Self-driving two-wheel module and frame-free heavy cargo transportation method thereof

Abstract

The invention relates to a self-driving two-wheel module and a frame-free heavy cargo transportation method thereof.The self-driving two-wheel module is composed of two angle modules and a connecting frame, each angle module comprises a driving wheel, a hub motor, a brake disc, a brake caliper, a steering knuckle and a suspension structure, and the two angle modules are connected with the left side and the right side of the connecting frame through the suspension structures; a steering motor, a universal coupling, a steering tie rod, a brake pump, an oil pressure distributor, a first power battery, an intelligent sensing module and a control unit are arranged on the connecting frame; the control unit senses and recognizes a target object according to the intelligent sensing module and controls the self-driving two-wheel module to automatically drive to a target position; the front side and the rear side of the connecting frame are provided with a buckle piece and a clamping groove piece for butt joint respectively, and a front fork component is further arranged on the lower portion of the front side of the connecting frame and used for forking a container. According to the self-driving two-wheel module and the frame-free heavy cargo transportation method thereof, automatic transportation of empty containers is achieved, the empty container transportation efficiency is improved, and the labor cost is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of transportation, and in particular to a self-propelled two-wheel module and a frameless heavy-duty cargo transportation method thereof. Background Art

[0002] With the continuous development of global trade, containers, as the main carrier of sea, rail and road transportation, have become an indispensable part of international logistics. Especially in the context of globalization, the demand for container transportation has increased year by year, especially the scheduling and transportation of empty containers, which has gradually become an important technical problem that needs to be solved in the logistics industry. The transportation of empty containers involves a large number of empty container transfers, yard management and precise scheduling of container transportation platforms. With the continuous expansion of container yards and the increase in the complexity of container management, traditional transportation tools and methods can no longer meet the needs of efficient and flexible transportation.

[0003] At present, the transportation and dispatch of empty containers mainly rely on traditional transportation equipment, such as forklifts and trailers, etc. These transportation equipment need to be operated by high-level operators to lift or load and unload containers, so as to realize the transportation of containers. Existing self-loading and unloading container transport vehicles have the ability to complete the loading, unloading and transportation of containers by themselves without other loading and unloading machinery. For example, Chinese patent CN103895547 discloses a sliding container side self-loading and unloading transport vehicle, including a tractor and a semi-trailer. A front lifting device, a rear lifting device and a sliding mechanism are arranged on the semi-trailer. The container is lifted on one side of the semi-trailer by the front lifting device and the rear lifting device, and installed on the semi-trailer. Then, the front lifting device and the rear lifting device can be moved forward and backward through the sliding mechanism to adapt to the self-loading and unloading and transportation of containers of different standards. It has a wide range of uses, and the loading and unloading method is convenient and efficient, which reduces the operating cost. Although these transportation equipment can meet the transportation requirements, there are still some shortcomings and limitations, which are mainly manifested as follows: 1. Traditional transportation equipment such as trailers and semi-trailers need to rely on equipment other than themselves to load and unload containers, and then complete the transportation of containers, which reduces transportation efficiency. In addition, this mode of transportation relies on manual labor, and the level of intelligence and automation is low, which further reduces the overall transportation efficiency.

[0004] 2. Traditional transport equipment is difficult to operate and requires a large number of highly skilled operators to perform precise control, which increases labor costs. In addition, traditional or semi-automatic transport equipment requires additional mechanical equipment to assist in container loading and unloading, which also increases transportation costs.

[0005] 3. Most of the existing transportation equipment is only suitable for a certain type or specification of containers, lacks flexibility, and cannot be flexibly adjusted according to the types and specifications of different containers, thus affecting transportation efficiency and flexibility.

[0006] 4. In the prior art, although some transport equipment can realize self-loading and unloading of containers, they often have great deficiencies in flexibility and ease of operation. For example, some systems use the cooperation of multiple large mechanical vehicles to complete the task of transporting containers. This method not only takes up a lot of space, but also has high system operation complexity and maintenance difficulty.

