Transportation equipment for oversized goods and navigation method

Abstract

The invention discloses transportation equipment for oversized cargos and a navigation method.The transportation equipment for the oversized cargos comprises a plurality of carrying trolleys and a cargo carrying platform, the carrying trolleys are arranged in an array mode, and each carrying trolley comprises a trolley body, a bearing part and a navigation device; the bearing part is rotationally mounted on the upper side of the vehicle body along the axis in the vertical direction, and the navigation device is arranged on the vehicle body; and the cargo carrying platform is arranged on the multiple bearing parts, and the cargo carrying platform is used for bearing oversized cargoes. The multiple carrying trolleys can be arranged in the width direction, the length direction and the width direction can be adjusted, flexibility is high, the cargo carrying platform moves more flexibly and can pass through narrower and bent roads, vehicle formation flexible steering is achieved, and the trafficability of the cargo carrying platform to various road conditions is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of transportation equipment, and in particular to transportation equipment and a navigation method for oversized goods. Background Art

[0002] Transportation refers to the logistics activity of transporting goods from one place to another using specific equipment and tools. Transportation is one of the central links in logistics and one of the most important functions of modern logistics activities. Under the general environment of rapid development in various fields in my country, the demand for transportation, especially the transportation of large goods, is growing. With the development of modern science and technology, logistics and transportation are moving towards intelligence and unmanned operation. Various unmanned transportation equipment have sprung up and are gradually being used in the market.

[0003] Patent CN221163013U A heavy-duty unmanned transport vehicle. The embodiment of the present application provides a heavy-duty unmanned transport vehicle, comprising at least one frame, a plurality of main load-bearing beams and a plurality of load-bearing plates. When there are more than one frame, two adjacent frames are detachably connected; a plurality of main load-bearing beams are arranged on the upper surface of the frame at intervals along the length direction of the frame, and the main load-bearing beams are detachably connected to the frame; the load-bearing plate is arranged between two adjacent main load-bearing beams, and the load-bearing plate is detachably connected to the adjacent main load-bearing beams.

[0004] However, the unmanned transport vehicle in the above-mentioned prior art has poor flexibility and can only adjust its length. Summary of the invention

[0005] The purpose of the present invention is to overcome the above technical deficiencies and to provide a transport device for oversized goods, so as to solve the technical problem that the unmanned transport vehicle in the prior art has poor flexibility and can only adjust its length.

[0006] In order to achieve the above technical objectives, the present invention adopts the following technical solutions: The present invention provides a transport device for oversized cargo, comprising: A plurality of transport carts, wherein the plurality of transport carts are arranged in an array, each of the transport carts comprises a vehicle body, a carrying portion and a navigation device, wherein the carrying portion is rotatably mounted on the upper side of the vehicle body along an axis in a vertical direction, and the navigation device is disposed on the vehicle body; and A cargo platform is arranged on the plurality of the carrying parts, and the cargo platform is used for carrying oversized cargo.

[0007] In some embodiments, the transport cart also includes a rigid-flexible coupling connection, which includes a base, a connecting shaft and a tray assembly. The base is arranged on the upper side of the vehicle body, and the lower end of the connecting shaft is rotatably installed on the base along an axis in the vertical direction. The tray assembly is installed on the upper end of the connecting shaft, and the tray assembly constitutes the load-bearing part.

[0008] In some embodiments, the tray assembly includes a carrying tray and an air spring, and the carrying tray is connected to the upper end of the connecting shaft through the air spring, so that the carrying tray can be elastically retracted in the vertical direction.

[0009] In some embodiments, the valve core of the air spring is located on the upper side thereof; A avoidance hole is provided in the middle of the carrying tray, the avoidance hole corresponds to the valve core, and the thickness of the carrying tray is greater than the height of the valve core.

[0010] In some embodiments, the transport vehicle further includes a mounting frame, the mounting frame is disposed on the upper side of the vehicle body, the base is mounted on the upper side of the mounting frame, and the navigation device is disposed in the mounting frame.

