A transfer device for unmanned vehicles

Abstract

This invention relates to the technical field of unmanned vehicle transfer, and provides an unmanned vehicle transfer device, including an unmanned vehicle body, a transfer load terminal, a suspension parameter adjustment terminal, an unmanned vehicle operating 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 and is used to load logistics materials. The unmanned vehicle body is used to carry logistics materials to realize the transfer operation. The unmanned vehicle operating parameter acquisition terminal is used to acquire the operating parameters of the unmanned vehicle in real time. The road condition parameter acquisition terminal is used to acquire the road condition parameters of the road segment traveled by the unmanned vehicle body in real time. The central analysis terminal is used to perform dynamic adjustment analysis of suspension parameters based on operating parameters and road condition parameters, and 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 using the suspension parameter adjustment information. This invention specifically improves the transportation efficiency of unmanned vehicle transfer.

Description

Technical Field

[0001] This invention relates to the technical field of unmanned vehicle transfer, and more specifically to an unmanned vehicle transfer device. Background Technology

[0002] With the rapid development of autonomous driving technology, unmanned vehicles are increasingly used in transportation and logistics, especially in the transfer of materials, goods, and express deliveries, where they can effectively improve transportation efficiency and reduce labor costs. However, in some complex road conditions, existing unmanned vehicle transfer systems lack sufficient intelligent response capabilities, particularly in adaptability to different road conditions and load adjustment, often resulting in low transfer efficiency and excessive equipment load. Therefore, developing an unmanned vehicle transfer device capable of intelligently adjusting loads and real-time adjustments to transfer plans based on road conditions has significant practical value and market demand.

[0003] Many unmanned vehicle transfer devices have been developed. Through extensive research and reference, we found existing technologies such as those 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 carries the transfer terminal; the transfer terminal loads goods and monitors their status; and the control terminal controls the coordinated operation of the vehicle body and the transfer terminal. Because the transfer methods of these unmanned vehicle transfer devices are relatively simple and not easily adaptable to various types of goods and road conditions, this results in a decrease in the efficiency of unmanned vehicle transfers. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of the aforementioned unmanned vehicle transfer devices by proposing an unmanned vehicle transfer device.

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

[0006] An unmanned vehicle transfer device includes an unmanned vehicle body, a transfer load terminal, a suspension parameter adjustment terminal, an unmanned vehicle operating 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 and is used to load logistics materials. The unmanned vehicle body is used to carry logistics materials, realizing transfer operations. The unmanned vehicle operating parameter acquisition terminal is used to acquire the operating parameters of the unmanned vehicle in real time. The road condition parameter acquisition terminal is used to acquire the road condition parameters of the road segment traveled by the unmanned vehicle body in real time. The central analysis terminal is used to perform dynamic adjustment analysis of suspension parameters based on the operating parameters and road condition parameters, generating 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 using 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 operating parameter acquisition terminal includes a vehicle status monitoring module and a power system monitoring module; the vehicle status monitoring module is used to acquire the operating status of the unmanned vehicle body in real time; the power system monitoring module is used to acquire the operating parameters of the unmanned vehicle body.

[0009] Optionally, the road condition parameter acquisition terminal includes a ground sensing module, a road surface condition monitoring module, and a weather monitoring module; the ground sensing module is used to detect the ground conditions of the current road section; the road surface condition monitoring module is used to collect road condition parameters; and the weather monitoring module is used to acquire the 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 integrates the unmanned vehicle's operating parameters and road condition parameters to generate comprehensive analysis data. The comprehensive analysis data is a data package that integrates the unmanned vehicle's operating parameters and road condition parameters. The suspension adjustment calculation module performs dynamic analysis and optimization calculations of the suspension parameters based on the comprehensive analysis data to generate adjustment strategies. The suspension parameter adjustment information generation module generates suspension parameter adjustment information according to the adjustment strategies and transmits 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 status 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 status feedback module is used to monitor the working status of the suspension system of the unmanned vehicle in real time and realize the 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; and the adjustment strategy generation submodule is used to generate corresponding adjustment strategies based on 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 acquire the load demand calculation parameters of the unmanned vehicle during the material transfer process; the suspension adjustment demand index calculation unit is used to calculate the corresponding suspension adjustment demand index based on the load demand calculation parameters; and 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 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 transfer process; the suspension adaptive adjustment requirement value calculation unit is used to calculate the corresponding suspension adaptive adjustment requirement value based on the suspension adaptive adjustment requirement calculation parameters; and the suspension adaptive adjustment requirement value output unit is used to output the suspension adaptive adjustment requirement value to the adjustment strategy generation submodule.