[0007] 5. Existing self-loading and unloading technology does not fully consider the safety issues brought about by loading and unloading. This kind of lifting device on one side of the semi-trailer is likely to cause excessive force on this side, causing the tire on this side of the semi-trailer to be overloaded and damaged, and even cause rollover, thus affecting life safety.

[0008] Therefore, how to improve the efficiency of empty container transportation in a more flexible, intelligent and low-cost way has become an important issue in current technological development. Summary of the invention

[0009] The purpose of the present invention is to provide a self-propelled two-wheel module and a frameless heavy-duty cargo transportation method thereof, which are conducive to realizing the automated transportation of empty containers, improving the empty container transportation efficiency, and reducing labor costs.

[0010] In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a self-driving two-wheel module, consisting of two corner modules of a mirror structure and a connecting frame in the middle, the corner module includes a driving wheel, a hub motor, a brake disc, a brake caliper, a steering knuckle and a suspension structure, the two corner modules are respectively connected to the left and right sides of the connecting frame through the suspension structure, the connecting frame is provided with a steering motor, a universal coupling, a steering tie rod, a brake pump, an oil pressure distributor, a first power battery, an intelligent sensing module and a control unit, the steering motor, the universal coupling, the steering tie rod and the two corner modules The steering knuckle in the vehicle constitutes a steering system, the brake pump, the oil pressure distributor, the brake disc and the brake caliper in the two corner modules constitute a braking system, and the first power battery, the driving wheels and the hub motors in the two corner modules constitute a driving system; the control unit identifies the target object according to the perception data of the intelligent perception module and controls the self-driving two-wheel module to automatically drive to the target position; the front and rear sides of the connecting frame are respectively provided with buckles and slots for docking with containers or other self-driving two-wheel modules, and the front lower part of the connecting frame is also provided with a front fork component for forking the container forward.

[0011] Furthermore, the suspension structure is a double wishbone independent suspension, including an upper swing arm, a lower swing arm and a shock-absorbing spring, wherein the two ends of the upper swing arm are respectively connected to the upper part of the connecting frame and the steering knuckle, the two ends of the lower swing arm are respectively connected to the lower part of the connecting frame and the steering knuckle, and the two ends of the shock-absorbing spring are respectively connected to the upper part of the connecting frame and the lower swing arm.

[0012] Furthermore, the upper swing arm and the lower swing arm are both U-shaped structures; the middle part of the upper swing arm is connected to the steering knuckle through a ball bearing, and the left and right ends of the upper swing arm are rotatably connected to the upper part of the connecting frame through a lifting ear connection structure; the middle part of the lower swing arm is connected to the steering knuckle through a ball bearing, and the left and right ends of the lower swing arm are rotatably connected to the lower part of the connecting frame through a lifting ear connection structure; the upper and lower ends of the shock absorber spring are rotatably connected to the upper part of the connecting frame and the lower swing arm through a lifting ear connection structure.

[0013] Furthermore, the driving wheel consists of a wheel hub and a tire mounted on the wheel hub, the wheel hub motor is fixedly connected to the steering knuckle, the output part of the wheel hub motor is connected to the wheel hub and the brake disc to drive the wheel hub to rotate and realize the linkage between the brake disc and the wheel hub, and the brake caliper is fixedly connected to the steering knuckle and cooperates with the brake disc to brake the brake disc.

[0014] Furthermore, the connecting frame is a profile frame with a rectangular structure, and the steering motor, universal joint, steering tie rod, brake pump, oil pressure distributor, first power battery and control unit are installed on the lower bottom plate of the profile frame to lower the center of mass of the self-driving two-wheel module to keep it balanced; the intelligent sensing module is installed above the profile frame to avoid obstruction of the field of view of the intelligent sensing module.

[0015] Furthermore, the intelligent perception module includes an IMU, a laser radar and a second power battery, and the second power battery supplies power to the IMU and the laser radar.

