Intelligent loading and unloading device and method for logistics unmanned vehicle

Abstract

The invention relates to the field of logistics transportation and cargo loading and unloading, in particular to an intelligent cargo loading and unloading device for a logistics unmanned vehicle and a cargo loading and unloading method.The intelligent cargo loading and unloading device comprises the logistics unmanned vehicle, a cage box and a cage box frame, and the cage box frame is slidably connected to an overturning support; the overturning support is hinged to the tail of the logistics unmanned vehicle through a rotating shaft, a first actuator and a second actuator are arranged to drive the cage box frame to slide and drive the overturning support to overturn respectively, and a plurality of limiting stoppers are further electrically connected with the main controller. The loading and unloading method comprises an unloading step and a loading step, the loading step and the unloading step are executed in a reverse sequence, and fixed-point loading and unloading can be carried out. The technical effects that automatic operation is achieved without manual intervention in the whole process, motion interference is avoided, motion is smooth, safety and reliability are achieved, the structure is simplified, the fault rate is low, the device is suitable for cages of different specifications, and the application range is wide are achieved.

Description

Technical Field

[0001] This invention relates to the field of intelligent loading and unloading technology, and in particular to an intelligent loading and unloading device and method for unmanned logistics vehicles. Background Technology

[0002] In the logistics and transportation sector, with the booming development of e-commerce and the increasing demands of consumers for efficient delivery, the application of unmanned logistics vehicles is becoming increasingly widespread. Unmanned logistics vehicles enable automated transportation of goods, reducing labor costs and improving transportation efficiency. They play a crucial role in various scenarios such as urban logistics and warehousing logistics, greatly promoting the intelligent and automated development of the logistics industry. Simultaneously, they can reduce the risk of transportation errors and accidents caused by human factors, improving the accuracy and safety of logistics transportation and providing strong support for the sustainable development of the logistics industry.

[0003] In the area of ​​unmanned logistics vehicle loading and unloading, there are some automated loading and unloading structures. However, these loading and unloading methods generally have obvious defects, mainly as follows: 1. The mechanical structure is complex, with a large number of components, making disassembly and maintenance difficult and costly after deployment; 2. The mechanical structure design principle does not take into account the volume of the automated loading and unloading structure, resulting in a significant loading height from the automated loading and unloading mechanism itself, which limits the carrying capacity of the unmanned logistics vehicle and increases its load; 3. None of the above automated loading and unloading structures can achieve truly unmanned loading and unloading, and still require manual input and control, such as remote control. Summary of the Invention This invention solves two technical problems: firstly, it addresses the issues of complex, difficult, and costly maintenance of existing automated loading and unloading structures; secondly, it addresses the problem of the need for manual assistance in automated loading and unloading structures. It proposes an intelligent loading and unloading device and method for unmanned logistics vehicles. By employing this intelligent device and method, automated loading and unloading of unmanned logistics vehicles is achieved, thereby improving the efficiency and flexibility of unmanned logistics vehicle loading and unloading and reducing operating costs.

[0004] To achieve the above objectives, the following technical solution is proposed: An intelligent loading and unloading device for unmanned logistics vehicles includes an unmanned logistics vehicle, a cage, and a cage frame for securing the cage. The cage frame is slidably connected to a tilting bracket. One side of the tilting bracket has a rotating shaft and is hinged to the upper end of the rear of the unmanned logistics vehicle via the rotating shaft. A locking mechanism is provided between the cage frame and the unmanned logistics vehicle. The tilting bracket has a first actuator that drives the cage frame to slide relative to the tilting bracket. The unmanned logistics vehicle has a second actuator that causes the tilting bracket to tilt along the rotating shaft. The unmanned logistics vehicle has a first limiter, a second limiter, and a third limiter that monitor the sliding position of the cage frame and are electrically connected to a main controller. The first and second actuators are electrically connected to the main controller.

[0005] The main controller of this application interacts with the unmanned logistics vehicle via data input from the first, second, and third limit switches, achieving fully automated operation without human intervention. This application fundamentally avoids motion interference between the cage frame and the rear of the vehicle body through a composite motion sequence of "first translation, then flipping," resulting in smooth, safe, and reliable operation. The core drive components of this application consist of only two actuators, simplifying the structure, reducing the failure rate, and facilitating placement on space-constrained unmanned logistics vehicles. This application is applicable to standard logistics cages; different specifications can be adapted by simply adjusting the cage frame dimensions, making it widely applicable.

