A trolley

Abstract

The present application provides a kind of carrier, including load platform, power source integration and boom drive mechanism platform, the load platform is located in the side of power source integration, the boom drive mechanism platform is located in the bottom of load platform.In the present application, track walking assembly can solve the problem that existing carrier cannot run in complex environment such as marsh, wetland, desert, hillside, wild field, etc.; at present, the environment of construction site is basically in mountain, wild field and other sections, there is no road for existing vehicle to run, only mule car or manpower transportation can be used, at the same time, leveling mechanism can adjust the position of load platform appropriately if obstacle is encountered during the running of carrier, so that the goods can always keep horizontal state without tilting and falling, and self-loading and unloading mechanism assembly can make carrier complete self-loading and unloading operation of goods smoothly, improve work efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of vehicle technology, in particular to a carrier vehicle. BACKGROUND

[0002] With the development of the times, in the face of climate change, environmental risk challenges, energy resource constraints and other increasingly serious global problems, it is urgent to replace old energy with new energy, and the use of new energy-electricity is becoming more and more widespread. Two sources of electric energy are solar power generation and wind power generation. The use environment and road conditions of these two power generations are relatively complex, and they are usually not in the living area. Therefore, the construction of solar panels and wind turbines requires a convenient, effective and safe handling tool for handling related construction materials. The vehicles commonly used for handling are divided into two categories: the first category is used indoors, such as trolleys, tractors, trailers, lifting vehicles (oxen, trailers, etc.), electric trolleys, internal combustion trolleys, and unmanned trolleys; the second category is used outdoors, such as vans, gold cup cars, ordinary van trucks, trailers, etc. These handling vehicles are commonly used in cities, on traffic highways, and in good environmental and road conditions.

[0003] The electric carrier provided in the publication "CN111186471A" includes a carrier main support, a carrier rotating frame, universal wheels, a baffle, a pull rod, a fastening bolt, a pull rod, a handle, a concave fixing plate, a rotating hole, and a rotating shaft. The carrier main support is provided with a carrier rotating frame on both sides, and a plurality of universal wheels are welded at the bottom of the carrier rotating frame. The carrier main support is provided with a pull rod at the center, and a plurality of concave fixing plates are welded at the bottom of the carrier main support, and the concave fixing plates are respectively sleeved on the outer sides of the carrier rotating frame and one end of the pull rod. A rotating hole is formed at the center of the concave fixing plate, and a rotating shaft is sleeved in the rotating hole. This carrier can freely stretch and retract the pull rod by twisting the fastening bolt, which facilitates the user to pull the goods. At the same time, the pull rod and the carrier rotating frame can be rotated, so that the pull rod and the carrier rotating frame are retracted into the bottom of the carrier main support, greatly reducing the volume, which is beneficial to the user to transport and store the carrier.

[0004] However, the above-mentioned device still has the following problems in the implementation process:

[0005] The existing carrier vehicle only has the functions of normal driving and loading and carrying goods, and cannot drive in complex environments such as marshes, wetlands, deserts, slopes, and wild fields. The current construction site environment is basically on the mountain, in the wild, and other sections, and there is no road for the existing vehicle to drive on. Only a donkey cart or manual transportation can be used. At the same time, when encountering some obstacle sections, the goods on the carrier vehicle will tilt, causing the goods to fall off. SUMMARY

[0006] The present application aims to provide a carrier to solve the problems in the background art.

[0007] To achieve the above object, the present application provides the following technical solutions:

[0008] A field short-distance carrier includes a cargo platform, a power source integration and a boom drive mechanism platform, the cargo platform is located on one side of the power source integration, the boom drive mechanism platform is located at the bottom of the cargo platform, and the power source integration is provided with a track walking assembly on both sides, which can improve the driving ability of the vehicle.

[0009] The boom drive mechanism platform includes an intermediate frame, the intermediate frame is located at the bottom of the cargo platform, and the intermediate frame is fixedly connected with connecting struts on both sides of the bottom.

[0010] The chassis integration is fixedly arranged on the track walking assembly, and when the vehicle encounters an obstacle during operation, the position of the goods on the cargo platform can be automatically adjusted to keep the goods in a horizontal state. The carrier can solve the problem that the existing carrier cannot run in complex environments such as marshes, wetlands, deserts, slopes and fields. At present, the environment of the construction site is basically on the mountain, and there is no road for the existing vehicle to run in the field, so only a mule vehicle or manual transportation can be used. The leveling mechanism can adjust the position of the cargo platform if the goods are inclined when the carrier runs, so that the goods can always remain in a horizontal state without falling. The self-loading and unloading mechanism assembly can smoothly complete the self-loading and unloading operation of the goods, and improve the work efficiency.

[0011] Preferably, the track walking assembly includes a support frame, the outer surface of the support frame is sleeved with a track, and the inside of the track is drivingly connected with a driving wheel and a driven wheel on both sides, respectively. One side of the driving wheel is fixedly connected with the output end of the power source integration, and the inside of the support frame is rotatably connected with a sliding wheel. The sliding wheel can improve the stability of the track during operation, so that the carrier can move in some harsh conditions in the field.

[0012] Preferably, the chassis integration includes a vehicle carrying chassis and a leveling mechanism, the vehicle carrying chassis is fixedly installed on the top of the support frame, the bottom of the intermediate frame is fixedly connected with the top of the boom drive mechanism platform, and the vehicle carrying chassis is connected with the leveling oil cylinder; the leveling oil cylinder includes a platform pitch control oil cylinder and a platform left-right leveling oil cylinder; the platform pitch control oil cylinder is hingedly connected with the top of the vehicle carrying chassis, and the output end of the platform pitch control oil cylinder is hingedly connected with the bottom of the cargo platform; the platform left-right leveling oil cylinder is arranged on both sides of the vehicle carrying chassis and is hingedly connected with the vehicle carrying chassis, and the output end of the platform left-right leveling oil cylinder is hingedly connected with the surface of the intermediate frame.