[0016] Furthermore, the buckle is composed of a buckle seat body, a T-shaped rotating rod, a clockwork spring mechanism and a pull rope assembly, the upper part of the T-shaped rotating rod is located outside the buckle seat body and has an arc surface at the upper end, the lower end of the T-shaped rotating rod penetrates into the buckle seat body and is installed in the buckle seat body through the clockwork spring mechanism, so that the T-shaped rotating rod in the initial state rotates under the push of the lateral force when it is compressed and rotates back to the initial state under the action of the clockwork spring mechanism when the pressure is released; the pull rope assembly is arranged on the outside of the buckle seat body and is connected to the clockwork spring mechanism, so that the clockwork spring is pulled by the pull rope to move, thereby driving the T-shaped rotating rod to rotate; the slot part has a boss, the lower part of the boss is provided with a rocker rod insertion groove, and the middle part of the boss is provided with a slot adapted to the shape of the upper part of the T-shaped rotating rod; the upper part of the T-shaped rotating rod is staggered 90° with the slot in the initial state.

[0017] Furthermore, the corner module is provided with a pull-wire drive device beside the fastener, and the pull-wire drive device is connected to the pull-wire assembly, and the pull-wire drive device is electrically connected to the control unit, so that after the transportation task is completed, the control unit drives the pull-wire assembly to operate through the pull-wire drive device, thereby causing the pull-wire to pull the clockwork spring to move, driving the upper part of the T-shaped rotating rod to rotate from the initial state to a state parallel to the slot.

[0018] The present invention also provides a frameless heavy cargo transportation method based on the above self-propelled two-wheel module, comprising: Equipped with at least two self-propelled two-wheel modules; When empty containers are to be transported, the two self-driving two-wheel modules sense and identify the containers through the intelligent sensing modules on them, and automatically drive to the front and rear sides of the self-driving two-wheel modules; The front self-propelled two-wheel module tilts downward and continues to move backward, and the rear self-propelled two-wheel module tilts downward and continues to move forward, thereby forking and lifting the container, so that the front buckles of the front and rear self-propelled two-wheel modules are respectively aligned with the slot structures on the front and rear sides of the container and buckled together to form a container transportation structure; The two self-driving two-wheel modules start working, driving the entire container transport structure to move to the target position, and then unlock the fasteners and the slot structure, thus completing the frameless transport of the empty container.

[0019] Furthermore, three self-propelled two-wheel modules are equipped, the first two self-propelled two-wheel modules are connected to the container to form a container transportation structure, and the third self-propelled two-wheel module is connected to the slot part on the rear side of the second self-propelled two-wheel module through the fastener on its front side, thereby realizing the splicing of the two self-propelled two-wheel modules on the rear side of the container to provide greater driving force.

[0020] Compared with the prior art, the present invention has the following beneficial effects: the present invention designs a self-propelled two-wheel module, which can sense and identify containers, and automatically drive to the front and rear sides of the container, and then dock with the container to form a container transportation structure in the form of a self-propelled two-wheel module + container + self-propelled two-wheel module, and then transport the container to the target location, thereby realizing the automated transportation of empty containers, significantly improving the transportation efficiency of empty containers, reducing labor costs, and having higher system flexibility and stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a structural front view of a self-propelled two-wheel module according to an embodiment of the present invention; Figure 2 is a structural top view of a self-propelled two-wheel module according to an embodiment of the present invention; Figure 3is a three-dimensional structural diagram of a self-propelled two-wheel module according to an embodiment of the present invention; Figure 4 1 is a corresponding structural diagram of a buckle member and a slot member in an embodiment of the present invention; Figure 5 is a three-dimensional structural diagram of a container transport structure in an embodiment of the present invention; Figure 6 It is a three-dimensional structural diagram of a container transport structure in the form of "two-wheeled traveling module + container + N two-wheeled traveling modules" in an embodiment of the present invention.

