Unmanned tractor capable of realizing automatic unhooking

Abstract

The utility model belongs to the field of logistics transportation equipment, and particularly relates to an unmanned tractor capable of realizing automatic unhooking, which comprises a tractor body, and a driving unit, a safety anti-collision unit, a navigation unit, a control unit and an automatic unhooking device which are arranged on the tractor body, the driving unit is fixed to the bottom of the tractor body through an axle and connected with the control unit, and operation of the tractor body is achieved according to instructions of the control unit. The navigation unit is arranged at the top of the tractor body to ensure that the unmanned tractor runs according to a route planned by a map; the safety anti-collision units are arranged on the tractor head and the tractor tail of the tractor body and connected with the control unit. The automatic unhooking and hooking device is installed at the tail of the tractor and connected with the control unit so that the tractor body and the trailer can complete the automatic unhooking and hooking action. The automatic unhooking and hooking device is exquisite in structure, unhooking and hooking can be achieved through reversing adjustment, and completely unmanned operation and heavy-load goods transportation can be achieved.

Description

Technical Field

[0001] The utility model belongs to the field of logistics transportation equipment, in particular to an unmanned tractor which can realize automatic detachment. Background Art

[0002] In recent years, with the rapid development of unmanned driving technology, unmanned tractors have received much attention in the field of logistics and transportation. They are widely used in airports, railway stations, parks, workshops and other scenarios, becoming an important means of transportation in the field of automated transportation.

[0003] Existing unmanned tractors all use a single navigation system with low navigation accuracy and cannot be used in multiple complex scenarios at the same time.

[0004] Most existing unmanned tractors use semi-automatic or manual unhooking methods. The connection of the trailer requires manual operation, which has low transportation efficiency and cannot achieve completely unmanned operation. In addition, the traction force that the hook can bear is generally small. Utility Model Content

[0005] The utility model aims to provide an unmanned tractor capable of automatically unhooking and uncoupling, so as to realize the automatic unhooking operation between the unmanned vehicle body and the trailer. When hooking is required, the positioning sensor scans and locates the position of the pin hole, adjusts the reversing angle of the tractor, and after the hook arm is in place, the detection switch feeds back a signal to the vehicle body control system, the tractor stops automatically, and the pin shaft lifting system controls the connection pin shaft to descend, so as to complete the automatic hooking of the trailer; when unhooking, after the tractor stops, the hook pin shaft lifting system controls the connection pin shaft to rise, and after the pin shaft rises in place, feeds back a signal to the vehicle body control system, the tractor drives forward, and the unhooking is completed; when the tractor tows the trailer, the connection pin shaft cooperates with the pin hole of the hook body, so as to transmit the traction force to the hook body and then to the tractor body.

[0006] The technical solution adopted by the utility model to achieve the above-mentioned purpose is: an unmanned tractor capable of automatically unhooking, comprising: a tractor body and a driving unit, a safety anti-collision unit, a navigation unit, a control unit and an automatic unhooking device arranged on the tractor body;

[0007] The drive unit is fixed to the bottom of the tractor body through the axle and connected to the control unit to realize the forward, reverse, deceleration or parking of the tractor body;

[0008] The navigation unit is installed on the top of the tractor body to ensure that the unmanned tractor drives according to the route planned by the map;

[0009] The safety anti-collision unit is arranged at the front and rear of the tractor body and is connected to the control unit so as to control the driving unit to perform obstacle avoidance control on the tractor body through the control unit;

[0010] The automatic unhooking device is installed at the rear of the tractor and connected to the control unit to achieve automatic unhooking of the tractor body and the trailer.

[0011] The navigation unit includes: two RTK sensors, a SLAM sensor and a navigation controller mounted on the top of the tractor body;

[0012] The RTK sensor and the SLAM sensor are both connected to the navigation controller; the navigation controller is connected to the control unit to determine whether the unmanned tractor is traveling according to the route planned by the map.