[0013] Preferably, the leveling mechanism comprises a vehicle tilt sensor, a vehicle-mounted laser level, a posture control unit and an adjustment balancing unit; the posture control unit is in communication connection with the vehicle-mounted laser level, the vehicle tilt sensor and the adjustment balancing unit;

[0014] The vehicle tilt sensor is fixedly installed at the gravity center position of the vehicle carrying chassis, is used for acquiring the real-time horizontal state of the vehicle body, and inputs the real-time horizontal state data of the vehicle body to the posture control unit;

[0015] The vehicle-mounted laser level is installed at the vehicle head position, collects the road condition information in front of the vehicle running through a laser sensor, and transmits the collected road condition information to the posture control unit through a self signal transmission module;

[0016] The posture control unit is used for acquiring vehicle running sensing information and performing vehicle running data sensing;

[0017] The adjustment balancing unit is used for driving the leveling oil cylinder to supply oil, so as to realize balance control of the vehicle body.

[0018] Preferably, the posture control unit comprises:

[0019] A first inclination data obtaining module, the first inclination data obtaining module is used for collecting data through the vehicle-mounted laser level of the target vehicle, obtaining first inclination data, the first inclination data comprises a first inclination position and a first inclination angle;

[0020] A second inclination data obtaining module, the second inclination data obtaining module is used for connecting the vehicle tilt sensor of the target vehicle, obtaining second inclination data, the second inclination data comprises a second inclination position and a second inclination angle;

[0021] A vehicle inclination data obtaining module, the vehicle inclination data obtaining module is used for obtaining vehicle inclination data based on the first inclination data and the second inclination data;

[0022] An oil cylinder leveling instruction generating module, the oil cylinder leveling instruction generating module is used for sending the vehicle inclination data to the posture control unit for data sensing, generating an oil cylinder leveling instruction, the oil cylinder leveling instruction comprises a leveling position and a leveling oil amount;

[0023] An oil amount supplementing module, the oil amount supplementing module is used for sending the leveling position and the leveling oil amount to the adjustment balancing unit, controlling the vehicle leveling oil cylinder to supplement oil amount through the adjustment balancing unit, and then driving the cargo platform positioning shaft to adjust the position.

[0024] Preferably, the obtaining the vehicle inclination data based on the first inclination data and the second inclination data further comprises:

[0025] an inclination position judging module, configured to compare the first inclination position and the second inclination position;

[0026] a vehicle inclination position obtaining module, configured to, when the first inclination position and the second inclination position are consistent, take the first inclination position as the vehicle inclination position;

[0027] an inclination position correction instruction generating module, configured to, when the first inclination position and the second inclination position are inconsistent, take the second inclination position as the inclination position, and generate an inclination position correction instruction;

[0028] a vehicle inclination angle obtaining module, configured to obtain an angle difference between the first inclination angle and the second inclination angle, and when the angle difference does not satisfy a preset angle threshold, take an average of the first inclination angle and the second inclination angle as the vehicle inclination angle;

[0029] an inclination angle correction instruction generating module, configured to, when the angle difference satisfies the preset angle threshold, take the second inclination angle as the vehicle inclination angle, and generate an inclination angle correction instruction;

[0030] a vehicle inclination data obtaining module, configured to obtain the vehicle inclination data based on the vehicle inclination position and the vehicle inclination angle.

[0031] Preferably, the attitude control unit further comprises:

[0032] an equipment maintenance module, configured to, when the vehicle stops running, perform equipment maintenance on the vehicle-mounted laser level and the vehicle inclination sensor based on the inclination position correction instruction and the inclination angle correction instruction.

[0033] Preferably, the attitude control unit further comprises:

[0034] a historical balance control data obtaining module, configured to take balance control of the target vehicle as a search condition, and obtain a plurality of sets of historical balance control data, the historical balance control data comprising a historical vehicle inclination angle, a historical oil cylinder oil supply amount, and a historical vehicle balance state evaluation result;

[0035] The historical vehicle balance state evaluation result screening module is configured to screen a plurality of sets of the historical vehicle balance state evaluation results according to a preset vehicle balance state index.

[0036] The sample data set obtaining module is configured to obtain historical vehicle inclination angles and historical oil cylinder oil supply amounts corresponding to the historical vehicle balance state evaluation results satisfying the vehicle balance state index as sample data to obtain a sample data set.

[0037] Preferably, the attitude control unit further comprises:

[0038] The initial oil amount analysis model construction module is configured to construct an initial oil amount analysis model based on a neural network.

[0039] The oil amount analysis model training module is configured to perform supervised training and verification on the oil amount analysis model through the sample data set, obtain a trained oil amount analysis model, and embed the oil amount analysis model in the attitude control unit.

[0040] The leveling oil amount obtaining module is configured to input a vehicle inclination angle in the vehicle inclination data into the oil amount analysis model to obtain a first oil cylinder oil supply amount as the leveling oil amount.

[0041] Preferably, the oil amount replenishment of the vehicle leveling oil cylinder controlled by the adjustment and balance unit further comprises:

[0042] The vehicle left-right leveling oil cylinder calling module is configured to, when the leveling position is a vehicle left-right position, call a vehicle left-right leveling oil cylinder through the adjustment and balance unit and control the left-right leveling oil cylinder to perform oil amount replenishment according to the leveling position and the leveling oil amount.

[0043] The vehicle pitch control oil cylinder calling module is configured to, when the leveling position is a vehicle front-rear position, call a vehicle pitch control oil cylinder through the adjustment and balance unit and control the pitch control oil cylinder to perform oil amount replenishment according to the leveling position and the leveling oil amount.

[0044] Preferably, one side of the vehicle carrying chassis is provided with a self-loading and unloading mechanism assembly, which can automatically load the goods; the self-loading and unloading mechanism assembly comprises a hoist arm, two connecting pieces are fixedly connected to one side of the hoist arm, one side of the connecting piece is hinged to one side of the vehicle carrying chassis, an electric hoist is fixedly installed at the bottom of the hoist arm, a hook is in transmission connection with the bottom of the electric hoist, and a matching control oil cylinder is hinged to the top of the vehicle carrying chassis on both sides.

