Automatic following intelligent logistics transport vehicle

Abstract

The utility model relates to an automatic following intelligent logistics transport vehicle which comprises a display panel, the display panel is in communication connection with a control unit, the control unit is in communication connection with three UWB tracking module sensors, the three UWB tracking module sensors are arranged in a triangular shape in a vehicle head to form a UWB positioning base station, the control unit is connected with an electromagnetic lock, and the electromagnetic lock is connected with the display panel. The electromagnetic lock is arranged on the upper end face of the headstock, the electromagnetic lock is provided with a baffle, a placement groove is formed in the upper end face of the headstock corresponding to the baffle, and a bracelet is arranged in the placement groove; the bracelet comprises a bracelet body and a UWB tag arranged in the bracelet, and the UWB tag is in communication connection with the UWB positioning base station. According to the utility model, the UWB positioning base station and the bracelet with the UWB tag are arranged, and the control unit is combined to control the driving module, so that a hardware basis is provided for realizing automatic following.

Description

Technical Field

[0001] The utility model relates to the technical field of Internet of Things navigation and positioning, and in particular to an automatic following intelligent logistics transport vehicle. Background Art

[0002] Traditional transportation work is usually completed by manually operated carts or forklifts, which are heavily dependent on manpower. Workers need to spend a lot of time and physical strength to push the goods, which affects work efficiency. In addition, when using mechanically driven equipment such as forklifts, workers need to have good driving skills, which poses safety hazards and is inconvenient to use. With the rapid development of technologies such as artificial intelligence, human-computer interaction, mechanical control, and large-capacity batteries, electric automatic transportation equipment has been developed. For example, CN220819435U discloses a mobile chassis that controls the chassis through a remote control. Workers can use the remote control to control the transportation equipment to complete the work. However, the remote control still needs to be manually controlled. In the case of controlling while picking up goods, the work efficiency is low.

[0003] With the development of UWB (Ultra Wide Band) IoT positioning technology, it has become possible for transportation equipment to follow workers as they walk. Therefore, there is an urgent need for an automatic following intelligent logistics transport vehicle to solve the problem that existing transportation equipment requires manual control, which affects work efficiency. Summary of the invention

[0004] In order to solve the problem of inconvenient control of existing logistics transport vehicles, the utility model proposes an automatic following intelligent logistics transport vehicle, sets a display panel to complete human-computer interaction, sets a UWB positioning base station and a wristband with a UWB tag and combines with a control unit to control the driving module to provide a hardware basis for realizing automatic following.

[0005] In order to achieve the above-mentioned purpose, an automatic following intelligent logistics transport vehicle includes a logistics vehicle body and a vehicle basket, the logistics vehicle body includes a vehicle head and a vehicle body, a driving module and wheels are arranged at the bottom of the vehicle head, a power module is arranged inside the vehicle head, the driving module is provided with a control unit, a display panel is arranged on the upper end surface of the vehicle head, the display panel is communicatively connected to the control unit, the control unit is communicatively connected to three UWB tracking module sensors, the three UWB tracking module sensors are arranged in a triangle in the vehicle head to form a UWB positioning base station, the control unit is connected to an electromagnetic lock, the electromagnetic lock is arranged on the upper end surface of the vehicle head, the electromagnetic lock is provided with a baffle, a placement groove is opened on the upper end surface of the vehicle head corresponding to the baffle, and a wristband is arranged in the placement groove;

[0006] The wristband includes a wristband body and a UWB tag arranged inside the wristband, and the UWB tag is communicatively connected with a UWB positioning base station.

[0007] Furthermore, the placement groove is a circular groove, the baffle plate corresponding to the circular groove is a disc-shaped structure, and one side of the baffle plate is hinged to the upper end surface of the vehicle head through a hinge;

[0008] The electromagnetic lock comprises a coil, a lock rod and a connecting portion, wherein the connecting portion is fixed to the baffle, a portion of the lock rod is arranged inside the vehicle head, and another portion passes through the upper end surface of the vehicle head;

[0009] The coil of the electromagnetic lock is electrically connected to the control unit, the lock rod is a columnar structure made of a metal conductive material, and the connecting part is a sheet structure made of a ferromagnetic material.

[0010] A placement slot is provided for convenient storage of the wristband, and a baffle and an electromagnetic lock are provided. When the electromagnetic lock is powered on, the baffle is in a closed state, and the wristband is locked in the placement slot to ensure that the wristband will not be lost. The electromagnetic lock has a simple structure and is easy to set up and control.

