An automatic device and method for taking and placing large luggage in the trunk of an unmanned vehicle

Abstract

The application discloses an automatic taking and placing device and method for large luggage in the trunk of an unmanned vehicle, which comprises an electronic control unit (ECU), a trigger button, a first electric telescopic rod, a track tray, a second electric telescopic rod, a first transport tray, a second transport tray, a bottom tray, a third electric telescopic rod, a first gravity sensor, a first load-bearing plate, a second gravity sensor, a second load-bearing plate, a third gravity sensor, a third load-bearing plate, a displacement sensor, and first to fourth drawer slides. When working, the electronic control unit (ECU) controls the first electric telescopic rod, the second electric telescopic rod and the third electric telescopic rod to work according to the sensing data of the displacement sensor, the first gravity sensor, the second gravity sensor and the third gravity sensor when the trigger button is pressed, so that the automatic taking and placing of the luggage are realized.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of intelligent cargo loading and unloading, and particularly relates to a device and method for automatically taking and placing large luggage in the trunk of an unmanned vehicle. BACKGROUND

[0002] With the rapid development of the automobile industry technology, vehicles are constantly changing towards intelligentization and networking, and users' demand for vehicle personalized function expansion is also increasing. In traditional application scenarios, when users have luggage loading and unloading needs, they often need to manually load and unload by going to the vehicle, which is time-consuming and labor-intensive, and very inconvenient for groups with limited mobility. Therefore, it is necessary to develop a device for automatically loading and unloading luggage in the trunk of an intelligent driving vehicle.

[0003] Hu Yang et al. invented an intelligent cargo loading and unloading method and system (202210997481.2), which includes the following steps: sending target vehicle information to an intelligent cargo robot through a terminal device. After receiving the high-precision positioning information, the intelligent cargo robot automatically plans a path using a navigation system and goes to the location of the target vehicle, and searches for and identifies the license plate number of the target vehicle through the camera on the intelligent cargo robot to confirm the target vehicle. After confirming the target vehicle, the intelligent cargo robot controls the unlocking of the trunk of the target vehicle, and opens and closes the trunk through the mechanical arm of the intelligent cargo robot to complete the loading and unloading of the cargo. However, this invention requires equipment that is not part of the vehicle itself, increasing costs, and can only be used in specific situations, with a large range of limitations.

[0004] Peng Zhicheng et al. invented a pallet structure for material transportation (202223083534.4), which includes a stacking pallet and a clamping column assembly. The stacking pallet includes a pallet body, a clamping bracket, a clamping groove, and a material groove. The clamping bracket includes a clamping bracket A and a clamping bracket B. The pallet body top surface is uniformly arrayed with material grooves. The pallet body bottom is respectively provided with clamping bracket A and clamping bracket B. The clamping grooves penetrate the pallet body and clamping bracket A. The stacking pallet is provided with a clamping hole groove matched with the clamping column assembly. The clamping hole groove penetrates the pallet body and clamping bracket B. Two clamping brackets A on the same side of the pallet body are provided with clamping holes. The clamping holes are matched with the clamping column assembly for improving the stability of the stacking pallet during transportation. This invention limits the horizontal displacement of the stacking pallet and the adjacent stacking pallets, and prevents dislocation and separation, thereby improving the stability of the stacking state during horizontal displacement and transportation. However, this pallet structure can only be used individually, and when not in use, the stacking pallets need to be stacked by manpower, increasing labor costs.

[0005] Tao Wangfa et al. invented a detachable cargo transport tray structure (202011297192.2), each tray panel of the detachable cargo transport tray structure is provided with an extrusion positioning component on the upper surface, the extrusion positioning component includes a positioning block and an adjusting screw rod, the positioning block is fixedly arranged on the tray panel, the adjusting screw rod is screwed through the screw hole on the positioning block, the adjusting screw rod is provided with an extrusion block at one end, and a positioning nut is screwed on the adjusting screw rod, and each tray connecting seat is provided with a connecting hole penetrating the tray connecting seat. The detachable cargo transport tray structure makes the tray can be connected and combined as needed during transportation, and can be easily disassembled and recycled after the cargo transportation is completed, thereby reducing the cost and improving the safety during cargo transportation. However, the disassembly and assembly process takes a certain amount of time and requires manpower, thereby increasing the cost.