[0006] Preferably, the cage frame is provided with two parallel linear guide rails, the inner side of the linear guide rails is provided with a sliding groove, the side of the flipping bracket is connected with several second rollers, the second rollers are locked in the sliding grooves, and the logistics unmanned vehicle is provided with several first rollers with concave wheel surfaces corresponding to the linear guide rails, and the linear guide rails are slidably connected to the first rollers.

[0007] The cage frame includes two parallel linear guide rails, which support and guide the sliding of the cage frame. The sliding groove cooperates with the second roller on the tilting bracket to achieve a sliding connection between the cage frame and the tilting bracket.

[0008] Preferably, both the first and second actuators are electric push rods or electric cylinders. The other side of the tilting bracket is hinged to the extended end of the second actuator, the base end of the second actuator is hinged to the unmanned logistics vehicle, the tilting bracket is fixed to the base end of the first actuator, and the extended end of the first actuator is fixed to the cage frame. Alternatively, other types of actuators such as hydraulic push rods can also be used. Electric push rods or electric cylinders have the advantages of high control precision and fast response speed. This application only needs to control the extension and retraction of the two push rods in sequence to complete the entire loading and unloading action, which is simple and has a rapid response.

[0009] Preferably, the tilting bracket has two linear guide rods parallel to the extended end of the first actuator on both sides of the base end of the first actuator, and the cage frame has a slider slidably connected to the linear guide rods. The linear guide rods are generally made of solid metal, possessing high straightness and strength. Their function is to guide the sliding of the cage frame. The slider is usually made of wear-resistant plastic or metal and mates with the linear guide rods through holes. This structure makes the cage frame more stable during sliding, reducing swaying. Alternatively, a combination of guide rails and sliders can be used to replace the linear guide rod and slider structure.

[0010] Preferably, the cage rack is equipped with a forklift on the side near the rear of the vehicle, and the unmanned logistics vehicle is equipped with an onboard intelligent loading and unloading robot, which is used to remove the cage from the unmanned logistics vehicle after it has been placed on the ground from the forklift.

[0011] The forklift's shape is designed according to the cage's structure, used for locking and securing the cage. Other locking structures can also be used as alternatives. The accompanying intelligent loading and unloading robot can be an AGV (Automated Guided Vehicle).

[0012] Preferably, the unmanned logistics vehicle is equipped with an L4 level autonomous driving module, and a vision camera is installed at the rear of the unmanned logistics vehicle to identify the relative position of the cage and the unmanned logistics vehicle. The unmanned logistics vehicle uses the L4 level autonomous driving module to adjust the relative position of the cage and the unmanned logistics vehicle.

[0013] The Level 4 autonomous driving module integrates multiple sensors and algorithms, enabling autonomous navigation and driving of the vehicle. The visual camera can be a high-definition CMOS camera with high image resolution and light sensitivity. This application uses a visual camera and AI assistance; the camera is mounted under the rear of the vehicle frame to identify whether the cage is aligned with the unmanned logistics vehicle, completing the positioning and targeted loading / unloading of the cage.

[0014] Preferably, the logistics unmanned vehicle is equipped with an L4 level autonomous driving module, and a lidar is installed at the rear of the logistics unmanned vehicle to identify the relative position of the cage and the logistics unmanned vehicle. The logistics unmanned vehicle uses the L4 level autonomous driving module to adjust the relative position of the cage and the logistics unmanned vehicle.

[0015] LiDAR, including multi-line LiDAR, can accurately measure the distance and position of objects. This application uses LiDAR technology, with the LiDAR mounted under the rear of the vehicle frame to identify whether the cage is aligned with the unmanned logistics vehicle, thus completing the positioning and targeted loading / unloading of the cage.

[0016] Preferably, the unmanned logistics vehicle is equipped with an L4-level autonomous driving module, a UWB positioning tag is installed at the rear of the unmanned logistics vehicle, and the cage is equipped with several positioning anchor points. The relative position between the cage and the unmanned logistics vehicle is determined by the UWB positioning tag and the anchor points. The unmanned logistics vehicle uses the L4-level autonomous driving module to adjust the relative position between the cage and the unmanned logistics vehicle.

[0017] This application uses UWB positioning technology and L4 level autonomous driving technology. The tag is installed at the rear of the logistics unmanned vehicle, and multiple anchor points are installed on the cage to complete the positioning and loading / unloading of the cage.

