Vehicle-mounted unmanned loading and unloading system and loading and unloading method for logistics unmanned vehicle

Abstract

The invention relates to the field of logistics loading and unloading, in particular to a vehicle-mounted unmanned loading and unloading system of a logistics unmanned vehicle and a loading and unloading method. The vehicle-mounted unmanned loading and unloading system of the logistics unmanned vehicle is provided with a vehicle-mounted shuttle vehicle control module, a vehicle-mounted lifting loading and unloading control module and a main controller, the vehicle-mounted shuttle vehicle control module is used for lifting and translating a cage box in the logistics unmanned vehicle, and the vehicle-mounted lifting loading and unloading control module is used for lifting and translating the cage box outside the vehicle. The invention further provides a loading and unloading method adopting the system, and the loading and unloading method comprises the steps of unloading and loading. The loading and unloading system achieves the technical effects that the loading and unloading efficiency and safety of the logistics unmanned vehicle are improved, the labor cost is reduced, and the loading and unloading system can be flexibly stored and does not occupy too much space.

Description

Technical Field

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

[0002] In the logistics and transportation sector, the application of unmanned vehicles (UAVs) is becoming increasingly widespread. UAVs enable automated transportation of goods, driving the intelligent and automated development of the logistics industry. Simultaneously, they significantly reduce the risks of transportation errors and accidents caused by human factors, improve the accuracy and safety of logistics transportation, greatly enhance logistics efficiency, reduce labor costs, and provide strong support for the sustainable development of the logistics industry. Furthermore, with the booming development of e-commerce and the rapid growth of logistics volume, the importance of UAVs is becoming increasingly prominent, and their application in warehousing, distribution, and other aspects is becoming more and more in-depth.

[0003] Currently, cages, as standard containers in logistics, are the primary carriers for unmanned vehicle (UAV) transportation and loading / unloading. When unloading multiple cages by UAVs, the horizontal movement of the cages within the vehicle is mostly accomplished using traditional chain-like structures, which achieve movement through chain transmission. The vertical loading and unloading movement of the cages is typically achieved using cantilever or vertical tailgate mechanisms. Cantilever tailgates use the extension and retraction of the cantilever to lift or lower the cages, while vertical tailgates use the vertical lifting and lowering of the tailgate to complete the loading and unloading operation. These structures are relatively complex and require numerous components to realize their functions.

[0004] However, existing loading and unloading systems and methods have many problems. Their complex and bulky structure, when installed on unmanned vehicles (UAVs), affects the UAV's payload capacity, volume utilization, and reliability. The complex structure increases the equipment failure rate, making subsequent maintenance more difficult. Furthermore, the overall operating costs, including equipment procurement, maintenance, and wear and tear, are high throughout the equipment's lifecycle. In addition, the excessive weight of the onboard UAV loading and unloading mechanism is also detrimental to the efficient operation of the UAV. Therefore, a simple and reliable cage-based onboard loading and unloading system and method is still lacking in the current technology. Summary of the Invention

[0005] This invention solves the problem of complex structure in unmanned loading and unloading systems for cage-type vehicles, and proposes an unmanned loading and unloading system and method for unmanned logistics vehicles. By simplifying the system architecture and optimizing the design of core mechanisms, the equipment is upgraded to be lightweight.

[0006] To achieve the above objectives, the following technical solution is proposed: An unmanned loading and unloading system for a logistics unmanned vehicle includes the logistics unmanned vehicle, with an electric roller shutter door at the rear of the logistics unmanned vehicle, and the logistics unmanned vehicle is equipped with: The vehicle-mounted shuttle control module is used to lift and translate the cages within the unmanned logistics vehicle and transfer the cages onto the cage forks. The vehicle-mounted lifting and unloading control module is located on the outside of the electric roller shutter door. It includes a tilting and lifting mechanism and a pair of cage forks connected to the execution end of the tilting and lifting mechanism. The cage forks rotate 90 degrees and move vertically up and down under the drive of the tilting and lifting mechanism. When loading and unloading, the cage forks are aligned with the vehicle-mounted shuttle control module for lifting and translating the cage outside the unmanned logistics vehicle. After loading and unloading, the cage forks are tilted and vertically pressed against the outside of the electric roller shutter door. The main controller is connected to the unmanned logistics vehicle via a CAN bus, and is electrically connected to the on-board shuttle control module and the on-board lifting and loading control module to coordinate the operation of each module and the unmanned logistics vehicle.

[0007] By adopting the above technical solutions, automated loading and unloading of unmanned logistics vehicle cages has been achieved, improving loading and unloading efficiency and operational flexibility. Through the collaborative work of various modules, the overall performance of the equipment has been optimized, solving the problems of complex and bulky structure of existing loading and unloading systems, improving the cargo capacity and volume utilization of unmanned vehicles, reducing the risk of failure, and enhancing the reliability of equipment operation. After loading and unloading, the cage forks are perpendicular to the outside of the electric roller shutter door, simplifying the system structure and control logic, and reducing the manpower and material resources required for equipment use and maintenance.

[0008] Preferably, the vehicle-mounted shuttle control module includes: a pair of interior guide rails arranged parallel to the interior floor of the unmanned logistics vehicle and a vehicle-mounted shuttle that is locked and slidably disposed within the interior guide rails. The vehicle-mounted shuttle is equipped with a lifting mechanism for lifting and lowering the cage.

[0009] By adopting the above technical solution, the parallel in-vehicle guide rails provide the running path for the vehicle-mounted shuttle, enabling it to move stably inside the vehicle. The lifting mechanism on the vehicle-mounted shuttle can realize the lifting and lowering of the cages. In conjunction with the movement of the vehicle-mounted shuttle, the transfer of cages inside the vehicle can be completed. Combined with the on-board lifting and unloading control module, the automated loading and unloading of cages inside and outside the unmanned logistics vehicle can be realized, improving loading and unloading efficiency and operational flexibility. At the same time, the system structure is relatively simple, which helps to reduce operating costs.