[0006] Tao Weiguo et al. invented a tray transport device of production line and control method thereof (202111182966.8), the device comprises: a first tray carrier structure; a first lifting carrier structure for lifting the trays in the first tray carrier structure into the top layer supporting structure in sequence; a grabbing and transporting structure for grabbing the trays in the first tray carrier structure and transporting them onto the moving tray structure; the moving tray structure is used for transporting the trays from the initial position to the material output position on the production line and returning; a second tray carrier structure for placing the trays loaded with materials; the grabbing and transporting structure is also used for grabbing the trays loaded with materials on the moving tray structure and transporting them to the second tray carrier structure; and a second lifting carrier structure for transporting the trays loaded with materials of the second tray carrier structure into the bottom layer supporting structure in sequence. The invention has the function of automatically loading and unloading trays on the production line, thereby reducing the labor input, saving the production cost, and improving the production efficiency. However, the structure is too complex, and the manufacturing cost is large. SUMMARY

[0007] The technical problem to be solved by the present application is to provide a device and method for automatically taking and placing large pieces of luggage in the trunk of an unmanned vehicle in view of the defects involved in the background art.

[0008] The present application solves the above technical problems by adopting the following technical solutions:

[0009] A device for automatically taking and placing large pieces of luggage in the trunk of an unmanned vehicle, comprising a control unit ECU, a trigger button, a first electric telescopic rod, a track tray, a second electric telescopic rod, a first transport tray, a second transport tray, a bottom tray, a third electric telescopic rod, a first gravity sensor, a first load-bearing plate, a second gravity sensor, a second load-bearing plate, a third gravity sensor, a third load-bearing plate, a displacement sensor, and first to fourth drawer slides.

[0010] The first load-bearing plate is fixed in the trunk; the first gravity sensor is arranged between the first load-bearing plate and the trunk, used for measuring the weight borne by the first load-bearing plate and transmitting a gravity signal to the control unit ECU;

[0011] The track tray, the first transport tray and the second transport tray each comprise a bottom plate and two side plates, the two side plates are arranged in parallel and are vertically fixed to the bottom plate at lower edges, so that the cross section is in the shape of a "U";

[0012] A sliding groove parallel to the first drawer slide rail is arranged on the lower wall of the track tray bottom plate, and a sliding block is arranged in the sliding groove;

[0013] The first electric telescopic rod and the second electric telescopic rod are arranged in parallel, and the bottom ends of the two are vertically fixed to the first load-bearing plate; the top end of the first electric telescopic rod is hingedly connected to the sliding block; the top end of the second electric telescopic rod is hingedly connected to the bottom plate of the track tray, and the hinge point is located on the straight line where the sliding groove is located; the second electric telescopic rod is located outside the first electric telescopic rod;

[0014] The displacement sensor is arranged at the top end of the first electric telescopic rod, used for measuring the lifting distance of the left end of the track tray and transmitting a displacement signal to the control unit ECU;

[0015] The outer walls of the two side plates of the first transport tray are connected to the inner walls of the two side plates of the track tray through the first and second drawer slide rails respectively, so that the first transport tray can slide out from the track tray to the outside of the trunk;

[0016] The outer walls of the two side plates of the second transport tray are connected to the inner walls of the two side plates of the first transport tray through the third and fourth drawer slide rails respectively, so that the second transport tray can slide out from the first transport tray to the outside of the trunk;

[0017] One end of the inner side of the bottom tray is hingedly connected to one end of the outer side of the second transport tray, so that the bottom tray can freely rotate relative to the second transport tray;

[0018] The third load-bearing plate is fixed to the upper end face of the bottom tray; the third gravity sensor is arranged between the third load-bearing plate and the bottom tray, used for measuring the weight borne by the bottom tray and transmitting a gravity signal to the control unit ECU;

[0019] The top end of the third electric telescopic rod is hingedly connected to the center of the lower end face of the bottom tray;

