Self-propelled two-wheeled module and its frameless heavy cargo transportation method

Abstract

This invention relates to a self-propelled two-wheeled module and a frameless heavy cargo transportation method thereof. The self-propelled two-wheeled module consists of two corner modules and a connecting frame. Each corner module includes a drive wheel, a hub motor, a brake disc, a brake caliper, a steering knuckle, and a suspension structure. The two corner modules are connected to the left and right sides of the connecting frame via the suspension structure. The connecting frame is equipped with a steering motor, a universal coupling, a steering tie rod, a brake pump, a hydraulic distributor, a first power battery, an intelligent sensing module, and a control unit. The control unit identifies the target object based on the intelligent sensing module and controls the self-propelled two-wheeled module to automatically drive to the target position. The front and rear sides of the connecting frame are respectively equipped with fasteners and slots for docking. A front fork component is also located on the lower front side of the connecting frame for lifting containers. This self-propelled two-wheeled module and its frameless heavy cargo transportation method facilitate the automated transportation of empty containers, improve the efficiency of empty container transportation, and reduce labor costs.

Description

Technical Field

[0001] This invention relates to the field of transportation technology, specifically to a self-propelled two-wheeled module and a method for transporting heavy cargo without a chassis. Background Technology

[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 is increasing year by year, and the scheduling and transportation of empty containers, in particular, has gradually become a major technical challenge that the logistics industry urgently needs to solve. The transportation of empty containers involves a large amount of empty container transfer, yard management, and precise scheduling of container transport platforms. With the continuous expansion of container yards and the increasing complexity of container management, traditional transportation tools and methods are no longer able to meet the needs of efficient and flexible transportation.

[0003] Currently, the transportation and dispatching of empty containers mainly rely on traditional transportation equipment, such as forklifts and trailers. These devices require highly skilled operators to lift and unload containers. Existing self-loading container transport vehicles have the ability to independently complete container loading, unloading, and transportation without other loading and unloading machinery. For example, Chinese patent CN103895547 discloses a skid-slip container side-loading transport vehicle, including a tractor and a semi-trailer. The semi-trailer is equipped with a front lifting device, a rear lifting device, and a skid mechanism. The front and rear lifting devices lift containers on one side of the semi-trailer and install them onto the semi-trailer. The skid mechanism allows the front and rear lifting devices to move back and forth, accommodating the self-loading, unloading, and transportation of containers of different standards. This method is versatile, convenient, efficient, and reduces operating costs. While these transport devices can meet transportation requirements, they still have some shortcomings and limitations, mainly manifested in:

[0004] 1. Traditional transportation equipment such as trailers and semi-trailers require external equipment to load and unload containers in order to complete the transportation of containers, which reduces transportation efficiency. In addition, this mode of transportation relies on manual labor and has a low level of intelligence and automation, which further reduces the overall transportation efficiency.

[0005] 2. Traditional transportation equipment is difficult to operate, requiring a large number of highly skilled operators to precisely control the equipment, which increases labor costs. Furthermore, traditional or semi-automatic transportation equipment requires additional mechanical equipment to assist in container loading and unloading, which also increases transportation costs.

[0006] 3. Most existing transportation equipment is only suitable for a specific type or specification of container, lacking flexibility and unable to be adjusted flexibly according to different types and specifications of containers, thus affecting transportation efficiency and flexibility.

[0007] 4. While some existing transportation equipment can achieve self-loading and unloading of containers, they often suffer from significant shortcomings in terms of flexibility and ease of operation. For example, some systems employ the collaboration of multiple large mechanical vehicles to complete container transportation tasks. This approach not only occupies a large amount of space but also increases the complexity of system operation and maintenance.

[0008] 5. Existing self-loading and unloading technology does not fully consider the safety issues that arise during loading and unloading. This method of lifting on one side of a semi-trailer with a device can easily lead to excessive stress on that side, causing excessive load and damage to the tires on that side of the semi-trailer, or even causing it to overturn, thereby endangering lives.