[0010] Preferably, the unmanned logistics vehicle is equipped with a sensing system electrically connected to the main controller, the sensing system comprising: The cage positioning and alignment sensor assembly forms a closed-loop control relationship with the vehicle-mounted shuttle to achieve precise positioning of the cage, monitor the relative position of the guide rails inside the vehicle and the cage fork teeth, and achieve alignment between the guide rails inside the vehicle and the cage fork teeth. Status detection sensor assembly to monitor the status of cages and loading / unloading mechanisms; Safety sensor components monitor the status of the vehicle-mounted lifting and unloading system; Environmental sensing sensor components monitor whether the cage can be safely unloaded in the loading and unloading area.

[0011] By adopting the above technical solutions, the cage positioning and alignment sensor components in the sensing system achieve precise cage positioning and alignment of the in-vehicle guide rails with the cage forks. The status detection sensor components monitor the status of the cages and loading / unloading mechanisms. The safety protection sensor components monitor the status of the vehicle-mounted lifting loading / unloading system. The environmental perception sensor components monitor the conditions for safely unloading cages in the loading / unloading area, ensuring the accuracy, safety, and adaptability of the loading / unloading process. The intelligent positioning and locking module's vehicle-mounted shuttle locking unit, cage locking unit, and cage fork locking unit lock or release the vehicle-mounted shuttle, cages, and cage forks, respectively, further improving the reliability and stability of the system operation. This enables automated loading and unloading of multiple cages, improves loading and unloading efficiency and operational flexibility, optimizes overall equipment performance, and reduces operating costs.

[0012] Preferably, the unmanned logistics vehicle is equipped with an intelligent positioning and locking module electrically connected to the main controller, the intelligent positioning and locking module comprising: The vehicle-mounted shuttle locking unit, under the control of the main controller, locks or releases the vehicle-mounted shuttle on the unmanned logistics vehicle; The cage locking unit locks or releases the cage on the unmanned logistics vehicle under the control of the main controller. The cage fork locking unit locks or releases the cage fork on the unmanned logistics vehicle under the control of the main controller.

[0013] By adopting the above technical solutions, the cage positioning and alignment sensor components in the sensing system achieve precise cage positioning and alignment of the in-vehicle guide rails with the cage forks. The status detection sensor components monitor the status of the cages and loading / unloading mechanisms. The safety protection sensor components monitor the status of the vehicle-mounted lifting loading / unloading system. The environmental perception sensor components monitor the conditions for safely unloading cages in the loading / unloading area, ensuring the accuracy, safety, and adaptability of the loading / unloading process. The intelligent positioning and locking module's vehicle-mounted shuttle locking unit, cage locking unit, and cage fork locking unit lock or release the vehicle-mounted shuttle, cages, and cage forks, respectively, further improving the reliability and stability of the system operation. This enables automated loading and unloading of multiple cages, improves loading and unloading efficiency and operational flexibility, optimizes overall equipment performance, and reduces operating costs.

[0014] Preferably, the unmanned logistics vehicle has a pair of fixed tubes at its rear. The tilting and lifting mechanism includes a lifting actuator nested in the fixed tubes. The actuator is connected to a telescopic rod and controls the telescopic rod to move vertically. The actuator is electrically connected to the main controller. A lifting platform is fixed below the telescopic rod. A tilting shaft is hinged to the lifting platform. A tilting seat is fixed on the tilting shaft. The tilting seat is fixed to the cage fork teeth as the actuator of the tilting and lifting mechanism. One end of the tilting shaft extends out of the lifting platform and is fixed to one end of the tilting crank. A roller is rotatably connected to the other end of the tilting crank. A tilting track plate is fixed to the outside of the fixed tubes. A tilting track groove is provided on the tilting track plate. The roller is locked and slides in the tilting track groove.

[0015] By adopting the above technical solution, the telescopic rod is controlled by a lifting actuator to perform vertical lifting and lowering movements. In conjunction with the lifting platform, tilting shaft, tilting seat, tilting crank, rollers, and tilting track plate with tilting track grooves, the cage fork teeth can be tilted 90 degrees and move vertically up and down under the drive of the tilting and lifting mechanism. This achieves a smooth switch between the storage and working states of the cage fork teeth, ensuring the continuity and stability of the loading and unloading process. Furthermore, by electrically connecting the lifting actuator to the main controller, the movement and state of the cage fork teeth can be precisely controlled, improving the coordination and reliability of loading and unloading operations.

[0016] Preferably, the flipping track groove includes a vertical state groove, a horizontal state groove, and a smooth connecting groove connecting the vertical state groove and the horizontal state groove. The bottom of the horizontal state groove extends through the outer side of the flipping track plate. A first limiting block is provided on the lifting platform to limit the flipping seat when it is flipped to the horizontal position.

[0017] By adopting the above technical solutions, the vertical state slot, the horizontal state slot, and the smooth connecting slot enable the cage fork teeth to smoothly complete a 90-degree rotation under the drive of the tilting and lifting mechanism, realizing the switching between storage and working states; the bottom of the horizontal state slot runs through the outside of the tilting track plate, which can reserve space for the vertical lifting and lowering of the cage fork teeth, avoid constraining their vertical lifting and lowering movement, and ensure the continuity and stability of the loading and unloading process; the first limit block can limit the tilting seat when it is tilted to the horizontal position, ensuring the stability of the cage fork teeth in the horizontal position, improving the accuracy and reliability of operation, thereby improving the efficiency of loading and unloading operations, optimizing the overall performance of the equipment, and reducing operating costs.

[0018] Preferably, the bottom of the horizontal state groove has a guide opening that extends through the outer side of the flip track plate.

[0019] By adopting the above technical solution, the guide port can provide better guidance for the rollers when the cage fork teeth change from a horizontal to a vertical state, making the flipping action of the cage fork teeth smoother and further ensuring the continuity and stability of the loading and unloading process.