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

[0016] S1, for loading logistics materials;

[0017] S2, real-time acquisition of operating parameters of unmanned vehicles;

[0018] S3, real-time acquisition of road condition parameters of the road segment where the unmanned vehicle is traveling;

[0019] S4, based on working parameters and road condition parameters, performs dynamic adjustment analysis of suspension parameters and generates suspension parameter adjustment information;

[0020] S5, Suspension Parameter Adjustment Information: Adjusts the suspension parameters of the unmanned vehicle's suspension system.

[0021] The beneficial effects achieved by this invention are:

[0022] 1. By setting up 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, intelligent transfer of logistics materials and dynamic adjustment of the suspension system can be realized. This is conducive to the unmanned vehicle completing 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. By setting up 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. This is conducive to a comprehensive understanding of the unmanned vehicle's operating status, and provides accurate data support for subsequent suspension system adjustment and optimization, thereby improving the operational stability and reliability of the unmanned vehicle.

[0024] 3. By setting up ground perception module, road condition monitoring module and weather monitoring module, the ground conditions, road condition parameters and weather information can be collected in real time. This is conducive to accurately assessing the current and future driving environment of unmanned vehicles, and thus providing reliable external environmental data for the dynamic adjustment of the suspension system. This is beneficial to improving the unmanned vehicle's ability to pass through complex road conditions and driving safety.

[0025] 4. By setting up the data fusion module, suspension adjustment calculation module, and suspension parameter adjustment information generation module, the working parameters of unmanned vehicles can be integrated and analyzed with road condition parameters. This facilitates the dynamic optimization calculation of suspension parameters and generates suspension adjustment information that conforms to the current working conditions, thereby promoting the intelligent adjustment and performance optimization of the unmanned vehicle suspension system.

[0026] 5. By setting up the suspension system adjustment execution module and the status feedback module, the parameters of the suspension system can be adjusted in real time based on the suspension parameter adjustment information. At the same time, the working status of the suspension system can be monitored, which is conducive to realizing closed-loop adjustment control, thereby improving the dynamic response capability and adjustment accuracy of the suspension system, which is beneficial to the stability and comfort of unmanned vehicles under complex working conditions.

[0027] 6. By setting up 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 separately, and corresponding adjustment strategies can be generated. This is conducive to realizing multi-dimensional optimization analysis of the suspension system, thereby improving the suspension system's adaptability to complex dynamic working conditions, which is beneficial to the overall operating performance of the unmanned vehicle.

[0028] 7. By setting up the load demand calculation parameter acquisition unit, the suspension adjustment demand index calculation unit, and the suspension adjustment demand index output unit, the load demand calculation parameters during the transfer process can be acquired in real time, and the suspension adjustment demand index can be accurately calculated. This is beneficial for 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 transfer of unmanned vehicles and the intelligent adjustment of the suspension system.

[0029] 8. By setting up 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 parameters during the transfer process can be acquired in real time, and the suspension adaptive adjustment demand value can be accurately calculated. This is beneficial for providing dynamic adjustment demand data for the adjustment strategy generation submodule, thereby improving the adaptive adjustment capability of the suspension system, which in turn benefits the safety and operating efficiency of unmanned vehicles under complex working conditions.