[0013] The safety anti-collision unit includes: a laser anti-collision sensor, an anti-collision camera and a reversing radar connected to the control unit;

[0014] The laser anti-collision sensor is arranged in front of the front of the tractor body in the forward direction to detect obstacles in the three-dimensional space in front of the tractor body and on the left and right sides;

[0015] The anti-collision camera is arranged on the front of the tractor body to detect obstacles in the three-dimensional space in front of the front of the vehicle and in front of the front windshield;

[0016] The reversing radar is arranged at the rear of the tractor body in the backward direction, so as to detect obstacles behind the vehicle when the tractor body performs the automatic unhooking operation.

[0017] There are two laser anti-collision sensors, which are symmetrically arranged at two corners of the front of the vehicle;

[0018] There are two anti-collision cameras, which are respectively arranged on the front of the tractor body along the forward direction and above the windshield.

[0019] The automatic hook-off device comprises: a positioning sensor, an outer cover plate, a guide groove, a connecting pin shaft, a pressure plate, a hook arm in place detection switch and a hook body;

[0020] The positioning sensor is arranged on the top of the outer cover plate and is connected to the control unit to scan the shape of the trailer arm and locate the position of the pin hole at the front end of the arm, and the control unit makes the connecting pin shaft arranged in the outer cover plate correspond to the position of the pin hole;

[0021] The outer cover plate is fixed to the rear of the tractor body through the hook body; a pressure plate is provided on the hook body under the outer cover plate, one side of the pressure plate is inclined relative to the hanging arm, and the other side is in contact with the hanging arm in place detection switch provided on the connecting plate, and when the hanging wall pushes the pressure plate, the hanging arm in place detection switch is triggered;

[0022] The guide groove is provided between the outer cover plate and the hook body to guide the movement position of the hook arm;

[0023] The arm-in-place detection switch is connected to the control unit. When reversing, the arm slides along the guide groove toward the pressure plate. When the arm contacts the pressure plate, the arm-in-place detection switch is triggered, and the arm-in-place signal is fed back to the control unit. The control unit controls the drive unit on the tractor body to stop the tractor automatically.

[0024] The connecting pin is connected to a pin drive motor in the outer cover plate, and the pin drive motor is connected to the connecting pin, so that the control unit controls the operation of the pin drive motor and drives the pin to extend or retract into the outer cover plate;

[0025] The hook body includes: a fixing plate fixed to the parking space and a connecting plate connected to the fixing plate;

[0026] The connecting plate is fixed horizontally just below the outer cover plate; the pressing plate is arranged between the outer cover plate and the connecting plate;

[0027] The guide groove is fixed on the connecting plate, and a through hole for inserting and cooperating with the connecting pin shaft is provided on the guide groove, and the groove body of the guide groove extends obliquely downward.

[0028] The guide groove is a trapezoidal groove type guide groove, and the width of the groove on the side away from the fixed end is greater than the width of the groove on the side of the fixed end.

[0029] The utility model has the following beneficial effects and advantages:

[0030] 1. The unmanned tractor navigation system provided by the utility model adopts the composite navigation technology of RTK+3D and SLAM+IMU, which can realize rapid modeling and reliable positioning of complex indoor and outdoor scenes; the high integration of RTK and SLAM can perform secondary refinement processing on point cloud data, and can achieve centimeter-level positioning accuracy; the high integration of RTK and SLAM can also unify the coordinate framework, and the coordinates can be kept consistent from outdoor to indoor, without setting control points and coordinate conversion.

[0031] 2. The automatic unhooking device provided by the utility model has a sophisticated structure. By connecting the pin shaft and the pin hole of the hook body, the traction force is transmitted to the hook body and then to the tractor body. The unhooking can be achieved by reversing adjustment, and it occupies a small area at the rear of the vehicle. It can be used to tow 25 tons of heavy-loaded cargo, and can realize completely unmanned operation and transportation of heavy-loaded cargo. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a schematic diagram of the structure of the unmanned tractor of the utility model;

[0033] Figure 2 This is a schematic diagram of the structure of the unmanned tractor of the utility model;

