

[0080] The unmanned transportation system provided in this embodiment is not only suitable for logistics delivery from the main gate to the building in a closed park, but also for delivery between buildings across indoor and outdoor scenarios; it is not only suitable for express delivery and food delivery, but also for applications such as material transfer in the park, retail, and intelligent waste disposal.

[0081] As a preferred implementation method, such as Figure 4 As shown, the indoor robot 3 also includes an identification module 34. The mobile chassis 31 is provided with the lifting mechanism 32, and the lifting mechanism 32 is provided with the carrying platform 33. The carrying platform 33 is used to carry the logistics cabinet module 1, and the lifting mechanism 32 is used to lift the logistics cabinet module 1, so that the connecting component 12 and the vehicle mounting bracket 21 can be connected or separated to load and unload the logistics cabinet module 1.

[0082] Specifically, during loading, the lifting mechanism 32 rises, raising the logistics cabinet module 1, and the connecting component 12 separates from the vehicle-mounted hanger 21, thereby separating the logistics cabinet module 1 from the outdoor shuttle vehicle 2. During unloading, the lifting mechanism 32 descends, lowering the logistics cabinet module 1, allowing the connecting component 12 to connect with the vehicle-mounted hanger 21, thus suspending the logistics cabinet module 1 on the outdoor shuttle vehicle 2. The identification module 34 is located on the periphery of the supporting platform 33 and is used for positioning and alignment when the indoor robot 3 docks with the connecting component 12.

[0083] It should be noted that the indoor robot 3 also includes a power system, a navigation system, a perception system, etc., all of which use existing technologies and will not be elaborated here.

[0084] In one embodiment, such as Figure 9 As shown, the vehicle mounting bracket 21 is located in the middle of the receiving cavity 26. At this time, there is space on both sides of the receiving cavity 26, which is suitable for placing small and numerous logistics cabinet modules 1.

[0085] In another embodiment, such as Figure 10 In the second embodiment shown, the vehicle mounting bracket 21 is located on one side of the receiving cavity 26. At this time, one side of the receiving cavity 26 has a large space, which is suitable for placing a large logistics cabinet module 1.

[0086] Specifically, the vehicle mount 21 can be a horizontal bar, a vertical frame, or a flat plate. In this embodiment, the vehicle mount 21 is preferably a vertical horizontal bar structure with an installation plane parallel to the vertical plane to facilitate the mounting of the logistics cabinet module 1, so that the logistics cabinet module 1 can be hung vertically on the vehicle mount 21.

[0087] More specifically, such as Figure 5 As shown, the vehicle mount 21 includes a back bracket 211 and a suspension assembly 212. The suspension assembly 212 is connected to the mounting plane of the back bracket 211, and the logistics cabinet module 1 is vertically suspended on the suspension assembly 212. When the connecting assembly 12 is connected to the suspension assembly 212, the logistics cabinet module 1 is clamped onto the vehicle mount 21 under the action of gravity, thereby fixing the logistics cabinet module 1.

[0088] In a preferred embodiment, one or more suspension components 212 can be installed, either on one side or both sides of the back-mounted bracket 211. When multiple components are installed, they are spaced apart along the length of the back-mounted bracket 211. Multiple suspension components 212 can carry multiple logistics cabinet modules 1, so that the outdoor shuttle vehicle 2 can transport multiple logistics cabinet modules 1 at one time, thereby improving its transportation efficiency.

[0089] The back-mounted bracket 211 is connected at one end to the first frame 23 and at the other end to the second frame 24, and the suspension assembly 212 is detachably installed in the middle of the back-mounted bracket 211.

[0090] In a preferred embodiment, the back-mounted bracket 211 includes an I-beam 2111, a movable crossbeam 2112, and a fixed crossbeam 2113. The two ends of the I-beam 2111 are detachably connected to the vehicle body 22. The movable crossbeam 2112 is located in the middle of the I-beam 2111 and is detachably connected to the I-beam 2111 at both ends. It can be adjusted up and down within a preset range, and the final position is adjusted to a suitable position according to the actual situation and then fixed to the I-beam 2111 with screws. The two ends of the fixed crossbeam 2113 are fixedly connected to the I-beam 2111.

