A new safe intelligent warehouse transport vehicle

Abstract

The application relates to the technical field of warehouse logistics equipment, and discloses a novel safe intelligent warehouse transport vehicle, which comprises a vehicle body and a chassis, the chassis is arranged at the lower end of the vehicle body, a power cavity is arranged in the vehicle body, the power cavity extends into the chassis, the lower portion of the power cavity is designed to be open, a walking mechanism for driving the vehicle body to walk is arranged in the power cavity, the traditional steering hard friction structure of a steering engine is abandoned, a differential wheel is matched with a rotary gear and an encoder, when steering, the vehicle body rotates, the rotary support drives the encoder to work through gear transmission, the encoder is used for accurately calculating the angle of driving rotation and feeding back to a driving computer in real time, the driving computer can more accurately and quickly plan a driving route in combination with the high-precision angle feedback, the technical pain points of low precision and difficult route planning of a traditional differential wheel are solved, and the operation precision of the vehicle in intelligent warehousing is remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of warehousing and logistics equipment technology, specifically a new type of safe and intelligent warehouse transport vehicle. Background Technology

[0002] With the rapid development of modern logistics and intelligent warehousing technology, warehouse transport vehicles, as the core equipment for automated material handling, are widely used in various automated warehouses, workshop production lines and logistics sorting centers.

[0003] However, most traditional warehouse transport vehicles use servo steering mechanisms. When turning on the spot or at low speeds, the steering wheels generate significant hard friction with the ground, leading to severe tire wear and frequent replacements, as well as increased steering resistance and overall vehicle energy consumption. Furthermore, while some existing transport vehicles employ differential wheel steering structures, traditional differential wheel steering often lacks a high-precision real-time feedback mechanism, resulting in substantial cumulative steering errors.

[0004] In modern smart warehousing, transport vehicles need to rely strictly on pre-set precise routes for autonomous operation. The low precision of traditional differential wheels directly leads to deviations in the driving trajectory, making complex warehouse route planning and high-precision navigation extremely difficult.

[0005] In addition, during warehousing operations, wheel slippage or sensor misjudgment often occurs due to paper scraps, dust or packaging residue on the ground, and existing transport vehicles often do not have the function of cleaning while moving.

[0006] Therefore, there is an urgent need to design an intelligent warehouse transport vehicle that is compact in structure, has low steering wear, high path planning accuracy, and also has cleaning functions. Summary of the Invention

[0007] (a) Technical problems to be solved

[0008] To address the shortcomings of existing technologies, this invention provides a novel safe and intelligent warehouse transport vehicle. Through an innovative combination of rotary gears and encoders, along with a vehicle computer, it achieves high-precision calculation of steering angles and rapid route planning, effectively avoiding hard tire friction. It also integrates a ground cleaning and multi-dimensional safety protection system.

[0009] (II) Technical Solution

[0010] To achieve the aforementioned goal of facilitating warehousing and logistics equipment, this invention provides the following technical solution: A novel safe and intelligent warehouse transport vehicle, comprising a vehicle body and a chassis, the chassis being disposed at the lower end of the vehicle body, a power cavity being formed within the vehicle body, the power cavity extending into the chassis, and the lower part of the power cavity being open-ended, a traveling mechanism for driving the vehicle body being disposed within the power cavity, the traveling mechanism including a mounting plate disposed within the power cavity, a rotary gear rotatably connected to the upper end of the mounting plate, the upper end of the rotary gear being fixedly connected to the inner top wall of the power cavity, a housing fixedly connected to the lower end of the mounting plate, and differential wheels rotatably connected to both end side walls of the housing. The housing has a meshing cavity, and the axles of the two differential wheels pass through the side wall of the housing and are located in the meshing cavity. A fourth conical internal gear is fixedly sleeved on the axles of the two differential wheels. The two fourth conical gears are symmetrically arranged. Two drive motors for driving the two differential wheels are fixedly connected to the rear wall of the housing. The output shafts of the two drive motors are located in the meshing cavity and are fixedly sleeved with a third conical gear that meshes with the two fourth conical gears. An encoder is fixedly connected to the lower end of the mounting plate. The output shaft of the encoder passes through the mounting plate and is rotatably connected to it. A gear that meshes with a rotary gear is fixedly sleeved on the output shaft of the encoder.