[0020] Preferably, the flip track plate is provided with a second limiting block on one side of the vertical state slot, which limits the flip crank when the flip seat flips to the vertical position.

[0021] By adopting the above technical solution, a second limiting block is set on one side of the vertical state slot of the flipping track plate. When the flipping seat flips to the vertical position, the flipping crank can be limited to ensure that the cage fork teeth return to the vertical storage position accurately and stably. This limits the back-and-forth swaying of the cage fork teeth during the transfer of the unmanned logistics vehicle, and further improves the reliability of the equipment operation.

[0022] Preferably, the cage is replaced with a pallet with legs, which is used to carry the cargo box.

[0023] By adopting the above technical solutions, the unmanned loading and unloading system of the logistics unmanned vehicle can be adapted to pallets with legs, which can realize the automatic loading and unloading of cargo boxes carried by pallets with legs, expand the application scenarios of the system, and further reduce the overall operating cost.

[0024] A method for unmanned loading and unloading of a logistics vehicle, employing the aforementioned unmanned loading and unloading system for a logistics vehicle, includes unloading and loading steps: The specific unloading steps are as follows: S1, the unmanned logistics vehicle arrives at the designated location; S2, the unmanned logistics vehicle controls the opening of the electric roller shutter door; S3, the unmanned logistics vehicle sends an unloading command to the main controller; S4, release the cage lock; S5, unlock the vehicle-mounted shuttle; S6, release the cage fork lock; S7, the main controller controls the cage fork teeth to rotate 90° to horizontal; S8, the main controller controls the alignment of the cage fork teeth with the guide rails inside the vehicle; S9, the vehicle-mounted shuttle moves to the center of the cage; S10, the lifting mechanism of the vehicle-mounted shuttle lifts the cage box off the guide rail inside the vehicle; S11, the vehicle-mounted shuttle moves onto the cage fork teeth and lowers to release the cage to the cage fork teeth; S12, the vehicle-mounted shuttle returns to the unmanned logistics vehicle; S13, the main controller controls the cage fork teeth to descend to the ground, realizing the separation of the cage fork teeth from the cage; S14, send the unloading completion instruction to the unmanned logistics vehicle; S15, the unmanned logistics vehicle moves in a straight line to complete the unloading of the current cage; S16, the main controller determines whether there are still cages inside the unmanned logistics vehicle. If yes, it returns to execute S8; otherwise, it executes S17. S17, the main controller raises, rotates, and retracts the cage fork teeth to a vertical position and locks them; S18, Locking vehicle-mounted shuttle; S19 sends a signal that unloading is complete to the unmanned logistics vehicle. S20, unmanned logistics vehicles close their electric roller shutter doors; S21, unloading complete; The loading steps are performed in reverse order.

[0025] The beneficial effects of this invention are: 1. Improve loading and unloading efficiency: Through the coordinated control of the vehicle-mounted shuttle control module and the vehicle-mounted lifting loading and unloading control module, the transfer, positioning, lifting and handover of cages are accurately completed, realizing automated loading and unloading of multiple cages, improving loading and unloading efficiency and operational flexibility. 2. Optimize the overall performance of the equipment by adopting a lightweight and integrated system design to solve the problem of complex and bulky structure of the existing loading and unloading system, improve the cargo capacity and volume utilization of the unmanned vehicle, reduce the risk of failure, and enhance the reliability of equipment operation. 3. Reduce operating costs, simplify system structure and control logic, reduce manpower and material investment in equipment use and maintenance, adapt to various load-bearing devices such as cages and pallets, expand application scenarios, and further reduce overall operating costs. Attached Figure Description

[0026] Figure 1 This is a system configuration diagram of the present invention.

[0027] Figure 2 This is a hardware structure diagram of the present invention.

[0028] Figure 3 This is a schematic diagram showing the connection between the tilting and lifting mechanism of the present invention and the cage fork teeth.

[0029] Figure 4 This is a schematic diagram of the tilting and lifting mechanism of the present invention.

[0030] Figure 5 This is a schematic diagram of the structural states corresponding to S1-S7 of the method of the present invention.

[0031] Figure 6 This is a schematic diagram of the structural states corresponding to S8-S12 of the method of the present invention.

[0032] Figure 7 This is a schematic diagram of the structural states corresponding to S13-S15 of the method of the present invention.

[0033] Figure 8 This is a schematic diagram of the structural states corresponding to S17-S20 of the method of the present invention.

[0034] Figure 9 This is a flowchart of the method of the present invention.

[0035] Figure 10 This is a schematic diagram of the speed change curve from horizontal ascent to vertical rotation of the cage fork teeth.

[0036] Figure 11 This is a schematic diagram showing the speed changes of the cage fork teeth as they rotate from vertical to horizontal and descend.

[0037] The components include: 1. Unmanned logistics vehicle; 11. Fixed pipe; 2. In-vehicle guide rail; 3. Vehicle-mounted shuttle; 4. Cage; 5. Electric roller shutter door; 6. Tilting and lifting mechanism; 61. Lifting actuator; 62. Telescopic rod; 63. Lifting platform; 64. Tilting seat; 65. Tilting shaft; 66. Tilting crank; 67. Roller; 68. Tilting track plate; 69. Tilting track groove; 691. Vertical state groove; 692. Smooth connection groove; 693. Horizontal state groove; 694. Guide port; 610. First limit block; 611. Second limit block; 7. Cage fork teeth. Detailed Implementation Example