[0020] The second load-bearing plate is fixed to the bottom end of the third electric telescopic rod; the second gravity sensor is arranged between the third electric telescopic rod and the second load-bearing plate, used for judging whether the third electric telescopic rod is in contact with the ground and transmitting a signal to the control unit ECU;

[0021] The control unit ECU is electrically connected with the trigger button, the displacement sensor, the first gravity sensor, the second gravity sensor, the third gravity sensor, the first electric telescopic rod, the second electric telescopic rod and the third electric telescopic rod respectively, and is used for controlling the first electric telescopic rod, the second electric telescopic rod and the third electric telescopic rod to work according to the sensing data of the displacement sensor, the first gravity sensor, the second gravity sensor and the third gravity sensor when the trigger button is pressed.

[0022] The application further discloses a control method for the automatic taking and placing of luggage by the trunk of the unmanned vehicle.

[0023] In step 1), the trigger button is pressed, at this time, the control unit ECU acquires the signals G1, G2 and G3 of the first to third gravity sensors and acquires the signal L of the displacement sensor;

[0024] In step 2), the control unit ECU judges whether the signal G1 is equal to 0;

[0025] In step 2.1), when G1 is not equal to 0, the control unit ECU controls the first electric telescopic rod to be powered on, with the first electric telescopic rod rising, the inside height of the track tray increases, until the signal L is equal to 1, the control unit ECU controls the first electric telescopic rod to be powered off, the first electric telescopic rod stops rising, the first and second transport trays slide down by nature, the luggage on the track tray has not slid, the third electric telescopic rod has not touched the ground, at this time, the control unit ECU controls the third electric telescopic rod to be powered on, the third electric telescopic rod stretches to the ground until it touches the ground, and the third weight plate is manually made to stably contact the ground; at this time, the control unit ECU obtains the signal that G2 is greater than 0, the third electric telescopic rod touches the ground, at this time, the whole tray system forms a slope 2; the control unit ECU controls the first and third electric telescopic rods to be powered on, the first electric telescopic rod rises, and the third electric telescopic rod descends, when reaching the slope 1, the luggage slides down to the bottom tray along the slope; at this time, the control unit ECU obtains the signal that G3 is greater than 0, and after G3 does not change for 5 seconds, the control unit ECU controls the first and third electric telescopic rods to be powered off;

[0026] In step 2.1.1), the control unit ECU judges whether the gravity sensor signal G3 is equal to 0;

[0027] In step 2.1.1.1), if G3 is not equal to 0, at this time, the bottom tray has luggage, and after G3 does not change for 5 seconds, the control unit ECU controls the first to third electric telescopic rods to be powered on, drives the first electric telescopic rod to descend, the second electric telescopic rod to rise and the third electric telescopic rod to rise, at this time, a slope 3 is reached; the luggage slides to the track tray along the slope; when the control unit ECU receives the signal L1=0 and G1>0, step 3) is performed.

[0028] Step 2.1.1.2), if G3 is equal to 0, at this time the bottom tray has no luggage, G3 has no change 5 seconds later, the control unit ECU controls the first to third electric telescopic rods to be powered on, drives the first electric telescopic rod to descend, the second electric telescopic rod to ascend, and the third electric telescopic rod to ascend, at this time the slope 3 is reached; the control unit ECU receives the signal L1=0, and step 3) is executed;

[0029] Step 2.2), if when G1 is equal to 0, the control unit ECU controls the first electric telescopic rod to be powered on, as the first electric telescopic rod ascends, the height of the inside of the track tray increases, the first second transport tray slides down by nature until the third electric telescopic rod touches the ground, the third load-bearing plate is manually brought into stable contact with the ground, at this time the entire tray system forms a slope 1, the control unit ECU controls the first electric telescopic rod to be powered off; then step 2.1.1) is executed by jumping;

[0030] Step 3), the control unit ECU controls the first electric telescopic rod to be powered off, and the third electric telescopic rod continues to be powered on, so that the third electric telescopic rod retracts and leaves the ground, at this time the transport tray drives the bottom tray to slide to the initial position, when the third electric telescopic rod retracts to the initial position, the control unit ECU controls the third electric telescopic rod to be powered off; then the control unit ECU controls the second electric telescopic rod to continue to be powered on, so that the second electric telescopic rod descends to the initial position, at this time the control unit ECU controls the power to be turned off.