[0011] In some embodiments, the navigation device includes a wheel encoder, an IMU sensor and a laser radar, the wheel encoder is installed at the lower end of the connecting shaft, and the laser radar and the IMU sensor are both installed on the upper side of the vehicle body.

[0012] In some embodiments, the vehicle body includes a carrying chassis and four wheel assemblies, the four wheel assemblies are arranged in an array, the wheel assembly includes a suspension system, a first drive device, a wheel, and a second drive device. The upper side of the suspension system is rotatably installed on the carrying chassis along an axis in the vertical direction, the first drive device is connected to the suspension system to drive the suspension system to rotate, the wheel is rotatably installed on the lower side of the suspension system, and the second drive device is connected to the wheel to drive the wheel to rotate.

[0013] In some embodiments, the suspension system includes a connecting seat, a connecting member and a shock absorbing assembly. The connecting seat is rotatably mounted on the carrying chassis along an axis in the vertical direction, one end of the connecting member is rotatably mounted on the connecting seat along an axis in the horizontal direction, the wheel is rotatably mounted on the middle part of the connecting member, and both ends of the shock absorbing assembly are rotatably connected to the other end of the connecting member and the connecting seat respectively.

[0014] In addition, the present application also provides a navigation method for transport equipment for oversized cargo, comprising the following steps: Step 1: Extended Kalman filter to fuse multi-sensor data; Step 2: SLAM map building; Step 3: Global path planning; Step 4: Local path planning.

[0015] In some embodiments, the multi-sensor data in step 1 includes a wheel odometer, an IMU, a GPS, and a visual odometer; In step 2, the SLAM mapping technology uses scan-to-submap as a constraint; In step 3, the global path planning adopts the A* algorithm; In step 4, the local path planning adopts the DWA algorithm.

[0016] Compared with the prior art, the present invention provides a transport device for oversized goods, wherein a plurality of the transport trolleys are arranged in an array, each of the transport trolleys comprises a vehicle body, a load-bearing portion and a navigation device, wherein the load-bearing portion is rotatably mounted on the upper side of the vehicle body along an axis in a vertical direction, and the navigation device is arranged on the vehicle body; the cargo platform is arranged on a plurality of the load-bearing portions, and the cargo platform is used to carry oversized goods. When used specifically, the number of the cargo platform and the transport trolleys can be set according to the size of the goods. When the goods are long, a plurality of transport trolleys can be arranged in the length direction, and when the goods are wide, a plurality of transport trolleys can be arranged in the width direction. Both the length direction and the width direction can be adjusted, and the flexibility is high. The load-bearing portion can rotate relative to the vehicle body, so that the vehicle body can rotate relative to the cargo platform. Through the universal motion of each transport trolley, it is regarded as a wheel of the cargo platform, and the wheels of the vehicle body itself can also rotate, so that the movement of the cargo platform is more flexible, and the vehicle formation can be flexibly turned through narrower and curved roads, thereby improving its passability on various road conditions.

[0017] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention and implement it according to the contents of the specification, the preferred embodiments of the present invention are described in detail as follows with reference to the accompanying drawings. The specific implementation of the present invention is given in detail by the following embodiments and their accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of an embodiment of a transport device for oversized goods provided by the present invention; Figure 2 yes Figure 1 A three-dimensional schematic diagram of the medium transport trolley; Figure 3 yes Figure 1 The front view of the medium transport trolley; Figure 4 yes Figure 1 Left side view of the medium transport trolley; Figure 5 yes Figure 1 A partial schematic diagram of the medium transport trolley; Figure 6 yes Figure 1 A three-dimensional schematic diagram of the rigid-flexible coupling connector; Figure 7 yes Figure 1 Front view of the rigid-flexible coupling connector.