[0011] Preferably, the lower end of the chassis has a groove, and a cleaning mechanism for cleaning the ground is provided in the groove. The cleaning mechanism includes two symmetrically arranged cleaning rods rotatably connected to the top wall of the groove. Each end of the two cleaning rods is fixedly sleeved with a cleaning brush. The interior of the vehicle body above the groove has a transmission cavity, and a drive mechanism for driving the cleaning mechanism is provided in the transmission cavity.

[0012] Preferably, the driving mechanism includes two symmetrically arranged transmission rods. Both transmission rods pass through the inner wall of the transmission cavity and are rotatably connected thereto. One end of each transmission rod passes through the housing and is rotatably connected thereto. The ends of the two transmission rods passing through the housing are respectively coaxially and fixedly connected to the output shafts of two drive motors. A second bevel gear is fixedly sleeved on one end of each transmission rod located in the transmission cavity. The upper ends of both cleaning rods pass through the inner wall of the transmission cavity and are rotatably connected thereto. A first bevel gear that meshes with the second bevel gear is fixedly sleeved on the end of each cleaning rod.

[0013] Preferably, one end of the groove extends outside the chassis, and a dust suction port is provided on the inner wall of one end of the groove. A vacuum cleaner is provided inside the transmission cavity, and the vacuum cleaner and the dust suction port are connected by a vacuum suction pipe.

[0014] Preferably, the vehicle body also has a battery cavity, in which a storage battery is installed, and a charging interface is provided on the outer wall of the vehicle body near the battery cavity.

[0015] Preferably, the lower end of the chassis has four mounting cavities, and each of the four mounting cavities is equipped with a caster wheel, which is arranged in a rectangular pattern.

[0016] Preferably, a lidar is provided on the front side of the vehicle body, and two obstacle sensors are also provided on the front side of the vehicle body, with the two obstacle sensors arranged symmetrically.

[0017] Preferably, the outer side of the chassis is provided with a collision protection edge, the material of which is rubber, and the vehicle body is also provided with an on-board computer for real-time collection, processing, and monitoring of the operating status of various vehicle systems.

[0018] (III) Beneficial Effects

[0019] Compared with existing technologies, the present invention provides a novel safe and intelligent warehouse transport vehicle, which has the following beneficial effects:

[0020] 1. This invention abandons the traditional hard friction structure of servo steering and adopts a differential wheel in conjunction with a slewing gear and an encoder. When steering, the vehicle body rotates, and the slewing bearing drives the encoder to work through gear transmission. The encoder is used to accurately calculate the angle of drive rotation and feed it back to the vehicle computer in real time. The vehicle computer, combined with this high-precision angle feedback, can plan the driving route more accurately and quickly, completely solving the technical pain points of low precision and difficult route planning of traditional differential wheels, and significantly improving the operating accuracy of vehicles in intelligent warehousing.

[0021] 2. The power of the drive motor is cleverly reused. Through the transmission rod, the second bevel gear and the first bevel gear, the two cleaning brushes are driven to rotate and sweep the ground. At the same time, the vacuum cleaner and the suction port simultaneously suck up the dust and debris, ensuring the warehouse floor is clean and preventing the wheels from slipping.

[0022] 3. The front end is equipped with LiDAR and symmetrical obstacle sensors, surrounded by rubber anti-collision edges, and the vehicle's on-board computer monitors the entire system's operating status in real time and makes intelligent decisions, thus constructing a high-level safety protection system. Attached Figure Description

[0023] Figure 1 This is a perspective view of a novel safe and intelligent warehouse transport vehicle according to the present invention;

[0024] Figure 2 This is a sectional perspective view of a novel safe and intelligent warehouse transport vehicle according to the present invention;

[0025] Figure 3 This is a cross-sectional top-view perspective view of a novel safe and intelligent warehouse transport vehicle according to the present invention;

[0026] Figure 4This is a front view of a novel safe and intelligent warehouse transport vehicle according to the present invention;

[0027] Figure 5 This is a top cross-sectional view of a novel safe and intelligent warehouse transport vehicle according to the present invention;

[0028] Figure 6 This is a perspective view of the walking mechanism of a novel safe and intelligent warehouse transport vehicle according to the present invention;

[0029] Figure 7 This is a front view of the walking mechanism of a novel safe and intelligent warehouse transport vehicle according to the present invention;

[0030] Figure 8 This is an exploded view of the movement of a novel safe and intelligent warehouse transport vehicle according to the present invention;

[0031] Figure 9 This is a bottom-view perspective view of a novel safe and intelligent warehouse transport vehicle according to the present invention.

