Automatic tractor based on low-speed transportation in factory

Abstract

The utility model discloses an automatic tractor based on low-speed transportation in a factory. The automatic tractor comprises a drive-by-wire chassis module, a cockpit module, a sensor module, a traction assembly, a driving control equipment case and a battery. Wherein the control chassis module is used for bearing the driving cabin module and the driving control equipment case; the traction assembly is arranged on the side, close to the vehicle tail, of the drive-by-wire chassis module and used for pulling an object to be pulled. The sensor module is installed on the cockpit module and used for obtaining data of objects in the surrounding environment. The driving control equipment case comprises a case shell, a combined inertial navigation system and a central domain control module, wherein the combined inertial navigation system and the central domain control module are installed in the case shell. And the central domain control module receives data acquired by the sensor module and the combined inertial navigation system, processes the data and controls the line-controlled chassis module to move. The cockpit module can be debugged along with a vehicle through a driver in the cockpit module, and software development efficiency is improved through timely operation feedback.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic driving, and in particular to an automatic tractor based on low-speed transportation within a factory. Background Art

[0002] With the rapid development of autonomous driving technology, its application in logistics, transportation, and other fields is becoming increasingly widespread. As a key application of autonomous driving technology, the safety and reliability of autonomous tractors are crucial for improving transportation efficiency and reducing operating costs. Currently, most autonomous tractors on the market are a combination of a wire-controlled chassis and a control module. Each debugging process requires stopping the vehicle and exporting data for analysis. Furthermore, replacing sensors on an autonomous tractor requires remaking the connectors between the sensor and the vehicle body, which is time-consuming and impacts software development efficiency. Furthermore, while typical autonomous tractors are equipped with display screens, operational anomalies and software issues cannot be directly observed while the vehicle is in motion. Utility Model Content

[0003] In order to solve the problems in the background technology, the utility model provides an automatic tractor based on low-speed transportation within a factory area, which has convenient software development and timely feedback on operation tests.

[0004] To this end, the utility model adopts the following technical solutions:

[0005] An automatic tractor for low-speed transportation within a factory area, comprising a wire-controlled chassis module, a cockpit module, a sensor module, a traction component, a driving control device chassis, and a battery; wherein:

[0006] The control chassis module carries the cockpit module and the driving control device chassis; the traction assembly is arranged on the side of the wire-controlled chassis module close to the rear of the vehicle, and is used to pull the object to be towed;

[0007] The sensor module is mounted on the cockpit module and is used to obtain data about the surrounding environment;

[0008] The driving control device chassis includes a chassis shell and a combined inertial navigation system and a central domain control module installed in the chassis shell;

[0009] The drive-by-wire chassis module, the sensor module, and the combined inertial navigation system are all connected to the central domain control module;

[0010] The central domain control module receives and processes the data acquired by the sensor module and the combined inertial navigation system, and controls the control-by-wire chassis module to move;

[0011] The battery is used to power the wire-controlled chassis module, cockpit module, sensor module and driving control equipment chassis.

[0012] Preferably, a network module connected to the central domain control module is further installed in the driving control device chassis, and the network module is used to connect the central domain control module to a host computer through a network.

[0013] Preferably, the wire-controlled chassis module includes a tractor chassis and a wheel power assembly and a chassis VCU controller installed on the tractor chassis, and the chassis VCU controller is used to receive instructions from the central domain control module and control the steering or movement of the wheel power assembly.

[0014] Preferably, the cockpit module includes a transparent cockpit shell and a manual control unit installed in the cockpit shell; wherein:

[0015] The manual control unit includes a seat, a driving unit and a display; the driving unit is used to operate the automatic tractor in an emergency;

[0016] The display is connected to the central domain control module and is used to observe the driving status of the automatic tractor;

[0017] The cockpit shell is used to protect the working environment of the automatic tractor.

[0018] Preferably, the manual control unit further includes an operating unit, which is connected to the central domain control module and includes a wireless keyboard and mouse, a USB interface, a reserved interface and a voice controller; the operating unit is used to debug the automatic tractor.

[0019] Preferably, the sensor module includes first to third laser radars and first to fifth cameras, wherein:

[0020] The first laser radar is arranged on the top side of the cockpit shell near the front of the vehicle, and the second laser radar and the third laser radar are arranged horizontally symmetrically at both ends of the bottom of the cockpit shell on the front side of the vehicle; the first to third laser radars are used to construct a SLAM high-precision map of the driving area of ​​the autonomous tractor;

[0021] The first camera and the second camera are horizontally arranged in parallel in the middle of the front side of the cockpit shell, and are used to shoot targets in front of the automatic tractor. The third camera is installed on the side of the roof near the rear of the vehicle, and is used to shoot targets behind the automatic tractor. The fourth camera and the fifth camera are respectively arranged on the left and right edges of the front side of the cockpit shell, and are used to shoot targets on both sides of the automatic tractor. The targets include road elements, vehicles, pedestrians and objects to be towed around the automatic tractor.