[0031] Compared with the prior art, the above technical scheme has the following technical effects:

[0032] 1. Comprehensive function: both loading and unloading of luggage can be met.

[0033] 2. Intelligent loading and unloading: during the loading and unloading process, the control unit ECU accurately analyzes, and the entire mechanism automatically functions without any operation by personnel.

[0034] 3. Labor saving: for groups with inconvenient movement, a lot of manpower is saved.

[0035] 4. Simple structure: low cost, structure can be retracted, small space occupied, and convenient to install in a real car. DETAILED DESCRIPTION

[0036] Figure 1 is a structural schematic diagram of the present application;

[0037] Figure 2 is a flowchart of the control method in the present application;

[0038] In the figure, 1 is a first load-bearing plate, 2 is a first electric telescopic rod, 3 is a second electric telescopic rod, 4 is a third electric telescopic rod, 5 is a track tray, 6 is a first transport tray, 7 is a first transport tray, and 8 is a bottom tray. DETAILED DESCRIPTION

[0039] The technical solutions of the present application will be further described in detail below with reference to the drawings:

[0040] The present application can be implemented in many different forms, and should not be considered limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the application to those skilled in the art.

[0041] It should be understood that although the terms first, second, third, etc. can be used herein to describe various elements, components and / or parts, these elements, components and / or parts should not be limited by these terms. These terms are only used to distinguish one element, component and / or part from another. Therefore, the first element, component and / or part discussed below can become the second element, component or part without departing from the teachings of the present application.

[0042] For the action-inconvenient group, the application discloses a device and method for automatically loading and unloading luggage in the trunk of an intelligent driving car. The control unit ECU reacts according to the gravity sensor and the displacement sensor, controls the extension and retraction of the three screw rod mechanisms to change the slope of the luggage track, and realizes the automatic loading and unloading of the luggage. The structure is simple, the application can not only automatically load luggage, but also automatically unload luggage, and the use of the action-inconvenient group is guaranteed to the greatest extent. During the loading and unloading process, the control unit ECU accurately analyzes, and the whole mechanism automatically works without the need for additional operation by personnel.

[0043] As shown in Figure 1 The application discloses a device for automatically loading and unloading large luggage in the trunk of an unmanned car, which comprises a control unit ECU, a trigger button, a first electric telescopic rod, a track tray, a second electric telescopic rod, a first transport tray, a second transport tray, a bottom tray, a third electric telescopic rod, a first gravity sensor, a first bearing plate, a second gravity sensor, a second bearing plate, a third gravity sensor, a third bearing plate, a displacement sensor, and first to fourth drawer slides.

[0044] The first bearing plate is fixed in the trunk; the first gravity sensor is arranged between the first bearing plate and the trunk, is used for measuring the weight borne by the first bearing plate, and transmits a gravity signal to the control unit ECU;

[0045] The track tray, the first transport tray and the second transport tray each comprise a bottom plate and two side plates, the two side plates are arranged in parallel and are vertically fixed to the bottom plate at the lower edges, so that the cross section is in the shape of a "n".

[0046] A sliding groove parallel to the first drawer slide is arranged on the lower wall of the track tray bottom plate, and a sliding block is arranged in the sliding groove.

[0047] The first electric telescopic rod and the second electric telescopic rod are arranged in parallel, and the bottom ends of the first electric telescopic rod and the second electric telescopic rod are fixedly connected with the first load-bearing plate; the top end of the first electric telescopic rod is hingedly connected with the sliding block; the top end of the second electric telescopic rod is hingedly connected with the bottom plate of the track tray, and the hinging point is located on the straight line where the sliding groove is located; the second electric telescopic rod is located outside the first electric telescopic rod;

[0048] The displacement sensor is arranged at the top end of the first electric telescopic rod, and is used for measuring the lifting distance of the left end of the track tray and transmitting the displacement signal to the control unit ECU;