[0045] Preferably, one side of the intermediate frame is provided with a platform positioning pivot, and the intermediate frame is hinged to the loading platform through the platform positioning pivot.

[0046] Preferably, both sides of the vehicle carrying chassis are provided with frame positioning pivots, and the vehicle carrying chassis is hinged to the connecting support through the frame positioning pivots.

[0047] Preferably, the number of the sliding wheels is several, and the sliding wheels are uniformly distributed in the inside of the support frame.

[0048] Preferably, the power source is integrated with a radio module, and the vehicle can be remotely controlled to run. Through the radio module, the carrier can be remotely controlled, so that the user can better operate.

[0049] Compared with the prior art, the present application has the following beneficial effects:

[0050] The track walking assembly can solve the problem that the existing carrier cannot run in complex environments such as marshes, wetlands, deserts, slopes and wild fields. At present, the environment of the construction site is basically on the mountain, in the wild and other sections, and there is no road for the existing vehicle to run, and only a donkey cart or manpower transportation can be used. The leveling mechanism can adjust the position of the loading platform if an obstacle is encountered during the operation of the carrier, so that the goods are always kept in a horizontal state and will not be tilted and fallen. The self-loading and unloading mechanism assembly can smoothly complete the self-loading and unloading operation of the goods, and improve the work efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0051] Figure 1 It is a schematic view of the main structure of the present application;

[0052] Figure 2 It is an exploded perspective view of the present application;

[0053] Figure 3 It is a perspective view of the self-loading and unloading mechanism assembly of the present application;

[0054] Figure 4 It is a perspective view of the leveling mechanism of the present application;

[0055] Figure 5 This is a perspective view of the tracked walking assembly of the present invention;

[0056] Figure 6 This is a schematic diagram showing a cross-section of the present invention;

[0057] Figure 7 This is a schematic diagram showing a cross-section of the present invention;

[0058] Figure 8 This is a schematic diagram showing the left and right tilt of the present invention;

[0059] In the diagram: 1. Cargo platform; 2. Power source integration; 3. Intermediate frame; 4. Connecting pillar; 5. Support frame; 6. Track; 7. Drive wheel; 8. Driven wheel; 9. Sliding wheel; 10. Vehicle chassis; 11. Vehicle tilt sensor; 12. Platform pitch control cylinder; 13. Platform left and right leveling cylinder; 14. Crane boom; 15. Connector; 16. Electric hoist; 17. Hook; 18. Coordination control cylinder; 19. Platform positioning pivot; 20. Frame positioning pivot. Detailed Implementation

[0060] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0061] Please see Figures 1-8 The present invention provides a technical solution:

[0062] In this embodiment, as Figures 1-8 The diagram relates to a handling vehicle, which includes a cargo platform 1, a power source integration 2, and a boom drive mechanism platform. The cargo platform 1 is located on one side of the power source integration 2, and the boom drive mechanism platform is located at the bottom of the cargo platform 1. Tracked walking assemblies are provided on both sides of the power source integration 2, which can improve the vehicle's driving ability.

[0063] The boom drive mechanism platform includes a middle frame 3, which is located at the bottom of the cargo platform 1. Connecting pillars 4 are fixedly connected to both sides of the bottom of the middle frame 3.

[0064] The chassis is integrated and fixedly mounted on the tracked walking assembly. When the vehicle encounters an obstacle while running, it can automatically adjust the position of the cargo on the cargo platform 1 to keep the cargo in a horizontal state.

[0065] A platform positioning pivot 19 is provided on one side of the intermediate frame 3, and the intermediate frame 3 is hinged to the cargo platform 1 through the platform positioning pivot 19.

[0066] The crawler walking assembly comprises a support frame 5, the outer surface of the support frame 5 is sleeved with a crawler belt 6, two sides inside the crawler belt 6 are drivingly connected with a driving wheel 7 and a driven wheel 8 respectively, one side of the driving wheel 7 is fixedly connected with an output end of the power source integration 2, and the inside of the support frame 5 is rotatably connected with a sliding wheel 9.

[0067] The crawler walking assembly is arranged, the driving wheel 7 is driven to rotate by the power source integration 2, so that the crawler belt 6 is driven, and the carrier can transport goods in some harsh environments in the wild, so that the problem that the existing carrier cannot run in complex environments such as marshes, wetlands, deserts, slopes and the wild is solved.

[0068] The crawler walking assembly of the embodiment can solve the problem that the existing carrier cannot run in complex environments such as marshes, wetlands, deserts, slopes and the wild, and the environment of the current construction site is basically on the mountain, and there is no road for the existing vehicle to run in the wild, so that only a mule car or manpower transportation can be used.

[0069] The bottom plate integration can provide a good support and bearing capacity for the carrier, and the leveling mechanism can adjust the degree of inclination of the goods during transportation, so that the goods always remain in a horizontal state and do not incline.

[0070] In the embodiment, the bottom plate integration comprises a vehicle carrying bottom plate 10 and a leveling mechanism, the vehicle carrying bottom plate 10 is fixedly installed on the top of the support frame 5, the bottom of the middle frame 3 is fixedly connected with the top of the platform of the boom driving mechanism, and the leveling mechanism is fixedly arranged on the vehicle carrying bottom plate 10. Figure 4As shown, the chassis integration can provide a good support carrying capacity for the trolley, but the goods will also tilt with the obstacles encountered during transportation, and the goods may fall off, affecting the normal driving of the trolley. The leveling mechanism in the application comprises a vehicle tilt sensor 11, the vehicle tilt sensor 11 is fixedly installed on the vehicle carrying chassis 10, the top of the vehicle carrying chassis 10 is hinged with a platform pitch control oil cylinder 12, the output end of the platform pitch control oil cylinder 12 is hinged with the bottom of the cargo platform 1, and the inner wall of the vehicle carrying chassis 10 is hinged with two platform left and right leveling oil cylinders 13, the output end of the platform left and right leveling oil cylinders 13 is hinged with the surface of the middle frame 3. The vehicle carrying chassis 10 is connected with the leveling oil cylinder; the leveling oil cylinder comprises the platform pitch control oil cylinder 12 and the platform left and right leveling oil cylinder 13; the platform pitch control oil cylinder 12 is hinged with the top of the vehicle carrying chassis 10, and the output end of the platform pitch control oil cylinder 12 is hinged with the bottom of the cargo platform 1; the platform left and right leveling oil cylinders 13 are arranged on the two sides of the vehicle carrying chassis 10 and are hinged with the vehicle carrying chassis 10, and the output end of the platform left and right leveling oil cylinders 13 is hinged with the surface of the middle frame 3.