[0019] Description of reference numerals: 1-carrying trolley, 11-carriage body, 111-carrying chassis, 112-suspension system, 1121-connecting seat, 1122-connecting piece, 1123-shock absorbing assembly, 113-wheel, 12-rigid-flexible coupling connector, 121-base, 122-connecting shaft, 123-carrying tray, 124-air spring, 125-bearing seat, 13-mounting frame, 14-wheel encoder, 15-IMU sensor, 16-lidar, 2-cargo platform. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0021] In order to solve the technical problem that the unmanned transport vehicles in the prior art have poor flexibility and can only adjust the length, the present invention provides a transport equipment for oversized goods, which can set the cargo platform and the number of the transport carts according to the size of the goods. When the goods are long, multiple transport carts can be arranged in the length direction, and when the goods are wide, multiple transport carts can be arranged in the width direction. Both the length and width directions are adjustable, and the flexibility is high.

[0022] See also Figure 1 , Figure 1 The figure is a schematic diagram of the structure of the transport equipment for oversized goods in one embodiment of the present invention.

[0023] The present invention provides a transport device for oversized cargo, comprising a plurality of transport carts 1 and a cargo platform 2, wherein the plurality of transport carts 1 are arranged in an array, and each of the transport carts 1 comprises a vehicle body 11, a load-bearing portion and a navigation device, wherein the load-bearing portion is rotatably mounted on the upper side of the vehicle body 11 along an axis in a vertical direction, and the navigation device is arranged on the vehicle body 11; the cargo platform 2 is arranged on a plurality of the load-bearing portions, and the cargo platform 2 is used to carry oversized cargo.

[0024] In this example, see Figure 1, multiple transport carts 1 are arranged in an array, each of the transport carts 1 includes a body 11, a load-bearing portion and a navigation device, the load-bearing portion is rotatably installed on the upper side of the body 11 along an axis in the vertical direction, and the navigation device is arranged on the body 11; the cargo platform 2 is arranged on multiple load-bearing portions, and the cargo platform 2 is used to carry oversized cargo. When used, the number of the cargo platform 2 and the transport cart 1 can be set according to the size of the cargo. When the cargo is long, multiple transport carts 1 can be arranged in the length direction. When the cargo is long, multiple transport carts 1 can be arranged in the length direction. When the vehicle is wide, a plurality of the transport trolleys 1 can be arranged in the width direction, and both the length and width directions can be adjusted, with high flexibility, and the bearing portion can rotate relative to the vehicle body 11, so that the vehicle body 11 can rotate relative to the cargo platform 2. Through the universal motion of each transport trolley 1, it is regarded as the wheel of the cargo platform 2, and the wheels 113 of the vehicle body 11 itself can also rotate. In this way, the movement of the cargo platform 2 is more flexible, and it can pass through narrower and winding roads, realize flexible steering of vehicle formations, and improve its passability on various road conditions.

[0025] In some embodiments, see Figure 2 , Figure 6 and Figure 7 The transport trolley 1 also includes a rigid-flexible coupling connector 12, which includes a base 121, a connecting shaft 122 and a tray assembly. The base 121 is arranged on the upper side of the vehicle body 11, and the lower end of the connecting shaft 122 is rotatably mounted on the base 121 along an axis in the vertical direction. The tray assembly is mounted on the upper end of the connecting shaft 122, and the tray assembly constitutes the bearing portion.

[0026] In this embodiment, a bearing seat 125 is provided on the base 121, and the connecting shaft 122 includes a connecting plate, a first connecting section, a second connecting section and a third connecting section which are connected in sequence from top to bottom. A stop ring is also provided between the first connecting section and the second connecting section. The diameter of the second connecting section is larger than the diameter of the first connecting section, and the diameter of the first connecting section is larger than the diameter of the third connecting section. The second connecting section is adapted to the bearing seat 125, and the second connecting section is arranged in the bearing seat 125, and the stop ring abuts against the upper side of the bearing seat 125, so that the connecting shaft 122 is rotatably set, and the connecting plate is connected to the pallet assembly, and the pallet assembly is used to place the cargo platform 2, and the lower end of the third connecting section is connected to the wheel encoder 14 through the connecting shaft 122.

[0027] In some embodiments, see Figure 6 and Figure 7The tray assembly includes a carrying tray 123 and an air spring 124. The carrying tray 123 is connected to the upper end of the connecting shaft 122 through the air spring 124, so that the carrying tray 123 can be elastically retracted in the vertical direction.