[0049] The outer walls of the two side plates of the first transport tray are connected with the inner walls of the two side plates of the track tray through the first and second drawer slide rails, so that the first transport tray can slide out from the track tray to the outside of the trunk;

[0050] The outer walls of the two side plates of the second transport tray are connected with the inner walls of the two side plates of the first transport tray through the third and fourth drawer slide rails, so that the second transport tray can slide out from the first transport tray to the outside of the trunk;

[0051] One end of the inner side of the bottom tray is hingedly connected with one end of the outer side of the second transport tray, so that the bottom tray can freely rotate relative to the second transport tray;

[0052] The third load-bearing plate is fixed on the upper end surface of the bottom tray; the third gravity sensor is arranged between the third load-bearing plate and the bottom tray, and is used for measuring the weight borne by the bottom tray and transmitting the gravity signal to the control unit ECU;

[0053] The top end of the third electric telescopic rod is hingedly connected with the center of the lower end surface of the bottom tray;

[0054] The second load-bearing plate is fixedly connected with the bottom end of the third electric telescopic rod; the second gravity sensor is arranged between the third electric telescopic rod and the second load-bearing plate, and is used for judging whether the third electric telescopic rod is grounded or not and transmitting the signal to the control unit ECU;

[0055] The control unit ECU is electrically connected with the trigger button, the displacement sensor, the first gravity sensor, the second gravity sensor, the third gravity sensor, the first electric telescopic rod, the second electric telescopic rod and the third electric telescopic rod, respectively, and is used for controlling the first electric telescopic rod, the second electric telescopic rod and the third electric telescopic rod to work according to the sensing data of the displacement sensor, the first gravity sensor, the second gravity sensor and the third gravity sensor when the trigger button is pressed.

[0056] As Figure 2As shown, the application also discloses a control method for automatically taking and placing large luggage in the trunk of the unmanned vehicle, comprising the following steps:

[0057] Step 1), press the trigger button, at this time the control unit ECU acquires the signals G1, G2 and G3 of the first to third gravity sensors and obtains the signal L of the displacement sensor;

[0058] Step 2), the control unit ECU judges whether the signal G1 is equal to 0;

[0059] Step 2.1), when G1 is not equal to 0, the control unit ECU controls the first electric telescopic rod to be powered on, as the first electric telescopic rod rises, the inside height of the track tray increases, until the signal L is equal to 1, the control unit ECU controls the first electric telescopic rod to be powered off, the first electric telescopic rod stops rising, the first and second transport trays slide down by nature, the luggage on the track tray has not slid, the third electric telescopic rod has not touched the ground, at this time the control unit ECU controls the third electric telescopic rod to be powered on, the third electric telescopic rod stretches to the ground until it touches the ground, and the third weight plate is manually brought into stable contact with the ground; at this time the control unit ECU obtains a signal that G2 is greater than 0, the third electric telescopic rod touches the ground, at this time the entire tray system forms a slope 2; the control unit ECU controls the first and third electric telescopic rods to be powered on, the first electric telescopic rod rises and the third electric telescopic rod descends, when reaching the slope 1, the luggage slides down to the bottom tray along the slope; at this time the control unit ECU obtains a signal that G3 is greater than 0, after G3 remains unchanged for 5 seconds, the control unit ECU controls the first and third electric telescopic rods to be powered off;

[0060] Step 2.1.1), the control unit ECU judges whether the gravity sensor signal G3 is equal to 0;

[0061] Step 2.1.1.1), if G3 is not equal to 0, at this time the bottom tray has luggage, after G3 remains unchanged for 5 seconds, the control unit ECU controls the first to third electric telescopic rods to be powered on, drives the first electric telescopic rod to descend, the second electric telescopic rod to rise and the third electric telescopic rod to rise, at this time the slope 3 is reached; the luggage slides to the track tray along the slope; when the control unit ECU receives the signal L1=0 and G1>0, step 3) is performed;

[0062] Step 2.1.1.2), if G3 is equal to 0, at this time the bottom tray has no luggage, after G3 remains unchanged for 5 seconds, the control unit ECU controls the first to third electric telescopic rods to be powered on, drives the first electric telescopic rod to descend, the second electric telescopic rod to rise and the third electric telescopic rod to rise, at this time the slope 3 is reached; the control unit ECU receives the signal L1=0 and performs step 3);