[0032] In the diagram: 1. Vehicle body; 2. Differential wheel; 3. Chassis; 4. Groove; 5. Obstacle sensor; 6. Anti-collision edge; 7. LiDAR; 8. Power chamber; 9. On-board computer; 11. Caster wheel; 12. Battery chamber; 13. Battery; 14. Transmission chamber; 15. Vacuum cleaner; 17. Rotary gear; 18. First bevel gear; 19. Second bevel gear; 20. Mounting plate; 21. Drive motor; 22. Gear; 23. Encoder; 24. Housing; 25. Transmission rod; 26. Meshing chamber; 27. Third bevel gear; 28. Fourth bevel gear; 29. ​​Cleaning brush; 30. Suction port. Detailed Implementation

[0033] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0034] Please see Figures 1-9This invention provides a novel technical solution: a new type of safe and intelligent warehouse transport vehicle, comprising a vehicle body 1 and a chassis 3. The chassis 3 is horizontally positioned at the lower end of the vehicle body 1. A power cavity 8 is formed downwards in the central region of the vehicle body 1, extending downwards into the chassis 3, and the lower part of the power cavity 8 is open. A mounting plate 20 is fixedly installed above the interior of the power cavity 8. A rotary gear 17 is rotatably connected to the upper end of the mounting plate 20 via a high-precision rotary bearing, and the upper end face of the rotary gear 17 is securely fixed to the inner top wall of the power cavity 8. Through this rotary support structure, the mounting plate 20 and all the traveling components connected below it can perform smooth relative rotary motion with respect to the center of the vehicle body 1.

[0035] The lower end of the mounting plate 20 is fixedly connected to a housing 24, which extends laterally, and differential wheels 2 are rotatably connected to both end side walls of the housing 24 via bearings. A sealed engagement chamber 26 is provided inside the housing 24, and the axles of the two differential wheels 2 pass through the side walls of the housing 24 and extend into the engagement chamber 26.

[0036] To achieve efficient and independent differential drive for the left and right wheels, a fourth bevel gear 28 is fixedly fitted onto the axles of both differential wheels 2, and the two fourth bevel gears 28 are symmetrically arranged within the meshing cavity 26. Two drive motors 21, each for independently driving the two differential wheels 2, are fixedly mounted on the rear wall of the housing 24. The output shafts of these two drive motors 21 pass through the rear wall of the housing 24 and extend into the meshing cavity 26, and a third bevel gear 27 is fixedly fitted onto each end. The third bevel gear 27 maintains precise meshing with the corresponding fourth bevel gear 28.

[0037] When the vehicle computer 9 controls the two drive motors 21 to rotate forward or backward at the same speed, the two third bevel gears 27 drive the fourth bevel internal gear 28 and the corresponding differential wheel 2 to rotate in the same direction at the same speed, thereby driving the intelligent warehouse transport vehicle to achieve smooth straight forward or backward movement; when the two drive motors 21 are controlled to generate a speed difference, the two differential wheels 2 generate a linear speed difference, thereby realizing flexible differential steering of the vehicle in the warehouse channel.

[0038] To overcome the industry bottlenecks of low steering precision and difficult route planning associated with traditional differential wheels, this invention innovatively fixes an encoder 23 to the lower end of the mounting plate 20. The output shaft of the encoder 23 passes vertically downward through the mounting plate 20 and is rotatably connected to it. A gear 22 is fixedly sleeved on the output shaft of the encoder 23. This gear 22 maintains a precise external meshing relationship with the rotary gear 17 above it. Simultaneously, the signal output terminal of the encoder 23 is electrically connected to the vehicle computer 9 installed inside the vehicle body 1 via a communication cable. When the intelligent warehouse transport vehicle travels according to a preset route and performs steering actions within the complex warehouse interior, the vehicle body 1 rotates as a whole. Since the rotary gear 17 is fixed to the top wall of the power chamber 8 inside the vehicle body 1, and the mounting plate 20 and the encoder 23 on it maintain a certain stability relative to the ground or deflect with the steering mechanism, the rotary gear 17, during its rotation, forces the output shaft of the encoder 23 to rotate through the meshing gear 22.