[0028] In this embodiment, the air spring 124 is installed on the connecting plate, and the carrying tray 123 is installed on the air spring 124. The carrying tray 123 is used for placing the cargo platform 2. The air spring 124 plays a buffering role.

[0029] In some embodiments, see Figure 6 , the valve core of the air spring 124 is located on its upper side; an avoidance hole is provided in the middle of the carrying tray 123, the avoidance hole corresponds to the valve core, and the thickness of the carrying tray 123 is greater than the height of the valve core.

[0030] In this embodiment, in order to facilitate the inflation and deflation of the air spring 124, the valve core of the air spring 124 is located on its upper side, and the upper side of the air spring 124 is connected to the carrying tray 123. In order to avoid mutual interference, the carrying tray 123 is provided with an avoidance hole corresponding to the valve core, and the thickness of the carrying tray 123 is greater than the height of the valve core. Such a setting can prevent the valve core from protruding from the carrying tray 123, thereby ensuring that the cargo platform 2 and the carrying tray 123 are seamlessly connected.

[0031] In some embodiments, see Figures 2 to 4 The transport vehicle 1 further includes a mounting frame 13 , wherein the mounting frame 13 is disposed on the upper side of the vehicle body 11 , the base 121 is mounted on the upper side of the mounting frame 13 , and the navigation device is disposed in the mounting frame 13 .

[0032] In this embodiment, since a navigation device is also provided on the vehicle body 11, in order to facilitate the installation of the navigation device, a mounting frame 13 is also provided on the upper side of the vehicle body 11, the base 121 is installed on the upper side of the mounting frame 13, and the navigation device is arranged in the mounting frame 13, and the mounting frame 13 is used to provide an installation environment for the navigation device.

[0033] In some embodiments, see Figures 2 to 4 The navigation device includes a wheel encoder 14, an IMU sensor 15 and a laser radar 16. The wheel encoder 14 is installed at the lower end of the connecting shaft 122, and the laser radar 16 and the IMU sensor 15 are both installed on the upper side of the vehicle body 11.

[0034] In an embodiment, the wheel encoder 14 is installed at the lower end of the third connecting section through a coupling, the laser radar 16 is installed on the upper side of the mounting frame 13, and the IMU sensor 15 is located in the mounting frame 13. The navigation device also includes a host, a router and a display screen. The host is provided with a control device, and the control device is electrically connected to the wheel encoder 14, the IMU sensor 15, the laser radar 16, the router, the display screen and the vehicle body 11 respectively. The control device can receive data detected by the wheel encoder 14, the IMU sensor 15 and the laser radar 16, and control the vehicle body 11 to work. The display screen can display relevant data of the device. The control device can be connected to an external network through a router, and the navigation process can be made more accurate by setting up multi-sensor fusion.

[0035] It can be understood that the host, the router, the display screen, the wheel encoder 14, the IMU sensor 15, and the laser radar 16 are all existing technologies and are not described in detail here.

[0036] In some embodiments, see Figures 3 to 5 The vehicle body 11 includes a carrying chassis 111 and four wheel 113 assemblies, and the four wheel 113 assemblies are arranged in an array. The wheel 113 assembly includes a suspension system 112, a first drive device, a wheel 113 and a second drive device. The upper side of the suspension system 112 is rotatably installed on the carrying chassis 111 along an axis in the vertical direction. The first drive device is connected to the suspension system 112 to drive the suspension system 112 to rotate. The wheel 113 is rotatably installed on the lower side of the suspension system 112, and the second drive device is connected to the wheel 113 to drive the wheel 113 to rotate.

[0037] In this embodiment, the suspension system 112 can play a buffering role, absorb the vibration during the operation of the vehicle, and reduce the impact force. The first driving device is arranged on the carrying chassis 111, and the first driving device can be used to drive the suspension system 112 and the wheel 113 to rotate, thereby enabling steering and realizing four-wheel independent steering. The second driving device is arranged on the wheel 113, and the second driving device can be used to drive the wheel 113 to rotate.