[0034] Figure 3This is a schematic diagram of the structure of the automatic unhooking device of the utility model;

[0035] Figure 4 It is a schematic diagram of the unmanned tractor of the utility model when it starts to dock with the trailer;

[0036] Figure 5 This is a schematic diagram of the unmanned tractor and trailer of the utility model after docking;

[0037] Among them, 1 is the tractor body, 2 is the laser anti-collision sensor, 3 is the anti-collision camera, 4 is the RTK sensor, 5 is the SLAM sensor, 6 is the drive unit, 7 is the automatic charging system, 8 is the automatic unhooking device, 9 is the reversing radar, 10 is the control unit, 11 is the positioning sensor, 12 is the outer cover plate, 13 is the guide groove, 14 is the connecting pin shaft, 15 is the pressure plate, 16 is the arm in place detection switch, 17 is the hook body, and 21 is the arm. DETAILED DESCRIPTION

[0038] The description of the embodiments of this specification should be combined with the corresponding drawings, which should be considered as part of the complete specification. In the drawings, the shape or thickness of the embodiments may be enlarged and indicated for simplification or convenience. Furthermore, the parts of each structure in the drawings will be described separately. It is worth noting that the elements not shown in the drawings or not described in words are in a form known to ordinary technicians in the relevant technical field.

[0039] The description of the embodiments herein and any reference to directions and orientations are only for the convenience of description and cannot be construed as any limitation on the scope of protection of the present invention. The following description of the preferred embodiments may involve a combination of features, which may exist independently or in combination, and the present invention is not particularly limited to the preferred embodiments. The scope of the present invention is defined by the claims.

[0040] The utility model is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0041] like Figure 1 and Figure 2 As shown, the utility model provides an unmanned tractor capable of automatic unhooking, comprising a tractor body 1, a drive unit 6, a control unit 10 installed inside a cab, an automatic unhooking device 8, a navigation unit, and a safety anti-collision unit.

[0042] The control unit 10 is connected to the driving unit 6, the safety anti-collision unit, the navigation unit and the automatic unhooking device 8 respectively;

[0043] The utility model further comprises an automatic charging system 7, which is a prior art and is arranged at one side of the tractor body 1 and connected to the control unit 10, for providing power and power control management for the unmanned tractor.

[0044] 1. Drive unit

[0045] The driving unit 6 is connected to the tractor body 1 through the axle, and the control unit 10 controls the driving unit 6 according to the instruction to realize the forward, reverse, deceleration or parking of the tractor body 1;

[0046] (II) Navigation Unit

[0047] The navigation unit is arranged on the top of the tractor body 1, and is used to feed back the position of the unmanned tractor to the control unit 10 in real time, so as to ensure that the unmanned tractor 1 travels according to the route planned by the map;

[0048] The navigation unit includes a composite navigation system composed of an RTK sensor 4, a SLAM sensor 5 and a navigation controller installed on the top of the tractor body 1;

[0049] There are two RTK sensors 4, which are used to receive data transmitted by satellites and base stations respectively, and send them to the navigation controller for calculation, so as to locate the three-dimensional coordinates and accuracy of the tractor in real time;

[0050] SLAM sensor 5, used to scan the surrounding environment in real time to build a map, and send it to the navigation controller for calculation to obtain the position of the unmanned tractor in the map;

[0051] The navigation controller is used to send the three-dimensional coordinates and accuracy of the positioning tractor, as well as the position of the unmanned tractor in the map to the control unit 10 to determine whether the unmanned tractor is traveling according to the route planned by the map.

[0052] The composite navigation system formed by the fusion of the RTK sensor 4 and the SLAM sensor 5 improves the accuracy and reliability of the navigation system. The two types of navigation under the same coordinate frame can be switched freely without setting control points, which can ensure the automatic operation of the unmanned tractor around the clock, indoors and outdoors, and greatly improve the transportation efficiency.