[0091] In a preferred embodiment, the suspension assembly 212 includes a guide hook 2121, a sensor assembly 2122, a guide cone 2123, an optical guide plate 2124, a buffer block 2125, etc.; wherein,

[0092] The guide hooks 2121 are arranged in pairs on the side wall of the movable crossbeam 2112, and have limiting grooves for docking and limiting the connecting component 12, and have left and right guiding and front and rear limiting functions; the connecting component 12 can be snapped onto the guide hooks 2121, thereby suspending the logistics cabinet module 1 on the outdoor connecting vehicle 2; when the connecting component 12 is separated from the guide hooks 2121, the logistics cabinet module 1 is removed from the outdoor connecting vehicle 2.

[0093] The sensor assembly 2122 is respectively disposed on the side wall of the movable crossbeam 2112 and the side wall of the fixed crossbeam 2113, and is used to detect the positioning status of the connecting assembly 12;

[0094] The guide cone 2123 is disposed on the side wall of the fixed crossbeam 2113 and is used in conjunction with the guide hook 2121 to play a guiding role when the connecting assembly 12 is connected to the vehicle mount 21.

[0095] The optical guide plate 2124 is disposed on the side wall of the movable crossbeam 2112 and located between a set of the guide hooks 2121, and is used to assist in guiding the indoor robot 3.

[0096] In this embodiment, the buffer block 2125 is made of rubber and is set on the side wall of the fixed crossbeam 2113. It serves to buffer the contact between the connecting component 12 and the vehicle hanger 21 and to limit the pitch of the connecting component 12 during transportation, so as to ensure that the logistics cabinet module 1 and the vehicle hanger 21 will not collide.

[0097] In one embodiment, the sensor assembly 2122 employs multiple magnetic sensors, and a strip magnet (not shown) is provided on the back of the connecting assembly 12. The strip magnet and the magnetic sensors work together to output different states of the connecting assembly 12 relative to the vehicle mount 21 in the form of electrical signals.

[0098] In practical use, taking loading as an example, the optical guide plate 2124 installed on the vehicle mounting bracket 21 can cooperate with the recognition module 34 of the indoor robot 3 to guide the indoor robot 3 to accurately reach the docking position with the outdoor shuttle vehicle 2. After reaching the docking position, the magnetic sensor installed on the side wall of the upper moving crossbeam 2112 detects that the logistics cabinet module 1 has arrived. The indoor robot 3 can then complete the operation of lowering the logistics cabinet module 1. During the descent of the logistics cabinet module 1, the signal of the magnetic sensor installed on the side wall of the upper moving crossbeam 2112 changes from the N pole to the S pole. At the same time, the magnetic sensor installed on the lower fixed crossbeam 2113 detects the N pole signal. At this time, the logistics cabinet module 1 falls into the locking position completely and accurately.

[0099] In one embodiment, the identification module 34 is a scanning camera, and the optical guide plate 2124 is replaced with a QR code; the scanning camera can work with the QR code to realize the positioning of the vehicle mount 21 and the connecting component 12, thereby completing the mounting of the logistics cabinet module 1.

[0100] In another embodiment, the identification module 34 is a laser emitter, and the optical guide plate 2124 is replaced with a laser receiver; the laser emitter and the laser receiver work together to realize the positioning of the vehicle mount 21 and the connecting component 12, thereby completing the mounting of the logistics cabinet module 1.