[0009] Therefore, how to improve the efficiency of air container transportation in a more flexible, intelligent, and low-cost manner has become an important issue in current technological development. Summary of the Invention

[0010] The purpose of this invention is to provide a self-driving two-wheeled module and a frameless heavy cargo transportation method thereof, which is conducive to realizing the automated transportation of empty containers, improving the efficiency of empty container transportation, and reducing labor costs.

[0011] To achieve the above objectives, the technical solution adopted by the present invention is: a self-propelled two-wheeled module, comprising two corner modules with a mirrored structure and a connecting frame in the middle. Each corner module includes a drive 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 via the suspension structure. The connecting frame is equipped with a steering motor, a universal coupling, a steering tie rod, a brake pump, a hydraulic distributor, a first power battery, an intelligent sensing module, and a control unit. The steering motor, universal coupling, and steering tie rod are connected to the two corner modules... The steering system is composed of the steering knuckles in the first power battery and the brake discs and calipers in the two corner modules. The braking system is composed of the brake pump, the hydraulic distributor, the brake discs and calipers in the two corner modules. The drive system is composed of the first power battery, the drive wheels and hub motors in the two corner modules. The control unit identifies the target object based on the sensing data of the intelligent sensing 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 fasteners and slots to dock with containers or other self-driving two-wheel modules. The lower front side of the connecting frame is also provided with a front fork component for forking the container forward.

[0012] Furthermore, the suspension structure is a double wishbone independent suspension, including an upper control arm, a lower control arm, and a shock absorber spring. The two ends of the upper control arm are respectively connected to the upper part of the connecting frame and the steering knuckle, the two ends of the lower control arm are respectively connected to the lower part of the connecting frame and the steering knuckle, and the two ends of the shock absorber spring are respectively connected to the upper part of the connecting frame and the lower control arm.

[0013] Furthermore, both the upper and lower control arms are U-shaped structures; the middle part of the upper control arm is connected to the steering knuckle via a ball joint bearing, and the left and right ends of the upper control arm are rotatably connected to the upper part of the connecting frame via a lug connection structure; the middle part of the lower control arm is connected to the steering knuckle via a ball joint bearing, and the left and right ends of the lower control arm are rotatably connected to the lower part of the connecting frame via a lug 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 control arm via a lug connection structure.

[0014] Furthermore, the drive wheel consists of a hub and a tire mounted on the hub. The hub motor is fixedly connected to the steering knuckle. The output of the hub motor is connected to the hub and the brake disc to drive the hub to rotate and realize the linkage between the brake disc and the hub. The brake caliper is fixedly connected to the steering knuckle and cooperates with the brake disc to brake the brake disc.

[0015] Furthermore, the connecting frame is a rectangular profile frame, and the steering motor, universal coupling, steering tie rod, brake pump, hydraulic distributor, first power battery and control unit are installed on the lower base plate of the profile frame to lower the center of gravity of the self-driving two-wheel module and keep it balanced; the intelligent sensing module is installed on the upper part of the profile frame to avoid obstruction of the intelligent sensing module's view.

[0016] Furthermore, the intelligent sensing module includes an IMU, a lidar, and a second power battery, with the second power battery supplying power to the IMU and the lidar.

[0017] Furthermore, the buckle component comprises 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-shaped surface at its upper end. The lower end of the T-shaped rotating rod passes through 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 lateral force when 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 located outside the buckle seat and is connected to the spring mechanism, so that the spring mechanism is pulled by the pull rope, thereby driving the T-shaped rotating rod to rotate. The slot component has a boss, and a rocker arm insertion groove is opened at the lower part of the boss. A slot adapted to the shape of the upper part of the T-shaped rotating rod is opened in the middle of the boss. The upper part of the T-shaped rotating rod is offset from the slot by 90° in the initial state.

