Transfer device for unmanned vehicle

Abstract

The invention relates to the technical field of unmanned vehicle transfer, and provides an unmanned vehicle transfer device which comprises an unmanned vehicle body, a transfer load terminal, a suspension parameter adjusting terminal, an unmanned vehicle working parameter obtaining terminal, a road condition parameter obtaining terminal and a central analysis terminal. The transfer load terminal is installed on the unmanned vehicle body and used for loading logistics materials. The unmanned vehicle body is used for carrying logistics materials and realizing transfer work; the unmanned vehicle working parameter acquisition terminal is used for acquiring working parameters of the unmanned vehicle in real time; the road condition parameter acquisition terminal is used for acquiring road condition parameters of a road section on which the unmanned vehicle body runs in real time; the central analysis terminal is used for dynamically adjusting and analyzing the suspension parameters according to the working parameters and the road condition parameters and generating suspension parameter adjusting information; the suspension parameter adjusting terminal is used for adjusting suspension parameters of a suspension system of the unmanned vehicle body according to the suspension parameter adjusting information. According to the invention, the transport efficiency of unmanned vehicle transfer is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned vehicle transportation, and in particular to a transportation device for an unmanned vehicle. Background Art

[0002] With the rapid development of unmanned driving technology, the application of unmanned vehicles in transportation, logistics and other fields is increasing, especially in the transfer of materials, goods, express delivery and other work, which can effectively improve transportation efficiency and reduce labor costs. However, under some complex road conditions, the existing unmanned vehicle transfer system lacks sufficient intelligent response capabilities, especially in terms of adaptability and load adjustment to different road conditions, and often encounters problems such as low transfer efficiency and excessive equipment load. Therefore, the development of an unmanned vehicle transfer device that can intelligently adjust the load and adjust the transfer plan in real time according to road conditions has important practical value and market demand.

[0003] Now, many unmanned vehicle transfer devices have been developed. After extensive searching and reference, we found that the prior art includes unmanned vehicle transfer devices disclosed in publication numbers CN114771196A, CN114084252A, and CN119078644A. These unmanned vehicle transfer devices generally include: a vehicle body, a transfer terminal, and a control terminal; the vehicle body is used to carry the transfer terminal; the transfer terminal is used to load goods and detect the status of goods; the control terminal is used to control the coordinated operation of the vehicle body and the transfer terminal. Since the transfer method of the above-mentioned unmanned vehicle transfer device is relatively single, it is not easy to adapt to various types of goods and various road conditions, resulting in the defect of reduced unmanned vehicle transfer efficiency. Summary of the invention

[0004] The purpose of the present invention is to provide an unmanned vehicle transfer device in view of the shortcomings of the above-mentioned unmanned vehicle transfer device.

[0005] The present invention adopts the following technical solution:

[0006] A transfer device for an unmanned vehicle, comprising an unmanned vehicle body, a transfer load terminal, a suspension parameter adjustment terminal, an unmanned vehicle working parameter acquisition terminal, a road condition parameter acquisition terminal and a central analysis terminal; the transfer load terminal is installed on the unmanned vehicle body for loading logistics materials; the unmanned vehicle body is used to carry logistics materials to achieve transfer work; the unmanned vehicle working parameter acquisition terminal is used to obtain the working parameters of the unmanned vehicle in real time; the road condition parameter acquisition terminal is used to obtain the road condition parameters of the road section where the unmanned vehicle body is traveling in real time; the central analysis terminal is used to perform dynamic adjustment analysis of suspension parameters according to working parameters and road condition parameters to generate suspension parameter adjustment information; the suspension parameter adjustment terminal is used to adjust the suspension parameters of the suspension system of the unmanned vehicle body according to the suspension parameter adjustment information;

[0007] The transfer load terminal includes a load loading module and a load detection module; the load loading module is used to load logistics materials; the load detection module is used to monitor the weight, volume and position of the loaded materials in real time.

[0008] Optionally, the unmanned vehicle working parameter acquisition terminal includes a vehicle status monitoring module and a power system monitoring module; the vehicle status monitoring module is used to obtain the working status of the unmanned vehicle body in real time; the power system monitoring module is used to obtain the working parameters of the unmanned vehicle body.

[0009] Optionally, the road condition parameter acquisition terminal includes a ground perception module, a road condition monitoring module and a weather monitoring module; the ground perception module is used to detect the ground conditions of the current road section; the road condition monitoring module is used to collect road condition parameters of the road; and the weather monitoring module is used to obtain current weather conditions.