[0101] As a preferred implementation method, such as Figure 6 As shown, the connecting assembly 12 includes a top frame 121, a base frame 122, a side frame 123, wheels 124, and an identification rod 125. The side frame 123 is connected to one end of the top frame 121 and the base frame 122 respectively. Wheels 124 are respectively provided at the bottom of the side frame 123 and the end of the base frame 122 away from the side frame 123. The bottom of the side frame 123 is also provided with a horn groove 128 that cooperates with the guide cone 2123. The top frame 121 is used to support and fix the logistics cabinet 11, and can be fixed by buckles or screws. The identification rod 125 is located on the side of the top frame 121 away from the side frame 123, which facilitates the identification module 34 to identify and position it.

[0102] As a preferred implementation method, such as Figure 7As shown, the connecting assembly 12 also includes a clamping crossbar 126 disposed on the side frame 123 and a guide block 127 disposed at the bottom of the clamping crossbar 126. The clamping crossbar 126 cooperates with the guide hook 2121, and the guide block 127 is used to guide the alignment when the guide hook 2121 is engaged with the clamping crossbar 126. This design eliminates the need for any electronic control devices between the connecting assembly 12 and the vehicle-mounted hanger 21, resulting in a simple structure that relies on the structure itself for reliable positioning, thus meeting the requirements for safe transportation.

[0103] As a preferred implementation method, such as Figure 8 As shown, the outdoor shuttle vehicle 2 also includes a lifting assembly 28 and a locking assembly 29 mounted on the vehicle body 22. The lifting assembly 28 connects to the vehicle mount 21 and drives the vehicle mount 21 to move up and down. The locking assembly 29 is located above the lifting assembly 28 and is used to lock and unlock the lifting assembly 28. The lifting assembly 28 can be an electric cylinder, hydraulic cylinder, or other similar device. After the logistics cabinet module 1 is fixedly placed on the vehicle mount 21, the bottom of the logistics cabinet module 1 is relatively low from the ground, which may cause it to collide with obstacles on the ground. To ensure safety during operation, the logistics cabinet module 1 needs to be raised to a certain height so that the distance between it and the ground is large enough to prevent the logistics cabinet module 1 from colliding with obstacles on the ground and being damaged or falling off during the operation of the outdoor shuttle vehicle 2.

[0104] In practical use, after all the logistics cabinet modules 1 are loaded, if there is a certain deviation between the logistics cabinet modules 1 and the vehicle-mounted hanger 21, during the process of the lifting component 28 lifting the vehicle-mounted hanger 21, the guide block 127 contacts the guide hook 2121, and the guide cone 2123 contacts the horn groove 128. Due to the effect of gravity, the logistics cabinet module 1 will not rise during the process of contacting the guide hook 2121 and the guide cone 2123, but will only move to the left and right, and finally be guided to the accurate locking position to complete the loading.

[0105] The lifting assembly 28 continues to lift the vehicle-mounted hanger 21. The contact surface on the guide hook 2121 contacts the three contact surfaces of the clamping crossbar 126, and the contact surface on the guide cone 2123 contacts the top of the horn groove 128, thereby realizing that the logistics cabinet module 1 and the lifting assembly 28 rise together. When it is raised to the position, the magnetic sensor signal on the side wall of the upper moving crossbeam 2112 changes from the S pole to the N pole, and the magnetic sensor on the side wall of the lower fixed crossbeam 2113 cannot detect any signal input. At this time, the logistics cabinet module 1 has been lifted to the position, and the outdoor shuttle vehicle 2 can perform the next transportation operation.

[0106] When the outdoor shuttle vehicle 2 arrives at the next delivery point, the lifting assembly 28 lowers with the vehicle-mounted hanger 21 and the logistics cabinet module 1. The logistics cabinet module 1 can then contact the ground, and the guide hook 2121 and guide cone 2123 disengage from the shuttle assembly 12. At this point, the logistics cabinet module 1 and the outdoor shuttle vehicle 2 have separated. Alternatively, the logistics cabinet module 1 can be lifted from a certain height above the ground by the indoor robot 3 to complete the separation of the logistics cabinet module 1 and the outdoor shuttle vehicle 2.