[0038] In this embodiment, the first driving device includes a driving gear, a driven gear and a driving motor. The driving gear is rotatably mounted on the carrying chassis 111, and the driven gear is mounted on the suspension system 112. The driving gear and the driven gear are meshed. The driving motor is disposed on the carrying chassis 111 and connected to the driving gear. In this embodiment, the second driving device is a hub motor.

[0039] In some embodiments, see Figure 5 The suspension system 112 includes a connecting seat 1121, a connecting member 1122 and a shock absorbing assembly 1123. The connecting seat 1121 is rotatably mounted on the carrying chassis 111 along an axis in the vertical direction. One end of the connecting member 1122 is rotatably mounted on the connecting seat 1121 along an axis in the horizontal direction. The wheel 113 is rotatably mounted on the middle part of the connecting member 1122. Both ends of the shock absorbing assembly 1123 are rotatably connected to the other end of the connecting member 1122 and the connecting seat 1121 respectively.

[0040] In this embodiment, the shock absorbing assembly 1123 includes a shock absorber and a shock absorbing spring. Both ends of the shock absorber are rotatably connected to the connecting member 1122 and the connecting seat 1121. The shock absorbing spring is sleeved on the outer periphery of the shock absorber.

[0041] In addition, the present invention also provides a navigation method for transport equipment for oversized goods, comprising the following steps: Step 1: Extended Kalman filter to fuse multi-sensor data; Step 2: SLAM map building; Step 3: Global path planning; Step 4: Local path planning.

[0042] Specifically, the extended Kalman filter is used to fuse multi-sensor mapping and positioning, and then global and local path planning is achieved through multiple algorithms to achieve more accurate navigation and positioning and multi-vehicle collaborative operation.

[0043] In one embodiment, the multi-sensor data in step 1 includes a wheel odometer, an IMU, a GPS, and a visual odometer; Specifically, the extended Kalman filter in step 1 fuses multi-sensor data, and the sensors include a wheel odometer, an IMU, a GPS, and a visual odometer, and the Kalman extended filter motion equation is:

[0044] in, Indicates State variables at the moment; represents the state variable at time t; Control Matrix; Expressed as State variables at a moment and State variables at a moment The functional relationship between Expressed as State variables at a moment and Observation value at time The functional relationship between express Dynamic noise at every moment; for The observation noise at that moment.

[0045] Assume that its dynamic noise and observation noise are and They all show a linear relationship, and they are all Gaussian white noise with a mean of 0. The state variables are expanded using the Taylor expansion formula:

[0046] in, Expressed as The posterior estimate of the state vector at the moment; is the Jacobian matrix of the kinematic model, whose value is the function exist and Under the conditions The first derivative of :

[0047] The observation equation is expanded using the Taylor expansion formula:

[0048] in, express The prior estimate of the state vector at the moment; is the Jacobian matrix of the observation model, whose value is the function exist Under the conditions The first derivative of :

[0049] From the above formula, we can see that the steps of the extended Kalman filter algorithm are: Prediction: Make a prediction for the prior estimate of the state vector:

[0050] Make predictions about the covariance matrix of the prior estimate of the state vector:

[0051] Update: The Kalman gain matrix is:

[0052] A posteriori estimates of the state variables:

[0053] The covariance matrix of the updated posterior estimates of the state variables:

[0054] in, represents the identity matrix of the same dimension as the covariance matrix, given by the Kalman gain The useful information required by the application in the observation information is weighted, and the useful values ​​therein are utilized, thereby realizing the work of calibrating the prior estimate of the state vector.

[0055] In one of the embodiments, the SLAM mapping technology in step 2 uses scan-to-submap as a constraint; real-time mapping and a resolution of 5 cm can be achieved.

[0056] Specifically, Cartographer combines local SLAM and global SLAM to transform radar observation data into It is called pose, and these poses are called Scans. What both SLAM processes need to optimize is the pose. The IMU is used to give the gravity direction and project the radar data into the 2D plane. The scanning area of ​​each radar frame is called Submap. The nonlinear optimization Scan Matching is used to align the Scan and Submap.