[0038] This embodiment proposes an unmanned loading and unloading system for unmanned logistics vehicles, referencing... Figure 1 The system includes a logistics unmanned vehicle 1, which has an electric roller shutter door 5 at its rear. The logistics unmanned vehicle 1 is equipped with: The vehicle-mounted shuttle control module is used to lift and translate the cage 4 within the unmanned logistics vehicle 1 and transfer the cage 4 onto the cage fork 7. The vehicle-mounted lifting and unloading control module is located on the outside of the electric roller shutter door 5. It includes a tilting and lifting mechanism 6 and a pair of cage fork teeth 7 connected to the execution end of the tilting and lifting mechanism 6. The cage fork teeth 7 are driven by the tilting and lifting mechanism 6 to rotate 90 degrees and move vertically up and down. When loading and unloading, the cage fork teeth 7 are aligned with the vehicle-mounted shuttle control module for lifting and translating the cage 4 outside the logistics unmanned vehicle 1. After loading and unloading, the cage fork teeth 7 are tilted and vertically pressed against the outside of the electric roller shutter door 5. The main controller is connected to the unmanned logistics vehicle 1 via a CAN bus, and is electrically connected to the vehicle-mounted shuttle control module and the vehicle-mounted lifting and unloading control module to coordinate the operation of each module with the unmanned logistics vehicle 1.

[0039] By adopting the above technical solutions, automated loading and unloading of unmanned logistics vehicle cages has been achieved, improving loading and unloading efficiency and operational flexibility. Through the collaborative work of various modules, the overall performance of the equipment has been optimized, solving the problems of complex and bulky structure of existing loading and unloading systems, improving the cargo capacity and volume utilization of unmanned vehicles, reducing the risk of failure, and enhancing the reliability of equipment operation. After loading and unloading, the cage forks are perpendicular to the outside of the electric roller shutter door, simplifying the system structure and control logic, and reducing the manpower and material resources required for equipment use and maintenance.

[0040] refer to Figure 2 The vehicle-mounted shuttle control module includes: a pair of interior guide rails 2 parallel to the interior floor of the unmanned logistics vehicle 1, and a vehicle-mounted shuttle 3 slidably mounted within the interior guide rails 2. The vehicle-mounted shuttle 3 is equipped with a lifting mechanism for raising and lowering the cage 4. The interior guide rails 2 have notches at the doors to allow for clearance when the rear electric roller shutter door closes, ensuring the compartment is protected from rain and dust.

[0041] By adopting the above technical solution, the parallel in-vehicle guide rails provide the running path for the vehicle-mounted shuttle, enabling it to move stably inside the vehicle. The lifting mechanism on the vehicle-mounted shuttle can realize the lifting and lowering of the cages. In conjunction with the movement of the vehicle-mounted shuttle, the transfer of cages inside the vehicle can be completed. Combined with the on-board lifting and unloading control module, the automated loading and unloading of cages inside and outside the unmanned logistics vehicle can be realized, improving loading and unloading efficiency and operational flexibility. At the same time, the system structure is relatively simple, which helps to reduce operating costs.

[0042] refer to Figure 1 The unmanned logistics vehicle 1 is equipped with a sensing system electrically connected to the main controller, and the sensing system includes: The cage positioning and alignment sensor assembly forms a closed-loop control relationship with the vehicle-mounted shuttle to achieve precise positioning of the cage, monitor the relative position of the in-vehicle guide rail 2 and the cage fork 7, and achieve alignment between the in-vehicle guide rail 2 and the cage fork 7. Status detection sensor assembly to monitor the status of cages and loading / unloading mechanisms; Safety sensor components monitor the status of the vehicle-mounted lifting and unloading system; Environmental sensing sensor components monitor whether the loading and unloading area can safely unload the cage 4.

[0043] The sensing system consists of four core units: cage positioning and alignment sensors, status detection sensors, safety protection sensors, and environmental perception sensors. Under the coordinated scheduling of the main controller, each unit has a clear division of labor and shares data, jointly providing perception support for the accuracy, safety, and scenario adaptability of the unmanned logistics vehicle's loading and unloading process. The cage positioning and alignment sensors form a closed-loop control relationship with the onboard shuttle. Under the unified coordination of the main controller, they achieve precise cage positioning through technologies such as displacement detection, arrival detection, infrared alignment, or visual image recognition. The status detection sensors monitor the status of the cages and the loading and unloading mechanism, providing signals for process judgment: firstly, using pressure and photoelectric sensing to determine whether cages remain inside the vehicle and whether they are stably placed; secondly, collecting parameters such as shuttle speed, lifting height, and the extension and retraction stroke of the lifting system for dynamic correction by the main controller to ensure the accuracy of the mechanism. The safety protection sensors construct a safety barrier to monitor the status of the onboard lifting and unloading system, preventing collisions or personnel accidentally entering dangerous areas during loading and unloading. The system determines whether the onboard lifting and unloading mechanism is in a "released" state during use or a "locked" state when the unmanned vehicle is in motion. Environmental perception sensors detect factors such as ground flatness and lighting conditions in the loading and unloading area to ensure safe unloading of the cages. The sensor system makes the entire loading and unloading system more intelligent and reliable. Through the coordinated work of various sensor components, the system can acquire real-time information on the position and status of the cages and the surrounding environment, feeding this information back to the main controller. The main controller then uses this information to precisely control each module, ensuring the accuracy and safety of the loading and unloading process. Simultaneously, it can promptly detect abnormalities and take corresponding measures to prevent accidents, improving the reliability and stability of the entire unmanned logistics vehicle loading and unloading system.

[0044] By adopting the above technical solutions, the cage positioning and alignment sensor components in the sensing system achieve precise cage positioning and alignment of the in-vehicle guide rails with the cage forks. The status detection sensor components monitor the status of the cages and loading / unloading mechanisms. The safety protection sensor components monitor the status of the vehicle-mounted lifting loading / unloading system. The environmental perception sensor components monitor the conditions for safely unloading cages in the loading / unloading area, ensuring the accuracy, safety, and adaptability of the loading / unloading process. The intelligent positioning and locking module's vehicle-mounted shuttle locking unit, cage locking unit, and cage fork locking unit lock or release the vehicle-mounted shuttle, cages, and cage forks, respectively, further improving the reliability and stability of the system operation. This enables automated loading and unloading of multiple cages, improves loading and unloading efficiency and operational flexibility, optimizes overall equipment performance, and reduces operating costs.