[0107] When the lifting assembly 28 descends to contact the ground, the logistics cabinet module 1 is completely separated from the vehicle-mounted hanger 21, but there are left and right limits. At this time, the magnetic sensor signal on the side wall of the upper moving crossbeam 2112 changes from the N pole to the S pole, and the magnetic sensor on the side wall of the lower fixed crossbeam 2113 detects the N pole signal. At this time, the logistics cabinet module 1 has landed correctly. The outdoor shuttle vehicle 2 informs the indoor robot 3 to arrive at the shuttle position through communication. The indoor robot 3 lifts the logistics cabinet module 1 and drives away from the outdoor shuttle vehicle 2 to complete the subsequent transportation task.

[0108] like Figure 11 The third embodiment shown provides an unmanned transportation method that integrates indoor and outdoor connections and delivery. It employs the unmanned transportation system described in any of the above technical solutions. The unmanned transportation system is used to transport goods from a delivery starting point to a delivery destination. The unmanned transportation method includes the following steps:

[0109] Step 1: Outdoor shuttle vehicle 2 arrives at the first pick-up point, which is the pick-up point of the delivery starting point. This location is a coordinate point collected and marked by a pre-mapped map and is on the path planning of outdoor shuttle vehicle 2. Outdoor shuttle vehicle 2 can drive to this coordinate point through autonomous navigation. Similarly, indoor robot 3 also has a corresponding coordinate point of the pick-up point.

[0110] Step 2: The indoor robot 3 drives to the delivery starting point (which can be indoors or a designated location) and scans the identification rod 125 on the connecting component 12 through the identification module 34. Then it adjusts its angle to enter the connecting component 12 and lifts the logistics cabinet module 1.

[0111] Step 3: The indoor robot 3 carries the logistics cabinet module 1 to the first docking point and enters the receiving cavity 26 of the outdoor shuttle vehicle 2. After positioning and identification, it descends to connect the docking component 12 with the vehicle mounting bracket 21, thereby mounting the logistics cabinet module 1 on the outdoor shuttle vehicle 2, completing the mounting of one logistics cabinet module 1. At this time, the indoor robot 3 separates from the logistics cabinet module 1.

[0112] Step 4: The indoor robot 3 drives away from the outdoor shuttle vehicle 2 and transports the next logistics cabinet module 1. The process is the same as above. After all the logistics cabinet modules 1 are loaded, the robot returns to the standby point autonomously.

[0113] Step 5: Outdoor shuttle vehicle 2, carrying logistics cabinet module 1, moves from the first docking point to the second docking point;

[0114] Step 6: The indoor robot 3 located at the second docking point moves into the receiving cavity 26 of the outdoor shuttle vehicle 2, scans the identification rod 125 on the docking assembly 12 through the identification module 34, then adjusts the angle to enter the docking assembly 12 and lifts the logistics cabinet module 1, so that the docking assembly 12 is separated from the vehicle-mounted hanger 21, and at this time the logistics cabinet module 1 is separated from the outdoor shuttle vehicle 2;

[0115] Step 7: The indoor robot 3 carries the logistics cabinet module 1, moves the logistics cabinet module 1 away from the outdoor shuttle vehicle 2, and transports it to the delivery destination (which can be indoors or a designated location). Then it transports the next logistics cabinet module 1. After all the logistics cabinet modules 1 are unloaded, the robot autonomously returns to the standby point, and the outdoor shuttle vehicle 2 goes to the next shuttle point or returns to the first shuttle point.

[0116] In another embodiment, after all the logistics cabinet modules 1 are loaded, the outdoor shuttle vehicle 2 can be raised and locked by the lifting component 28 and the locking component 29 to raise the height of the logistics cabinet modules 1 and avoid collisions during the journey.