[0057] The origin of the Submap coordinate system is , each radar scanning point is , transfer the Scan points to the Submap coordinate system:

[0058] Submap is actually a probability grid map ,Constructing a submap is an iterative process of repeatedly aligning the scan and the submap coordinate frame (also ,called frame).

[0059] Unobserved grid, you can customize one or , the hit-to-miss probability odds of the observed grid is updated to:

[0060] The update formula of the hit probability of each grid is:

[0061] in, Represents the probability value at the x position in the map.

[0062] The miss probability update formula is:

[0063] in, Represents the probability value of not being at the x position in the map.

[0064] The above two formulas express “multiple observations” of data to achieve “probability improvement” in map construction.

[0065] The purpose of Scan Matching is to find the optimal posture so that the points in the Scan can be matched to the Submap with the highest probability. Before inserting the scan into the submap, the ceres-based scan matching is used to optimize the scan relative to the current local submap. It is regarded as a nonlinear least squares problem. Through this optimization problem, a higher frequency scan matching or pixel-accurate scan matching method can be used without an inertial measurement unit. The formula of the nonlinear least squares problem is:

[0066] When a submap is finished, no new scans are inserted into it, and it participates in the loop detection scan again. All completed submaps and scans are automatically taken into account for loop detection.

[0067] When loop detection is performed, when scans are matched only with the nearest submaps, cumulative errors will occur. This problem is solved by creating many submaps. The optimization problem of loop detection is also a nonlinear least squares problem like matching. Residuals can be easily added. Ceres is used to calculate it every few seconds. The nonlinear least squares problem is:

[0068] in, for submap poses, To scan poses, Relative position and Correlation covariance matrix.

[0069] For a pair of matched submap i and scan j, ξij is the matching position of the standard scan in the submap coordinate frame.

[0070] The residual E calculation formula is:

[0071]

[0072] The loss function ρ is used to reduce the impact of outliers that may appear when scan matching adds incorrect constraints to the optimization problem.

[0073] In one embodiment, the global path planning in step 3 adopts A* algorithm; Specifically, the global path planning adopts the A* algorithm, which uses two important functions to evaluate the priority of nodes: 1. Function g(n): represents the actual cost from the starting node to node n, that is, the path length from the starting point to the node.

[0074] 2. Function h(n): represents the estimated cost from node n to the target node, often called the heuristic function. This function is the key to the A* algorithm, which is used to estimate the shortest distance from the current node n to the target node.

[0075] The A* algorithm maintains two lists to track the nodes during the search process: an open list and a closed list. At each step, a node is selected from the open list, f(n)=g(n)+h(n) of the node is calculated, and its neighboring nodes are added to the open list. This process is repeated until the end is found or no more nodes can be added to the open list.

[0076] In one embodiment, the local path planning in step 4 adopts the DWA algorithm.

[0077] Specifically, the local path planning adopts the DWA algorithm, , , Respectively represent the robot in Moment coordinate, Coordinates and orientation angles, and Respectively represent the transport vehicle in and Moment Coordinates, let Indicates the translation speed of the transport cart.

[0078]

[0079]

[0080] Carriage speed Depends on the initial moment Speed ​​and time , the transport vehicle at time intervals The translational acceleration , is the initial angle Function, let The initial rotation speed at time , The rotational acceleration is ,but It can be written as:

[0081] At this time, the trajectory of the transport vehicle is determined by the initial state and acceleration. arrive Divided into n time segments, in each time segment , the acceleration of the transport vehicle and Keep unchanged, set ,but It can be written as:

[0082] Assuming that the speed remains constant in each time segment, Can be approximated as , Can be approximated as ,but Can be simplified to:

[0083] in:

[0084] Similarly, the y coordinate formula is:

[0085]

[0086] when When , the trajectory of the transport vehicle is a straight line; when When , the trajectory of the transport vehicle is an arc, assuming:

[0087]

[0088]

[0089] Then explain The center of the arc segment is , the radius is According to the above formula, the trajectory of the transport vehicle can be calculated.

[0090] This application proposes the idea of ​​multiple vehicles jointly transporting goods, building a cargo platform on an intelligent chassis formation, and realizing the rotation between the intelligent chassis and the cargo platform through rigid-flexible coupling connectors, so that the cargo platform has universal wheels, realizing flexible operation of the cargo platform and improving cargo safety and efficiency.