[0053] (III) Safety anti-collision unit

[0054] The safety anti-collision unit is used to detect obstacles around the driving route of the unmanned tractor in real time, and feed back the detected distance information to the control unit 10, and the control unit 10 controls the driving unit 6 to perform obstacle avoidance control on the tractor body;

[0055] The safety anti-collision unit includes a laser anti-collision sensor 2 installed in front of the tractor body 1, an anti-collision camera 3 and a reversing radar 9 installed at the rear of the tractor body 1.

[0056] The laser anti-collision sensor 2 installed in front of the tractor body 1 can detect obstacles in the three-dimensional space in front of the tractor and on the left and right sides; the anti-collision camera 3 installed in front of the tractor body 1 can detect obstacles in the three-dimensional space in front of the front of the vehicle and in front of the windshield; the reversing radar 9 installed at the rear of the tractor body 1 detects obstacles behind the vehicle when the tractor is automatically hooked; the safety anti-collision system detects obstacles around the vehicle in real time. When an obstacle is found, the sensor transmits a signal to the control unit 10 in the tractor body 1, and the control unit 10 controls the tractor drive unit 6 to slow down or stop to avoid a collision.

[0057] (IV) Automatic unhooking device

[0058] like Figure 3 , which is a schematic structural diagram of the automatic unhooking device of the present invention, the automatic unhooking device 8 installed at the rear of the tractor body 1 can realize the automatic docking of the unmanned tractor and the trailer.

[0059] In this embodiment, the automatic unhooking device 8 is installed at the rear of the tractor, and is used to feed back the final obtained hook arm in place signal to the control unit 10. The control unit 10 adjusts the tractor body through the drive unit 6 to achieve automatic hooking of the tractor body and the trailer.

[0060] The automatic hook-off device 8 comprises: a positioning sensor 11, an outer cover plate 12, a guide groove 13, a connecting pin 14, a pressing plate 15, a hook arm in place detection switch 16, and a hook body 17;

[0061] The positioning sensor 11 is arranged on the top of the outer cover plate 12 and is connected to the control unit 10, and is used to scan the shape of the trailer arm and locate the position of the pin hole at the front end of the trailer arm, and send the located pin hole position to the control unit 10. The control unit 10 adjusts the reversing angle of the tractor body 1 in real time according to the located pin hole position, so that the connecting pin shaft 14 corresponds to the pin hole position;

[0062] The connecting pin 14 is disposed in the outer cover plate 12 and is connected to the pin drive motor in the outer cover plate 12, so that the control unit 10 controls the operation of the pin drive motor and drives the pin to extend or retract into the outer cover plate 12;

[0063] The outer cover plate 12 is fixed to the rear of the tractor body 1 through the hook body 17;

[0064] The hook body 17 includes: a fixing plate fixed to the parking space and a connecting plate connected to the fixing plate;

[0065] The connecting plate is fixed horizontally just below the outer cover plate 12; the pressing plate 15 is arranged between the outer cover plate 12 and the connecting plate; one side of the pressing plate 15 is inclined relative to the hanging arm, and the other side is in contact with the hanging arm in place detection switch 16 arranged on the connecting plate. When the hanging wall pushes the pressing plate 15, the hanging arm in place detection switch 16 is triggered;

[0066] The guide groove 13 is fixed on the connecting plate, and a through hole is provided on the guide groove 13 for inserting and cooperating with the connecting pin shaft (14), and the groove body of the guide groove (13) extends obliquely downward; the guide groove 13 is a trapezoidal groove type guide groove, and the groove width dimension on the side away from the fixed end is greater than the groove width dimension on the side of the fixed end.

[0067] The arm-in-place detection switch 16 is connected to the control unit 10. When reversing, the arm slides along the guide groove 13 toward the pressure plate 15. When the arm contacts the pressure plate 15, the arm-in-place detection switch 16 is triggered, and the arm-in-place signal is fed back to the control unit 10. The control unit 10 controls the drive unit 6 on the tractor body to stop.

[0068] In another embodiment, the automatic unhooking device is also provided with unhooking and hooking buttons for manual operation; at the same time, a manual crank is provided. When a circuit failure occurs in the automatic unhooking device, the manual crank can be used to control the rise and fall of the connecting pin shaft 14 to ensure that when a failure occurs, the tractor can be separated from the trailer without affecting the individual use of each mechanism.