[0117] like Figure 12 The fourth embodiment shown provides another unmanned transportation method that integrates indoor and outdoor connections and delivery. It employs the unmanned transportation system described in any of the above technical solutions. The unmanned transportation system is used to transport goods from the delivery origin to the delivery destination. The unmanned transportation method includes the following steps:

[0118] Step 1: Outdoor shuttle bus 2 arrives at the first pick-up point;

[0119] Step 2: The indoor robot 3 drives to the delivery starting point and scans the identification rod 125 on the connecting component 12 through the identification module 34. Then it adjusts its angle to enter the connecting component 12 and lifts the logistics cabinet module 1.

[0120] Step 3: The indoor robot 3 carries the logistics cabinet module 1 to the first docking point and enters the receiving cavity 26 of the outdoor shuttle vehicle 2. After alignment, it descends to connect the docking component 12 with the vehicle mounting bracket 21.

[0121] Step 4: The indoor robot 3 drives away from the outdoor shuttle vehicle 2 to carry the next logistics cabinet module 1. It does not get off the vehicle after the last logistics cabinet module 1 is loaded.

[0122] Step 5: The outdoor shuttle vehicle 2 is lifted by the lifting component 28, carrying the logistics cabinet module 1 and the indoor robot 3 from the first docking point to the second docking point;

[0123] Step 6: The outdoor shuttle vehicle 2 descends via the lifting component 28, and the indoor robot 3 lifts the logistics cabinet module 1, so that the shuttle component 12 is separated from the vehicle-mounted hanger 21.

[0124] Step 7: The indoor robot 3 carries the logistics cabinet module 1, moves the logistics cabinet module 1 away from the outdoor shuttle vehicle 2, and transports it to the delivery destination. After all the logistics cabinet modules 1 have been unloaded, it returns to the standby point.

[0125] The difference from Embodiment 3 is that the indoor robot 3 can be transported to the second connection point together with the outdoor shuttle vehicle 2. In this case, the indoor robot 3 at the second connection point can be omitted. Users can choose to operate it as needed. The method provided in this embodiment also has the advantages described in Embodiment 3.

[0126] The transportation system and method provided in this application embodiment enable the loading of logistics cabinet modules by cooperating with the vehicle-mounted hangers of outdoor shuttle vehicles and the connecting components of the logistics cabinet modules. This achieves a novel mounting method for logistics cabinets and unmanned logistics vehicles, replacing the traditional method of fixing logistics cabinets to the chassis of unmanned logistics vehicles, making loading and unloading of logistics cabinets more convenient. The transportation, loading, and lifting of logistics cabinet modules are achieved through the mobile chassis, lifting mechanism, and carrying platform of indoor robots, allowing the connecting components to cooperate with the vehicle-mounted hangers for loading or unloading of the logistics cabinet modules. This enables rapid switching of logistics cabinet modules on different vehicles and fully automated outdoor and indoor shuttle and unmanned transportation, truly connecting indoor and outdoor shuttle and delivery and achieving full unmanned operation, thus broadening the application scenarios and operational scope.

[0127] 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 within the protection scope of the present invention.