[0063] Step 2.2), if G1 is equal to 0, the control unit ECU controls the first electric telescopic rod to be powered on, as the first electric telescopic rod rises, the height of the inner side of the track tray increases, the first second transport tray slides down naturally until the third electric telescopic rod touches the ground, manually make the third load-bearing plate in stable contact with the ground, at this time the whole tray system forms a slope 1, the control unit ECU controls the first electric telescopic rod to be powered off; Then jump to step 2.1.1);

[0064] Step 3), the control unit ECU controls the first electric telescopic rod to be powered off, the third electric telescopic rod continues to be powered on, so that the third electric telescopic rod retracts and leaves the ground, at this time the transport tray drives the bottom tray to slide to the initial position, when the third electric telescopic rod retracts to the initial position, the control unit ECU controls the third electric telescopic rod to be powered off; Then the control unit ECU controls the second electric telescopic rod to continue to be powered on, so that the second electric telescopic rod descends to the initial position, at this time the control unit ECU controls to be powered off.

[0065] Those skilled in the art can understand that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have meanings consistent with those in the context of the prior art, and should not be interpreted with idealized or overly formal meanings unless defined as such.

[0066] The above specific embodiments further illustrate the purpose, technical solutions and beneficial effects of the present application. It should be understood that the above description is only a specific embodiment of the present application and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A device for automatically retrieving large luggage from the trunk of an unmanned vehicle, characterized in that, Includes a control unit (ECU), a trigger button, a first electric telescopic rod, a rail tray, a second electric telescopic rod, a first transport tray, a second transport tray, a bottom tray, a third electric telescopic rod, a first gravity sensor, a first load-bearing plate, a second gravity sensor, a second load-bearing plate, a third gravity sensor, a third load-bearing plate, a displacement sensor, and first to fourth drawer slides; The first load-bearing plate is fixed inside the trunk; the first gravity sensor is set between the first load-bearing plate and the trunk to measure the weight borne by the first load-bearing plate and transmit the gravity signal to the control unit ECU. The track pallet, the first transport pallet, and the second transport pallet each include a bottom plate and two side plates. The two side plates are arranged in parallel and their lower edges are perpendicularly fixed to the bottom plate, so that their cross-section is "U" shaped. The bottom wall of the track tray is provided with a groove parallel to the first drawer slide rail, and a slider is provided in the groove. The first and second electric telescopic rods are arranged in parallel, and their bottom ends are both fixedly and perpendicularly to the first load-bearing plate; the top end of the first electric telescopic rod is hinged to the slider; the top end of the second electric telescopic rod is hinged to the bottom plate of the track tray, and the hinge point is located on the straight line of the slide groove; the second electric telescopic rod is located outside the first electric telescopic rod. The displacement sensor is located at the top of the first electric telescopic rod and is used to measure the lifting distance of the left end of the track tray and transmit its displacement signal to the control unit ECU. The outer walls of the two side panels of the first transport pallet are connected to the inner walls of the two side panels of the rail pallet by the first and second drawer slides, respectively, so that the first transport pallet can slide out from the rail pallet toward the outside of the trunk. The outer walls of the two side panels of the second transport pallet are connected to the inner walls of the two side panels of the first transport pallet via the third and fourth drawer slides, respectively, so that the second transport pallet can slide out from inside the first transport pallet toward the outside of the trunk. The bottom pallet is hinged to one end of its inner side and the second transport pallet to one end of its outer side, allowing the bottom pallet to rotate freely relative to the second transport pallet. The third load-bearing plate is fixed to the upper surface of the bottom tray; the third gravity sensor is set between the third load-bearing plate and the bottom tray to measure the weight borne by the bottom tray and transmit the gravity signal to the control unit ECU. The top end of the third electric telescopic rod is hinged to the center of the lower end face of the bottom tray; The second load-bearing plate and the bottom end of the third electric telescopic rod are fixedly connected; the second gravity sensor is set between the third electric telescopic rod and the second load-bearing plate to determine whether the third electric telescopic rod is touching the ground and to transmit the signal to the control unit ECU. The control unit (ECU) is electrically connected to the trigger button, displacement sensor, first gravity sensor, second gravity sensor, third gravity sensor, first electric telescopic rod, second electric telescopic rod, and third electric telescopic rod, respectively. It is used to control the first electric telescopic rod, second electric telescopic rod, and third electric telescopic rod to work based on the sensing data of the displacement sensor, first gravity sensor, second gravity sensor, and third gravity sensor when the trigger button is pressed.