[0022] In the figure: 1. driving wheel; 2. brake disc; 3. brake caliper; 4. upper swing arm; 5. shock absorber spring; 6. laser radar; 7. IMU; 8. second power battery; 9. brake pump; 10. steering knuckle; 11. lower swing arm; 12. steering motor; 13. universal joint; 14. steering tie rod; 15. oil pressure distributor; 16. first power battery; 17. hub motor; 18. snap fastener; 19. front fork member; 20. slot member; 21. connecting frame; 22. control unit. DETAILED DESCRIPTION

[0023] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0024] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0025] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0026] like Figure 1-3As shown, this embodiment provides a self-driving two-wheel module, which is composed of two corner modules of mirror structure and a connecting frame 21 in the middle. The corner module includes a driving wheel 1, a hub motor 17, a brake disc 2, a brake caliper 3, a steering knuckle 10 and a suspension structure. The two corner modules are respectively connected to the left and right sides of the connecting frame 21 through the suspension structure. The connecting frame 21 is provided with a steering motor 12, a universal coupling 13, a steering tie rod 14, a brake pump 9, an oil pressure distributor 15, a first power battery 16, an intelligent sensing module and a control unit 22. The steering motor 12 is connected to the two corner modules through the universal coupling 13 and the steering tie rod 14. The steering knuckle 10 is connected to form a steering system, the brake pump 9, the oil pressure distributor 15 and the brake disc 2 and the brake caliper 3 in the two corner modules form a braking system, and the first power battery 16 and the driving wheel 1 and the hub motor 17 in the two corner modules form a driving system; the control unit 22 identifies the target object according to the perception data of the intelligent perception module and controls the self-driving two-wheel module to automatically drive to the target position; the front and rear sides of the connecting frame 21 are respectively provided with a snap-on member 18 and a slot member 20 to dock with a container or other self-driving two-wheel modules, and the front lower part of the connecting frame 21 is also provided with a front fork member 19 for forking the container forward.

[0027] The suspension structure is a double wishbone independent suspension, including an upper swing arm 4, a lower swing arm 11 and a shock-absorbing spring 5. The two ends of the upper swing arm 4 are respectively connected to the upper part of the connecting frame 21 and the steering knuckle 10, the two ends of the lower swing arm 11 are respectively connected to the lower part of the connecting frame 21 and the steering knuckle 10, and the two ends of the shock-absorbing spring 5 are respectively connected to the upper part of the connecting frame 21 and the lower swing arm 11.

[0028] In this embodiment, the upper swing arm 4 and the lower swing arm 11 are both U-shaped structures; the middle part of the upper swing arm 4 is connected to the steering knuckle 10 through a ball bearing, and the left and right ends of the upper swing arm 4 are rotatably connected to the upper part of the connecting frame 21 through a lifting ear connection structure; the middle part of the lower swing arm 11 is connected to the steering knuckle 10 through a ball bearing, and the left and right ends of the lower swing arm 11 are rotatably connected to the lower part of the connecting frame 21 through a lifting ear connection structure; the upper and lower ends of the shock-absorbing spring 5 are rotatably connected to the upper part of the connecting frame 21 and the lower swing arm 11 through a lifting ear connection structure.

[0029] The driving wheel 1 is composed of a wheel hub and a tire mounted on the wheel hub. The wheel hub motor 17 is fixedly connected to the steering knuckle 10. The output part of the wheel hub motor is connected to the wheel hub and the brake disc 2 to drive the wheel hub to rotate and realize the linkage between the brake disc 2 and the wheel hub. The brake caliper 3 is fixedly connected to the steering knuckle 10 and cooperates with the brake disc 2 to brake the brake disc.

[0030] The connecting frame 21 is a rectangular profile frame, which is composed of profiles connected horizontally and vertically. The steering motor 12, universal joint 13, steering tie rod 14, brake pump 9, oil pressure distributor 15, first power battery 16 and control unit 22 are installed on the bottom plate of the profile frame to lower the center of mass of the self-driving two-wheel module so that the center of mass of the entire module is located below the shaft to maintain balance. In addition, considering the configuration error, space is reserved in the profile frame to adjust the position of each module so that the self-driving two-wheel module maintains the best balance. The intelligent sensing module is installed above the profile frame to avoid the field of view of the intelligent sensing module being blocked.