[0030] To further understand the features and technical content of the present invention, please refer to the following detailed description and drawings of the present invention. However, the drawings provided are for reference and illustration only and are not intended to limit the present invention. Attached Figure Description

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

[0032] Figure 2 This is a schematic diagram of the suspension adjustment calculation module in this invention;

[0033] Figure 3 This is a schematic diagram of the load requirement calculation submodule in this invention;

[0034] Figure 4 This is a schematic diagram of the structure of the suspension adaptive adjustment demand calculation submodule in this invention;

[0035] Figure 5 This is a schematic diagram of the transfer method of a transfer device for unmanned vehicles in this invention. Detailed Implementation

[0036] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can understand the advantages and effects of the present invention from the content disclosed in this specification. The present invention can be implemented or applied through other different specific embodiments, and various details in this specification can also be modified and changed based on different viewpoints and applications without departing from the spirit of the present invention. Furthermore, the accompanying drawings of the present invention are for simple illustrative purposes only and are not depictions of actual dimensions; this is stated in advance. The following embodiments will further describe the relevant technical content of the present invention in detail, but the disclosed content is not intended to limit the scope of protection of the present invention.

[0037] Example 1: This example provides a transfer device for unmanned vehicles. Combined with... Figure 1As shown, a transfer device for unmanned vehicles includes an unmanned vehicle body, a transfer load terminal, a suspension parameter adjustment terminal, an unmanned vehicle operating 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 and is used to load logistics materials. The unmanned vehicle body is used to carry logistics materials to realize transfer operations. The unmanned vehicle operating parameter acquisition terminal is used to acquire the operating parameters of the unmanned vehicle in real time. The road condition parameter acquisition terminal is used to acquire the road condition parameters of the road segment traveled by the unmanned vehicle body in real time. The central analysis terminal is used to perform dynamic adjustment analysis of suspension parameters based on operating parameters and road condition parameters, and 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 using 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 operating parameter acquisition terminal includes a vehicle status monitoring module and a power system monitoring module; the vehicle status monitoring module is used to acquire the operating status of the unmanned vehicle body in real time; the power system monitoring module is used to acquire the operating parameters of the unmanned vehicle body.

[0040] Optionally, the road condition parameter acquisition terminal includes a ground sensing module, a road surface condition monitoring module, and a weather monitoring module; the ground sensing module is used to detect the ground conditions of the current road section; the road surface condition monitoring module is used to collect road condition parameters; and the weather monitoring module is used to acquire the 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's operating 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 adjustment strategies; the suspension parameter adjustment information generation module is used to generate suspension parameter adjustment information according to the adjustment strategies, 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 status 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 status feedback module is used to monitor the working status of the suspension system of the unmanned vehicle in real time and realize the 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 corresponding adjustment strategies based on 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 acquire the load demand calculation parameters of the unmanned vehicle during the material transfer process. The suspension adjustment demand index calculation unit is used to calculate the corresponding suspension adjustment demand index based on 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, once the unmanned vehicle is loaded with supplies and begins its transfer mission, the suspension adjustment demand index calculation unit starts calculating the corresponding suspension adjustment demand index based on the load demand calculation parameters. The calculation cycle can be, but is not limited to, once per minute or once per hour. The calculation process of the suspension adjustment demand index calculation unit satisfies the following formula:

[0046]