[0018] A smart loading and unloading method for unmanned logistics vehicles, applicable to the aforementioned smart loading and unloading device for unmanned logistics vehicles, includes an unloading step and a loading step, wherein the unloading step includes: S1, after receiving the unloading instruction, the locking mechanism is released, releasing the fixed relationship between the cage frame carrying the cage and the unmanned logistics vehicle. S2, the first actuator is activated, moving the cage frame from the flipping support and pushing it out of the unmanned logistics vehicle; S3, when the third limiter detects that the cage frame has moved to the first predetermined position, the first actuator stops and the second actuator starts. S4, the second actuator flips the tilting bracket, causing the cage frame to flip; S5, when the first limit switch detects that the cage frame has moved to the second predetermined position, the second actuator stops and the first actuator is restarted; S6, the first actuator pushes the cage frame downward from the flipping bracket until the second limiter detects that the cage frame has moved to the third predetermined position, at which point the first actuator stops, completing the separation of the cage frame from the cage. Preferably, this application also includes a fixed-point loading and unloading step, specifically including using an onboard intelligent loading and unloading robot to move cages for fixed-point loading and unloading, or using a logistics unmanned vehicle combined with an L4-level autonomous driving module and a positioning module to transfer cages for fixed-point loading and unloading. The positioning module includes a visual camera, a lidar, or a UWB positioning component to locate and navigate the loading and unloading position of the logistics unmanned vehicle.

[0019] The beneficial effects of this invention are: The intelligent loading and unloading device of this application automates loading and unloading for unmanned logistics vehicles through the coordinated operation of limit switches, actuators, and positioning modules. The composite motion of "first translation, then flipping" avoids interference between the cage frame and the rear of the vehicle, improving the safety and smoothness of loading and unloading. Using only two actuators simplifies the structure, reduces the failure rate, and improves system reliability. The application of multiple positioning technologies makes the cage positioning more precise, achieving point-to-point loading and unloading, meeting the needs of different logistics scenarios. Compared with traditional loading and unloading methods, it significantly improves loading and unloading efficiency and reduces the operating costs of logistics companies.

[0020] The intelligent loading and unloading method presented in this application achieves automation and precision in loading and unloading of unmanned logistics vehicles through precise step control and the coordination of limit switches. The reverse-order execution of loading and unloading steps ensures symmetry and logic throughout the process, facilitating program control and operation. The fixed-point loading and unloading steps, combining intelligent loading and unloading robots and advanced positioning technology, can flexibly select appropriate loading and unloading methods according to different logistics scenarios and needs, significantly improving the loading and unloading efficiency and flexibility of unmanned logistics vehicles while reducing labor and operating costs. Compared to traditional loading and unloading methods, this method offers significant advantages. Attached Figure Description

[0021] Figure 1 This is an overall structural diagram of the device of the present invention.

[0022] Figure 2 This is a schematic diagram of the installation position of the flip bracket of the present invention.

[0023] Figure 3 This is a schematic diagram of the flipping bracket of the present invention after flipping.

[0024] Figure 4 This is a schematic diagram of the translation and flipping limit stations of the present invention.

[0025] Figure 5 This is a schematic diagram showing the installation location of the intelligent loading and unloading robot that accompanies the vehicle according to the present invention.

[0026] Figure 6 This is a flowchart of the loading and unloading method of the present invention.

[0027] The components include: 1. Unmanned logistics vehicle; 2. Cage; 3. Cage frame; 4. Intelligent loading and unloading robot on board; 301. Main controller; 302. First limit switch; 303. Second limit switch; 304. Third limit switch; 305. Locking mechanism; 306. Fork; 307. First roller; 308. Second actuator; 309. Second roller; 310. First actuator; 311. Linear guide rail; 312. Rotary shaft; 313. Slide rail; 314. Tilting bracket; 315. Linear guide rod. Detailed Implementation

[0028] Example 1: This embodiment proposes an intelligent loading and unloading device for unmanned logistics vehicles, referring to... Figure 1 This includes a logistics unmanned vehicle 1, a cage 2, and a cage frame 3 for securing the cage 2, as shown in the reference. Figure 3 The cage frame 3 is slidably connected to the flipping bracket 314. The flipping bracket 314 has a rotating shaft 312 on one side and is hinged to the upper end of the rear of the unmanned logistics vehicle 1 via the rotating shaft 312. A locking mechanism 305 is provided between the cage frame 3 and the unmanned logistics vehicle 1. The flipping bracket 314 has a first actuator 310 that drives the cage frame 3 to slide. The unmanned logistics vehicle 1 has a second actuator 308 that flips the flipping bracket 314 along the rotating shaft 312. The unmanned logistics vehicle 1 has a first limiter 302, a second limiter 303, and a third limiter 304 that monitor the sliding position of the cage frame 3 and are electrically connected to the main controller 301. The first actuator 310 and the second actuator 308 are electrically connected to the main controller 301. Multiple cages 2 can be provided; when multiple cages 2 are provided, the width of the cage frame 3 can be adaptively widened.