[0010] Optionally, the central analysis terminal includes a data fusion module, a suspension adjustment calculation module and a suspension parameter adjustment information generation module; the data fusion module is used to integrate the unmanned vehicle working parameters and road condition parameters, and generate comprehensive analysis data; the comprehensive analysis data is a data packet after the unmanned vehicle working parameters and road condition parameters are integrated; the suspension adjustment calculation module is used to perform dynamic analysis and optimization calculation of suspension parameters based on the comprehensive analysis data, and generate an adjustment strategy; the suspension parameter adjustment information generation module is used to generate suspension parameter adjustment information according to the adjustment strategy, and transmit the suspension parameter adjustment information to the suspension parameter adjustment terminal;

[0011] Optionally, the suspension parameter adjustment terminal includes a suspension system adjustment execution module and a state feedback module; the suspension system adjustment execution module is used to execute suspension parameter adjustment information and adjust the suspension parameters of the suspension system of the unmanned vehicle body; the state feedback module is used to monitor the working state of the suspension system of the unmanned vehicle in real time to achieve feedback adjustment effect.

[0012] Optionally, the suspension adjustment calculation module includes a load demand calculation submodule, a suspension adaptive adjustment demand calculation submodule and an adjustment strategy generation submodule; the load demand calculation submodule is used to calculate the suspension adjustment demand index of the unmanned vehicle based on comprehensive analysis data; the suspension adaptive adjustment demand calculation submodule is used to calculate the suspension adaptive adjustment demand of the unmanned vehicle based on comprehensive analysis data; the adjustment strategy generation submodule is used to generate a corresponding adjustment strategy according to the suspension adjustment demand index and the suspension adaptive adjustment demand.

[0013] Optionally, the load demand calculation submodule includes a load demand calculation parameter acquisition unit, a suspension adjustment demand index calculation unit and a suspension adjustment demand index output unit; the load demand calculation parameter acquisition unit is used to obtain the load demand calculation parameters of the unmanned vehicle during the material transportation process; the suspension adjustment demand index calculation unit is used to calculate the corresponding suspension adjustment demand index according to the load demand calculation parameters; the suspension adjustment demand index output unit is used to output the suspension adjustment demand index to the adjustment strategy generation submodule.

[0014] Optionally, the suspension adaptive adjustment demand calculation submodule includes a suspension adaptive adjustment demand calculation parameter acquisition unit, a suspension adaptive adjustment demand value calculation unit and a suspension adaptive adjustment demand value output unit; the suspension adaptive adjustment demand calculation parameter acquisition unit is used to acquire the suspension adaptive adjustment demand calculation parameters of the unmanned vehicle during the material transportation process; the suspension adaptive adjustment demand value calculation unit is used to calculate the corresponding suspension adaptive adjustment demand value according to the suspension adaptive adjustment demand calculation parameters; the suspension adaptive adjustment demand value output unit is used to output the suspension adaptive adjustment demand value to the adjustment strategy generation submodule.

[0015] A transfer method for an unmanned vehicle transfer device is applied to the unmanned vehicle transfer device as described above, and the transfer method for the unmanned vehicle transfer device comprises:

[0016] S1, loading logistics materials;

[0017] S2, real-time acquisition of the working parameters of the unmanned vehicle;

[0018] S3, obtaining the road condition parameters of the road section where the unmanned vehicle is traveling in real time;

[0019] S4, performing dynamic adjustment analysis of suspension parameters according to working parameters and road condition parameters, and generating suspension parameter adjustment information;

[0020] S5, the suspension parameter adjustment information adjusts the suspension parameters of the suspension system of the unmanned vehicle body.

[0021] The beneficial effects achieved by the present invention are:

[0022] 1. Through the setting of the unmanned vehicle body, transfer load terminal, suspension parameter adjustment terminal, unmanned vehicle working parameter acquisition terminal, road condition parameter acquisition terminal and central analysis terminal, the intelligent transfer of logistics materials and the dynamic adjustment of the suspension system can be realized, which is conducive to the unmanned vehicle to complete the logistics transportation tasks efficiently and safely under different working conditions, thereby improving the adaptability and transportation efficiency of the unmanned vehicle, which is conducive to the automation and intelligent development of the logistics industry;

[0023] 2. Through the setting of vehicle status monitoring module and power system monitoring module, the working status and power system parameters of the unmanned vehicle can be obtained in real time, which is conducive to fully grasping the operating status of the unmanned vehicle, and then providing accurate data support for subsequent suspension system adjustment and optimization, thereby helping to improve the operating stability and reliability of the unmanned vehicle;