[0047] Where L represents the suspension adjustment demand index of the unmanned vehicle, a larger L indicates that the unmanned vehicle's suspension system requires a greater degree of adjustment, especially under complex road conditions, high-speed driving, or rapidly changing loads. If L is smaller, it indicates a lower adjustment demand, and the suspension system can continue to maintain its current state and operate stably; w0 represents the current load of the unmanned vehicle, that is, the detection value of the load detection module for the total weight of the loaded materials; r road Indicates the road condition impact coefficient; r vehicleThe following parameters represent the vehicle's state coefficient, adjustment coefficient, and vehicle status coefficient: α1 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); γ1 represents the road condition influence index (the flatter the road surface of the unmanned vehicle, the lower the road condition influence index; the specific value is set by the administrator based on experience); γ2 represents the vehicle state influence index (the more severe the tire wear, the higher the vehicle state influence index; the specific value is set by the administrator based on experience); β1 represents the vehicle speed adjustment coefficient (the better the dynamic stability of the unmanned vehicle, the smaller the vehicle speed adjustment coefficient; the specific value is set by the administrator based on experience); δ1 represents the vehicle speed adjustment sensitivity (the greater the acceleration of the unmanned vehicle, the higher the vehicle speed adjustment sensitivity; the specific value is set by the administrator based on experience); v represents the current speed of the unmanned vehicle; μ1 represents the load change rate influence coefficient on the load (the faster the suspension system response speed, the lower the load change rate influence coefficient on the load; the specific value is set by the administrator based on experience). μ represents the rate of change of the load detection value. air This represents the air resistance coefficient. The higher the wind speed in the environment where the autonomous vehicle is located, the greater the air resistance coefficient. The specific value is set by the administrator based on experience. max β2 represents the maximum allowable load value for the unmanned vehicle; β2 represents the adjustment coefficient for the ratio of vehicle speed to maximum load. The larger the size of the unmanned vehicle, the smaller the adjustment coefficient for the ratio of vehicle speed to maximum load; r terrain The terrain complexity level of the road segment where the unmanned vehicle is located is indicated by the value of the level. The higher the value of the level, the more complex the segment. γ3 represents the terrain influence index. The higher the proportion of the road segment with the highest terrain complexity level in the unmanned vehicle transfer mission to the total road length, the lower the terrain influence index.

[0048]

[0049] Among them, Slope angle Indicates the road surface slope angle of the section where the autonomous vehicle is located; Bump level This indicates the road surface bump level of the section where the autonomous vehicle is located. The specific level setting rules are as follows: Flat road surface Bump level =0, moderately bumpy road level =1. Severely bumpy road surface level =2; the degree of road bumpiness is determined by vibration sensors in the unmanned vehicle; F riction This represents the road surface friction coefficient of the section of road where the unmanned vehicle is located. The specific settings are: F for asphalt road surface... riction =0.8, slippery road surface F riction =0.4, F on icy and snowy roads riction =0.1;

[0050]

[0051] Among them, S loadThis represents 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 This represents the reference load borne by the suspension system of the unmanned vehicle; η1 represents the tire wear quantification conversion factor, typically 0.25; Tire wear E represents the remaining thickness of the tires of an unmanned vehicle. diff Indicates the altitude of the road segment where the unmanned vehicle is located; D all Indicates the total length of the road segment where the driverless vehicle is located; O d This represents the number of obstacles within the detection range of the unmanned vehicle; C represents the total area within the detection range of the unmanned vehicle; η2 represents the obstacle density quantization conversion coefficient. The larger the area occupied by the unmanned vehicle, the larger the obstacle density quantization conversion coefficient. The specific value is set by the administrator based on experience.

[0052] When L≥l ref When L... <l ref At that time, the adjustment strategy generation submodule generates an adjustment strategy to represent maintaining the operating state of the suspension system; ref This indicates the load requirement threshold, which is set by the administrator based on experience. Optimization strategies for the suspension system may include, but are not limited to, increasing the stiffness, damping, and height of the suspension system.

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

[0054]

[0055]

[0056]

[0057] Optional, combined Figure 4 As shown, 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 transfer process. The suspension adaptive adjustment requirement value calculation unit is used to calculate the corresponding suspension adaptive adjustment requirement value based on 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.