[0029] The main controller of this application interacts with the unmanned logistics vehicle via data input from the first, second, and third limit switches, achieving fully automated operation without human intervention. This application fundamentally avoids motion interference between the cage frame and the rear of the vehicle body through a composite motion sequence of "first translation, then flipping," resulting in smooth, safe, and reliable operation. The core drive components of this application consist of only two actuators, simplifying the structure, reducing the failure rate, and facilitating placement on space-constrained unmanned logistics vehicles. This application is applicable to standard logistics cages; different specifications can be adapted by simply adjusting the size of the cage frame, making it widely applicable. The third limit switch 304 detects that the cage frame 3 has moved... Figure 4 When position a is indicated, the first actuator 310 stops working, and the second actuator 308 starts working, flipping the rotating bracket 314, which in turn rotates the cage frame 3 until the first limit switch 302 detects that the cage frame 3 has rotated into place. Figure 4 At position b, the second actuator 308 stops working, and the first actuator 310 starts working again, driving the cage frame 3 to move downwards until the second limit switch 303 detects that the cage frame 3 has moved into position. Figure 4 At position c, the first actuator 310 stops working. At this time, the cage 2 falls to the ground and separates from the cage frame 3. Then, the unmanned logistics vehicle 1 moves forward and detaches from the cage 2, finally completing the unloading process. Figure 4 d.

[0030] Specifically, the cage frame 3 has two parallel linear guide rails 311, and the inner side of each linear guide rail 311 has a groove 313. The tilting bracket 314 has several second rollers 309 connected to its side. The second rollers 309 are engaged within the grooves 313, effectively allowing the tilting bracket 314 to slide and embed itself in the bottom of the cage frame 3. This significantly reduces the height of the automatic loading and unloading structure, making it more compact. The unmanned logistics vehicle 1 has several first rollers 307 with concave wheel surfaces, parallel to the linear guide rails 311. The linear guide rails 311 are slidably connected to the first rollers 307. The cage frame 3 includes two parallel linear guide rails 311, which support and guide the sliding of the cage frame 3. The linear guide rails 311 are typically made of high-strength metal materials, such as aluminum alloy or stainless steel, to ensure their strength and wear resistance. They are elongated and have grooves 313 on their inner side. The function of the groove 313 is to cooperate with the second roller 309 on the tilting bracket 314 to achieve a sliding connection between the cage frame 3 and the tilting bracket 314. The groove 313 is characterized by a certain depth and width to ensure that the second roller 309 can roll stably within it. Alternatively, other groove structures such as dovetail grooves can be used. Several second rollers 309 are connected to the side of the tilting bracket 314. The second rollers 309 are generally made of rubber or polyurethane, which have good wear resistance and rolling performance. They are circular in shape and connected to the tilting bracket 314 via an axle. The second rollers 309 are engaged within the groove 313, allowing the cage frame 3 to slide smoothly relative to the tilting bracket 314. Alternatively, a slider and guide rail can be used instead of the roller-groove connection. The unmanned logistics vehicle has several first rollers 307 with concave wheel surfaces, parallel to the linear guide rail 311. The concave wheel surface of the first rollers 307 better matches the linear guide rail 311, preventing the linear guide rail 311 from deviating during sliding. The first rollers 307 are typically made of metal and are mounted on the unmanned logistics vehicle via bearings. The linear guide rail 311 is slidably connected to the first rollers 307. This connection method reduces the friction between the linear guide rail 311 and the unmanned logistics vehicle, making the sliding of the cage frame 3 smoother. Alternatively, sliding guide rails can be used instead of the rollers.

[0031] Specifically, both the first actuator 310 and the second actuator 308 are electric push rods or electric cylinders. The other side of the tilting bracket 314 is hinged to the extended end of the second actuator 308, and the base end of the second actuator 308 is hinged to the unmanned logistics vehicle 1. This hinged connection allows the second actuator 308 to push the tilting bracket 314 to tilt around the rotation axis 312. The tilting bracket 314 is fixed to the base end of the first actuator 310, and the extended end of the first actuator 310 is fixed to the cage frame 3. In this way, the first actuator 310 can drive the cage frame 3 to slide on the tilting bracket 314. Alternatively, other types of actuators such as hydraulic push rods can also be used. Electric push rods or electric cylinders have the advantages of high control precision and fast response speed. In this application, the entire loading and unloading action can be completed simply by controlling the extension and retraction of the two push rods in sequence. The procedure is simple and the response is rapid.