[0071] In the embodiment, the leveling mechanism comprises a vehicle tilt sensor 11, a vehicle-mounted laser level, a posture control unit and an adjusting balance unit; the posture control unit is in communication connection with the vehicle-mounted laser level, the vehicle tilt sensor and the adjusting balance unit.

[0072] The vehicle tilt sensor 11 is fixedly installed at the gravity center position of the vehicle carrying chassis 10, is used for acquiring the real-time horizontal state of the vehicle body, and inputs the real-time horizontal state data of the vehicle body to the posture control unit. The vehicle-mounted laser level is installed at the vehicle head position, collects the road condition information in front of the vehicle running through the laser sensing, and transmits the collected road condition information to the posture control unit through the self signal transmission module. The posture control unit is used for acquiring the vehicle running sensing information and performing vehicle running data perception. The adjusting balance unit is used for driving the leveling oil cylinder to supply oil to the oil cylinder, so as to realize the balance control of the vehicle body.

[0073] Specifically, the leveling mechanism is used for intelligently adjusting the state of the vehicle body during the operation of the motor vehicle, so that the vehicle body can be in a balanced state during the operation of the vehicle, thereby improving the safety of the vehicle during the operation. The leveling mechanism comprises a posture control unit and an adjusting and balancing unit. The posture control unit is used for acquiring vehicle operation sensing information and performing vehicle operation data sensing, generating a cylinder leveling instruction and sending the cylinder leveling instruction to the adjusting and balancing unit. The vehicle-mounted laser level is installed at the vehicle head position. The road condition information in front of the vehicle during the operation is collected through laser sensing, and the collected road condition information is transmitted to the posture control unit through a self signal transmission module. The vehicle inclination sensor is installed at the gravity center position of the vehicle body frame and is used for acquiring the real-time horizontal state of the vehicle body and inputting the real-time horizontal state data of the vehicle body into the posture control unit. The adjusting and balancing unit is used for driving the leveling cylinder to supply oil according to the cylinder leveling instruction, so as to realize the balance control of the vehicle body.

[0074] In the embodiment, the posture control unit comprises a first inclination data obtaining module, a second inclination data obtaining module, a vehicle inclination data obtaining module, a cylinder leveling instruction generating module and an oil amount supplementing module.

[0075] The first inclination data obtaining module is used for collecting data through the vehicle-mounted laser level of the target vehicle to obtain first inclination data, wherein the first inclination data comprises a first inclination position and a first inclination angle.

[0076] Specifically, first, the front road condition data is collected through the vehicle-mounted laser level of the target vehicle. The target vehicle refers to the motor vehicle to be balanced and adjusted, such as a carrier and the like. The vehicle-mounted laser level is used for acquiring the road condition data in front of the vehicle during the operation and feeding back the road condition data. For example, an infrared level and the like is used to obtain the real-time data of the front road condition and use the real-time data as the first inclination data. The first inclination data comprises a first inclination position and a first inclination angle. The first inclination position refers to the fluctuation position in the front road condition data. For example, it is assumed that there is a concave land in the left vehicle body position in front of the vehicle during the operation, and then the first inclination position is downward on the left side. For another example, if the front of the vehicle during the operation is an uphill direction, then the first inclination position is that the vehicle head is inclined upward. The first inclination angle is the included angle between the laser reflection line of the vehicle-mounted laser level and the horizontal line. The first inclination angle can be used to predict the inclination angle when the vehicle runs through the position. By acquiring the first inclination position and the first inclination angle, the original data support is provided for acquiring the vehicle inclination data in the next step.

[0077] The second inclination data obtaining module is used for connecting the vehicle inclination sensor of the target vehicle to acquire second inclination data. The second inclination data comprises a second inclination position and a second inclination angle.

[0078] Specifically, the vehicle tilt sensor connected to the target vehicle is arranged at the gravity center position of the vehicle body frame to obtain real-time tilt data of the vehicle, including solid pendulum tilt sensor, liquid pendulum tilt sensor and gas pendulum tilt sensor. The second tilt data of the target vehicle is obtained by the vehicle tilt sensor, and the second tilt data includes a second tilt position and a second tilt angle. The second tilt position and the second tilt angle are real-time display data of the vehicle tilt sensor. The second tilt position and the second tilt angle are obtained to provide support for obtaining vehicle tilt data in the next step.

[0079] The vehicle tilt data obtaining module is configured to obtain vehicle tilt data based on the first tilt data and the second tilt data. The vehicle tilt data obtaining module includes a tilt position judgment module, a vehicle tilt position obtaining module, a tilt position correction instruction generation module, a vehicle tilt angle obtaining module, a tilt angle correction instruction generation module and a vehicle tilt data obtaining module. The tilt position judgment module is configured to compare and judge the first tilt position and the second tilt position. The vehicle tilt position obtaining module is configured to take the first tilt position as the vehicle tilt position when the first tilt position and the second tilt position are consistent, for example, when the first tilt position and the second tilt position are both on the left side of the vehicle. The tilt position correction instruction generation module is configured to take the second tilt position as the tilt position and generate a tilt position correction instruction when the first tilt position and the second tilt position are inconsistent, for example, when the first tilt position is on the left side of the vehicle and the second tilt position is on the right side of the vehicle. The reason for taking the second tilt position as the tilt position is that the vehicle tilt sensor is located at the gravity center position of the vehicle body frame, and the probability of error judgment is extremely small. However, the vehicle-mounted laser sensor is located in front of the vehicle head, and is seriously affected by external environment, for example, may be affected by light reflection and may occur error judgment. Moreover, when the first tilt position and the second tilt position are inconsistent, the tilt angle correction instruction is automatically generated and sent to the vehicle body posture control unit. The vehicle tilt angle obtaining module is configured to obtain the angle difference between the first tilt angle and the second tilt angle, and take the average of the first tilt angle and the second tilt angle as the vehicle tilt angle when the angle difference does not satisfy a preset angle threshold. The tilt angle correction instruction generation module is configured to take the second tilt angle as the vehicle tilt angle and generate a tilt angle correction instruction when the angle difference satisfies the preset angle threshold. The vehicle tilt data obtaining module is configured to obtain the vehicle tilt data based on the vehicle tilt position and the vehicle tilt angle.