Claims

1. An unmanned transportation system that integrates indoor and outdoor connections and delivery, characterized in that, include: The logistics cabinet module (1) includes a logistics cabinet (11) and a connecting component (12), wherein the logistics cabinet (11) is used to store items to be transported; The outdoor shuttle vehicle (2) includes a vehicle body (22) and a vehicle mount (21). The vehicle mount (21) cooperates with the shuttle assembly (12) to mount the logistics cabinet module (1). The outdoor shuttle vehicle (2) is equipped with an automatic driving system for driving on outdoor roads. The outdoor shuttle vehicle (2) transports the logistics cabinet module (1) from the first docking point to the second docking point. The indoor robot (3) includes a mobile chassis (31), a lifting mechanism (32) and a carrying platform (33) to transport, lift and carry the logistics cabinet module (1), so that the connecting component (12) can be attached to or detached from the vehicle mount (21) to load and unload the logistics cabinet module (1). The indoor robot (3) is equipped with an autonomous driving system for driving on indoor roads. The indoor robot (3) transports the logistics cabinet module (1) from the second connecting point to the delivery endpoint, or from the delivery starting point to the first connecting point. The vehicle body (22) has a first frame (23) and a second frame (24) spaced apart, and a connecting frame (25) connecting the first frame (23) and the second frame (24). A through-hole receiving cavity (26) is provided between the first frame (23) and the second frame (24). An opening (27) is provided at the bottom of the receiving cavity (26). The two ends of the vehicle mount (21) are respectively connected to the first frame (23) and the second frame (24) and are housed in the receiving cavity (26). The vehicle mount (21) is located in the middle of the receiving cavity (26); Alternatively, the vehicle mount (21) may be located on one side of the receiving cavity (26); The vehicle mount (21) includes a back mount bracket (211) and a suspension assembly (212). One end of the back mount bracket (211) is connected to the first vehicle frame (23) and the other end is connected to the second vehicle frame (24). The suspension assembly (212) is detachably installed in the middle of the back mount bracket (211).

2. The unmanned transportation system for connecting indoor and outdoor transportation and delivery as described in claim 1, characterized in that, The indoor robot (3) also includes an identification module (34). The mobile chassis (31) is provided with a lifting mechanism (32) for lifting the logistics cabinet module (1). The lifting mechanism (32) is provided with a support platform (33) for carrying the logistics cabinet module (1). The identification module (34) is located around the support platform (33).

3. The unmanned transportation system for connecting indoor and outdoor transportation and delivery as described in claim 1, characterized in that, The back-mounted bracket (211) includes: The I-beam (2111) is detachably connected to the vehicle body (22) at both ends; A movable crossbeam (2112) is located in the middle of the I-beam (2111) and its two ends are detachably connected to the I-beam (2111), and can be adjusted up and down within a preset range; The fixed crossbeam (2113) is fixedly connected to the I-beam (2111) at both ends.

4. The unmanned transportation system for connecting indoor and outdoor transportation and delivery as described in claim 3, characterized in that, The suspension assembly (212) includes: The guide hooks (2121), two in a group, are set on the side wall of the moving crossbeam (2112), and have a limiting groove for docking and limiting the connecting assembly (12); Sensor assemblies (2122) are respectively disposed on the side wall of the movable crossbeam (2112) and the side wall of the fixed crossbeam (2113) for detecting the positioning status of the connecting assembly (12); The guide cone (2123) is disposed on the side wall of the fixed crossbeam (2113) and is used in conjunction with the guide hook (2121) to play a guiding role when the connecting assembly (12) and the vehicle mount (21) are connected; An optical guide plate (2124) is disposed on the side wall of the movable crossbeam (2112) and located between a set of the guiding hooks (2121), and is used to assist in guiding the indoor robot (3); A buffer block (2125) is provided on the side wall of the fixed crossbeam (2113) to buffer the contact between the connecting assembly (12) and the vehicle mount (21) and to limit the pitch of the connecting assembly (12) during transportation.

5. The unmanned transportation system for connecting indoor and outdoor transportation and delivery as described in claim 4, characterized in that, The connecting assembly (12) includes a top frame (121), a bottom frame (122), a side frame (123), wheels (124), and an identification rod (125). The side frame (123) is connected to one end of the top frame (121) and the bottom frame (122). The bottom of the side frame (123) and the end of the bottom frame (122) away from the side frame (123) are respectively provided with wheels (124). The bottom of the side frame (123) is also provided with a horn groove (128) that cooperates with the guide cone (2123). The top frame (121) is used to support the logistics cabinet (11). The identification rod (125) is located on the side of the top frame (121) away from the side frame (123).

6. The unmanned transportation system for connecting indoor and outdoor transportation and delivery as described in claim 5, characterized in that, The connecting assembly (12) further includes a clamping crossbar (126) disposed on the side frame (123) and a guide block (127) disposed at the bottom of the clamping crossbar (126). The clamping crossbar (126) cooperates with the guide hook (2121), and the guide block (127) is used to play a guiding role when the guide hook (2121) cooperates with the clamping crossbar (126).