[0032] Specifically, refer to Figure 3 The flipping bracket 314 has two linear guide rods 315 parallel to the extended ends of the first actuator 310 on both sides of the base end. The cage frame 3 has a slider slidably connected to the linear guide rods 315. The linear guide rods 315 are generally made of solid metal rods, with high straightness and strength. Their function is to guide the sliding of the cage frame 3. The slider is usually made of wear-resistant plastic or metal and fits with the linear guide rods 315 through holes. This structure makes the cage frame 3 more stable during sliding and reduces shaking. Alternatively, a combination of guide rails and sliders can be used to replace the structure of linear guide rods 315 and sliders.

[0033] This embodiment also proposes an intelligent loading and unloading method for unmanned logistics vehicles, applicable to the aforementioned intelligent loading and unloading device for unmanned logistics vehicles, see reference. Figure 6 The process includes unloading and loading steps, wherein the unloading step includes: S1, after receiving the unloading instruction, the locking mechanism 305 is released, releasing the fixed relationship between the cage frame 3 carrying the cage 2 and the logistics unmanned vehicle 1. S2, the first actuator 310 is activated, and the cage frame 3 is moved out of the unmanned logistics vehicle 1 from the flipping bracket 314; S3, when the third limiter 304 detects that the cage frame 3 has moved to the first predetermined position, the first actuator 310 stops and the second actuator 308 is started; S4, the second actuator 308 flips the tilting bracket 314, causing the cage frame 3 to flip; S5, when the first limiter 302 detects that the cage frame 3 has moved to the second predetermined position, the 90° rotation is completed, the second actuator 308 stops, and the first actuator 310 is started again; S6, the first actuator 310 pushes the cage frame 3 downward from the flipping bracket 314 until the second limiter 303 detects that the cage frame 3 has moved to the third predetermined position, that is, the cage frame 3 moves vertically downward. Since the bottom of the cage 2 has several rollers, the rollers at the bottom of the cage 2 will land first during the downward movement. Then the cage frame 3 continues to move downward a certain distance, usually set to 5cm. At this time, the first actuator 310 stops, and the cage frame 3 is separated from the cage 2. The loading step is performed in reverse order of the unloading step. The loading step specifically includes: Sa, after receiving the loading instruction, the first actuator 310 retracts the cage frame 3 from the flipping bracket 314 upwards, completing the contact between the cage frame 3 and the cage 2; Sb, when the first limiter 302 detects that the cage frame 3 has moved to the second predetermined position, the first actuator 310 stops. At this time, it is considered that the cage frame 3 has reached the appropriate flipping position, and the second actuator 308 is started again. Sc, the second actuator 308 flips the tilting bracket 314, causing the cage frame 3 to flip and approach the top of the logistics unmanned vehicle 1; Sd, when the third limiter 304 detects that the cage frame 3 has flipped to the first predetermined position, the second actuator 308 stops, and then the first actuator 310 is started to retract; Se, when the first actuator 310 retracts to the initial position, the locking mechanism 305 is activated to fix the logistics unmanned vehicle 1 to the cage frame 3 carrying the cage 2.

[0034] Example 2: This embodiment adds a vehicle-mounted intelligent loading and unloading robot to Embodiment 1, proposing an intelligent loading and unloading device for unmanned logistics vehicles, referencing... Figure 5 The cage frame 3 is equipped with a fork 306 near the rear of the vehicle. The unmanned logistics vehicle 1 is equipped with an on-board intelligent loading and unloading robot 4, which is used to remove the cage 2 from the unmanned logistics vehicle 1 after it has been placed on the ground from the fork 306.

[0035] The forklift 306 is generally welded from steel and manufactured using high-strength metals and composite materials to ensure its structural strength and stability, and to provide a strong load-bearing capacity. The shape of the forklift 306 is designed according to the structure of the cage 2, and is used to lock and secure the cage 2. Other locking structures can also be used. The on-board intelligent loading and unloading robot 4 can be an AGV (Automated Guided Vehicle). The on-board intelligent loading and unloading robot 4 is connected to the cage frame 3 via an electric locking device and is positioned between the forklifts 306.