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

[0059] S1, for loading logistics materials;

[0060] S2, real-time acquisition of operating parameters of unmanned vehicles;

[0061] S3, real-time acquisition of road condition parameters of the road segment where the unmanned vehicle is traveling;

[0062] S4, based on working parameters and road condition parameters, performs dynamic adjustment analysis of suspension parameters and generates suspension parameter adjustment information;

[0063] S5, Suspension Parameter Adjustment Information: Adjusts the suspension parameters of the unmanned vehicle's suspension system.

[0064] In summary, by configuring the unmanned vehicle itself, the transfer load terminal, the suspension parameter adjustment terminal, the unmanned vehicle operating parameter acquisition terminal, the road condition parameter acquisition terminal, and the central analysis terminal, intelligent transfer of logistics materials and dynamic adjustment of the suspension system can be achieved. This facilitates the efficient and safe completion of logistics transportation tasks by unmanned vehicles under different operating conditions, thereby improving the adaptability and transportation efficiency of unmanned vehicles. Furthermore, the configuration of vehicle status monitoring and power system monitoring modules allows for real-time acquisition of the unmanned vehicle's operating status and power system parameters, enabling a comprehensive understanding of the unmanned vehicle's operational status and providing accurate data support for subsequent suspension system adjustments and optimizations. Finally, ground sensing... The inclusion of a knowledge module, a road condition monitoring module, and a weather monitoring module enables real-time collection of road surface conditions, road parameters, and weather information. This facilitates accurate assessment of the current and future driving environment of the unmanned vehicle, providing reliable external environmental data for the dynamic adjustment of the suspension system. The inclusion of a data fusion module, a suspension adjustment calculation module, and a suspension parameter adjustment information generation module integrates and analyzes the unmanned vehicle's operating parameters with road condition parameters, enabling dynamic optimization calculations of suspension parameters and generating suspension adjustment information tailored to the current operating conditions. Finally, the inclusion of a suspension system adjustment execution module and a status feedback module allows for adjustments to the suspension system based on the suspension parameter adjustment information. The system parameters are adjusted in real time, and the operating status of the suspension system is monitored, which is conducive to achieving closed-loop regulation and control, thereby improving the dynamic response capability and adjustment accuracy of the suspension system. Through the configuration of load demand calculation submodule, suspension adaptive adjustment demand calculation submodule, and adjustment strategy generation submodule, the load demand and suspension adaptive adjustment demand of the unmanned vehicle can be calculated separately, and corresponding adjustment strategies can be generated. This facilitates multi-dimensional optimization analysis of the suspension system, thereby improving its adaptability to complex dynamic conditions. Through the configuration of load demand calculation parameter acquisition unit, suspension adjustment demand index calculation unit, and suspension adjustment demand index output unit, the system can obtain real-time data on the transportation process. The calculation parameters of the load demand during the process, and the accurate calculation of the suspension adjustment demand index, are beneficial to providing basic data support for the adjustment strategy generation submodule, thereby improving the accuracy and reliability of load demand analysis. By setting up 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 transfer process can be acquired in real time, and the suspension adaptive adjustment demand value can be accurately calculated. This is beneficial to providing dynamic adjustment demand data for the adjustment strategy generation submodule, thereby improving the adaptive adjustment capability of the suspension system, which is conducive to the safety and operating efficiency of unmanned vehicles under complex working conditions.By integrating multi-dimensional parameters such as load state, road condition complexity, vehicle speed, and load change rate of the unmanned vehicle using the suspension adjustment demand index formula, this method facilitates dynamic assessment of the suspension system's adjustment needs, especially under complex road conditions or high-speed driving. This allows for real-time adjustments to suspension stiffness, damping, and height, thereby improving vehicle stability and ride comfort. Furthermore, by introducing nonlinear weight adjustments, this method avoids the under- or over-adjustment problems that may arise from traditional linear algorithms, improving the accuracy and efficiency of suspension system adjustments and ultimately optimizing the unmanned vehicle's performance under different operating conditions.

[0065] Example 2: This example includes all the content of Example 1, and provides a transfer device for unmanned vehicles. 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 transfer process. The suspension adaptive adjustment demand value calculation unit is used to calculate the corresponding suspension adaptive adjustment demand value based on 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.