[0018] Furthermore, the corner module is provided with a pull rope drive device on the side of the buckle. The pull rope drive device is connected to the pull rope assembly and electrically connected to the control unit. After the transportation task is completed, the control unit drives the pull rope assembly to move through the pull rope drive device, thereby pulling the spring spring through the pull rope and causing the upper part of the T-shaped rotating rod to rotate from the initial state to a state parallel to the slot.

[0019] The present invention also provides a frameless heavy cargo transportation method based on the above-mentioned self-propelled two-wheeled module, comprising:

[0020] Equipped with at least two self-propelled two-wheeled modules;

[0021] When transporting empty containers, the two self-driving two-wheeled modules use their intelligent sensing modules to detect and identify the containers, and then automatically drive to the front and rear sides of the self-driving two-wheeled modules.

[0022] The front self-propelled two-wheel module tilts backward and continues to move, while the rear self-propelled two-wheel module tilts forward and continues to move, thereby forking up and lifting the container. This allows the fasteners on the front of the front and rear self-propelled two-wheel modules to align with and fasten together with the slot structures on the front and rear sides of the container, forming a container transport structure.

[0023] Once the two self-propelled two-wheeled modules start working, they drive the entire container transport structure to the target position and unlock the fasteners from the slot structure, thus completing the frameless transport of the empty container.

[0024] Furthermore, it is equipped with three self-driving two-wheel modules. The first two self-driving two-wheel modules are docked with the container to form a container transport structure. The third self-driving two-wheel module is fastened to the second self-driving two-wheel module through the fastener on its front side and the slot on the rear side of the second self-driving two-wheel module, thereby realizing the splicing of the two self-driving two-wheel modules at the rear of the container to provide greater driving force.

[0025] Compared with the prior art, the present invention has the following beneficial effects: The present invention designs a self-driving two-wheeled module that 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 self-driving two-wheeled module + container + self-driving two-wheeled 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 high system flexibility and stability. Attached Figure Description

[0026] Figure 1 This is a front view of the self-driving two-wheeled module according to an embodiment of the present invention;

[0027] Figure 2This is a top view of the self-driving two-wheeled module according to an embodiment of the present invention;

[0028] Figure 3 This is a three-dimensional structural diagram of the self-driving two-wheeled module according to an embodiment of the present invention;

[0029] Figure 4 This is a structural diagram of the corresponding fastener and slot in an embodiment of the present invention;

[0030] Figure 5 This is a three-dimensional structural diagram of the container transportation structure in an embodiment of the present invention;

[0031] Figure 6 This is a three-dimensional structural diagram of a container transportation structure in the form of "two-wheeled driving module + container + N two-wheeled driving modules" in an embodiment of the present invention.

[0032] In the diagram: 1. Drive wheel; 2. Brake disc; 3. Brake caliper; 4. Upper control arm; 5. Shock absorber spring; 6. LiDAR; 7. IMU; 8. Second power battery; 9. Brake pump; 10. Steering knuckle; 11. Lower control arm; 12. Steering motor; 13. Universal coupling; 14. Steering tie rod; 15. Hydraulic distributor; 16. First power battery; 17. Hub motor; 18. Clip; 19. Front fork assembly; 20. Slot; 21. Connecting frame; 22. Control unit. Detailed Implementation

[0033] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0034] It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0035] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0036] like Figure 1-3As shown, this embodiment provides a self-driving two-wheel module, consisting of two corner modules with a mirrored structure and a connecting frame 21 in the middle. Each corner module includes a drive 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 via the suspension structure. The connecting frame 21 is equipped with a steering motor 12, a universal coupling 13, a steering tie rod 14, a brake pump 9, a hydraulic 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 via the universal coupling 13 and the steering tie rod 14. The steering knuckle 10 forms the steering system. The brake pump 9, the hydraulic distributor 15, the brake discs 2 and brake calipers 3 in the two corner modules form the braking system. The first power battery 16, the drive wheels 1 and hub motors 17 in the two corner modules form the drive system. The control unit 22 identifies the target object based on the sensing data of the intelligent sensing module and controls the self-driving two-wheel module to automatically drive to the target position. The connecting frame 21 is provided with buckle 18 and slot 20 on the front and rear sides respectively to dock with containers or other self-driving two-wheel modules. The lower front part of the connecting frame 21 is also provided with a front fork component 19 for forking containers forward.