7. The unmanned transportation system for connecting indoor and outdoor transportation and delivery as described in any one of claims 1 to 6, characterized in that, The outdoor shuttle vehicle (2) also includes a lifting assembly (28) and a locking assembly (29) mounted on the vehicle body (22). The lifting assembly (28) is connected to the vehicle mount (21) and drives the vehicle mount (21) to move up and down. The locking assembly (29) is located above the lifting assembly (28) and is used to lock and unlock the lifting assembly (28).

8. A method for unmanned transportation that integrates indoor and outdoor connections and delivery, characterized in that, The unmanned transportation system, which integrates indoor and outdoor connections and delivery as described in any one of claims 1 to 7, is employed. The unmanned transportation method includes the following steps: The outdoor shuttle bus (2) arrives at the first pick-up point; The indoor robot (3) drives to the delivery starting point and scans the identification bar (125) on the connecting component (12) through the identification module (34), then adjusts the angle to enter the connecting component (12) and lifts the logistics cabinet module (1). The indoor robot (3) carries the logistics cabinet module (1) to the first docking point and enters the receiving cavity (26) of the outdoor shuttle vehicle (2). After alignment, it descends to connect the docking component (12) with the vehicle mount (21). The indoor robot (3) drives away from the outdoor shuttle vehicle (2) and carries the next logistics cabinet module (1). After all the logistics cabinet modules (1) are loaded, it returns to the standby point. The outdoor shuttle vehicle (2) carrying the logistics cabinet module (1) moves from the first docking point to the second docking point; The indoor robot (3) located at the second docking point moves into the receiving cavity (26) of the outdoor shuttle vehicle (2), scans the identification rod (125) on the docking assembly (12) through the identification module (34), and then adjusts the angle to enter the docking assembly (12) and lifts the logistics cabinet module (1), so that the docking assembly (12) is separated from the vehicle hanging device (21); The indoor robot (3) carries the logistics cabinet module (1), moves the logistics cabinet module (1) away from the outdoor shuttle vehicle (2), and transports it to the delivery terminal. After all the logistics cabinet modules (1) are unloaded, it returns to the standby point.

9. A method for unmanned transportation that integrates indoor and outdoor connections and delivery, characterized in that, The unmanned transportation system, which integrates indoor and outdoor connections and delivery as described in any one of claims 1 to 7, is employed. The unmanned transportation method includes the following steps: The outdoor shuttle bus (2) arrives at the first pick-up point; The indoor robot (3) drives to the delivery starting point and scans the identification bar (125) on the connecting component (12) through the identification module (34), then adjusts the angle to enter the connecting component (12) and lifts the logistics cabinet module (1). The indoor robot (3) carries the logistics cabinet module (1) to the first docking point and enters the receiving cavity (26) of the outdoor shuttle vehicle (2). After alignment, it descends to connect the docking component (12) with the vehicle mount (21). The indoor robot (3) drives away from the outdoor shuttle vehicle (2) and carries the next logistics cabinet module (1). It does not get off the vehicle after the last logistics cabinet module (1) is loaded. The outdoor shuttle vehicle (2) is lifted by the lifting assembly (28) and moves from the first docking point to the second docking point, carrying the logistics cabinet module (1) and the indoor robot (3); The outdoor shuttle vehicle (2) descends via the lifting assembly (28), and the indoor robot (3) lifts the logistics cabinet module (1), so that the shuttle assembly (12) is separated from the vehicle mount (21); The indoor robot (3) carries the logistics cabinet module (1), moves the logistics cabinet module (1) away from the outdoor shuttle vehicle (2), and transports it to the delivery terminal. After all the logistics cabinet modules (1) are unloaded, it returns to the standby point.

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