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

[0067]

[0068] Wherein, S represents the adaptive adjustment requirement of the suspension; a larger S value indicates a higher adjustment requirement for the current suspension system; a smaller S value indicates a lower adjustment requirement for the current suspension system; w0 represents the current load of the unmanned vehicle, i.e., the detection value of the load detection module for the total weight of the loaded materials; ρ represents the road excitation intensity, i.e., the vibration amplitude of the unmanned vehicle during driving; σ1 represents the excitation amplification index, the greater the slope of the road section where the unmanned vehicle is located, the greater the excitation amplification index, the specific value is set by the administrator based on experience; v represents the current speed of the unmanned vehicle; σ2 represents the speed amplification index, the greater the change in the vehicle posture at the current moment compared with the reference posture, the greater the speed amplification index, the specific value is set by the administrator based on experience; r terrain This indicates the level of terrain complexity of the road segment where the autonomous vehicle is located; w maxβ2 represents the maximum allowable load value for the unmanned vehicle; β2 represents the adjustment coefficient for the ratio of vehicle speed to maximum load. The larger the size of the unmanned vehicle, the smaller the adjustment coefficient for the ratio of vehicle speed to maximum load; r terrain γ represents the terrain complexity level of the road segment where the unmanned vehicle is located; γ3 represents the terrain influence index. The higher the proportion of the road segment with the highest terrain 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, the adjustment strategy generation submodule generates an adjustment strategy to represent further optimization of the suspension system; ref At that time, the adjustment strategy generation submodule generates an adjustment strategy to represent maintaining the operating state of the suspension system; s ref This indicates the threshold for determining the adaptive suspension adjustment requirement, which is set by the administrator based on experience.

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

[0070]

[0071]

[0072]

[0073] In summary, the adaptive adjustment demand algorithm for the suspension system, by comprehensively considering multi-dimensional parameters such as load weight, road excitation intensity, terrain complexity, vehicle dynamic attitude change rate, and the suspension system's own state, can accurately calculate the adaptive adjustment demand value of the suspension system. This method is beneficial for achieving comprehensive optimization of the suspension system under multi-dimensional operating conditions, especially under complex terrain and dynamic load conditions, thereby intelligently adjusting the stiffness, damping, and response speed of the suspension system, which is conducive 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 helps to extend the service life of the suspension system and further improve the safety and operating efficiency of unmanned vehicles.

[0074] The content disclosed above is only a preferred and feasible embodiment of the present invention, and is not intended to limit the scope of protection of the present invention. Therefore, all equivalent technical changes made based on the content of the present invention specification and drawings are included within the scope of protection of the present invention. Furthermore, the elements therein can be updated as technology develops.​