[0024] 3. Through the setting of ground perception module, road condition monitoring module and weather monitoring module, the ground condition, road condition parameters and weather information of the road can be collected in real time, which is conducive to accurately assessing the current and future driving environment of the unmanned vehicle, and then providing reliable external environment data for the dynamic adjustment of the suspension system, which is conducive to improving the passing ability and driving safety of the unmanned vehicle under complex road conditions;

[0025] 4. Through the setting of data fusion module, suspension adjustment calculation module and suspension parameter adjustment information generation module, the working parameters of the unmanned vehicle and the road condition parameters can be integrated and analyzed, which is conducive to the dynamic optimization calculation of the suspension parameters, and then the suspension adjustment information that meets the current working conditions is generated, which is conducive to the intelligent adjustment and performance optimization of the suspension system of the unmanned vehicle;

[0026] 5. Through the setting of the suspension system adjustment execution module and the state feedback module, the parameters of the suspension system can be adjusted in real time based on the suspension parameter adjustment information, and the working state of the suspension system can be monitored at the same time, which is conducive to the realization of closed-loop adjustment control, thereby improving the dynamic response capability and adjustment accuracy of the suspension system, which is conducive to the stability and comfort of the unmanned vehicle under complex working conditions;

[0027] 6. Through the setting of the load demand calculation submodule, the suspension adaptive adjustment demand calculation submodule and the adjustment strategy generation submodule, the load demand and suspension adaptive adjustment demand of the unmanned vehicle can be calculated respectively, and the corresponding adjustment strategy can be generated, which is conducive to the multi-dimensional optimization analysis of the suspension system, thereby improving the adaptability of the suspension system to complex dynamic working conditions, which is beneficial to the overall operating performance of the unmanned vehicle;

[0028] 7. Through the setting of the load demand calculation parameter acquisition unit, the suspension adjustment demand index calculation unit and the suspension adjustment demand index output unit, the calculation parameters of the load demand during the transportation process can be obtained in real time, and the suspension adjustment demand index can be accurately calculated, which is conducive to providing basic data support for the adjustment strategy generation submodule, thereby improving the accuracy and reliability of load demand analysis, which is conducive to the efficient transportation of unmanned vehicles and the intelligent adjustment of the suspension system;

[0029] 8. Through the setting of the suspension adaptive adjustment demand calculation parameter acquisition unit, the suspension adaptive adjustment demand value calculation unit and the suspension adaptive adjustment demand value output unit, the suspension adaptive adjustment demand parameters in the transportation process can be obtained in real time, and the suspension adaptive adjustment demand value can be accurately calculated, which is beneficial to provide dynamic adjustment demand data for the adjustment strategy generation submodule, thereby improving the adaptive adjustment capability of the suspension system, which is beneficial to the safety and operation efficiency of unmanned vehicles under complex working conditions.

[0030] To further understand the features and technical contents of the present invention, please refer to the following detailed description and drawings of the present invention. However, the drawings provided are only for reference and description and are not intended to limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0032] Figure 2 It is a structural schematic diagram of the suspension adjustment calculation module in the present invention;

[0033] Figure 3 It is a structural schematic diagram of the load demand calculation submodule in the present invention;

[0034] Figure 4 It is a structural schematic diagram of the suspension adaptive adjustment demand calculation submodule in the present invention;

[0035] Figure 5 The figure is a schematic flow chart of a method for transporting a transport device of an unmanned vehicle in the present invention. DETAILED DESCRIPTION

[0036] The following is an explanation of the embodiments of the present invention through specific embodiments. Those skilled in the art can understand the advantages and effects of the present invention from the contents disclosed in this specification. The present invention can be implemented or applied through other different specific embodiments, and the details in this specification can also be modified and changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. In addition, the drawings of the present invention are only for simple schematic illustration and are not depicted according to actual dimensions. It is stated in advance. The following embodiments will further explain the relevant technical contents of the present invention in detail, but the disclosed contents are not intended to limit the scope of protection of the present invention.