[0037] The suspension structure is a double wishbone independent suspension, including an upper control arm 4, a lower control arm 11 and a shock absorber spring 5. The two ends of the upper control 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 control 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 absorber spring 5 are respectively connected to the upper part of the connecting frame 21 and the lower control arm 11.

[0038] In this embodiment, both the upper swing arm 4 and the lower swing arm 11 are U-shaped structures; the middle part of the upper swing arm 4 is connected to the steering knuckle 10 through a ball joint 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 lug connection structure; the middle part of the lower swing arm 11 is connected to the steering knuckle 10 through a ball joint 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 lug 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 lug connection structure.

[0039] The drive wheel 1 consists of a hub and a tire mounted on the hub. The hub motor 17 is fixedly connected to the steering knuckle 10. The output of the hub motor is connected to the hub and the brake disc 2 to drive the hub to rotate and realize the linkage between the brake disc 2 and the 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.

[0040] The connecting frame 21 is a rectangular profile frame, constructed from horizontally and vertically connected profiles. The steering motor 12, universal coupling 13, steering tie rod 14, brake pump 9, hydraulic distributor 15, first power battery 16, and control unit 22 are mounted on the lower base plate of the profile frame to lower the center of gravity of the self-driving two-wheel module, ensuring the entire module's center of gravity is below the pivot point for balance. Furthermore, considering configuration errors, space is reserved within the profile frame to adjust the positions of each module, thus maintaining optimal balance for the self-driving two-wheel module. The intelligent sensing module is mounted above the profile frame to avoid obstruction of its view.

[0041] In this embodiment, the intelligent sensing module includes an IMU 7, a lidar 6, and a second power battery 8, which powers the IMU 7 and lidar 6. The IMU 7 and lidar 6 are used to collect surrounding environmental information in real time, capture the feature information of the empty container, and identify the specific location, orientation, and size information of the empty container. Subsequently, the control unit processes the collected data, calculates the optimal docking path, and optimizes the docking path based on real-time calculation to ensure accurate docking between the self-driving two-wheel module and the empty container.

[0042] The structure of the fastener and the slot is as follows: Figure 4 As shown. The fastening component consists of a fastening 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 fastening seat and has an arc-shaped surface at its upper end. The lower end of the T-shaped rotating rod passes through the fastening seat and is installed in the fastening seat through the spring mechanism, so that the T-shaped rotating rod rotates under lateral force when compressed and returns to its initial state under the action of the spring mechanism when the pressure is released. The pull rope assembly is located outside the fastening seat and connected to the spring mechanism, so that the spring mechanism is pulled by the pull rope, thereby driving the T-shaped rotating rod to rotate. The fastening slot has a boss, and a swing rod insertion groove is opened at the lower part of the boss. A slot adapted to the shape of the upper part of the T-shaped rotating rod is opened in the middle of the boss. The upper part of the T-shaped rotating rod is offset from the slot by 90° in the initial state. The front and rear sides of the container are provided with a slot structure similar to the fastening slot, which can cooperate with the fastening component.

[0043] When the upper part of the T-shaped rotating rod of the fastening device is compressed, 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). Then, the knob is released from pressure, and the T-shaped rotating rod automatically rotates back to its initial state under the action of the spring mechanism, locking the slot structure (or slot component). After the container is transported, the T-shaped rotating rod is rotated by the pull rope assembly on the fastening device, realizing the detachment of the self-driving two-wheel module from the container (or another self-driving two-wheel module), completing the unloading of the container.