[0091] The present application realizes that the intelligent chassis can move in any direction and absorb vibrations during transportation through the design of the mechanical structure.

[0092] This application uses extended Kalman filtering to fuse multi-sensor mapping and positioning, and then uses multiple algorithms to achieve global and local path planning.

[0093] The specific implementation of the present invention described above does not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A transport device for oversized cargo, characterized in that: It includes: A plurality of transport carts, wherein the plurality of transport carts are arranged in an array, each of the transport carts comprises a vehicle body, a carrying portion and a navigation device, wherein the carrying portion is rotatably mounted on the upper side of the vehicle body along an axis in a vertical direction, and the navigation device is disposed on the vehicle body; and A cargo platform is arranged on the plurality of the carrying parts, and the cargo platform is used for carrying oversized cargo.

2. The transport equipment for oversized cargo according to claim 1, characterized in that: The transport trolley also includes a rigid-flexible coupling connection, which includes a base, a connecting shaft and a tray assembly. The base is arranged on the upper side of the vehicle body, the lower end of the connecting shaft is rotatably mounted on the base along an axis in the vertical direction, and the tray assembly is mounted on the upper end of the connecting shaft. The tray assembly constitutes the bearing part.

3. The transport equipment for oversized cargo according to claim 2, characterized in that: The tray assembly includes a carrying tray and an air spring. The carrying tray is connected to the upper end of the connecting shaft via the air spring so that the carrying tray can be elastically telescopically arranged along the vertical direction.

4. The transport equipment for oversized cargo according to claim 3, characterized in that: The valve core of the air spring is located on the upper side thereof; A avoidance hole is provided in the middle of the carrying tray, the avoidance hole corresponds to the valve core, and the thickness of the carrying tray is greater than the height of the valve core.

5. The transport equipment for oversized cargo according to claim 2, characterized in that: The transport vehicle further comprises a mounting frame, wherein the mounting frame is arranged on the upper side of the vehicle body, the base is installed on the upper side of the mounting frame, and the navigation device is arranged in the mounting frame.

6. The transport equipment for oversized cargo according to claim 2, characterized in that: The navigation device includes a wheel encoder, an IMU sensor and a laser radar. The wheel encoder is installed at the lower end of the connecting shaft, and the laser radar and the IMU sensor are both installed on the upper side of the vehicle body.

7. The transport equipment for oversized cargo according to claim 1, characterized in that: The vehicle body includes a carrying chassis and four wheel assemblies, and the four wheel assemblies are arranged in an array. The wheel assembly includes a suspension system, a first drive device, a wheel, and a second drive device. The upper side of the suspension system is rotatably installed on the carrying chassis along an axis in the vertical direction. The first drive device is connected to the suspension system to drive the suspension system to rotate. The wheel is rotatably installed on the lower side of the suspension system, and the second drive device is connected to the wheel to drive the wheel to rotate.

8. The transport equipment for oversized cargo according to claim 7, characterized in that: The suspension system includes a connecting seat, a connecting member and a shock absorbing assembly. The connecting seat is rotatably mounted on the carrying chassis along an axis in the vertical direction, one end of the connecting member is rotatably mounted on the connecting seat along an axis in the horizontal direction, the wheel is rotatably mounted on the middle part of the connecting member, and both ends of the shock absorbing assembly are rotatably connected to the other end of the connecting member and the connecting seat respectively.

9. A navigation method for transporting oversized cargo, characterized in that: The steps include: Step 1: Extended Kalman filter to fuse multi-sensor data; Step 2: SLAM map building; Step 3: Global path planning; Step 4: Local path planning.

10. The navigation method for transporting oversized cargo according to claim 9, characterized in that: The multi-sensor data in step 1 includes wheel odometer, IMU, GPS and visual odometer; In step 2, the SLAM mapping technology uses scan-to-submap as a constraint; In step 3, the global path planning adopts the A* algorithm; In step 4, the local path planning adopts the DWA algorithm.

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