[0031] In this embodiment, the intelligent sensing module includes an IMU 7, a laser radar 6, and a second power battery 8, and the second power battery 8 supplies power to the IMU 7 and the laser radar 6. The IMU 7 and the laser radar 6 are used to collect the surrounding environment information in real time, capture the characteristic information of the empty container, and identify the specific position, orientation and size information of the empty container. Subsequently, the control unit processes the collected data, calculates the optimal docking path, optimizes the docking path based on real-time calculation, and ensures the accurate docking of the self-driving two-wheel module with the empty container.

[0032] The structure of the buckle and the slot is as follows: Figure 4 As shown. The buckle is composed of a buckle seat, a T-shaped rotating rod, a spring mechanism and a pull rope assembly. The upper part of the T-shaped rotating rod is located outside the buckle seat and has an arc surface at the upper end. The lower end of the T-shaped rotating rod penetrates the buckle seat and is installed in the buckle seat through the spring mechanism, so that the T-shaped rotating rod in the initial state rotates under the push of the lateral force when it is compressed and rotates back to the initial state under the action of the spring mechanism when the pressure is released; the pull rope assembly is arranged outside the buckle seat and connected to the spring mechanism, so that the spring spring is pulled by the pull rope to move, thereby driving the T-shaped rotating rod to rotate. The slot part has a boss, the lower part of the boss is provided with a swing rod insertion groove, and the middle part of the boss is provided with a slot adapted to the shape of the upper part of the T-shaped rotating rod. The upper part of the T-shaped rotating rod is staggered with the slot at 90° in the initial state. The front and rear sides of the container are provided with a slot structure equivalent to the slot part and can cooperate with the buckle.

[0033] When the upper part of the T-shaped rotating rod of the clip is squeezed, the T-shaped rotating rod rotates under the action of the lateral force until it adapts to and inserts into the slot of the slot structure on the container (or the slot component on another self-driving two-wheel module), and then the knob is released from pressure, and the T-shaped rotating rod automatically rotates under the action of the spring mechanism, returns to the initial state and locks the slot structure (or slot component). When the container is transported, the T-shaped rotating rod is rotated through the pull rope assembly on the clip to achieve the separation of the self-driving two-wheel module from the container (or another self-driving two-wheel module), and the container is unloaded.

[0034] In a preferred embodiment of the present invention, the corner module can be provided with a pull-wire drive device next to the fastener, and the pull-wire drive device is connected to the pull-wire assembly, and the pull-wire drive device is electrically connected to the control unit, so that after the transportation task is completed, the control unit drives the pull-wire assembly to move through the pull-wire drive device, so that the pull-wire pulls the clockwork spring to move, driving the upper part of the T-shaped rotating rod to rotate from the initial state to a state parallel to the slot, thereby completing the unlocking of the fastener and the slot structure (or the slot part), thereby realizing the automation of unlocking after the transportation is completed.

[0035] This embodiment also provides a frameless heavy cargo transportation method based on the above self-driving two-wheel module, including: S1. Equipped with at least two self-driving two-wheel modules.

[0036] S2. When empty containers are to be transported, the two self-driving two-wheel modules respectively sense and identify the containers through the intelligent sensing modules thereon, and automatically drive to the front and rear sides of the self-driving two-wheel modules.

[0037] S3, the front self-driving two-wheel module tilts downward and continues to move backward, and the rear self-driving two-wheel module tilts downward and continues to move forward, thereby forking and lifting the container, so that the front buckles of the front and rear self-driving two-wheel modules are respectively aligned with the front and rear slot structures of the container and buckled together to form a container transport structure, such as Figure 5 shown.

[0038] S4. The two self-driving two-wheel modules start working, driving the entire container transport structure to move to the target position, and then unlocking the fastener and the slot structure, thus completing the frameless transport of the empty container.

[0039] In order to provide greater driving force, three self-driving two-wheel modules can be equipped, wherein the first two self-driving two-wheel modules are connected to the container to form a container transport structure, and the third self-driving two-wheel module is connected to the slot on the rear side of the second self-driving two-wheel module through the fastener on its front side, thereby realizing the splicing of the two self-driving two-wheel modules on the rear side of the container, so as to achieve the following: Figure 6The container transport structure in the form of "two-wheeled driving module + container + N two-wheeled driving modules" shown can provide greater driving force.