[0045] The vehicle-mounted lifting and unloading control module consists of three parts: a main controller, a coordination module, and execution hardware, forming a closed-loop system of "control-sensing-execution". The main controller includes a cage fork 90° rotation speed control unit, a cage fork alignment guide rail unit, and a cage fork lifting speed control unit. It not only enables precise speed adjustment of fork rotation and lifting actions but also, through the alignment guide rail unit and sensor system, completes the horizontal alignment calibration of the forks with the vehicle's guide rails, ensuring smooth transport. The vehicle-mounted lifting and unloading control module interacts in real time with the sensor system through the core control unit, dynamically receiving signals such as fork position, cage status, and locking mechanism operating conditions, and adaptively adjusting control parameters accordingly. Under the command of the main controller, it completes fork rotation, lifting, loading, and locking actions, achieving precise execution and safety protection throughout the entire lifting and unloading process.

[0046] refer to Figure 1 The unmanned logistics vehicle 1 is equipped with an intelligent positioning and locking module electrically connected to the main controller. The intelligent positioning and locking module includes: The vehicle-mounted shuttle locking unit locks or releases the vehicle-mounted shuttle 3 on the logistics unmanned vehicle 1 under the control of the main controller; The cage locking unit locks or releases the cage 4 on the unmanned logistics vehicle 1 under the control of the main controller. The cage fork locking unit locks or releases the cage fork 7 on the unmanned logistics vehicle 1 under the control of the main controller.

[0047] By adopting the above technical solutions, the cage positioning and alignment sensor components in the sensing system achieve precise cage positioning and alignment of the in-vehicle guide rails with the cage forks. The status detection sensor components monitor the status of the cages and loading / unloading mechanisms, the safety protection sensor components monitor the status of the on-vehicle lifting and unloading system, and the environmental perception sensor components monitor the conditions for safely unloading cages in the loading / unloading area, ensuring the accuracy, safety, and adaptability of the loading / unloading process. The intelligent positioning and locking module's on-vehicle shuttle locking unit, cage locking unit, and cage fork locking unit lock or release the on-vehicle shuttle, cage, and cage fork respectively, further improving the reliability and stability of the system operation. This enables automated loading and unloading of multiple cages, improves loading and unloading efficiency and operational flexibility, optimizes overall equipment performance, and reduces operating costs. The intelligent positioning and locking module improves the safety and stability of the unmanned logistics vehicle during operation. By controlling the locking and releasing of the on-vehicle shuttle, cage, and cage fork, it ensures that the position and status of each component can be effectively controlled under different working conditions, avoiding safety hazards caused by component shaking or displacement. At the same time, it facilitates the orderly progress of loading and unloading operations, improving the reliability and efficiency of the entire loading and unloading system.

[0048] refer to Figure 3The unmanned logistics vehicle 1 has a pair of fixed tubes 11 at its rear. The tilting and lifting mechanism 6 includes a lifting actuator 61 nested within the fixed tubes 11. The actuator 61 is connected to a telescopic rod 62 and controls the telescopic rod 62 to perform vertical lifting and lowering movements. The lifting actuator 61 is electrically connected to the main controller. A lifting platform 63 is fixed below the telescopic rod 62. (See reference...) Figure 4 The lifting platform 63 is hinged to a tilting shaft 65, and a tilting seat 64 is fixed on the tilting shaft 65. The tilting seat 64 serves as the actuator of the tilting lifting mechanism 6 and is fixedly connected to the cage fork 7. One end of the tilting shaft 65 extends out of the lifting platform 63 and is fixed to one end of the tilting crank 66. The other end of the tilting crank 66 is rotatably connected to a roller 67. A tilting track plate 68 is fixed to the outside of the fixed tube 11. The tilting track plate 68 is provided with a tilting track groove 69, and the roller 67 is engaged and slidably within the tilting track groove 69. The lifting actuator can be either an electric push rod or an electric actuator. Both have fast response, high precision, and load adaptability, which can meet the stability and controllability requirements of cage lifting. During operation, the cage fork lifting speed control unit outputs a precise control signal to the electric push rod servo motor based on the feedback parameters from the sensing module. Through a preset program, the motor speed is adjusted to precisely control the extension speed and extension amount of the electric push rod, ultimately enabling the lifting actuator to drive the cage fork to rise and fall smoothly and accurately at a preset speed. An electric push rod or electric actuator is installed inside the fixed tube 11, and its end is connected to the flipping seat of the 90° flipping mechanism of the cage fork. The cage fork lifting speed control unit modulates the speed of the servo motor to achieve precise control of the cage fork mechanism to flip 90° within 10-15 seconds. The 90° flipping track plate is the core guiding component for the 90° flipping action of the cage fork, and its surface is provided with a 90° track groove that precisely matches the flipping trajectory. Through a specific contour design, this track groove can convert the linear motion output by the actuator, such as the electric push rod or electric actuator, into the 90° rotational motion required by the cage fork, realizing a smooth switch between the cage fork's storage and working states.

[0049] By adopting the above technical solution, the telescopic rod is controlled by a lifting actuator to perform vertical lifting and lowering movements. In conjunction with the lifting platform, tilting shaft, tilting seat, tilting crank, rollers, and tilting track plate with tilting track grooves, the cage fork teeth can be tilted 90 degrees and move vertically up and down under the drive of the tilting and lifting mechanism. This achieves a smooth switch between the storage and working states of the cage fork teeth, ensuring the continuity and stability of the loading and unloading process. Furthermore, by electrically connecting the lifting actuator to the main controller, the movement and state of the cage fork teeth can be precisely controlled, improving the coordination and reliability of loading and unloading operations.