[0036] This embodiment also proposes an intelligent loading and unloading method for unmanned logistics vehicles. Based on Embodiment 1, it adds a step of precise positioning and loading / unloading using an onboard intelligent loading and unloading robot 4, specifically including: Unloading process: After the unmanned logistics vehicle 1 arrives at the unloading position, it issues an unloading command to the main controller 301; (Reference) Figure 6 The main controller 301 receives the unloading instruction and executes the unloading process until the unloading is completed. The main controller 301 then sends the unloading instruction to the vehicle-mounted intelligent loading and unloading robot 4. The vehicle-mounted intelligent loading and unloading robot 4 releases the lock with the cage frame 3, transports the cage 2 to the designated location, and then returns to the logistics unmanned vehicle 1 or transports the empty cage 2 back. Then the vehicle-mounted intelligent loading and unloading robot 4 locks with the cage frame 3 again to complete the unloading.

[0037] Loading process: After the unmanned logistics vehicle 1 arrives at the loading location, it sends a loading instruction to the main controller 301; the onboard intelligent loading and unloading robot 4 unlocks from the cage frame 3, moves the cage 2 to the designated location, transports the cage 2 onto the cage frame 3, and then locks itself back onto the cage frame 3. The onboard intelligent loading and unloading robot 4 then sends a loading instruction signal to the main controller 301. (See reference...) Figure 6 The main controller 301 receives the loading instruction and executes the loading process until the loading is completed.

[0038] Example 3: This embodiment adds a visual camera to the existing embodiment 1, proposing an intelligent loading and unloading device for unmanned logistics vehicles. The unmanned logistics vehicle 1 is equipped with an L4 level autonomous driving module. A visual camera is installed at the rear of the unmanned logistics vehicle 1 to identify the relative position of the cage 2 and the unmanned logistics vehicle 1. The unmanned logistics vehicle 1 uses the L4 level autonomous driving module to adjust the relative position of the cage 2 and the unmanned logistics vehicle 1.

[0039] The Level 4 autonomous driving module integrates multiple sensors and algorithms, enabling autonomous navigation and driving of the vehicle. The visual camera can be a high-definition CMOS camera with high image resolution and light sensitivity. This application uses a visual camera and AI assistance; the camera is mounted under the rear of the vehicle frame to identify whether the cage is aligned with the unmanned logistics vehicle, completing the positioning and targeted loading / unloading of the cage.

[0040] This embodiment also proposes an intelligent loading and unloading method for unmanned logistics vehicles. Based on Embodiment 1, it adds a step of precise positioning for loading and unloading using a visual camera, specifically including: Unloading process: The logistics unmanned vehicle 1, combined with the intelligent driving algorithm of the L4 level autonomous driving module and a vision camera, controls the logistics unmanned vehicle 1 to drive to the unloading point. The vision camera aligns the vehicle with the unloading point, and the main controller 301 then receives the unloading command sent by the logistics unmanned vehicle 1 and performs the unloading as follows: Figure 6 The unloading steps are shown below; Loading process: The logistics unmanned vehicle 1, combined with the intelligent driving algorithm of the L4 level autonomous driving module and a vision camera, is controlled to drive to the loading point. Using the vision camera, the cage frame 3 is aligned with the cage 2. Then, the logistics unmanned vehicle 1 is controlled to reverse, causing the cage frame 3 to fall into the cage 2. The main controller 301 then receives the loading command sent by the logistics unmanned vehicle 1 and performs the loading as follows: Figure 6 The loading steps are shown.

[0041] Example 4: This embodiment adds a lidar to the existing embodiment 1, proposing an intelligent loading and unloading device for unmanned logistics vehicles. The unmanned logistics vehicle 1 is equipped with an L4 level autonomous driving module. The lidar at the rear of the unmanned logistics vehicle 1 is used to identify the relative position of the cage 2 and the unmanned logistics vehicle 1. The unmanned logistics vehicle 1 uses the L4 level autonomous driving module to adjust the relative position of the cage 2 and the unmanned logistics vehicle 1.

[0042] LiDAR, including multi-line LiDAR, can accurately measure the distance and position of objects. This application uses LiDAR technology, with the LiDAR mounted under the rear of the vehicle frame to identify whether the cage is aligned with the unmanned logistics vehicle, thus completing the positioning and targeted loading / unloading of the cage.