[0037] Embodiment 1: This embodiment provides a transport device for an unmanned vehicle. Figure 1As shown, a transfer device for an unmanned vehicle comprises an unmanned vehicle body, a transfer load terminal, a suspension parameter adjustment terminal, an unmanned vehicle working parameter acquisition terminal, a road condition parameter acquisition terminal and a central analysis terminal; the transfer load terminal is installed on the unmanned vehicle body for loading logistics materials; the unmanned vehicle body is used to carry logistics materials to realize transfer work; the unmanned vehicle working parameter acquisition terminal is used to obtain the working parameters of the unmanned vehicle in real time; the road condition parameter acquisition terminal is used to obtain the road condition parameters of the road section where the unmanned vehicle body is traveling in real time; the central analysis terminal is used to perform dynamic adjustment analysis of suspension parameters according to working parameters and road condition parameters to generate suspension parameter adjustment information; the suspension parameter adjustment terminal is used to adjust the suspension parameters of the suspension system of the unmanned vehicle body according to the suspension parameter adjustment information;

[0038] The transfer load terminal includes a load loading module and a load detection module; the load loading module is used to load logistics materials; the load detection module is used to monitor the weight, volume and position of the loaded materials in real time.

[0039] Optionally, the unmanned vehicle working parameter acquisition terminal includes a vehicle status monitoring module and a power system monitoring module; the vehicle status monitoring module is used to obtain the working status of the unmanned vehicle body in real time; the power system monitoring module is used to obtain the working parameters of the unmanned vehicle body.

[0040] Optionally, the road condition parameter acquisition terminal includes a ground perception module, a road condition monitoring module and a weather monitoring module; the ground perception module is used to detect the ground conditions of the current road section; the road condition monitoring module is used to collect road condition parameters of the road; and the weather monitoring module is used to obtain current weather conditions.

[0041] Optionally, the central analysis terminal includes a data fusion module, a suspension adjustment calculation module and a suspension parameter adjustment information generation module; the data fusion module is used to integrate the unmanned vehicle working parameters and road condition parameters, and generate comprehensive analysis data; the suspension adjustment calculation module is used to perform dynamic analysis and optimization calculation of suspension parameters based on the comprehensive analysis data, and generate an adjustment strategy; the suspension parameter adjustment information generation module is used to generate suspension parameter adjustment information according to the adjustment strategy, and transmit the suspension parameter adjustment information to the suspension parameter adjustment terminal;

[0042] Optionally, the suspension parameter adjustment terminal includes a suspension system adjustment execution module and a state feedback module; the suspension system adjustment execution module is used to execute suspension parameter adjustment information and adjust the suspension parameters of the suspension system of the unmanned vehicle body; the state feedback module is used to monitor the working state of the suspension system of the unmanned vehicle in real time to achieve feedback adjustment effect.

[0043] Optional, combined Figure 2 As shown, the suspension adjustment calculation module includes a load demand calculation submodule, a suspension adaptive adjustment demand calculation submodule and an adjustment strategy generation submodule; the load demand calculation submodule is used to calculate the suspension adjustment demand index of the unmanned vehicle based on comprehensive analysis data; the suspension adaptive adjustment demand calculation submodule is used to calculate the suspension adaptive adjustment demand of the unmanned vehicle based on comprehensive analysis data; the adjustment strategy generation submodule is used to generate a corresponding adjustment strategy according to the suspension adjustment demand index and the suspension adaptive adjustment demand.

[0044] Optional, combined Figure 3 As shown, the load demand calculation submodule includes a load demand calculation parameter acquisition unit, a suspension adjustment demand index calculation unit and a suspension adjustment demand index output unit; the load demand calculation parameter acquisition unit is used to obtain the load demand calculation parameters of the unmanned vehicle during the material transportation process; the suspension adjustment demand index calculation unit is used to calculate the corresponding suspension adjustment demand index according to the load demand calculation parameters; the suspension adjustment demand index output unit is used to output the suspension adjustment demand index to the adjustment strategy generation submodule.

[0045] Specifically, when the unmanned vehicle is loaded with materials and starts the transfer task, the suspension adjustment demand index calculation unit starts to calculate the corresponding suspension adjustment demand index according to the load demand calculation parameter, and the calculation cycle can be but not limited to once per minute and once per hour. The calculation process of the suspension adjustment demand index calculation unit satisfies the following formula:

[0046]