[0050] refer to Figure 4The flipping track groove 69 includes a vertical state groove 619, a horizontal state groove 693, and a smooth connecting groove 692 connecting the vertical state groove 619 and the horizontal state groove 693. The bottom of the horizontal state groove 693 penetrates the outer side of the flipping track plate 68. The lifting platform 63 is provided with a first limiting block 610 to limit the flipping seat 64 when it is flipped to the horizontal position.

[0051] By adopting the above technical solutions, the vertical state slot, the horizontal state slot, and the smooth connecting slot enable the cage fork teeth to smoothly complete a 90-degree rotation under the drive of the tilting and lifting mechanism, realizing the switching between storage and working states; the bottom of the horizontal state slot runs through the outside of the tilting track plate, which can reserve space for the vertical lifting and lowering of the cage fork teeth, avoid constraining their vertical lifting and lowering movement, and ensure the continuity and stability of the loading and unloading process; the first limit block can limit the tilting seat when it is tilted to the horizontal position, ensuring the stability of the cage fork teeth in the horizontal position, improving the accuracy and reliability of operation, thereby improving the efficiency of loading and unloading operations, optimizing the overall performance of the equipment, and reducing operating costs.

[0052] refer to Figure 4 The bottom of the horizontal state groove 693 is provided with a guide port 694 that passes through the outer side of the flip track plate 68.

[0053] By adopting the above technical solution, the guide opening provides better guidance for the rollers when the cage fork teeth change from a horizontal to a vertical state, making the flipping action of the cage fork teeth smoother and further ensuring the continuity and stability of the loading and unloading process. Simultaneously, this invention creatively designs the lower end of the track groove as an open structure. The core function of this design is to reserve sufficient space for the lifting and lowering movement of the cage fork teeth. When the actuator drives the fork teeth to carry the cage downwards to the ground, the crank mechanism can smoothly disengage from the track groove constraint along the open end, avoiding the track plate constraining the vertical lifting and lowering movement of the fork teeth. This ensures that the fork teeth can complete both 90° rotational positioning and unobstructed vertical lifting and lowering, guaranteeing the continuity and stability of the loading and unloading process. This achieves the goal of using a single actuator to complete both rotation and lifting actions.

[0054] refer to Figure 4 The flip track plate 68 is provided with a second limiting block 611 on one side of the vertical state slot 619, which limits the flip crank 66 when the flip seat 64 is flipped to the vertical position.

[0055] By adopting the above technical solution, a second limiting block is set on one side of the vertical state slot of the flipping track plate, which can limit the flipping crank when the flipping seat flips to the vertical position, ensuring that the cage fork teeth return to the vertical storage position accurately and stably, limiting the back-and-forth shaking of the cage fork teeth during the transfer of the logistics unmanned vehicle 1, and further improving the reliability of the equipment operation.

[0056] The cage forks, vehicle-mounted shuttle, and cage bottom are designed with a compatible topological space dimension, ensuring precise matching of dimensions. This allows the vehicle-mounted shuttle, carrying the cage, to move smoothly to the top of the forks and release the cage onto them. Once the sensing module signals that the cage has been stably placed on the forks, the vehicle-mounted shuttle, utilizing the clearance provided by the topological space, moves in the opposite direction along the internal guide rails, successfully retracting to the bottom of the second cage inside the vehicle, preparing for subsequent continuous unloading operations. After the cage forks carry the cage, the onboard lifting and unloading control module drives the lifting actuator to lower the forks to the ground at the required speed until the cage legs are completely in contact with the ground, achieving reliable separation between the cage and the forks. After the sensing module detects the separation signal and sends it back to the main controller, the unmanned logistics vehicle travels in a straight line, completing the complete separation of the cage forks from the cage. It then precisely travels to the unloading position corresponding to the second cage to initiate the next unloading process.

[0057] The implementation principle of this embodiment is as follows: This system coordinates the work of the onboard shuttle control module and the onboard lifting and unloading control module through the main controller, realizing automated loading and unloading of cages inside and outside the unmanned logistics vehicle. The onboard shuttle control module is responsible for the lifting, lateral movement of the cages inside the vehicle, while the onboard lifting and unloading control module is responsible for the lifting, lateral movement of the cages outside the vehicle and the rotation of the cage forks. The modules interact and work collaboratively through sensors and controllers, greatly improving loading and unloading efficiency, reducing manual operation, and lowering logistics costs. Simultaneously, the system's lightweight and integrated design improves the unmanned vehicle's payload capacity, volume utilization, and reliability, solving the problems of complex and bulky structures in existing loading and unloading systems. Example

[0058] This embodiment proposes an unmanned loading and unloading system for a logistics unmanned vehicle. Based on Embodiment 1, the cage 4 is replaced with a pallet with legs, which is used to carry the cargo box. The size and structural design of the pallet must be compatible with the vehicle-mounted shuttle and the cage forklifts to ensure that the vehicle-mounted shuttle can smoothly lift the pallet and transfer it to the cage forklifts, and that the cage forklifts can stably support the pallet. Pallets are generally made of wood, plastic, or metal. Wooden pallets are less expensive, plastic pallets are lightweight and corrosion-resistant, and metal pallets are strong and durable.

[0059] During loading and unloading, the working principle of the vehicle-mounted shuttle and the cage fork is basically the same as that during cage loading and unloading. Under the control of the main controller, the vehicle-mounted shuttle moves along the internal guide rails to the bottom of the pallet. The lifting mechanism lifts the pallet and then moves it horizontally onto the cage fork. Driven by the tilting and lifting mechanism, the cage fork rotates 90 degrees and moves vertically up and down, unloading the pallet onto the ground or loading it into the unmanned logistics vehicle.