[0043] This embodiment also proposes an intelligent loading and unloading method for unmanned logistics vehicles. Based on Embodiment 1, it adds a step of using lidar for precise positioning during loading and unloading, specifically including: Unloading process: The logistics unmanned vehicle 1, combined with the intelligent driving algorithm of the L4 level autonomous driving module and LiDAR, controls the logistics unmanned vehicle 1 to drive to the unloading point. The LiDAR is used to align the vehicle with the unloading point. The main controller 301 then receives the unloading command sent by the logistics unmanned vehicle 1 and performs the unloading as follows: Figure 6 The unloading steps are shown below; Loading process: The logistics unmanned vehicle 1, combined with the intelligent driving algorithm of the L4 level autonomous driving module and LiDAR, is controlled to drive to the loading point. Using LiDAR, the cage frame 3 is aligned with the cage 2. Then, the logistics unmanned vehicle 1 is controlled to reverse, causing the cage frame 3 to fall into the cage 2. The main controller 301 then receives the loading command sent by the logistics unmanned vehicle 1 and performs the loading as follows: Figure 6 The loading steps are shown.

[0044] Example 5: This embodiment adds a UWB positioning tag to the existing embodiment 1. The unmanned logistics vehicle 1 is equipped with an L4 level autonomous driving module. A UWB positioning tag is located at the rear of the unmanned logistics vehicle 1. The cage 2 has several positioning anchor points. The relative position between the cage 2 and the unmanned logistics vehicle 1 is determined by the UWB positioning tag and the anchor points. The unmanned logistics vehicle 1 uses the L4 level autonomous driving module to adjust the relative position between the cage 2 and the unmanned logistics vehicle 1. This application employs UWB positioning technology and L4 level autonomous driving technology. The tag is installed at the rear of the unmanned logistics vehicle, and multiple anchor points are installed on the cage to complete the positioning and loading / unloading of the cage.

[0045] This embodiment also proposes an intelligent loading and unloading method for unmanned logistics vehicles. Based on Embodiment 1, it adds a step of precise positioning for loading and unloading using UWB positioning technology, specifically including: Unloading process: The unmanned logistics vehicle 1, combined with the intelligent driving algorithm of the L4-level autonomous driving module, UWB positioning tags, and anchor points, controls the unmanned logistics vehicle 1 to drive to the unloading point. Using the UWB positioning tags and anchor points, the vehicle aligns with the unloading point. The main controller 301 then receives the unloading command sent by the unmanned logistics vehicle 1 and performs the unloading as follows: Figure 6 The unloading steps are shown below; Loading process: The logistics unmanned vehicle 1, combined with the intelligent driving algorithm of the L4 level autonomous driving module, UWB positioning tags, and anchor points, is controlled to drive to the loading point. Using the UWB positioning tags and anchor points, the cage frame 3 is aligned with the cage 2. Then, the logistics unmanned vehicle 1 is controlled to reverse, causing the cage frame 3 to fall into the cage 2. The main controller 301 then receives the loading command sent by the logistics unmanned vehicle 1 and performs the loading as follows: Figure 6 The loading steps are shown.

[0046] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. An intelligent loading and unloading device for unmanned logistics vehicles, comprising an unmanned logistics vehicle (1), a cage (2), and a cage frame (3) for securing the cage (2), characterized in that, The cage frame (3) is slidably connected to the flipping bracket (314). The flipping bracket (314) has a rotating shaft (312) on one side and is hinged to the upper end of the logistics unmanned vehicle (1) through the rotating shaft (312). A locking mechanism (305) is provided between the cage frame (3) and the logistics unmanned vehicle (1). The flipping bracket (314) is provided with a first actuator (310) that drives the cage frame (3) and the flipping bracket (314) to slide. The logistics unmanned vehicle (1) is provided with a second actuator (308) that causes the flipping bracket (314) to flip along the rotating shaft (312). The logistics unmanned vehicle (1) is provided with a first limiter (302), a second limiter (303) and a third limiter (304) that monitor the sliding position of the cage frame (3) and are electrically connected to the main controller (301). The first actuator (310) and the second actuator (308) are electrically connected to the main controller (301).

2. The intelligent loading and unloading device for unmanned logistics vehicles according to claim 1, characterized in that, The cage frame (3) is provided with two linear guide rails (311) in parallel. The inner side of the linear guide rail (311) is provided with a sliding groove (313). The side of the flipping bracket (314) is connected with several second rollers (309). The second rollers (309) are locked in the sliding groove (313). The logistics unmanned vehicle (1) is provided with several first rollers (307) with concave wheel surfaces in parallel with the linear guide rail (311). The linear guide rail (311) is slidably connected to the first rollers (307).