[0044] In a preferred embodiment of the present invention, the corner module may be provided with a pull rope drive device on the side of the buckle. The pull rope drive device is connected to the pull rope assembly and electrically connected to the control unit. After the transportation task is completed, the control unit drives the pull rope assembly to move through the pull rope drive device, thereby pulling the spring spring through the pull rope and rotating the upper part of the T-shaped rotating rod from the initial state to a state parallel to the slot. This completes the unlocking of the buckle and the slot structure (or the slot), thereby automating the unlocking after transportation.

[0045] This embodiment also provides a frameless heavy cargo transportation method based on the above-mentioned self-driving two-wheeled module, including:

[0046] S1, equipped with at least two self-propelled two-wheeled modules.

[0047] S2. When transporting empty containers, the two self-driving two-wheeled modules use their intelligent sensing modules to detect and identify the containers, and then automatically drive to the front and rear sides of the self-driving two-wheeled modules.

[0048] S3. The front self-propelled two-wheel module tilts backward and downward while continuing to move, and the rear self-propelled two-wheel module tilts forward and downward while continuing to move, thereby forking and lifting the container. This causes the fasteners on the front sides of the front and rear self-propelled two-wheel modules to align and fasten with the slot structures on the front and rear sides of the container, respectively, forming a container transport structure. Figure 5 As shown.

[0049] S4. The two self-driving two-wheeled modules start working, driving the entire container transport structure to the target position, and then unlocking the fasteners and slot structure, thus completing the frameless transport of the empty container.

[0050] To provide greater driving force, three self-propelled two-wheeled modules can be equipped. The first two modules dock with the container to form a container transport structure. The third module is fastened to the second module via a front-mounted fastener and a rear-mounted slot, thus enabling the splicing of the two rear-mounted modules of the container. Figure 6The container transport structure shown, consisting of "two-wheeled driving module + container + N two-wheeled driving modules", can provide greater driving force.

[0051] The innovative design of the self-driving two-wheeled module and its frameless heavy cargo transportation method proposed in this invention is as follows:

[0052] 1. Design of a self-driving two-wheeled module with automatic driving and intelligent perception. This invention designs a self-driving two-wheeled module with suspension, braking, steering, drive, perception, and recognition capabilities. This module can perform independent movements and, through autonomous driving, can intelligently identify empty containers and automatically drive to their location for transport. Unlike traditional transportation methods that rely on manual operation or complex mechanical systems, this invention achieves container transportation without human intervention, significantly improving transportation efficiency.

[0053] 2. Modular Transportation Structure Design. This invention adopts a structural design of "self-driving two-wheeled module + container + self-driving two-wheeled module," where two self-driving two-wheeled modules serve as the front and rear of the vehicle, respectively, while the container is part of the chassis. This modular design gives the transportation platform extremely high flexibility, and the "self-driving two-wheeled module + container + self-driving two-wheeled module" structure can be continuously expanded to form a structure of "self-driving two-wheeled module + container + N self-driving two-wheeled modules." The self-driving two-wheeled modules can be continuously spliced ​​together to provide greater driving force as the rear of the vehicle, thereby adapting to different types and specifications of containers. This avoids the problem of traditional transportation vehicles needing to be customized or adjusted according to container specifications, improving the versatility of the transportation platform.

[0054] 3. Automated Container Connection. Traditional empty container transportation requires manual operation of mechanical devices for container mounting, which is complex and lacks precision. This invention combines automatic sensing and recognition with an automatic locking design. After recognizing an empty container, the self-propelled two-wheeled module first engages with the forklift slots on the container via its front fork components. It then gradually approaches the container and automatically engages with the locking structure on the container, thus completing the lifting of the container. This innovation makes the empty container transportation process more intelligent and precise, reducing the error rate of human operation.

[0055] The self-propelled two-wheeled module and its frameless heavy cargo transportation method proposed in this invention have the following technical advantages:

[0056] (1) Improved transportation efficiency. This invention designs a self-driving two-wheeled module with suspension, braking, steering, drive, and recognition capabilities, enabling automated identification, precise docking, and transportation of empty containers. Unlike traditional methods that rely on manual labor or complex mechanical devices for container loading and transportation, this invention's self-driving two-wheeled module can autonomously dock and transport containers without human intervention, thereby significantly improving transportation efficiency.