[0060] The implementation principle of this embodiment is as follows: the system can adapt to pallets with legs, expanding its application scenarios. In logistics transportation, besides cages, pallets are also commonly used cargo carrying containers. This system is compatible with pallet loading and unloading, improving the system's versatility and practicality, further reducing equipment procurement costs for logistics companies, and meeting the needs of different customers. Example

[0061] A method for unmanned loading and unloading of a logistics unmanned vehicle, employing the aforementioned unmanned loading and unloading system for a logistics unmanned vehicle, with reference to... Figure 9 This includes unloading and loading procedures: The specific unloading steps are as follows: S1, the unmanned logistics vehicle 1 has arrived at the designated location. (Reference) Figure 5 (a), Figure 5 (a) indicates that the electric roller shutter door 5 is in the closed state; S2, the unmanned logistics vehicle 1 controls the electric roller shutter door 5 to open, (reference) Figure 5 (b) Figure 5 (b) indicates that the electric roller shutter door 5 is in the open state; S3, the unmanned logistics vehicle 1 sends an unloading command to the main controller; S4, release the lock on cage 4; S5, unlock vehicle shuttle 3; S6, release the cage fork 7 lock; S7, the main controller controls the cage fork 7 to rotate 90° to horizontal. (Reference) Figure 5 (c)-(d), Figure 5 (c) indicates the process of the cage fork tooth 7 rotating from a vertical state to a horizontal state. Figure 5 (d) indicates the alignment state between the cage fork 7 and the internal guide rail 2; during this process, the actuator speed change of the cage fork 7 during normal descent and horizontal rotation from 90° to 0° is referenced. Figure 11 t1 is the speed of the fork tooth guide rail before it rotates, and t2 is the speed of the fork tooth after it has finished rotating and the guide rail has been aligned.

[0062] S8, the main controller controls the cage fork teeth 7 to align with the guide rail 2 inside the vehicle; S9, the vehicle-mounted shuttle 3 moves to the center of the cage 4, reference. Figure 6 (e) Figure 6 (e) indicates that the vehicle-mounted shuttle 3 is located at the center of the cage 4; S10, the lifting mechanism of the vehicle-mounted shuttle 3 lifts the cage box 4 out of the vehicle guide rail 2; S11, the vehicle-mounted shuttle 3 moves onto the cage fork 7, reference Figure 6 (f) Lower the release cage 4 to the cage fork 7, refer to Figure 6(g); S12, the vehicle-mounted shuttle 3 returns to the unmanned logistics vehicle 1 (reference) Figure 6 (h); S13, the main controller controls the cage fork 7 to descend to the ground, reference Figure 7 (i) To separate the cage fork 7 from the cage 4, refer to Figure 7 (j); S14, send the unloading completion instruction to the logistics unmanned vehicle 1; S15, the unmanned logistics vehicle 1 moves forward in a straight line, reference... Figure 7 (k) Complete unloading of the current cage 4; S16, the main controller determines whether there is still cage 4 inside the unmanned logistics vehicle 1. If yes, return to execute S8; otherwise, execute S17. S17, the main controller raises, rotates, and retracts the cage fork 7 to a vertical position. (Reference) Figure 8 (l) and lock; during this process, the cage fork guide rail rotates horizontally from 0° to 90°, and the upward speed changes as referenced. Figure 10 t2 is the time point when the fork starts to rotate, t3 is the time point when the fork is rotated 90° and the rotation is completed, and t4 is the time point when the remaining path is decelerated before stopping after the rotation is completed.

[0063] S18, Locking the vehicle-mounted shuttle 3; S19, send a signal that unloading is complete to the unmanned logistics vehicle 1; S20, the unmanned logistics vehicle 1 closes the electric roller shutter door 5 (reference). Figure 8 (m); S21, unloading complete; The loading process is carried out in reverse order: first, the cage or pallet is loaded onto the cage forklift, then it is transferred into the vehicle by the vehicle-mounted shuttle, and finally the electric roller shutter door is closed to complete the loading operation.

[0064] The implementation principle of this embodiment is as follows: Through a series of orderly steps, this loading and unloading method realizes the unmanned loading and unloading function of the logistics unmanned vehicle. The various steps work closely together, with the main controller precisely controlling each module, and the sensor components providing real-time monitoring and feedback, ensuring the accuracy, efficiency, and safety of the loading and unloading process. The entire method avoids the tediousness and errors of manual operation, improves the efficiency and quality of logistics transportation, and reduces operating costs.

[0065] 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. A vehicle-mounted unmanned loading and unloading system for a logistics unmanned vehicle, comprising a logistics unmanned vehicle (1), wherein the logistics unmanned vehicle (1) is equipped with an electric roller shutter door (5) at its rear, characterized in that, The unmanned logistics vehicle (1) is equipped with: The vehicle-mounted shuttle control module is used to lift and translate the cage (4) within the unmanned logistics vehicle (1) and transfer the cage (4) onto the cage fork (7); The vehicle-mounted lifting and unloading control module is located on the outside of the electric roller shutter door (5). It includes a tilting and lifting mechanism (6) and a pair of cage forks (7) connected to the execution end of the tilting and lifting mechanism (6). The cage forks (7) rotate 90 degrees and move vertically up and down under the drive of the tilting and lifting mechanism (6). The cage forks (7) are aligned with the vehicle-mounted shuttle control module when loading and unloading goods, and are used for the lifting and translation of the cage (4) outside the logistics unmanned vehicle (1). After loading and unloading, the cage forks (7) are tilted and vertically attached to the outside of the electric roller shutter door (5). The main controller is connected to the unmanned logistics vehicle (1) via CAN bus, and is electrically connected to the vehicle shuttle control module and the vehicle-mounted lifting and unloading control module to coordinate the operation of each module with the unmanned logistics vehicle (1).

2. The unmanned loading and unloading system for a logistics unmanned vehicle according to claim 1, characterized in that, The vehicle-mounted shuttle control module includes: a pair of interior guide rails (2) arranged parallel to the interior floor of the unmanned logistics vehicle (1) and a vehicle-mounted shuttle (3) that is locked and slidably arranged in the interior guide rails (2). The vehicle-mounted shuttle (3) is equipped with a lifting mechanism, which is used for lifting and lowering the cage (4).