[0011] Furthermore, both sides of the front end of the vehicle head are provided with distance measuring sensors, the probes of the distance measuring sensors are fixed to the vehicle head, and the output ends of the distance measuring sensors are connected to the input ends of the control unit.

[0012] Setting up a distance measuring sensor combined with a control module provides the hardware basis for the automatic obstacle avoidance of logistics transport vehicles.

[0013] Furthermore, the basket is arranged at the upper end of the vehicle body, the vehicle body is a square plate structure, a pressure sensor is arranged on the upper end surface of the vehicle body, and the output end of the pressure sensor is connected to the input end of the control unit;

[0014] A circular through hole is provided in the middle of the vehicle body, a bearing is fixedly arranged in the circular through hole, the bearing is rotatably connected with a rotating shaft, the rotating shaft is fixed to the bottom of the vehicle basket, and the vehicle body and the vehicle basket are rotatably connected;

[0015] The bottom surfaces of the vehicle body and the basket are both provided with universal wheels;

[0016] The body and the front of the car are an integrated structure.

[0017] The basket and the front of the vehicle are easy to disassemble, and the rotating connection between the basket and the vehicle body can better adapt to turning. The pressure sensor is set to provide a hardware basis for the weight detection of the cargo in the basket.

[0018] Furthermore, the power module includes a charging chip and a battery, the charging chip is electrically connected to the battery, the control end of the charging chip is connected to the control unit, and the charging chip is also connected to a charging socket;

[0019] A charging hole is provided on the side of the front of the vehicle corresponding to the charging socket.

[0020] The logistics transport vehicle is powered by batteries, and a charging chip is provided to facilitate battery charging.

[0021] Through the above technical solution, the beneficial effects of the utility model are:

[0022] 1. The utility model provides a hardware foundation for realizing the automatic following of the staff by the logistics transport vehicle. A display panel is arranged on the front of the vehicle, and human-computer interaction is realized through the display panel. A control unit is arranged, and the control unit is connected to the UWB positioning base station. A wristband with an internal UWB tag is also arranged. During operation, the Internet of Things positioning technology is used to send a controller signal to the control unit, and then the control unit controls the movement of the logistics transport vehicle by controlling the drive module. When the wristband moves, the logistics transport vehicle follows the movement of the wristband.

[0023] 2. The utility model provides a placement slot on the front of the vehicle, a wristband is provided in the placement slot, and a baffle hinged to the front of the vehicle is provided above the placement slot. In a non-working state, the baffle blocks the placement slot to protect the wristband. In order to prevent the wristband from being lost, an electromagnetic lock is provided to fix the baffle. The electromagnetic lock is connected to the control unit, and the control unit controls the electromagnetic lock coil to turn on and off the power to control the opening and closing of the electromagnetic lock. The display panel can send unlocking and locking instructions to the control unit, thereby providing a hardware basis for wristband management. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is one of the structural schematic diagrams of an automatic following intelligent logistics transport vehicle of the utility model;

[0025] Figure 2 This is the second structural schematic diagram of an automatic following intelligent logistics transport vehicle of the utility model;

[0026] Figure 3 This is one of the electrical schematic diagrams of an automatic following intelligent logistics transport vehicle of the utility model;

[0027] Figure 4 This is the second electrical schematic diagram of an automatic following intelligent logistics transport vehicle of the utility model.

[0028] Figure numbers: 1 is the front of the vehicle, 2 is the body, 3 is the control unit, 4 is the display panel, 5 is the UWB positioning base station, 7 is the electromagnetic lock, 8 is the baffle, 9 is the placement slot, 10 is the bracelet, 11 is the UWB tag, 12 is the ranging sensor, 13 is the vehicle basket, 14 is the pressure sensor, 15 is the bearing, 16 is the rotating shaft, 17 is the charging chip, 18 is the battery, and 19 is the charging port. DETAILED DESCRIPTION

[0029] The utility model is further described below in conjunction with the accompanying drawings and specific embodiments:

[0030] Example 1

[0031] like Figures 1 to 4As shown, an automatic following intelligent logistics transport vehicle includes a logistics vehicle body and a vehicle basket 13, the logistics vehicle body includes a vehicle head 1 and a vehicle body 2, a driving module and wheels are arranged at the bottom of the vehicle head 1, a power module is arranged inside the vehicle head 1, the driving module is provided with a control unit 3, a display panel 4 is arranged on the upper end surface of the vehicle head 1, the display panel 4 is communicatively connected to the control unit 3, the control unit 3 is communicatively connected to three UWB tracking module sensors, the three UWB tracking module sensors are arranged in a triangle in the vehicle head 1 to form a UWB positioning base station 5, the control unit 3 is connected to an electromagnetic lock 7, the electromagnetic lock 7 is arranged on the upper end surface of the vehicle head 1, the electromagnetic lock 7 is provided with a baffle 8, a placement groove 9 is opened on the upper end surface of the vehicle head 1 corresponding to the baffle 8, and a wristband 10 is arranged in the placement groove 9;

[0032] The wristband 10 includes a wristband body and a UWB tag 11 arranged inside the wristband, and the UWB tag 11 is communicatively connected with the UWB positioning base station 5 .

[0033] The placement groove 9 is a circular groove, and the baffle plate 8 is a disc-shaped structure corresponding to the circular groove, and one side of the baffle plate 8 is hinged to the upper end surface of the vehicle head 1 through a hinge;

[0034] The electromagnetic lock 7 includes a coil, a lock rod 701 and a connecting portion 702, wherein the connecting portion 702 is fixed to the baffle plate 8, a portion of the lock rod 701 is disposed inside the vehicle head 1, and another portion passes through the upper end surface of the vehicle head 1;

[0035] The coil of the electromagnetic lock 7 is electrically connected to the control unit 3 , the lock rod 701 is a columnar structure made of a metal conductive material, and the connecting portion 702 is a sheet structure made of a ferromagnetic material.

[0036] The charging chip 17 is electrically connected to the battery 18, the control end of the charging chip 17 is connected to the control unit 3, and the charging chip 17 is also connected to a charging socket;

[0037] A charging hole 19 is provided on the side of the vehicle front 1 corresponding to the charging socket.

[0038] In this embodiment, the control unit 3 uses an STM32 single-chip microcomputer, the display panel 4 is an HMI module, the UWB tracking module sensor uses Qorvo's DW3120 module, and the UWB tag 11 is specifically a UWB tracking module sensor using Qorvo's DW3120 module. The power module includes a charging chip 17 and a battery 18, and the charging chip 17 uses a BQ24210 power chip. The output end of the battery 18 is connected to a voltage conversion chip. The voltage conversion chip outputs DC5V and DC3.3V currents.

[0039] During operation, an unlocking instruction is issued to the control unit 3 through the display panel 4. Then the control unit 3 de-energizes the coil of the electromagnetic lock 7. The magnetism of the electromagnetic lock 7 disappears, the baffle 8 is opened, the bracelet 10 is taken out, and the user wears the bracelet 10 and moves. The distance between the UWB tag 11 in the bracelet 10 and the UWB positioning base station 5 set in the head 1 changes, and the time taken by the three UWB tracking module sensors of the UWB positioning base station 5 to receive the signal sent by the UWB tag 11 changes. When the speed is constant, the distance and time are proportional. The distance between the UWB tag 11 and the three UWB tracking module sensors is obtained by the TOF algorithm, and the coordinates are established with the head 1 as the center. The coordinates of the UWB tag 11 are obtained by solving the triangle. Therefore, according to the coordinate information of the UWB tag 11 and the coordinate information of the head 1, the control unit 3 controls the driving module to work. The driving module includes a driving chip L289N and a DC motor. The output shaft of the DC motor is connected to the wheel transmission. The head 1 moves toward the coordinates of the UWB tag 11, so that the logistics transport vehicle follows the user.

[0040] When the use is finished, the bracelet 10 is placed in the placement slot 9, the baffle 8 is closed, and then the locking command is output on the display panel 4, and the control unit 3 controls the coil of the electromagnetic lock 7 to be energized.

[0041] Example 2

[0042] Based on the above embodiment, distance sensors 12 are provided on both sides of the front end of the vehicle head 1 , the probe of the distance sensor 12 is fixed to the vehicle head 1 , and the output end of the distance sensor 12 is connected to the input end of the control unit 3 .

[0043] The distance measuring sensor 12 detects the distance between the front of the vehicle and other objects (obstacles), providing a hardware basis for obstacle avoidance operations.