[0080] The angle difference is obtained by subtracting the first inclination angle from the second inclination angle. A preset angle threshold is obtained, which can be customized by a person skilled in the art based on sensor accuracy and environmental factors, for example, the angle threshold is 5°. The angle difference is judged according to the angle threshold. When the angle difference is less than the angle threshold, the first inclination angle and the second inclination angle are added together, and half of the sum is taken as the vehicle inclination angle. When the angle difference is greater than or equal to the preset angle threshold, the second inclination angle is taken as the vehicle inclination angle, and an inclination angle correction instruction is generated. The inclination angle correction instruction is sent to the vehicle body posture control unit. Finally, the vehicle inclination data is composed of the vehicle inclination position and the vehicle inclination angle. By comprehensively evaluating the first inclination data and the second inclination data, the accuracy of the vehicle inclination data obtained can be improved, and the precision of the vehicle balance adjustment is indirectly improved.

[0081] In some embodiments, the vehicle inclination data obtaining module further includes a device maintenance module for maintaining the vehicle-mounted laser level and the vehicle inclination sensor based on the inclination position correction instruction and the inclination angle correction instruction when the vehicle operation stops.

[0082] Specifically, when the target vehicle completes the current operation task, the inclination position correction instruction and the inclination angle correction instruction received by the posture control unit are sent to the person in charge of the target vehicle. The vehicle-mounted laser level and the vehicle inclination sensor are detected based on the inclination position correction instruction and the inclination angle correction instruction, and the faults are repaired in time. By generating the inclination position correction instruction and the inclination angle correction instruction, the faults of the vehicle-mounted laser level and the vehicle inclination sensor can be found in time, so that the safety hazards in the vehicle operation process can be solved in time.

[0083] The oil cylinder leveling instruction generation module is configured to send the vehicle inclination data to the posture control unit for data sensing, and generate an oil cylinder leveling instruction, wherein the oil cylinder leveling instruction includes a leveling position and a leveling oil amount.

[0084] The oil amount supplementing module is configured to send the leveling position and the leveling oil amount to the balance adjusting unit, and supplement the oil amount through the balance adjusting unit to control the vehicle leveling oil cylinder, and then drive the cargo platform positioning shaft to adjust the position.

[0085] In the embodiment, the oil replenishing module further comprises a vehicle left-right leveling oil cylinder calling module and a vehicle pitch control oil cylinder calling module. The vehicle left-right leveling oil cylinder calling module is configured to, when the leveling position is a vehicle left-right position, call the platform left-right leveling oil cylinder 13 through the adjusting and balancing unit, and control the platform left-right leveling oil cylinder 13 to replenish oil according to the leveling position and the leveling oil amount. The vehicle pitch control oil cylinder calling module is configured to, when the leveling position is a vehicle front-rear position, call the platform pitch control oil cylinder 12 through the adjusting and balancing unit, and control the platform pitch control oil cylinder 12 to replenish oil according to the leveling position and the leveling oil amount. The problem of poor vehicle stability during operation due to low oil feeding accuracy of the vehicle leveling oil cylinder is solved, and the vehicle can be kept stable during operation, thereby improving the safety of vehicle operation.

[0086] In some embodiments, the attitude control unit further comprises a historical balancing control data acquisition module, a historical vehicle balancing state evaluation result screening module, and a sample data set obtaining module.

[0087] The historical balancing control data acquisition module is configured to acquire a plurality of sets of historical balancing control data by taking the balancing control of the target vehicle as a search condition, wherein the historical balancing control data comprises a historical vehicle inclination angle, a historical oil cylinder oil feeding amount, and a historical vehicle balancing state evaluation result.

[0088] The historical vehicle balancing state evaluation result screening module is configured to screen a plurality of sets of the historical vehicle balancing state evaluation results according to a preset vehicle balancing state index.

[0089] The sample data set obtaining module is configured to take the historical vehicle inclination angle and the historical oil cylinder oil feeding amount corresponding to the historical vehicle balancing state evaluation result satisfying the vehicle balancing state index as sample data to obtain a sample data set.

[0090] Specifically, based on big data technology, relevant data is queried by taking the balancing control of the target vehicle as a search condition, and a plurality of sets of historical balancing control data are acquired, wherein the historical balancing control data comprises a historical vehicle inclination angle, a historical oil cylinder oil feeding amount, and a historical vehicle balancing state evaluation result, and the historical vehicle inclination angle, the historical oil cylinder oil feeding amount, and the historical vehicle balancing state evaluation result have a corresponding relationship. The historical oil cylinder oil feeding amount refers to the delivery oil amount of the historical vehicle leveling oil cylinder, and the historical vehicle balancing state evaluation result can be represented by a vehicle balancing coefficient, wherein the larger the vehicle balancing coefficient, the better the vehicle balancing effect.

[0091] Obtaining a preset vehicle balance state index, which can be customized based on actual conditions, for example, a vehicle balance coefficient of 10. Comparing a plurality of sets of historical vehicle balance state evaluation results according to the preset vehicle balance state index, extracting the historical vehicle inclination angle and the historical oil cylinder oil supply amount corresponding to the historical vehicle balance state evaluation results greater than the vehicle balance state index, obtaining a plurality of sets of screening historical vehicle inclination angles and a plurality of sets of screening historical oil cylinder oil supply amounts, and constructing a sample data set according to the plurality of sets of screening historical vehicle inclination angles and the plurality of sets of screening historical oil cylinder oil supply amounts. By obtaining the sample data set, training data is provided for the next step of supervised training of the initial oil amount analysis model.