[0047] Among them, L represents the suspension adjustment demand index of the unmanned vehicle. A larger L means that the suspension system of the unmanned vehicle needs to be adjusted to a greater extent, especially in complex road conditions, high-speed driving or rapidly changing load conditions. If L is smaller, it means that the adjustment demand is lower, and the suspension system can continue to maintain the current state and operate stably; 0 represents the current load of the unmanned vehicle, that is, the detection value of the total weight of the loaded materials by the load detection module; r road Represents the road condition influence coefficient; r vehicle Represents the vehicle state coefficient; α 1 Represents the adjustment coefficient. The smaller the width of the unmanned vehicle, the larger the adjustment coefficient. The specific value is set by the administrator based on experience. 1 Represents the road condition impact index. The flatter the road surface where the unmanned vehicle is located, the lower the road condition impact index. The specific value is set by the administrator based on experience; 2 Indicates the vehicle status impact index. The more serious the tire wear, the greater the vehicle status impact index. The specific value is set by the administrator based on experience; β 1It represents the speed adjustment coefficient. The better the dynamic stability of the unmanned vehicle is, the smaller the speed adjustment coefficient is. The specific value is set by the administrator based on experience. 1 Indicates the speed adjustment sensitivity. The greater the acceleration of the unmanned vehicle, the higher the speed adjustment sensitivity. The specific value is set by the administrator based on experience. v indicates the current speed of the unmanned vehicle. μ 1 Indicates the influence coefficient of load change rate on load. The faster the suspension system responds, the lower the influence coefficient of load change rate on load. The specific value is set by the administrator based on experience. Indicates the rate of change of the load detection value; μ air Indicates the air resistance coefficient. The greater the wind speed in the environment where the unmanned vehicle is located, the greater the air resistance coefficient. The specific value is set by the administrator based on experience; w max Indicates the maximum load allowed for unmanned vehicles; β 2 It represents the adjustment coefficient of the ratio of vehicle speed to maximum load. The larger the size of the unmanned vehicle, the smaller the adjustment coefficient of the ratio of vehicle speed to maximum load. terrain Indicates the terrain complexity level of the road section where the unmanned vehicle is located. The larger the value corresponding to the level, the more complex the section; γ 3 It represents the terrain impact index. The higher the proportion of the road section with the highest terrain complexity level in the unmanned vehicle transfer task to the total road length, the smaller the terrain impact index.

[0048]

[0049] Among them, Slope angle Indicates the road slope angle of the road section where the unmanned vehicle is located; Bump level Indicates the bumpiness level of the road section where the unmanned vehicle is located. The specific level setting rules are: Flat road Bump level =0, medium bumpy road surface level =1. Severely bumpy road surface level =2; the bumpiness of the road is determined by the vibration sensor in the unmanned vehicle; F riction Indicates the friction coefficient of the road section where the unmanned vehicle is located. The specific setting is: asphalt road F riction =0.8, slippery road F riction =0.4, Ice and snow road F riction =0.1;

[0050]

[0051] Among them, S load It indicates the real-time load borne by the suspension system of the unmanned vehicle, that is, the load borne by the suspension system at the current moment; S capacity Represents the reference load borne by the suspension system of the unmanned vehicle; η 1Indicates the quantitative conversion coefficient of tire wear, generally 0.25; Tire wear Indicates the remaining thickness of the tire of the unmanned vehicle; E diff Indicates the altitude of the road section where the unmanned vehicle is located; D all Represents the total length of the road section where the unmanned vehicle is located; O d represents the number of obstacles within the unmanned vehicle detection range; C represents the total area of ​​the unmanned vehicle detection range; η 2 Indicates the quantitative conversion coefficient of obstacle density. The larger the area occupied by the unmanned vehicle, the larger the quantitative conversion coefficient of obstacle density. The specific value is set by the administrator based on experience.

[0052] When L ≥ l ref When L <l ref When the adjustment strategy generation submodule generates an adjustment strategy for maintaining the working state of the suspension system; ref Indicates the load demand determination threshold, which is set by the administrator based on experience. The adjustment strategy for optimizing the suspension system can be, but is not limited to: enhancing the stiffness, damping and height of the suspension system.

[0053] The following is the program code for the above suspension adjustment demand index calculation example:

[0054]

[0055]

[0056]

[0057] Optional, combined Figure 4 As shown, the suspension adaptive adjustment demand calculation submodule includes a suspension adaptive adjustment demand calculation parameter acquisition unit, a suspension adaptive adjustment demand value calculation unit and a suspension adaptive adjustment demand value output unit; the suspension adaptive adjustment demand calculation parameter acquisition unit is used to obtain the suspension adaptive adjustment demand calculation parameters of the unmanned vehicle during the material transportation process; the suspension adaptive adjustment demand value calculation unit is used to calculate the corresponding suspension adaptive adjustment demand value according to the suspension adaptive adjustment demand calculation parameters; the suspension adaptive adjustment demand value output unit is used to output the suspension adaptive adjustment demand value to the adjustment strategy generation submodule.