[0040] The self-propelled two-wheel module and the frameless heavy cargo transportation method thereof proposed in the present invention have the following innovative designs: 1. Design of a self-driving two-wheel module with automatic driving + intelligent perception. The present invention has designed a self-driving two-wheel module with suspension, braking, steering, driving, perception and recognition. The module can perform independent movements and can intelligently identify empty containers and automatically drive to the container location for transportation through automatic driving. Unlike traditional transportation methods that rely on manual operation or complex mechanical systems, the present invention realizes the transportation of containers without human intervention, significantly improving transportation efficiency.

[0041] 2. Modular transport structure design. The present invention adopts the structural design of "self-propelled two-wheel module + container + self-propelled two-wheel module", in which the two self-propelled two-wheel modules serve as the front and rear of the vehicle respectively, and the container serves as part of the frame. This modular design makes the transport platform extremely flexible, and the structural design of "self-propelled two-wheel module + container + self-propelled two-wheel module" can be continuously expanded to form a structure of "self-propelled two-wheel module + container + N self-propelled two-wheel modules". The self-propelled two-wheel modules can be continuously spliced ​​as the rear of the vehicle to provide greater driving force, thereby adapting to containers of different types and specifications, avoiding the problem that traditional transportation tools need to be customized or adjusted according to container specifications, and improving the versatility of the transportation platform.

[0042] 3. Automatic connection of containers. Traditional empty container transportation requires manual operation of mechanical devices to mount containers, which is complicated and has low precision. The present invention combines automatic sensing and recognition with automatic snap-on design. After identifying an empty container, the self-driving two-wheel module first docks with the forklift slot on the container through the front fork member, then approaches the container, and then automatically docks with the slot structure on the container to complete the lifting of the container. This innovation makes the empty container transportation process more intelligent and precise, reducing the error rate of manual operation.

[0043] The self-propelled two-wheel module and the frameless heavy cargo transportation method thereof proposed in the present invention have the following technical advantages: (1) Improve transportation efficiency. The present invention designs a self-propelled two-wheel module with suspension, braking, steering, driving and identification, which can realize automatic identification, precise docking and transportation of empty containers. Different from the traditional reliance on manual or complex mechanical devices to mount and transport containers, the self-propelled two-wheel module of the present invention can autonomously realize the docking and transportation of containers without human intervention, thereby significantly improving transportation efficiency.

[0044] (2) Reduce costs. Traditional empty container transportation or semi-trailers with self-loading and unloading capabilities require highly skilled operators to operate and require a lot of manual intervention. The present invention, through the automatic control of the intelligent system, can complete the container transportation task without human intervention, reducing the need for manual operation and greatly reducing labor costs. The self-propelled two-wheel module design of the present invention has lower production costs and fewer equipment requirements, reduces dependence on complex mechanical equipment, and reduces system costs, all of which bring long-term cost savings.

[0045] (3) Improve the flexibility and adaptability of the system. The present invention adopts the structural design of "self-driving two-wheel module + container + self-driving two-wheel module", using the container as the frame, and the front and rear self-driving two-wheel modules as the front and rear parts of the vehicle respectively. This modular design makes the transportation platform highly flexible, and the structural design of "self-driving two-wheel module + container + self-driving two-wheel module" can be continuously expanded to form a structure of "self-driving two-wheel module + container + N self-driving two-wheel modules". The self-driving two-wheel modules can be continuously spliced ​​as the rear of the vehicle to provide greater driving force, thereby adapting to containers of different types and specifications and meeting diverse transportation needs. Compared with the transportation equipment in the prior art that is mostly used for specific container types, this system can cope with a wider range of container types and specifications, improving the versatility and adaptability of the transportation platform.