[0092] In some embodiments, the attitude control unit further comprises an initial oil amount analysis model construction module, an oil amount analysis model training module, and a leveling oil amount obtaining module.

[0093] The initial oil amount analysis model construction module is configured to construct an initial oil amount analysis model based on a neural network.

[0094] The oil amount analysis model training module is configured to supervise and verify the oil amount analysis model through the sample data set, obtain a trained oil amount analysis model, and embed the oil amount analysis model in the attitude control unit.

[0095] The leveling oil amount obtaining module is configured to input the vehicle inclination angle in the vehicle inclination data into the oil amount analysis model to obtain a first oil cylinder oil supply amount as the leveling oil amount.

[0096] Specifically, based on a BP neural network, an initial oil amount analysis model is constructed, which is a neural network model that can be continuously iteratively optimized in machine learning and is obtained through supervised training of a training data set. The input data of the initial oil amount analysis model is the vehicle inclination angle, and the output data is the oil cylinder oil supply amount. A data division ratio is obtained, which can be customized by a person skilled in the art based on actual conditions, for example, a sample training set accounts for 85%, and a sample verification set accounts for 15%. The sample data is divided into a sample training set and a sample verification set according to the data division ratio.

[0097] The initial oil quantity analysis model is supervised trained by the sample training set. First, a group of training data is randomly selected from the sample data set, the initial oil quantity analysis model is supervised learned, the output result of the first group of training data is compared with the output result of the training model, when they are consistent, the supervision learning of the group of data is completed, and the next group of data is supervised learned; when they are inconsistent, the training model is self-corrected until the output result of the training model is consistent with the output result of the first group of training data, the supervision learning of the group of data is completed, and the next group of data is supervised learned; the iterative training of the model is continuously performed, when the output result of the model tends to be stable, the output result of the model is verified by the sample verification set, and the accuracy of the output result of the model is judged according to the verification accuracy index, the verification accuracy index can be self-defined, for example: 98%, when the accuracy of the output result of the model is greater than or equal to the verification accuracy index, the initial oil quantity analysis model trained is obtained, as the oil quantity analysis model, and the oil quantity analysis model is embedded into the attitude control unit. By constructing the oil quantity analysis model based on the neural network, the efficiency and accuracy of the oil cylinder leveling oil quantity acquisition can be improved, and the accuracy of the vehicle balance adjustment is improved.

[0098] Finally, the vehicle inclination angle in the vehicle inclination data is input into the oil quantity analysis model, the first oil cylinder oil supply quantity is obtained, and is used as the leveling oil quantity, and the oil cylinder leveling instruction is generated by the attitude control unit, wherein the oil cylinder leveling instruction includes the leveling position and the leveling oil quantity. By generating the oil cylinder leveling instruction, support is provided for the next step of vehicle balance adjustment.

[0099] The above leveling mechanism can solve the problem that the vehicle running stability is poor due to the low accuracy of the vehicle leveling oil cylinder oil supply quantity. The first inclination data is obtained by collecting data by the vehicle-mounted laser level of the target vehicle, the first inclination data includes the first inclination position and the first inclination angle; the second inclination data is obtained by connecting the vehicle inclination sensor of the target vehicle, the second inclination data includes the second inclination position and the second inclination angle; the vehicle inclination data is obtained based on the first inclination data and the second inclination data; the oil quantity analysis model is constructed based on the neural network, and the oil quantity analysis model is embedded into the attitude control unit; the vehicle inclination data is sent to the attitude control unit for data sensing, the oil cylinder leveling instruction is generated, the oil cylinder leveling instruction includes the leveling position and the leveling oil quantity; the leveling position and the leveling oil quantity are sent to the balance adjustment unit, the vehicle leveling oil cylinder is controlled by the balance adjustment unit to supply oil, and then the position of the cargo platform positioning shaft is adjusted. The running vehicle can be kept in a stable state, thereby improving the safety of the vehicle running.

[0100] In summary, by arranging the leveling mechanism, when the vehicle body is inclined left and right due to stones, small slopes or potholes during driving, the vehicle inclination sensor 11 can perceive the inclination signal and send a signal to the balance adjusting unit, drive the corresponding leveling oil cylinder to supply oil, drive the left and right sides of the loading platform 1 to rise or fall for leveling. In this process, the loading platform 1 rotates upward or downward on both sides with the frame positioning pivot 20 as the axis, so that the loading platform 1 always maintains a horizontal state. When encountering an uphill situation, the front of the vehicle is raised, the vehicle inclination sensor 11 can perceive the inclination signal of the raised vehicle head, and send a pitch leveling signal to the balance adjusting unit, and supply oil to the corresponding platform pitch control oil cylinder 12, drive the tail of the loading platform 1 to rise upward, and when the loading platform 1 is raised, it will be flipped upward with the platform positioning pivot 19 as the axis, so that the loading platform 1 maintains a horizontal state in the longitudinal direction.

[0101] It can be seen that the leveling mechanism can solve the problem of poor stability of the vehicle during operation due to the low accuracy of the oil supply of the vehicle leveling oil cylinder, and can keep the running vehicle stable, thereby improving the safety of the vehicle operation. By comprehensively evaluating the first inclination data and the second inclination data, the accuracy of the vehicle inclination data obtained can be improved, and the accuracy of the vehicle balance adjustment is indirectly improved. By generating the inclination position correction instruction and the inclination angle correction instruction, the fault problems of the vehicle-mounted laser level and the vehicle inclination sensor can be found in time, so that the safety hidden danger in the vehicle operation process can be solved in time. By constructing the oil amount analysis model based on the neural network, the efficiency and accuracy of the oil cylinder leveling oil amount acquisition can be improved, thereby improving the accuracy of the vehicle balance adjustment.