[0058] A method for transferring an unmanned vehicle transfer device, applied to an unmanned vehicle transfer device as described above, combined with Figure 5 As shown, the transport method of the unmanned vehicle transport device includes:

[0059] S1, loading logistics materials;

[0060] S2, real-time acquisition of the working parameters of the unmanned vehicle;

[0061] S3, obtaining the road condition parameters of the road section where the unmanned vehicle is traveling in real time;

[0062] S4, performing dynamic adjustment analysis of suspension parameters according to working parameters and road condition parameters, and generating suspension parameter adjustment information;

[0063] S5, the suspension parameter adjustment information adjusts the suspension parameters of the suspension system of the unmanned vehicle body.

[0064] In summary, through the setting of the unmanned vehicle body, the transfer load terminal, the suspension parameter adjustment terminal, the unmanned vehicle working parameter acquisition terminal, the road condition parameter acquisition terminal and the central analysis terminal, the intelligent transfer of logistics materials and the dynamic adjustment of the suspension system can be realized, which is conducive to the unmanned vehicle to efficiently and safely complete the logistics transportation tasks under different working conditions, thereby improving the adaptability and transportation efficiency of the unmanned vehicle; through the setting of the vehicle status monitoring module and the power system monitoring module, the working status and power system parameters of the unmanned vehicle can be obtained in real time, which is conducive to fully grasping the operating status of the unmanned vehicle, thereby providing accurate data support for the subsequent suspension system adjustment and optimization; through the ground sensing The settings of the sensing module, the road condition monitoring module and the weather monitoring module can collect the ground conditions, road condition parameters and weather information of the road in real time, which is conducive to accurately evaluating the current and future driving environment of the unmanned vehicle, and then provide reliable external environment data for the dynamic adjustment of the suspension system; through the settings of the data fusion module, the suspension adjustment calculation module and the suspension parameter adjustment information generation module, the working parameters of the unmanned vehicle and the road condition parameters can be integrated and analyzed, which is conducive to the dynamic optimization calculation of the suspension parameters, and then generate the suspension adjustment information that meets the current working conditions; through the settings of the suspension system adjustment execution module and the state feedback module, the suspension system can be adjusted based on the suspension parameter adjustment information. The system parameters can be adjusted in real time, and the working status of the suspension system can be monitored at the same time, which is conducive to realizing closed-loop regulation and control, thereby improving the dynamic response capability and regulation accuracy of the suspension system; through the setting of the load demand calculation submodule, the suspension adaptive regulation demand calculation submodule and the regulation strategy generation submodule, the load demand and suspension adaptive regulation demand of the unmanned vehicle can be calculated respectively, and the corresponding regulation strategy can be generated, which is conducive to realizing the multi-dimensional optimization analysis of the suspension system, thereby improving the adaptability of the suspension system to complex dynamic working conditions; through the setting of the load demand calculation parameter acquisition unit, the suspension adjustment demand index calculation unit and the suspension adjustment demand index output unit, the transfer process can be obtained in real time. The calculation parameters of the load demand during the transportation process and the accurate calculation of the suspension adjustment demand index are beneficial to provide basic data support for the adjustment strategy generation submodule, thereby improving the accuracy and reliability of the load demand analysis; through the setting of the suspension adaptive adjustment demand calculation parameter acquisition unit, the suspension adaptive adjustment demand value calculation unit and the suspension adaptive adjustment demand value output unit, the suspension adaptive adjustment demand parameters during the transportation process can be obtained in real time, and the suspension adaptive adjustment demand value can be accurately calculated, which is beneficial to provide dynamic adjustment demand data for the adjustment strategy generation submodule, thereby improving the adaptive adjustment ability of the suspension system, which is beneficial to the safety and operation efficiency of the unmanned vehicle under complex working conditions;Through the suspension adjustment demand index formula, the multi-dimensional parameters such as the load state, road condition complexity, vehicle running speed, load change rate of the unmanned vehicle are integrated for calculation, which is conducive to dynamically evaluating the adjustment needs of the suspension system, especially in complex road conditions or high-speed driving, and then adjusting the suspension stiffness, damping and height in real time, which is conducive to improving the vehicle's operating stability and driving comfort. In addition, by introducing nonlinear weight adjustment, this method avoids the problem of insufficient or excessive adjustment that may be caused by traditional linear algorithms, which is conducive to improving the accuracy and efficiency of suspension system adjustment, and ultimately optimizing the operating performance of unmanned vehicles under different working conditions. ;