[0039] The encoder 23 continuously generates proportional pulse electrical signals in real time and feeds back the real-time angle change data caused by the vehicle's rotation to the vehicle computer 9 with high precision. The vehicle computer 9, combined with its internally preset high-precision map and navigation algorithm, performs millisecond-level closed-loop correction and dynamic compensation for the current deflection angle.

[0040] This technology completely solves the persistent problems of traditional differential wheels, such as large cumulative errors and difficult route planning due to slippage or mechanical backlash. It enables transport vehicles to plan and correct their routes with extreme precision and speed when facing complex warehouse aisles, right-angle turns, and densely packed shelving areas, achieving millimeter-level positioning accuracy. Furthermore, by combining differential steering with rotary encoder feedback, it completely eliminates the need for traditional, bulky servo steering mechanisms, avoiding hard friction between tires and the ground, and significantly reducing tire wear and subsequent maintenance costs.

[0041] In warehousing and logistics environments, the ground is frequently contaminated with paper scraps, packaging tape residue, dust particles, or spilled materials due to friction between cardboard boxes. These debris not only easily cause wheel slippage in traditional transport vehicles, reducing power transmission efficiency, but can also interfere with chassis sensors. To address this, the present invention cleverly integrates a floor cleaning and simultaneous dust collection mechanism: a groove 4 is formed on the lower end face of the chassis 3, spanning the bottom of the chassis to accommodate the cleaning components. Two symmetrically arranged cleaning rods are rotatably connected to the inner top wall of the groove 4 via bearings. Cleaning brush discs 29 are fixedly sleeved at the lower ends of the two cleaning rods; in this embodiment, high-wear-resistant nylon bristles or elastic rubber brush discs are used.

[0042] A transmission cavity 14 is provided inside the vehicle body 1, directly above the groove 4. The transmission cavity 14, the groove 4 below, and the power cavity 8 form a tight structural space inside the vehicle body. A transmission drive mechanism specifically designed to drive the cleaning mechanism is provided inside the transmission cavity 14.

[0043] To avoid the increase in vehicle weight, energy consumption, and control complexity caused by adding an extra clean drive motor, this invention cleverly achieves power reuse of the walking drive motor.

[0044] The drive mechanism specifically includes two symmetrically arranged transmission rods 25. Both transmission rods 25 horizontally pass through the side wall of the transmission cavity 14 and are rotatably connected to it. One end of each transmission rod 25 passes rearward through the side wall of the housing 24 and is rotatably connected to it, and is coaxially fixedly connected to the output shafts of two drive motors 21 inside the housing 24.

[0045] Two transmission rods 25 are each fixedly fitted with a second bevel gear 19 at one end within the transmission cavity 14. Simultaneously, the upper ends of the two cleaning rods pass upwards through the inner wall of the transmission cavity 14 and are rotatably connected to the top wall of the cavity. The ends of the two cleaning rods within the transmission cavity 14 are respectively fixedly fitted with a first bevel gear 18. The first bevel gear 18 meshes perpendicularly with the corresponding second bevel gear 19. When the transport vehicle moves on the warehouse floor, the vehicle computer 9 controls the drive motor 21 to operate and drive the wheels. At this time, the power of the drive motor 21 synchronously drives the transmission rods 25 to rotate via coaxial or gear transmission. The transmission rods 25 drive the second bevel gear 19 at their ends to rotate, and the second bevel gear 19 drives the first bevel gear 18 to rotate through meshing, thereby driving the vertical cleaning rods and the lower cleaning brush disc 29 to rotate and brush at high speed within the groove 4. This structure achieves simultaneous vehicle movement and floor cleaning, making the best use of resources, saving energy, and possessing an extremely simple and reliable structure.