[0046] (4) Simple operation and maintenance system. Some existing automated transportation systems rely on the cooperation of multiple large mechanical vehicles, which not only takes up a lot of space, but also increases the complexity of the system and the difficulty of maintenance. In contrast, the self-driving two-wheeled module of the present invention has the characteristics of high automation and easy operation. The intelligent system greatly reduces the need for manual operation and does not require the cooperation of other equipment to complete the container transportation task. This not only reduces the possibility of human operation errors and reduces the dependence on professionals, but also reduces the space requirements for the site. It can move flexibly in a small space and is easy to operate. In addition, the modular structural design makes the maintenance of the equipment more convenient and reduces the cost and difficulty of daily maintenance. Improve the stability and safety of the system.

[0047] (5) High reliability. The self-driving two-wheeled module of the present invention realizes automatic identification and positioning of empty containers by integrating sensing and recognition devices and intelligent algorithms, and realizes real-time monitoring of the transportation process through intelligent recognition and data analysis technology. It can adjust the strategy in real time during the container transportation process to ensure the stability of the transportation process. In addition, the precise docking operation of the container does not require human intervention, which reduces the risk of manual operation errors and improves the accuracy and reliability of the operation.

[0048] (6) Promote the intelligent upgrading of the logistics industry. The transportation platform of the present invention can realize data interaction with logistics management systems (such as container yard management systems, transportation scheduling systems, etc.) to a certain extent, support the intelligent scheduling of container transportation, and provide a low-cost, high-efficiency solution for the intelligent and automated transportation of empty containers, which helps to promote the intelligent upgrading of the logistics industry. Through the promotion and application of this technology, the transportation platform can intelligently select the optimal transportation plan based on real-time empty container location, transportation demand, route planning and other information, thereby improving overall transportation efficiency.

[0049] The above is only a preferred embodiment of the present invention, and does not limit the present invention in other forms. Any technician familiar with the profession may use the above disclosed technical content to change or modify it into an equivalent embodiment with equivalent changes. However, any simple modification, equivalent change and modification made to the above embodiment according to the technical essence of the present invention without departing from the technical solution of the present invention still belongs to the protection scope of the technical solution of the present invention.

Claims

1. A self-propelled two-wheel module, characterized in that: The vehicle is composed of two corner modules of mirror structure and a connecting frame in the middle, wherein the corner modules include driving wheels, wheel hub motors, brake discs, brake calipers, steering knuckles and suspension structures, wherein the two corner modules are respectively connected to the left and right sides of the connecting frame through the suspension structures, wherein the connecting frame is provided with a steering motor, a universal coupling, a steering tie rod, a brake pump, an oil pressure distributor, a first power battery, an intelligent sensing module and a control unit, wherein the steering motor, the universal coupling, the steering tie rod and the steering knuckles in the two corner modules form a steering system, wherein the brake pump, the oil pressure distributor and the brake discs and brake calipers in the two corner modules form a braking system, wherein the first power battery and the driving wheels and wheel hub motors in the two corner modules form a driving system; wherein the control unit identifies the target object according to the sensing data of the intelligent sensing module and controls the self-driving two-wheel module to automatically drive to the target position; wherein the front and rear sides of the connecting frame are respectively provided with snap fasteners and slots to dock with containers or other self-driving two-wheel modules, and the front lower part of the connecting frame is also provided with a front fork member for forking the container forward.

2. The self-propelled two-wheel module according to claim 1, characterized in that: The suspension structure is a double wishbone independent suspension, including an upper swing arm, a lower swing arm and a shock-absorbing spring, wherein two ends of the upper swing arm are respectively connected to the upper part of the connecting frame and the steering knuckle, and two ends of the lower swing arm are respectively connected to the lower part of the connecting frame and the steering knuckle, and two ends of the shock-absorbing spring are respectively connected to the upper part of the connecting frame and the lower swing arm.

3. The self-propelled two-wheel module according to claim 2, characterized in that: The upper swing arm and the lower swing arm are both U-shaped structures; the middle part of the upper swing arm is connected to the steering knuckle through a ball bearing, and the left and right ends of the upper swing arm are rotatably connected to the upper part of the connecting frame through a lifting ear connection structure; the middle part of the lower swing arm is connected to the steering knuckle through a ball bearing, and the left and right ends of the lower swing arm are rotatably connected to the lower part of the connecting frame through a lifting ear connection structure; the upper and lower ends of the shock absorber spring are rotatably connected to the upper part of the connecting frame and the lower swing arm through a lifting ear connection structure.