[0057] (2) Cost Reduction. Traditional empty container transportation or semi-trailers with self-loading and unloading capabilities rely on highly skilled operators and require significant human intervention. This invention, through the automatic control of an intelligent system, can complete container transportation tasks without human intervention, reducing the need for manual operation and significantly lowering labor costs. The self-driving two-wheeled module design of this invention has lower production costs and fewer equipment requirements, reducing reliance on complex mechanical equipment and lowering system costs, all of which lead to long-term cost savings.

[0058] (3) Improved system flexibility and adaptability. This invention adopts a structural design of "self-driving two-wheeled module + container + self-driving two-wheeled module", using the container as the frame and the front and rear self-driving two-wheeled modules as the front and rear of the vehicle, respectively. This modular design makes the transportation platform highly flexible, and the structural design of "self-driving two-wheeled module + container + self-driving two-wheeled module" can be continuously expanded to form a structure of "self-driving two-wheeled module + container + N self-driving two-wheeled modules". The self-driving two-wheeled modules can be continuously spliced ​​together to provide greater driving force as the rear of the vehicle, thereby adapting to different types and specifications of containers and meeting diverse transportation needs. Compared with existing transportation equipment 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.

[0059] (4) Simple Operation and Maintenance System. Some existing automated transportation systems rely on the collaboration of multiple large mechanical vehicles, which not only occupies a large amount of space but also increases the complexity and maintenance difficulty of the system. In contrast, the self-propelled two-wheeled module of this invention features a high degree of automation and simple operation. The intelligent system significantly reduces the need for manual operation and eliminates the need for other equipment to complete container transportation tasks. This not only reduces the possibility of human error and reliance on professional personnel but also reduces the space requirements, enabling flexible movement in confined spaces and simplifying operation. Furthermore, the modular structural design makes equipment maintenance more convenient, reducing the cost and difficulty of daily maintenance. This enhances the stability and safety of the system.

[0060] (5) High reliability. The self-driving two-wheel module of this invention integrates sensing and identification devices and intelligent algorithms to achieve automatic identification and positioning of empty containers. Through intelligent identification and data analysis technology, it achieves real-time monitoring of the transportation process and can adjust strategies in real time during container transportation to ensure the stability of the transportation process. Moreover, the precise docking operation of containers does not require manual intervention, reducing the risk of human error and improving the accuracy and reliability of the operation.

[0061] (6) Promoting the intelligent upgrading of the logistics industry. The transportation platform of this invention can interact with logistics management systems (such as container yard management systems, transportation scheduling systems, etc.) to a certain extent, supporting intelligent scheduling of container transportation. It provides 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 information such as the location of empty containers, transportation demand, and route planning, thereby improving overall transportation efficiency.

[0062] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the protection scope of the present invention.