[0046] To thoroughly remove surface dust and paper scraps stirred up by the cleaning brush, one end of the groove 4 extends outward to the outer edge of the chassis 3, and a suction port 30 is provided on the inner wall of this end of the groove 4. A vacuum cleaner 15, including a miniature high-efficiency fan and a dust filter box, is fixedly installed next to the transmission cavity 14 inside the vehicle body 1. The air inlet of the vacuum cleaner 15 is connected to the suction port 30 through a sealed suction pipe.

[0047] When the transport vehicle moves and cleans, the vacuum cleaner 15 starts synchronously under the control of the vehicle computer 9, generating a strong negative pressure suction through the suction port 30. The rotating cleaning brush 29 peels off stubborn stains and debris on the ground and gathers them towards the suction port 30. The suction port 30 then instantly sucks the suspended dust and debris into the internal suction pipe and collects them into the filter dust box, ensuring the absolute cleanliness of the smart warehouse floor and eliminating the potential for wheel slippage or track deviation caused by debris on the ground.

[0048] Four mounting cavities are provided at the four corners of the lower end of the chassis 3. Universal wheels 11 are mounted in each of the four cavities via bearings, and the four universal wheels 11 are symmetrically distributed in a rectangular pattern. Apart from the central differential wheel 2 providing active drive and steering, these four universal wheels 11 bear most of the vehicle's weight load and provide multi-point support and balance guidance, ensuring that the vehicle will not tilt when making sharp turns while fully loaded with cargo, thus guaranteeing smooth and stable operation of the entire vehicle.

[0049] A battery compartment 12 is located near the lower middle part of the vehicle body 1. A high-capacity, high-performance battery 13 is fixedly installed in the battery compartment 12, providing stable and continuous power to all electrical components such as the vehicle computer 9, drive motor 21, vacuum cleaner 15, and lidar 7. At the same time, a standard charging interface is provided on the outer wall of the vehicle body 1 near the battery compartment 12, supporting rapid charging by external charging piles or automatic charging contact docking, meeting the needs of 24-hour uninterrupted high-intensity operations in warehousing and logistics.

[0050] A high-precision lidar 7 is installed at the center of the front of the vehicle body 1. The lidar 7 uses a high-frequency laser beam to scan a fan-shaped area in front, constructing a high-precision 3D point cloud map of the environment in real time. It can identify pedestrians, objects, and other AGV vehicles several meters away. In addition, two obstacle sensors 5 are symmetrically installed on both sides of the front of the vehicle body 1. These sensors, such as ultrasonic ranging sensors or infrared diffuse reflection sensors, are specifically used to fill the detection gaps of the lidar in close-range ground or blind spots. The lidar 7 and the obstacle sensors 5 work together to transmit the distance, orientation, and movement status of obstacles in front to the vehicle computer 9 in real time.

[0051] A protective edge 6 is installed around the outer edge of the chassis 3. This protective edge 6 is made of high-quality, highly elastic rubber, which has excellent physical cushioning, energy absorption, and deformation recovery capabilities. Even in the most extreme cases, if a minor collision occurs due to a sudden blind spot, the rubber protective edge 6 can absorb the impact energy immediately, effectively protecting the vehicle structure, external sensors, and warehouse shelves from hard damage.

[0052] The vehicle's integrated on-board computer 9, or ECU central microprocessor, is electrically connected to the encoder 23, lidar 7, obstacle sensor 5, drive motor 21, vacuum cleaner 15, and battery 13 via an internal high-speed bus. The on-board computer 9 collects, processes, and monitors the operating status of each vehicle system in real time: when the sensor detects an obstacle ahead, the on-board computer 9 immediately issues deceleration, braking, or detour commands; when the steering angle data fed back by the encoder 23 deviates slightly from the preset path, the on-board computer 9 adjusts the speed difference between the left and right drive motors 21 in milliseconds for dynamic correction; simultaneously, the on-board computer 9 also monitors the battery level of the battery 13 and the workload of the vacuum cleaner 15 in real time, and automatically triggers an alarm and guides the vehicle safely back to charging if it detects low battery or system abnormality.