[0044] Example 3

[0045] Based on Example 1, the basket 13 is arranged at the upper end of the vehicle body 2, the vehicle body 2 is a square plate structure, and a pressure sensor 14 is arranged on the upper end surface of the vehicle body 2, and the output end of the pressure sensor 14 is connected to the input end of the control unit 3;

[0046] A circular through hole is provided in the middle of the vehicle body 2, a bearing 15 is fixedly disposed in the circular through hole, the bearing 15 is rotatably connected to a rotating shaft 16, the rotating shaft 16 is fixed to the bottom of the vehicle basket 13, and the vehicle body 2 and the vehicle basket 13 are rotatably connected;

[0047] The bottom surfaces of the vehicle body 2 and the vehicle basket 13 are both provided with universal wheels;

[0048] The vehicle body 2 and the vehicle front 1 are an integrated structure.

[0049] A pressure sensor 14 is provided to detect the weight of the articles stored in the basket 13. The stored weight can be displayed on the display panel 4.

[0050] The embodiments described above are only preferred embodiments of the present invention and are not intended to limit the scope of implementation of the present invention. Therefore, any equivalent changes or modifications made based on the structures, features and principles described in the patent scope of the present invention should be included in the patent application scope of the present invention.

Claims

1. An automatic following intelligent logistics transport vehicle, comprising a logistics vehicle body and a vehicle basket (13), wherein the logistics vehicle body comprises a vehicle head (1) and a vehicle body (2), a driving module and wheels are arranged at the bottom of the vehicle head (1), a power module is arranged inside the vehicle head (1), and the driving module is provided with a control unit (3), characterized in that: The upper end surface of the vehicle head (1) is provided with a display panel (4), the display panel (4) is communicatively connected to the control unit (3), the control unit (3) is communicatively connected to three UWB tracking module sensors, the three UWB tracking module sensors are arranged in a triangle in the vehicle head (1) to form a UWB positioning base station (5), the control unit (3) is connected to an electromagnetic lock (7), the electromagnetic lock (7) is arranged on the upper end surface of the vehicle head (1), the electromagnetic lock (7) is provided with a baffle (8), a placement groove (9) is provided on the upper end surface of the vehicle head (1) corresponding to the baffle (8), and a wristband (10) is arranged in the placement groove (9); The wristband (10) comprises a wristband body and a UWB tag (11) arranged inside the wristband, and the UWB tag (11) is communicatively connected to a UWB positioning base station (5).

2. The automatic following intelligent logistics transport vehicle according to claim 1 is characterized in that: The placement groove (9) is a circular groove, and the baffle plate (8) corresponding to the circular groove is a disc-shaped structure, and one side of the baffle plate (8) is hinged to the upper end surface of the vehicle head (1) through a hinge; The electromagnetic lock (7) comprises a coil, a locking rod (701) and a connecting portion (702), wherein the connecting portion (702) is fixed to the baffle (8), and a portion of the locking rod (701) is disposed inside the vehicle head (1) and another portion extends out of the upper end surface of the vehicle head (1); The coil of the electromagnetic lock (7) is electrically connected to the control unit (3); the lock rod (701) is a columnar structure made of a metallic conductive material; and the connecting portion (702) is a sheet structure made of a ferromagnetic material.

3. The automatic following intelligent logistics transport vehicle according to claim 1 is characterized in that: Distance measuring sensors (12) are provided on both sides of the front end of the vehicle head (1); a probe of the distance measuring sensor (12) is fixed to the vehicle head (1); and an output end of the distance measuring sensor (12) is connected to an input end of the control unit (3).

4. The automatic following intelligent logistics transport vehicle according to claim 1 is characterized in that: The vehicle basket (13) is arranged at the upper end of the vehicle body (2); the vehicle body (2) is a square plate structure; a pressure sensor (14) is arranged on the upper end surface of the vehicle body (2); an output end of the pressure sensor (14) is connected to an input end of the control unit (3); A circular through hole is provided in the middle of the vehicle body (2), a bearing (15) is fixedly arranged in the circular through hole, the bearing (15) is rotatably connected to a rotating shaft (16), the rotating shaft (16) is fixed to the bottom of the vehicle basket (13), and the vehicle body (2) and the vehicle basket (13) are rotatably connected; The bottom surfaces of the vehicle body (2) and the vehicle basket (13) are both provided with universal wheels; The vehicle body (2) and the vehicle front (1) are an integrated structure.

5. The automatic following intelligent logistics transport vehicle according to claim 1 is characterized in that: The power module comprises a charging chip (17) and a battery (18), the charging chip (17) being electrically connected to the battery (18), a control end of the charging chip (17) being connected to the control unit (3), and the charging chip (17) being further connected to a charging socket; A charging hole (19) is provided on the side of the vehicle head (1) corresponding to the charging socket.

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