[0102] In this embodiment, one side of the intermediate frame 3 is provided with a platform positioning pivot 19, and the intermediate frame 3 is hinged to the loading platform 1 through the platform positioning pivot 19.

[0103] In this embodiment, as shown in Figure 6 By arranging the platform positioning pivot 19, when encountering an uphill situation, the front of the vehicle is raised, the vehicle inclination sensor 11 can perceive the inclination signal of the raised vehicle head, and send a pitch leveling signal to the balance adjusting unit, and supply oil to the corresponding platform pitch control oil cylinder 12, drive the tail of the loading platform 1 to rise upward, and when the loading platform 1 is raised, it will be flipped upward with the platform positioning pivot 19 as the axis, so that the loading platform 1 maintains a horizontal state in the longitudinal direction, thereby ensuring that the goods on the loading platform 1 always maintain a horizontal state.

[0104] As shown in Figure 7 and 8 Both sides of the vehicle carrying chassis 10 are provided with a frame positioning pivot 20, and the vehicle carrying chassis 10 is hinged to the connecting strut 4 through the frame positioning pivot 20.

[0105] The present application can adjust the balance unit drive platform left and right leveling oil cylinder 13 to give oil when the vehicle body is tilted left and right due to encountering stones, small slopes or pits, etc., drive the loading platform 1 to lift or fall left and right to level, and in this process, the loading platform 1 will rotate upward or downward on both sides with the frame positioning shaft 20 as the axis, so as to limit the movement track.

[0106] In the embodiment, the leveling mechanism can level the goods on the loading platform 1, so that the goods always remain in a horizontal state, avoiding the problem of goods falling due to tilting, but the existing trolleys often lack the function of automatic loading and unloading.

[0107] In the embodiment, one side of the vehicle carrying chassis 10 is provided with a self-loading and unloading mechanism assembly, which can automatically load goods and solve the problem that the existing trolleys cannot travel in complex environments such as marshes, wetlands, deserts, slopes and wild fields.

[0108] In the embodiment, as shown in the figure, Figure 3 The self-loading and unloading mechanism assembly comprises a boom 14, two connecting pieces 15 are fixedly connected to one side of the boom 14, one side of the connecting piece 15 is hinged to one side of the vehicle carrying chassis 10, an electric hoist 16 is fixedly installed at the bottom of the boom 14, a hook 17 is drivingly connected to the bottom of the electric hoist 16, and a matching control oil cylinder 18 is hinged to both sides of the top of the vehicle carrying chassis 10, one end of the matching control oil cylinder 18 is hinged to one end of the connecting piece 15.

[0109] The present application can be used to control the vehicle to run by a remote control handle, and the vehicle self-loading and unloading mechanism assembly device runs, so that the trolley runs to the front of the goods, then the self-loading and unloading mechanism assembly rotates to the rear of the trolley by a hydraulic system, after rotating in place, the electric hoist 16 on the self-loading and unloading mechanism boom 14 controls the traction rope to drop with the hook 17, after descending in place, the operator connects and fixes the hook 17 at the end of the traction rope to the goods, after connection, the self-loading and unloading mechanism assembly traction rope is lifted to the upper end of the vehicle platform, the boom 14 rotates, after the boom 14 rotates in place, the traction rope descends, and the goods descend onto the vehicle platform, then the operator binds the goods to the fixing device on both sides of the vehicle platform and then unhooking, after unhooking, the boom 14 is returned to the original state, and the reverse operation can be performed when unloading.

[0110] As an embodiment of the present application, as shown in the figure, Figure 6As shown, the number of sliding wheels 9 is several, and evenly distributed in the interior of the support frame 5. By setting the sliding wheels 9, the stability of the track 6 when running can be improved, so that the carrier can be moved in some harsh conditions in the field.

[0111] As an embodiment of the present application, the power source integration 2 is built-in with a radio module, which can remotely control the vehicle to travel. By setting the radio module, the carrier can have the function of remote control, so as to better operate the user.

[0112] Working principle: first, the carrier is controlled by the remote control handle to run the vehicle, and the vehicle self-loading and unloading mechanism assembly device runs, and the carrier runs to the front of the goods. Then the self-loading and unloading mechanism assembly rotates to the rear of the carrier through the hydraulic system, and after rotating in place, the electric hoist 16 on the self-loading and unloading mechanism boom 14 controls the hook 17 to drop, and after descending in place, the operator connects and fixes the hook 17 at the end of the traction rope with the goods. After connection, the self-loading and unloading mechanism assembly traction rope is lifted to the upper end of the vehicle platform, the boom 14 is rotated, and after the boom 14 is rotated in place, the traction rope is lowered, and the goods are lowered onto the vehicle platform. After the operator binds the goods to the fixing device on both sides of the vehicle platform and then unhooked, the boom 14 is returned to the original state. Then the power source integration 2 drives the transmission wheel 7 to rotate, so that the track 6 is driven, so that the carrier can transport goods in some harsh environments in the field, thereby solving the problem that the existing carrier cannot travel in complex environments such as marshes, wetlands, deserts, slopes, and fields. At present, the environment of the construction site is basically on the mountain, and there is no road for the existing vehicle to travel in the field, and only a donkey cart or manpower can be used. When the vehicle is running, if it encounters a situation such as a stone, a small slope, or a pit, the vehicle tilt sensor 11 will sense the tilt signal and send a signal to the adjusting balance unit to give oil to the corresponding platform left and right leveling oil cylinder 13 to drive the loading platform 1 to rise or fall on the left and right sides to level. In this process, the loading platform 1 will rotate upward or downward on both sides with the frame positioning pivot 20 as the axis, so that the loading platform 1 always maintains a horizontal state. When encountering an uphill situation, the vehicle tilt sensor 11 will sense the tilt signal of the raised vehicle head and send a pitch leveling signal to the adjusting balance unit to give oil to the corresponding platform pitch control oil cylinder 12, which drives the tail of the loading platform 1 to rise upward. When the loading platform 1 is raised, it will be turned upward with the platform positioning pivot 19 as the axis, so that the loading platform 1 maintains a horizontal state longitudinally. When the vehicle platform has a leveling mechanism, the goods are leveled with the loading platform 1 during transportation, achieving stability during transportation.