[0065] Embodiment 2: This embodiment includes all the contents of Embodiment 1, and provides a transport device for an unmanned vehicle, wherein the suspension adaptive adjustment requirement calculation submodule includes a suspension adaptive adjustment requirement calculation parameter acquisition unit, a suspension adaptive adjustment requirement value calculation unit and a suspension adaptive adjustment requirement value output unit; the suspension adaptive adjustment requirement calculation parameter acquisition unit is used to acquire the suspension adaptive adjustment requirement calculation parameters of the unmanned vehicle during the material transport process; the suspension adaptive adjustment requirement value calculation unit is used to calculate the corresponding suspension adaptive adjustment requirement value according to the suspension adaptive adjustment requirement calculation parameters; the suspension adaptive adjustment requirement value output unit is used to output the suspension adaptive adjustment requirement value to the adjustment strategy generation submodule.

[0066] Specifically, after the system completes the adjustment strategy generated according to the suspension adjustment demand index, after a specified time interval, the suspension adaptive adjustment demand value calculation unit starts working, and the suspension adjustment demand index calculation unit stops working. The specified time interval can be but is not limited to: 10s, 20s, 60s, 120s, and the following formula is satisfied during the calculation:

[0067]

[0068] Among them, S represents the suspension adaptive adjustment demand value; the larger the S value, the higher the adjustment demand of the current suspension system; the smaller the S value, the lower the adjustment demand of the current suspension system; w 0 represents the current load of the unmanned vehicle, that is, the detection value of the total weight of the loaded materials by the load detection module; ρ represents the road excitation intensity, that is, the vibration amplitude of the unmanned vehicle during driving; σ 1 represents the incentive amplification index. The greater the slope of the road section where the unmanned vehicle is located, the greater the incentive amplification index. The specific value is set by the administrator based on experience; v represents the current speed of the unmanned vehicle; σ 2 Represents the vehicle speed magnification index. The greater the change in the current vehicle posture of the unmanned vehicle compared with the reference posture, the greater the vehicle speed magnification index. The specific value is set by the administrator based on experience; r terrainIndicates the terrain complexity level of the road section where the unmanned vehicle is located; w max Indicates the maximum load allowed for unmanned vehicles; β 2 It represents the adjustment coefficient of the ratio of vehicle speed to maximum load. The larger the size of the unmanned vehicle, the smaller the adjustment coefficient of the ratio of vehicle speed to maximum load. terrain Indicates the terrain complexity level of the road section where the unmanned vehicle is located; γ 3 It represents the terrain influence index. The higher the proportion of the road section with the highest complexity level in the unmanned vehicle transfer task to the total road length, the smaller the terrain influence index. When S≥s ref When S ref When the adjustment strategy generation submodule generates an adjustment strategy for maintaining the working state of the suspension system; ref Indicates the threshold for determining the need for suspension adaptive adjustment, which is set by the administrator based on experience.

[0069] The following is the program code for the calculation example of the suspension adaptive adjustment demand value:

[0070]

[0071]

[0072]

[0073] In summary, the adaptive adjustment demand value algorithm of the suspension can accurately calculate the adaptive adjustment demand value of the suspension system by comprehensively considering multi-dimensional parameters such as load weight, road excitation intensity, terrain complexity, vehicle dynamic posture change rate, and the state of the suspension system itself. This method is conducive to the comprehensive optimization of the suspension system under multi-dimensional working conditions, especially under complex terrain and dynamic load conditions, and then intelligently adjusts the stiffness, damping and response speed of the suspension system, which is beneficial to the stability and passability of unmanned vehicles. In addition, this method enhances the adaptability and robustness of the suspension system through closed-loop feedback and real-time adjustment, which is conducive to extending the service life of the suspension system and further improving the safety and operation efficiency of unmanned vehicles.

[0074] The contents disclosed above are only preferred feasible embodiments of the present invention, and do not limit the protection scope of the present invention. Therefore, all equivalent technical changes made using the contents of the present invention description and drawings are included in the protection scope of the present invention. In addition, the elements therein can be updated as technology develops.​