3. The unmanned loading and unloading system for a logistics unmanned vehicle according to claim 2, characterized in that, The unmanned logistics vehicle (1) is equipped with a sensing system electrically connected to the main controller, the sensing system comprising: The cage positioning and alignment sensor assembly forms a closed-loop control relationship with the vehicle-mounted shuttle to achieve precise positioning of the cage, monitors the relative position status of the guide rail (2) and the cage fork (7) inside the vehicle, and achieves alignment between the guide rail (2) inside the vehicle and the cage fork (7). Status detection sensor assembly to monitor the status of cages and loading / unloading mechanisms; Safety sensor components monitor the status of the vehicle-mounted lifting and unloading system; Environmental sensing sensor components monitor whether the loading and unloading area can safely unload the cage (4).

4. The unmanned loading and unloading system for a logistics unmanned vehicle according to claim 3, characterized in that, The unmanned logistics vehicle (1) is equipped with an intelligent positioning and locking module electrically connected to the main controller. The intelligent positioning and locking module includes: The vehicle-mounted shuttle locking unit locks or releases the vehicle-mounted shuttle (3) on the logistics unmanned vehicle (1) under the control of the main controller; The cage locking unit locks or releases the cage (4) on the unmanned logistics vehicle (1) under the control of the main controller; The cage fork locking unit locks or releases the cage fork (7) on the unmanned logistics vehicle (1) under the control of the main controller.

5. The unmanned loading and unloading system for a logistics unmanned vehicle according to claim 1, characterized in that, The logistics unmanned vehicle (1) has a pair of fixed tubes (11) at its rear. The tilting and lifting mechanism (6) includes a lifting actuator (61) nested in the fixed tubes (11). The actuator (61) is connected to a telescopic rod (62) and controls the telescopic rod (62) to perform vertical lifting and lowering movements. The lifting actuator (61) is electrically connected to the main controller. A lifting platform (63) is fixed below the telescopic rod (62). A tilting shaft (65) is hinged to the lifting platform (63). A tilting mechanism (65) is fixed on the tilting shaft (65). The rotating seat (64) is fixedly connected to the cage fork tooth (7) as the execution end of the rotating lifting mechanism (6). One end of the rotating shaft (65) extends out of the lifting platform (63) and is fixed to one end of the rotating crank (66). The other end of the rotating crank (66) is rotatably connected to a roller (67). A rotating track plate (68) is fixed on the outside of the fixed tube (11). A rotating track groove (69) is provided on the rotating track plate (68). The roller (67) is locked and slides in the rotating track groove (69).

6. The unmanned loading and unloading system for a logistics unmanned vehicle according to claim 5, characterized in that, The flipping track groove (69) includes a vertical state groove (619), a horizontal state groove (693), and a smooth connecting groove (692) connecting the vertical state groove (619) and the horizontal state groove (693). The bottom of the horizontal state groove (693) extends through the outer side of the flipping track plate (68). The lifting platform (63) is provided with a first limiting block (610) to limit the flipping seat (64) when it is flipped to the horizontal position.

7. The unmanned loading and unloading system for a logistics unmanned vehicle according to claim 6, characterized in that, The bottom of the horizontal state groove (693) has a guide port (694) that passes through the outside of the flip track plate (68).

8. The unmanned loading and unloading system for a logistics unmanned vehicle according to claim 5, characterized in that, The flip track plate (68) is provided with a second limiting block (611) on one side of the vertical state slot (619), which limits the flip crank (66) when the flip seat (64) flips to the vertical position.

9. A vehicle-mounted unmanned loading and unloading system for a logistics unmanned vehicle according to any one of claims 1-8, characterized in that, The cage (4) is replaced by a pallet with legs, which is used to carry the cargo box.

10. A method for unmanned loading and unloading of a logistics unmanned vehicle, employing the unmanned loading and unloading system for a logistics unmanned vehicle as described in any one of claims 4-8, characterized in that, This includes unloading and loading procedures: The specific unloading steps are as follows: S1, the unmanned logistics vehicle (1) arrives at the designated location; S2, the unmanned logistics vehicle (1) controls the electric roller shutter door (5) to open; S3, the unmanned logistics vehicle (1) sends an unloading instruction to the main controller; S4, release the lock of cage (4); S5, release the lock of the vehicle-mounted shuttle (3); S6, release the cage fork tooth (7) lock; S7, the main controller controls the cage fork teeth (7) to rotate 90° to the horizontal; S8, the main controller controls the cage fork teeth (7) to align with the guide rail (2) inside the vehicle; S9, the vehicle-mounted shuttle (3) moves to the center of the cage (4); S10, the lifting mechanism of the vehicle-mounted shuttle (3) lifts the cage (4) and disengages from the guide rail (2) inside the vehicle. S11, the vehicle-mounted shuttle (3) moves onto the cage fork (7) and lowers to release the cage (4) onto the cage fork (7). S12, the vehicle-mounted shuttle (3) returns to the logistics unmanned vehicle (1); S13, the main controller controls the cage fork tooth (7) to descend to the ground, realizing the separation of the cage fork tooth (7) from the cage (4); S14, send the unloading completion instruction to the logistics unmanned vehicle (1). S15, the logistics unmanned vehicle (1) moves forward in a straight line and completes the unloading of the current cage (4); S16, the main controller determines whether there is still a cage (4) inside the unmanned logistics vehicle (1). If yes, return to execute S8; otherwise, execute S17. S17, the main controller lifts, rotates and retracts the cage fork tooth (7) to a vertical state and locks it; S18, Lock the vehicle-mounted shuttle (3); S19, send a signal that unloading is complete to the unmanned logistics vehicle (1). S20, the logistics unmanned vehicle (1) closes the electric roller shutter door (5); S21, unloading complete; The loading and unloading steps are performed in reverse order.

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