[0053] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A novel safe and intelligent warehouse transport vehicle, comprising a vehicle body (1) and a chassis (3), characterized in that, The chassis (3) is located at the lower end of the vehicle body (1). A power chamber (8) is provided inside the vehicle body (1). The power chamber (8) extends into the chassis (3), and the lower part of the power chamber (8) is open. A traveling mechanism for driving the vehicle body (1) is provided inside the power chamber (8). The traveling mechanism includes a mounting plate (20) provided inside the power chamber (8). A rotary gear (17) is rotatably connected to the upper end of the mounting plate (20). The upper end of the rotary gear (17) is fixedly connected to the inner top wall of the power chamber (8). A housing (24) is fixedly connected to the lower end of the mounting plate (20). Differential wheels (2) are rotatably connected to both side walls of the housing (24). A meshing cavity (26) is provided inside the housing (24), and the axles of the two differential wheels (2) are both connected through... The housing (24) is located on the side wall and in the meshing cavity (26). A fourth conical internal gear (28) is fixedly sleeved on the axle of each of the two differential wheels (2). The two fourth conical gears (28) are arranged symmetrically. Two drive motors (21) for driving the two differential wheels (2) are fixedly connected to the rear wall of the housing (24). The output shaft ends of the two drive motors (21) are located in the meshing cavity (26) and are fixedly sleeved with a third conical gear (27) that meshes with the two fourth conical gears (28). An encoder (23) is fixedly connected to the lower end of the mounting plate (20). The output shaft of the encoder (23) passes through the mounting plate (20) and is rotatably connected to it. A gear (22) that meshes with the rotary gear (17) is fixedly sleeved on the output shaft of the encoder (23).

2. The novel safe and intelligent warehouse transport vehicle according to claim 1, characterized in that: The chassis (3) has a groove (4) at its lower end. A cleaning mechanism for cleaning the ground is provided in the groove (4). The cleaning mechanism includes two symmetrically arranged cleaning rods that are rotatably connected to the top wall of the groove (4). A cleaning brush (29) is fixedly sleeved at the end of each of the two cleaning rods. A transmission cavity (14) is provided inside the vehicle body (1) above the groove (4). A drive mechanism for driving the cleaning mechanism is provided in the transmission cavity (14).

3. The novel safe and intelligent warehouse transport vehicle according to claim 2, characterized in that: The drive mechanism includes two symmetrically arranged transmission rods (25). Both transmission rods (25) pass through the inner wall of the transmission cavity (14) and are rotatably connected thereto. One end of each transmission rod (25) passes through the housing (24) and is rotatably connected thereto. One end of each transmission rod (25) passing through the housing (24) is coaxially and fixedly connected to the output shafts of two drive motors (21). One end of each transmission rod (25) located in the transmission cavity (14) is fixedly sleeved with a second bevel gear (19). The upper ends of each cleaning rod pass through the inner wall of the transmission cavity (14) and are rotatably connected thereto. The ends of each cleaning rod are fixedly sleeved with a first bevel gear (18) that meshes with the second bevel gear (19).

4. A novel safe and intelligent warehouse transport vehicle according to claim 3, characterized in that: One end of the groove (4) extends to the outside of the chassis (3), and a dust suction port (30) is provided on the inner wall of one end of the groove (4). A vacuum cleaner (15) is provided in the transmission cavity (14), and the vacuum cleaner (15) and the dust suction port (30) are connected by a vacuum tube.

5. A novel safe and intelligent warehouse transport vehicle according to claim 4, characterized in that: The vehicle body (1) is also provided with a battery cavity (12), in which a storage battery (13) is installed. A charging interface is provided on the outer wall of the vehicle body (1) on the side near the battery cavity (12).

6. A novel safe and intelligent warehouse transport vehicle according to claim 5, characterized in that: The chassis (3) has four mounting cavities at its lower end, and each of the four mounting cavities is equipped with a caster wheel (11). The four caster wheels (11) are arranged in a rectangular pattern.

7. A novel safe and intelligent warehouse transport vehicle according to claim 6, characterized in that: The front side of the vehicle body (1) is equipped with a laser radar (7), and the front side of the vehicle body (1) is also equipped with two obstacle sensors (5), which are arranged symmetrically.

8. A novel safe and intelligent warehouse transport vehicle according to claim 7, characterized in that: The chassis (3) is provided with a crash edge (6) on the outside. The crash edge (6) is made of rubber. The vehicle body (1) is also provided with a vehicle computer (9) for real-time collection, processing and monitoring of the operating status of various systems of the vehicle.

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