Claims

1. A transport device for an unmanned vehicle, characterized in that: It includes an unmanned vehicle body, a transfer load terminal, a suspension parameter adjustment terminal, an unmanned vehicle working parameter acquisition terminal, a road condition parameter acquisition terminal and a central analysis terminal; the transfer load terminal is installed on the unmanned vehicle body for loading logistics materials; the unmanned vehicle body is used to carry logistics materials to realize transfer work; the unmanned vehicle working parameter acquisition terminal is used to obtain the working parameters of the unmanned vehicle in real time; the road condition parameter acquisition terminal is used to obtain the road condition parameters of the road section where the unmanned vehicle body is traveling in real time; the central analysis terminal is used to perform dynamic adjustment analysis of suspension parameters according to working parameters and road condition parameters to generate suspension parameter adjustment information; the suspension parameter adjustment terminal is used to adjust the suspension parameters of the suspension system of the unmanned vehicle body according to the suspension parameter adjustment information; The transfer load terminal includes a load loading module and a load detection module; the load loading module is used to load logistics materials; the load detection module is used to monitor the weight, volume and position of the loaded materials in real time.

2. The unmanned vehicle transfer device according to claim 1, characterized in that: The unmanned vehicle working parameter acquisition terminal includes a vehicle status monitoring module and a power system monitoring module; the vehicle status monitoring module is used to obtain the working status of the unmanned vehicle body in real time; the power system monitoring module is used to obtain the working parameters of the unmanned vehicle body.

3. The unmanned vehicle transfer device according to claim 2, characterized in that: The road condition parameter acquisition terminal includes a ground perception module, a road condition monitoring module and a weather monitoring module; the ground perception module is used to detect the ground condition of the current road section; the road condition monitoring module is used to collect road condition parameters of the road surface; and the weather monitoring module is used to obtain the current weather conditions.

4. The unmanned vehicle transport device according to claim 3, characterized in that: The central analysis terminal includes a data fusion module, a suspension adjustment calculation module and a suspension parameter adjustment information generation module; the data fusion module is used to integrate the unmanned vehicle working parameters and road condition parameters and generate comprehensive analysis data; The suspension adjustment calculation module is used to perform dynamic analysis and optimization calculation of suspension parameters based on comprehensive analysis data to generate an adjustment strategy; the suspension parameter adjustment information generation module is used to generate suspension parameter adjustment information according to the adjustment strategy and transmit the suspension parameter adjustment information to the suspension parameter adjustment terminal.

5. The unmanned vehicle transport device according to claim 4, characterized in that: The suspension parameter adjustment terminal includes a suspension system adjustment execution module and a state feedback module; the suspension system adjustment execution module is used to execute suspension parameter adjustment information and adjust the suspension parameters of the suspension system of the unmanned vehicle body; the state feedback module is used to monitor the working state of the suspension system of the unmanned vehicle in real time to achieve feedback adjustment effect.

6. The unmanned vehicle transport device according to claim 5, characterized in that: The suspension adjustment calculation module includes a load demand calculation submodule, a suspension adaptive adjustment demand calculation submodule and an adjustment strategy generation submodule; The load demand calculation submodule is used to calculate the suspension adjustment demand index of the unmanned vehicle based on the comprehensive analysis data; the suspension adaptive adjustment demand calculation submodule is used to calculate the suspension adaptive adjustment demand of the unmanned vehicle based on the comprehensive analysis data; the adjustment strategy generation submodule is used to generate a corresponding adjustment strategy according to the suspension adjustment demand index and the suspension adaptive adjustment demand.

7. The unmanned vehicle transport device according to claim 6, characterized in that: The load demand calculation submodule includes a load demand calculation parameter acquisition unit, a suspension adjustment demand index calculation unit and a suspension adjustment demand index output unit; the load demand calculation parameter acquisition unit is used to obtain the load demand calculation parameters of the unmanned vehicle during the material transportation process; the suspension adjustment demand index calculation unit is used to calculate the corresponding suspension adjustment demand index according to the load demand calculation parameters; the suspension adjustment demand index output unit is used to output the suspension adjustment demand index to the adjustment strategy generation submodule.

8. The unmanned vehicle transport device according to claim 7, characterized in that: The suspension adaptive adjustment demand calculation submodule includes a suspension adaptive adjustment demand calculation parameter acquisition unit, a suspension adaptive adjustment demand value calculation unit and a suspension adaptive adjustment demand value output unit; the suspension adaptive adjustment demand calculation parameter acquisition unit is used to obtain the suspension adaptive adjustment demand calculation parameters of the unmanned vehicle during the material transportation process; the suspension adaptive adjustment demand value calculation unit is used to calculate the corresponding suspension adaptive adjustment demand value according to the suspension adaptive adjustment demand calculation parameters; the suspension adaptive adjustment demand value output unit is used to output the suspension adaptive adjustment demand value to the adjustment strategy generation submodule.

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