2. The control method for the device for automatically retrieving large luggage from the trunk of an unmanned vehicle according to claim 1, characterized in that, Includes the following steps: Step 1), press the trigger button. At this time, the control unit ECU obtains the signals G1, G2, and G3 from the first to the third gravity sensors, and obtains the signal L from the displacement sensor; Step 2), the control unit (ECU) determines whether signal G1 is equal to 0; Step 2.1): When G1 is not equal to 0, the control unit ECU controls the first electric telescopic rod to be energized. As the first electric telescopic rod rises, the height of the inner side of the track tray increases until signal L equals 1. At this time, the control unit ECU controls the first electric telescopic rod to be de-energized, and the first electric telescopic rod stops rising. The first and second transport trays slide down smoothly. The luggage on the track tray has not yet slid, and the third electric telescopic rod has not touched the ground. At this time, the control unit ECU controls the third electric telescopic rod to be energized, and the third electric telescopic rod extends towards the ground until it touches the ground. Manually make the third load-bearing plate make stable contact with the ground. At this time, the control unit ECU receives a signal that G2 is greater than 0, and the third electric telescopic rod touches the ground. At this time, the entire tray system forms a slope of 2. The control unit ECU controls the first and third electric telescopic rods to be energized. The first electric telescopic rod rises, and the third electric telescopic rod descends. When the slope of 1 is reached, the luggage slides down the slope to the bottom tray. At this time, the control unit ECU receives a signal that G3 is greater than 0. After G3 remains unchanged for 5 seconds, the control unit ECU controls the first and third electric telescopic rods to be de-energized. Step 2.1.1), the control unit (ECU) determines whether the gravity sensor signal G3 is equal to 0; Step 2.1.1.1): If G3 is not equal to 0, there is luggage on the bottom tray. After 5 seconds of no change in G3, the control unit ECU controls the first to third electric telescopic rods to be energized, causing the first electric telescopic rod to descend, the second electric telescopic rod to rise, and the third electric telescopic rod to rise, at which point the slope of 3 is reached; the luggage slides down the slope onto the track tray; when the control unit ECU receives the signal L1 = 0 and G1 > 0, it executes step 3). Step 2.1.1.2): If G3 equals 0, there is no luggage on the bottom tray. After 5 seconds of no change in G3, the control unit ECU controls the first to third electric telescopic rods to be energized, causing the first electric telescopic rod to descend, the second electric telescopic rod to rise, and the third electric telescopic rod to rise, at which point the slope of 3 is reached; the control unit ECU receives the signal L1 = 0 and executes step 3). Step 2.2): If G1 equals 0, the control unit ECU controls the first electric telescopic rod to be energized. As the first electric telescopic rod rises, the inner height of the track tray increases, and the first and second transport trays slide down until the third electric telescopic rod touches the ground. Manually make the third load-bearing plate make stable contact with the ground. At this time, the entire pallet system forms a slope of 1. The control unit ECU controls the first electric telescopic rod to be de-energized; then jump to step 2.1.1). Step 3): The control unit ECU controls the first electric telescopic rod to de-energize while the third electric telescopic rod remains energized, causing it to retract and lift off the ground. At this time, the transport pallet drives the bottom pallet to slide back to its initial position. When the third electric telescopic rod retracts to its initial position, the control unit ECU controls the third electric telescopic rod to de-energize. Subsequently, the control unit ECU controls the second electric telescopic rod to remain energized, causing it to descend to its initial position. At this time, the control unit ECU controls the second electric telescopic rod to de-energize.

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