4. The self-propelled two-wheel module according to claim 1, characterized in that: The driving wheel consists of a wheel hub and a tire mounted on the wheel hub, the wheel hub motor is fixedly connected to the steering knuckle, the output part of the wheel hub motor is connected to the wheel hub and the brake disc to drive the wheel hub to rotate and realize the linkage between the brake disc and the wheel hub, and the brake caliper is fixedly connected to the steering knuckle and cooperates with the brake disc to brake the brake disc.

5. The self-propelled two-wheel module according to claim 1, characterized in that: The connecting frame is a profile frame with a rectangular structure. The steering motor, universal joint, steering tie rod, brake pump, oil pressure distributor, first power battery and control unit are installed on the lower bottom plate of the profile frame to lower the center of mass of the self-driving two-wheel module to keep it balanced; the intelligent sensing module is installed above the profile frame to avoid obstruction of the field of view of the intelligent sensing module.

6. The self-propelled two-wheel module according to claim 1, characterized in that: The intelligent sensing module includes an IMU, a laser radar and a second power battery, and the second power battery supplies power to the IMU and the laser radar.

7. The self-propelled two-wheel module according to claim 1, characterized in that: The buckle component is composed of a buckle seat body, a T-shaped rotating rod, a spring mechanism and a pull rope assembly, the upper part of the T-shaped rotating rod is located outside the buckle seat body and has an arc surface at the upper end, the lower end of the T-shaped rotating rod penetrates into the buckle seat body and is installed in the buckle seat body through the spring mechanism, so that the T-shaped rotating rod in the initial state rotates under the push of the lateral force when it is compressed and rotates back to the initial state under the action of the spring mechanism when the pressure is released; the pull rope assembly is arranged on the outside of the buckle seat body and is connected to the spring mechanism, so that the spring movement is pulled by the pull rope, thereby driving the T-shaped rotating rod to rotate; the slot component is provided with a boss, the lower part of the boss is provided with a swing rod insertion groove, and the middle part of the boss is provided with a slot adapted to the shape of the upper part of the T-shaped rotating rod; the upper part of the T-shaped rotating rod is staggered with the slot by 90° in the initial state.

8. The self-propelled two-wheel module according to claim 7, characterized in that: The corner module is provided with a pull-wire drive device beside the buckle, and the pull-wire drive device is connected to the pull-wire assembly, and the pull-wire drive device is electrically connected to the control unit. After the transportation task is completed, the control unit drives the pull-wire assembly to move through the pull-wire drive device, so that the clockwork spring moves through the pull wire, driving the upper part of the T-shaped rotating rod to rotate from the initial state to a state parallel to the slot.

9. A frameless heavy cargo transportation method based on the self-propelled two-wheel module according to any one of claims 1 to 8, characterized in that: include: Equipped with at least two self-propelled two-wheel modules; When empty containers are to be transported, the two self-driving two-wheel modules sense and identify the containers through the intelligent sensing modules on them, and automatically drive to the front and rear sides of the self-driving two-wheel modules; The front self-propelled two-wheel module tilts downward and continues to move backward, and the rear self-propelled two-wheel module tilts downward and continues to move forward, thereby forking and lifting the container, so that the front buckles of the front and rear self-propelled two-wheel modules are respectively aligned with the slot structures on the front and rear sides of the container and buckled together to form a container transportation structure; The two self-driving two-wheel modules start working, driving the entire container transport structure to move to the target position, and then unlock the fasteners and the slot structure, thus completing the frameless transport of the empty container.

10. The frameless heavy cargo transportation method according to claim 9, characterized in that: It is equipped with three self-propelled two-wheel modules. The first two self-propelled two-wheel modules are connected to the container to form a container transportation structure. The third self-propelled two-wheel module is connected to the slot on the rear side of the second self-propelled two-wheel module through the fastener on its front side, thereby realizing the splicing of the two self-propelled two-wheel modules on the rear side of the container to provide greater driving force.

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