Claims

1. A self-propelled two-wheeled module, characterized in that, Composed of two mirror-structured corner modules and a central connecting frame, each corner module includes a drive wheel, hub motor, brake disc, brake caliper, steering knuckle, and suspension structure. The two corner modules are connected to the left and right sides of the connecting frame via the suspension structure. The connecting frame is equipped with a steering motor, universal coupling, steering tie rod, brake pump, hydraulic distributor, first power battery, intelligent sensing module, and control unit. The steering motor, universal coupling, steering tie rod, and steering knuckle in the two corner modules form a steering system; the brake pump, hydraulic distributor, brake disc, and brake caliper in the two corner modules form a braking system; and the first power battery, drive wheel, and hub motor in the two corner modules form a drive system. The control unit identifies the target object based on the sensing data from the intelligent sensing module and controls the self-driving two-wheeled module to automatically drive to the target position. The front and rear sides of the connecting frame are equipped with fasteners and slots for docking with containers or other self-driving two-wheeled modules. The lower front part of the connecting frame also has a front fork component for forking containers forward. The fastening component comprises a fastening base, a T-shaped rotating rod, a spring mechanism, and a pull cord assembly. The upper part of the T-shaped rotating rod is located outside the fastening base and has an arc-shaped surface at its upper end. The lower end of the T-shaped rotating rod passes through the fastening base and is installed within it via the spring mechanism. This allows the T-shaped rotating rod to rotate under lateral force when compressed and to return to its initial state under the action of the spring mechanism when the pressure is released. The pull cord assembly is located outside the fastening base and connected to the spring mechanism, so that the pull cord can pull the spring, thereby rotating the T-shaped rotating rod. The slot component... The upper part has a boss, and a rocker arm insertion groove is opened at the lower part of the boss. A slot adapted to the shape of the upper part of the T-shaped rotating rod is opened in the middle of the boss. The upper part of the T-shaped rotating rod is offset from the slot by 90° in the initial state. The corner module is provided with a pull rope drive device next to the buckle. The pull rope drive device is connected to the pull rope assembly and electrically connected to the control unit. After the transportation task is completed, the control unit drives the pull rope assembly to move through the pull rope drive device, thereby pulling the spring spring through the pull rope and rotating the upper part of the T-shaped rotating rod from the initial state to the state parallel to the slot.

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

3. The self-propelled two-wheeled module according to claim 2, characterized in that, Both the upper and lower control arms are U-shaped structures. The middle part of the upper control arm is connected to the steering knuckle via a ball joint bearing, and the left and right ends of the upper control arm are rotatably connected to the upper part of the connecting frame via a hanger connection structure. The middle part of the lower control arm is connected to the steering knuckle via a ball joint bearing, and the left and right ends of the lower control arm are rotatably connected to the lower part of the connecting frame via a hanger 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 control arm via hanger connection structures.

4. The self-propelled two-wheeled module according to claim 1, characterized in that, The drive wheel consists of a hub and a tire mounted on the hub. The hub motor is fixedly connected to the steering knuckle. The output of the hub motor is connected to the hub and the brake disc to drive the hub to rotate and realize the linkage between the brake disc and the hub. 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-wheeled module according to claim 1, characterized in that, The connecting frame is a rectangular profile frame. The steering motor, universal coupling, steering tie rod, brake pump, hydraulic distributor, first power battery and control unit are installed on the lower base plate of the profile frame to lower the center of gravity of the self-driving two-wheel module and keep it balanced. The intelligent sensing module is installed on the top of the profile frame to avoid obstruction of the intelligent sensing module's view.

6. The self-propelled two-wheeled module according to claim 1, characterized in that, The intelligent sensing module includes an IMU, a lidar, and a second power battery, with the second power battery supplying power to the IMU and the lidar.

7. A method for transporting frameless heavy goods based on a self-propelled two-wheeled module as described in any one of claims 1-6, characterized in that, include: Equipped with at least two self-propelled two-wheeled modules; When transporting empty containers, the two self-driving two-wheeled modules use their intelligent sensing modules to detect and identify the containers, and then automatically drive to the front and rear sides of the self-driving two-wheeled modules. The front self-propelled two-wheel module tilts backward and continues to move, while the rear self-propelled two-wheel module tilts forward and continues to move, thereby forking up and lifting the container. This allows the fasteners on the front of the front and rear self-propelled two-wheel modules to align with and fasten together with the slot structures on the front and rear sides of the container, forming a container transport structure. Once the two self-propelled two-wheeled modules start working, they drive the entire container transport structure to the target position and unlock the fasteners from the slot structure, thus completing the frameless transport of the empty container.

8. The method for transporting heavy cargo without a chassis according to claim 7, characterized in that, Equipped with three self-driving two-wheel modules, the first two self-driving two-wheel modules are docked with the container to form a container transport structure, and the third self-driving two-wheel module is fastened to the second self-driving two-wheel module at the rear by means of a fastener on its front side, thereby splicing the two self-driving two-wheel modules at the rear of the container to provide greater driving force.

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