[0069] like Figure 1 and Figure 2 As shown, a control method of an unmanned tractor capable of automatically unhooking in the utility model is specifically as follows:

[0070] 1) The control unit 10 starts and runs the unmanned tractor through the driving unit 6, and the navigation unit feeds back the position of the unmanned tractor to the control unit 10 in real time, so that the unmanned tractor drives according to the route planned by the map;

[0071] 2) During the driving process of the unmanned tractor, the safety anti-collision unit detects obstacles around the driving route of the unmanned tractor in real time, and feeds back the detected distance information to the control unit 10, and the control unit 10 controls the driving unit 6 to perform obstacle avoidance control on the tractor body;

[0072] 3) When the unmanned tractor needs to unhook the trailer, the control unit 10 receives the hook arm arrival signal sent by the automatic unhook device 8, controls the tractor body to stop, and adjusts the tractor body (1) through the drive unit 6 according to the body adjustment angle fed back by the positioning sensor (11) on the hook body (17), so as to realize the automatic hooking or unhooking action between the tractor body and the trailer.

[0073] The working principle of the utility model is as follows:

[0074] like Figure 4 and Figure 5 As shown, it is a schematic diagram of the unmanned tractor and trailer of the utility model before and after completing docking. When the unmanned tractor needs to hook, the tractor reverses backwards, and at the same time, the positioning sensor 11 on the hook scans the shape of the hanging arm 21, locates the pin hole position at the front end of the hanging arm 21, and the tractor adjusts the reversing angle of the tractor in real time according to the signal fed back by the positioning sensor 11, so that the hanging arm 21 enters the range of the guide groove 13. When reversing, the hanging arm 21 slides forward along the guide groove 13. When the hanging arm 21 contacts the pressure plate 15, the hanging arm in place detection switch 16 is triggered, and the hanging arm in place signal is fed back to the tractor, and the tractor control system controls the driving system of the tractor to stop. At this time, under the guiding effect of the guide groove 13, the pin hole at the front end of the hanging arm 21 is coaxial with the connecting pin shaft 14, and the connecting pin shaft 14 drops, and the unmanned tractor and the trailer complete the automatic hooking action.

[0075] When the unmanned tractor needs to be unhooked, the tractor stops, the connecting pin 14 rises, the tractor control system controls the driving system to make the tractor move forward, and the hanging arm 21 slides backward along the guide groove 13 to complete the automatic unhooking action.

[0076] When the unmanned tractor tows a trailer, the connecting pin 14 cooperates with the pin hole of the hook body 17 to transmit the traction force to the hook body 17 and then to the tractor body. The automatic unhooking device of the above structure can be used to tow 25 tons of heavy-loaded cargo.

[0077] The above description is only an implementation method of the utility model and is not intended to limit the protection scope of the utility model. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the utility model are included in the protection scope of the utility model.

Claims

1. An unmanned tractor capable of automatic detachment, characterized in that: include: A tractor body (1), and a drive unit (6), a safety anti-collision unit, a navigation unit, a control unit (10), and an automatic unhooking device (8) arranged on the tractor body (1); The driving unit (6) is fixed to the bottom of the tractor body (1) via a vehicle bridge and is connected to the control unit (10) to enable the tractor body (1) to move forward, backward, slow down or stop; The navigation unit is arranged on the top of the tractor body (1) to ensure that the tractor body (1) travels according to the route planned by the map; The safety anti-collision unit is arranged at the front and rear of the tractor body (1) and is connected to the control unit (10) so as to control the driving unit (6) through the control unit (10) to perform obstacle avoidance control on the tractor body (1); The automatic unhooking device (8) is installed at the rear of the tractor and is connected to the control unit (10) to achieve the automatic unhooking action between the tractor body and the trailer.