3. The intelligent loading and unloading device for unmanned logistics vehicles according to claim 1, characterized in that, The first actuator (310) and the second actuator (308) are both electric push rods or electric cylinders. The other side of the flipping bracket (314) is hinged to the extended end of the second actuator (308). The base end of the second actuator (308) is hinged to the logistics unmanned vehicle (1). The flipping bracket (314) is fixed to the base end of the first actuator (310). The extended end of the first actuator (310) is fixed to the cage frame (3).

4. The intelligent loading and unloading device for unmanned logistics vehicles according to claim 3, characterized in that, The flipping bracket (314) is provided with two linear guide rods (315) on both sides of the base end of the first actuator (310) and parallel to the extended end of the first actuator (310). The cage frame (3) is provided with a slider that is slidably connected to the linear guide rods (315).

5. The intelligent loading and unloading device for unmanned logistics vehicles according to claim 1, characterized in that, The cage frame (3) is equipped with a fork (306) near the rear of the vehicle. The unmanned logistics vehicle (1) is equipped with an on-board intelligent loading and unloading robot (4). The on-board intelligent loading and unloading robot (4) is used to remove the cage (2) from the unmanned logistics vehicle (1) after it has been placed on the ground from the fork (306).

6. The intelligent loading and unloading device for unmanned logistics vehicles according to claim 1, characterized in that, The logistics unmanned vehicle (1) is equipped with an L4 level autonomous driving module. The logistics unmanned vehicle (1) is equipped with a visual camera at the rear to identify the relative position of the cage (2) and the logistics unmanned vehicle (1). The logistics unmanned vehicle (1) uses the L4 level autonomous driving module to adjust the relative position of the cage (2) and the logistics unmanned vehicle (1).

7. The intelligent loading and unloading device for unmanned logistics vehicles according to claim 1, characterized in that, The logistics unmanned vehicle (1) is equipped with an L4 level autonomous driving module. The logistics unmanned vehicle (1) is equipped with a lidar at the rear to identify the relative position of the cage (2) and the logistics unmanned vehicle (1). The logistics unmanned vehicle (1) uses the L4 level autonomous driving module to adjust the relative position of the cage (2) and the logistics unmanned vehicle (1).

8. The intelligent loading and unloading device for unmanned logistics vehicles according to claim 1, characterized in that, The logistics unmanned vehicle (1) is equipped with an L4 level autonomous driving module. The rear of the logistics unmanned vehicle (1) is equipped with a UWB positioning tag. The cage (2) is equipped with several positioning anchor points. The relative position of the cage (2) and the logistics unmanned vehicle (1) is determined by the UWB positioning tag and the anchor points. The logistics unmanned vehicle (1) uses the L4 level autonomous driving module to adjust the relative position of the cage (2) and the logistics unmanned vehicle (1).

9. An intelligent loading and unloading method for unmanned logistics vehicles, applicable to the intelligent loading and unloading device for unmanned logistics vehicles as described in claim 1, characterized in that, It includes unloading and loading steps, wherein the unloading step includes: S1, after receiving the unloading instruction, the locking mechanism (305) is released, releasing the fixed relationship between the cage frame (3) carrying the cage (2) and the logistics unmanned vehicle (1); S2, the first actuator (310) is activated, and the cage frame (3) is moved out of the unmanned logistics vehicle (1) from the flipping support (314). S3, when the third limiter (304) detects that the cage frame (3) has moved to the first predetermined position, the first actuator (310) stops and the second actuator (308) is started. S4, the second actuator (308) flips the tilting bracket (314), causing the cage frame (3) to flip; S5, when the first limiter (302) detects that the cage frame (3) has moved to the second predetermined position, the second actuator (308) stops and the first actuator (310) is started again. S6, the first actuator (310) pushes the cage frame (3) downward from the flipping bracket (314) until the second limiter (303) detects that the cage frame (3) has been moved to the third predetermined position, the first actuator (310) stops, and the cage frame (3) is separated from the cage (2). The loading step is performed in reverse order of the unloading step.

10. The intelligent loading and unloading method for unmanned logistics vehicles according to claim 9, characterized in that, The process includes fixed-point loading and unloading steps, specifically including using an onboard intelligent loading and unloading robot (4) to move cages (2) for fixed-point loading and unloading, or using a logistics unmanned vehicle (1) in conjunction with an L4-level autonomous driving module and a positioning module to transfer cages (2) for fixed-point loading and unloading. The positioning module includes a visual camera or a lidar or a UWB positioning component to locate and navigate the loading and unloading position of the logistics unmanned vehicle (1).

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