[0113] While embodiments of the application have been shown and described, it is to be understood that the embodiments described are merely exemplary of the principles and application of the present application. Numerous modifications and adaptions can be effected without departing from the spirit and scope of the present application, which is not limited to the exact construction and arrangement described. It is intended, therefore, to cover all modifications and adaptions that fall within the scope of the claims and their equivalents.

Claims

1. A trolley comprising a load platform (1), a power source integration (2) and a jib drive mechanism platform, characterised in that: The cargo platform (1) is located on one side of the power source integration (2), the boom drive mechanism platform is located at the bottom of the cargo platform (1), and the power source integration (2) is provided with a track walking assembly on both sides, so that the driving capacity of the vehicle can be improved. The boom drive mechanism platform comprises an intermediate frame (3), the intermediate frame (3) is located at the bottom of the cargo platform (1), and the intermediate frame (3) is fixedly connected with a connecting strut (4) on both sides of the bottom of the intermediate frame (3); The chassis integration is fixedly arranged on the track walking assembly, and when the vehicle encounters an obstacle during operation, the position of the goods on the cargo platform (1) can be automatically adjusted, so that the goods are in a horizontal state; The chassis integration comprises a vehicle carrying chassis (10) and a leveling mechanism, the vehicle carrying chassis (10) is fixedly installed on the top of the support frame (5), and the bottom of the intermediate frame (3) is fixedly connected with the top of the boom drive mechanism platform; The vehicle carrying chassis (10) is connected with the leveling oil cylinder, the leveling oil cylinder comprises a platform pitch control oil cylinder (12) and a platform left-right leveling oil cylinder (13), the platform pitch control oil cylinder (12) is hingedly connected with the top of the vehicle carrying chassis (10), and the output end of the platform pitch control oil cylinder (12) is hingedly connected with the bottom of the cargo platform (1); the platform left-right leveling oil cylinder (13) is arranged on both sides of the vehicle carrying chassis (10) and is hingedly connected with the vehicle carrying chassis (10), and the output end of the platform left-right leveling oil cylinder (13) is hingedly connected with the surface of the intermediate frame (3); The leveling mechanism comprises a vehicle inclination sensor (11), a vehicle-mounted laser level, a posture control unit and an adjusting balance unit, and the posture control unit is in communication connection with the vehicle-mounted laser level, the vehicle inclination sensor and the adjusting balance unit; The vehicle inclination sensor (11) is fixedly installed at the gravity center position of the vehicle carrying chassis (10) and is used for acquiring the real-time horizontal state of the vehicle body and inputting the real-time horizontal state data of the vehicle body into the posture control unit; The vehicle-mounted laser level is installed at the position of the vehicle head, collects the road condition information in front of the vehicle during operation through laser sensing, and transmits the collected road condition information to the posture control unit through a signal transmission module; The posture control unit is used for acquiring vehicle operation sensing information and performing vehicle operation data sensing; The adjusting balance unit is used for driving the leveling oil cylinder to supply oil to the oil cylinder and realizing balance control of the vehicle body. One side of the vehicle carrying chassis (10) is provided with a self-loading and unloading mechanism assembly, which can automatically load goods; the self-loading and unloading mechanism assembly comprises a hoist arm (14), two connecting pieces (15) are fixedly connected to one side of the hoist arm (14), one side of the connecting piece (15) is hinged to one side of the vehicle carrying chassis (10), an electric hoist (16) is fixedly installed at the bottom of the hoist arm (14), a hook (17) is drivingly connected to the bottom of the electric hoist (16), and the two sides of the top of the vehicle carrying chassis (10) are hinged with matching control oil cylinders (18), one end of the matching control oil cylinder (18) is hinged to one end of the connecting piece (15).

2. The vehicle of claim 1, wherein: The track walking assembly comprises a support frame (5), the outer surface of the support frame (5) is sleeved with a track (6), the inside of the track (6) is drivingly connected with a driving wheel (7) and a driven wheel (8) on the two sides respectively, one side of the driving wheel (7) is fixedly connected with the output end of the power source integration (2), and the inside of the support frame (5) is rotatably connected with a sliding wheel (9).

3. The truck of claim 1, wherein: The posture control unit comprises: A first inclination data obtaining module is configured to collect data by the vehicle-mounted laser level of the target vehicle to obtain first inclination data, wherein the first inclination data comprises a first inclination position and a first inclination angle. A second inclination data obtaining module is configured to connect the vehicle inclination sensor of the target vehicle to obtain second inclination data, wherein the second inclination data comprises a second inclination position and a second inclination angle. A vehicle inclination data obtaining module is configured to obtain vehicle inclination data based on the first inclination data and the second inclination data. An oil cylinder leveling instruction generating module is configured to send the vehicle inclination data to the posture control unit for data sensing to generate an oil cylinder leveling instruction, wherein the oil cylinder leveling instruction comprises a leveling position and a leveling oil amount. An oil amount supplementing module is configured to send the leveling position and the leveling oil amount to the adjustment balancing unit to control the vehicle leveling oil cylinder to supplement oil amount, thereby driving the cargo platform positioning shaft to adjust position.

4. The truck of claim 1, wherein: One side of the intermediate frame (3) is provided with a platform positioning shaft (19), and the intermediate frame (3) is hinged to the cargo platform (1) through the platform positioning shaft (19).

5. The vehicle of claim 3, wherein: The two sides of the vehicle carrying chassis (10) are provided with frame positioning shafts (20), and the vehicle carrying chassis (10) is hinged to the connecting struts (4) through the frame positioning shafts (20).

6. The vehicle of claim 2, wherein: The number of the sliding wheels (9) is several, and they are uniformly distributed in the inside of the support frame (5).

7. The vehicle of claim 1, wherein: The power source integration (2) is built-in with a radio module for remotely controlling the vehicle to travel.

Images