2. The unmanned tractor capable of automatic detachment according to claim 1, characterized in that: The navigation unit comprises: two RTK sensors (4) installed on the top of the tractor body (1), a SLAM sensor (5) and a navigation controller; The RTK sensor (4) and the SLAM sensor (5) are both connected to a navigation controller; the navigation controller is connected to a control unit (10) to determine whether the tractor body (1) is traveling according to a route planned on a map.

3. The unmanned tractor capable of automatic detachment according to claim 1, characterized in that: The safety anti-collision unit comprises: a laser anti-collision sensor (2) connected to a control unit (10), an anti-collision camera (3) and a reversing radar (9); The laser anti-collision sensor (2) is arranged in front of the front of the tractor body (1) in the forward direction, so as to detect obstacles in the three-dimensional space in front of the tractor body (1) and on the left and right sides; The anti-collision camera (3) is arranged on the front of the tractor body (1) to detect obstacles in the three-dimensional space in front of the front of the vehicle and in front of the front windshield; The reversing radar (9) is arranged at the rear of the tractor body (1) in the backward direction, so as to detect obstacles behind the vehicle when the tractor body (1) performs an automatic unhooking operation.

4. The unmanned tractor capable of automatic detachment according to claim 3, characterized in that: There are two laser anti-collision sensors (2), which are symmetrically arranged at two corners of the front of the vehicle. There are two anti-collision cameras (3), which are respectively arranged at the front of the tractor body (1) and above the windshield.

5. The unmanned tractor capable of automatic detachment according to claim 1, characterized in that: The automatic hook-off device (8) comprises: a positioning sensor (11), an outer cover plate (12), a guide groove (13), a connecting pin shaft (14), a pressure plate (15), a hook arm in-place detection switch (16) and a hook body (17); The positioning sensor (11) is arranged on the top of the outer cover plate (12) and is connected to the control unit (10) to scan the shape of the trailer arm and locate the position of the pin hole at the front end of the arm. The control unit (10) makes the connecting pin shaft (14) arranged in the outer cover plate (12) correspond to the position of the pin hole; The outer cover plate (12) is fixed to the rear of the tractor body (1) through a hook body (17); a pressure plate (15) is provided on the hook body (17) under the outer cover plate (12); one side of the pressure plate (15) is inclined relative to the hanging arm, and the other side abuts against a hanging arm in-position detection switch (16) provided on the connecting plate; when the hanging arm pushes the pressure plate (15), the hanging arm in-position detection switch (16) is triggered; The guide groove (13) is arranged between the outer cover plate (12) and the hook body (17) to guide the movement position of the hook arm; The arm-in-place detection switch (16) is connected to the control unit (10). When reversing, the arm slides along the guide groove (13) toward the pressure plate (15). When the arm contacts the pressure plate (15), the arm-in-place detection switch (16) is triggered, and a arm-in-place signal is fed back to the control unit (10). The control unit (10) controls the drive unit (6) on the tractor body to automatically stop the tractor.

6. The unmanned tractor capable of automatic detachment according to claim 5, characterized in that: The connecting pin shaft (14) is connected to a pin shaft driving motor in the outer cover plate (12), and the pin shaft driving motor is connected to the connecting pin shaft (14) so ​​that the operation of the pin shaft driving motor is controlled by the control unit (10) and the pin shaft is driven to extend or retract into the outer cover plate (12).

7. The unmanned tractor capable of automatic detachment according to claim 5, characterized in that: The hook body (17) comprises: a fixing plate fixed to the parking space and a connecting plate connected to the fixing plate; The connecting plate is horizontally fixed just below the outer cover plate (12); the pressing plate (15) is arranged between the outer cover plate (12) and the connecting plate; The guide groove (13) is fixed on the connecting plate, and a through hole for inserting and cooperating with the connecting pin shaft (14) is provided on the guide groove (13), and the groove body of the guide groove (13) extends obliquely downward.

8. The unmanned tractor capable of automatic detachment according to claim 5, characterized in that: The guide groove (13) is a trapezoidal groove type guide groove, and the width of the groove on the side away from the fixed end is greater than the width of the groove on the side of the fixed end.

Images