Claims

1. A transfer device for unmanned vehicles, characterized in that, The system includes an unmanned vehicle body, a transfer load terminal, a suspension parameter adjustment terminal, an unmanned vehicle operating 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 and is used to load logistics materials. The unmanned vehicle body is used to carry logistics materials and perform transfer operations. The unmanned vehicle operating parameter acquisition terminal is used to acquire the operating parameters of the unmanned vehicle in real time. The road condition parameter acquisition terminal is used to acquire the road condition parameters of the road segment traveled by the unmanned vehicle body in real time. The central analysis terminal is used to perform dynamic adjustment analysis of suspension parameters based on the operating parameters and road condition parameters, generating suspension parameter adjustment information. The suspension parameter adjustment terminal is used to adjust the suspension parameters of the unmanned vehicle body's suspension system based on 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. The central analysis terminal includes a data fusion module, a suspension adjustment calculation module, and a suspension parameter adjustment information generation module; 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 includes a load demand calculation parameter acquisition unit, a suspension adjustment demand index calculation unit, and a suspension adjustment demand index output unit. The calculation process of the suspension adjustment demand index calculation unit satisfies the following formula: ； Where L represents the suspension adjustment demand index of the unmanned vehicle; w0 represents the current load of the unmanned vehicle, that is, the detection value of the load detection module for the total weight of the loaded materials; r road Indicates the road condition impact coefficient; r vehicle The following parameters represent the vehicle's state coefficient, adjustment coefficient, and vehicle status coefficient: α1 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); γ1 represents the road condition influence index (the flatter the road surface of the unmanned vehicle, the lower the road condition influence index; the specific value is set by the administrator based on experience); γ2 represents the vehicle state influence index (the more severe the tire wear, the higher the vehicle state influence index; the specific value is set by the administrator based on experience); β1 represents the vehicle speed adjustment coefficient (the better the dynamic stability of the unmanned vehicle, the smaller the vehicle speed adjustment coefficient; the specific value is set by the administrator based on experience); δ1 represents the vehicle speed adjustment sensitivity (the greater the acceleration of the unmanned vehicle, the higher the vehicle speed adjustment sensitivity; the specific value is set by the administrator based on experience); v represents the current speed of the unmanned vehicle; μ1 represents the load change rate influence coefficient on the load (the faster the suspension system response speed, the lower the load change rate influence coefficient on the load; the specific value is set by the administrator based on experience). μ represents the rate of change of the load detection value. air This represents the air resistance coefficient. The higher the wind speed in the environment where the autonomous vehicle is located, the greater the air resistance coefficient. The specific value is set by the administrator based on experience. max This indicates the maximum permissible load value for unmanned vehicles; β2 represents the adjustment coefficient for the ratio of vehicle speed to maximum load; the larger the volume of the unmanned vehicle, the smaller the adjustment coefficient for the ratio of vehicle speed to maximum load. terrain The terrain complexity level of the road segment where the unmanned vehicle is located is indicated by the value of the level. The higher the value of the level, the more complex the segment. γ3 represents the terrain influence index. The higher the proportion of the road segment with the highest terrain complexity level in the unmanned vehicle transfer mission to the total road length, the lower the terrain influence index.

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

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

4. The unmanned vehicle transfer device as described in claim 3, characterized in that, The data fusion module is used to integrate the unmanned vehicle's operating 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 adjustment strategies; the suspension parameter adjustment information generation module is used to generate suspension parameter adjustment information according to the adjustment strategies, and transmit the suspension parameter adjustment information to the suspension parameter adjustment terminal.

5. The unmanned vehicle transfer device as described in claim 4, characterized in that, The suspension parameter adjustment terminal includes a suspension system adjustment execution module and a status 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 status feedback module is used to monitor the working status of the suspension system of the unmanned vehicle in real time and realize the feedback adjustment effect.

6. The unmanned vehicle transfer device as described in claim 5, characterized in that, The load requirement calculation submodule is used to calculate the suspension adjustment requirement index of the unmanned vehicle based on comprehensive analysis data; the suspension adaptive adjustment requirement calculation submodule is used to calculate the suspension adaptive adjustment requirement of the unmanned vehicle based on comprehensive analysis data; the adjustment strategy generation submodule is used to generate a corresponding adjustment strategy based on the suspension adjustment requirement index and the suspension adaptive adjustment requirement.

7. The unmanned vehicle transfer device as described in claim 6, characterized in that, The load requirement calculation parameter acquisition unit is used to acquire the load requirement calculation parameters of the unmanned vehicle during the material transfer process; the suspension adjustment requirement index calculation unit is used to calculate the corresponding suspension adjustment requirement index based on the load requirement calculation parameters; the suspension adjustment requirement index output unit is used to output the suspension adjustment requirement index to the adjustment strategy generation submodule.

8. The unmanned vehicle transfer device as described in claim 7, characterized in that, 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 transfer process. The suspension adaptive adjustment requirement value calculation unit is used to calculate the corresponding suspension adaptive adjustment requirement value based on 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.

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