[0022] Preferably, the field of view angle of the first camera is 60°, and the field of view angles of the second camera, the third camera, the fourth camera and the fifth camera are all 120°; the first laser radar, the second laser radar and the third laser radar are semi-solid laser radars or mechanical laser radars.

[0023] Preferably, a shock-absorbing pad is provided at the connection between the driving control device chassis and the control chassis module.

[0024] Preferably, the tractor chassis is further provided with an anti-collision bracket on the front side thereof, and the anti-collision bracket is used to provide protection when the automatic tractor collides with the target object.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] 1. The cockpit module of the present invention can be debugged on-board by the driver, and timely operational feedback can be provided to improve software development efficiency.

[0027] 2. The sensor module of the present invention provides brackets for a variety of sensors, which can facilitate algorithm development for R&D engineers. There is no need to re-make different brackets to adapt to different sensors. Sensor replacement is fast, which improves software development efficiency.

[0028] 3. The display and operating unit in the present invention can directly observe and operate the automatic tractor, and make timely analysis and adjustments to the vehicle control software. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the three-dimensional structure of the utility model;

[0030] Figure 2 This is a schematic diagram of the three-dimensional structure of the utility model from another angle;

[0031] Figure 3 This is a schematic diagram of the three-dimensional structure of the utility model from a top view;

[0032] Figure 4 This is a schematic diagram of the connection structure of each module in the present utility model.

[0033] In the figure: 1. Wire-controlled chassis module, 2. Cockpit module, 3. Sensor module, 4. Traction assembly, 5. Driving control equipment chassis, 101. Anti-collision bracket, 301. First laser radar, 302. Second laser radar, 303. Third laser radar, 304. First camera, 305. Second camera, 306. Third camera, 307. Fourth camera, 308. Fifth camera. DETAILED DESCRIPTION

[0034] The technical solution of the present utility model is further described in detail below with reference to the accompanying drawings.

[0035] Example 1

[0036] like Figure 1 、 Figure 2 and Figure 3 As shown, the automatic tractor for low-speed transportation within a factory area of ​​the present invention includes a wire-controlled chassis module 1, a cockpit module 2, a sensor module 3, a traction component 4, a driving control device chassis 5 and a battery.

[0037] The drive-by-wire chassis module 1 includes a tractor chassis, a wheel power assembly, and a chassis VCU controller mounted thereon. The chassis VCU controller is connected to the wheel power assembly and controls its steering or travel. The wheel power assembly can provide 6 tons of pulling force.

[0038] The tractor chassis carries the cockpit module 2 and the driving control system chassis 5. The cockpit module 2 comprises a transparent cockpit shell and a manual control unit mounted within the shell. The manual control unit includes a seat, a driving unit, and a display. The driving unit is used to operate the automated tractor in an emergency, and the display is used to monitor the tractor's driving status. The cockpit shell is also resistant to rain and snow, protecting the chassis' operating environment.

[0039] The sensor module 3 is installed on the cockpit shell and is used to sense targets in the surrounding environment;

[0040] Sensor module 3 includes three laser radars and five automotive-grade cameras. The first laser radar 301 is located on the top side of the cockpit housing, near the front of the vehicle. The second laser radar 302 and the third laser radar 303 are symmetrically located at either end of the bottom of the cockpit housing on the front side of the vehicle. The first, second, and third laser radars 301, 302, and 303 are semi-solid-state laser radars or mechanical laser radars, used to construct a high-precision SLAM map of the autonomous tractor's driving area. The first and second cameras 304, 305 are located horizontally and side by side in the center of the cockpit housing on the front side of the vehicle, used to capture objects in front of the autonomous tractor. The third camera 306 is mounted on the roof, near the rear, used to capture objects behind the autonomous tractor. The fourth and fifth cameras 307, 308 are located on the left and right edges of the cockpit housing on the front side of the vehicle, respectively, used to capture objects on both sides of the autonomous tractor. These objects include road elements, vehicles, pedestrians, and objects to be towed around the autonomous tractor. The field of view of the first camera 304 is 60°, and the field of view of the other cameras are all 120°.

[0041] The traction assembly 4 is arranged on one side of the rear end of the tractor chassis and is used to pull an object to be towed (not shown in the figure).

[0042] The driving control device chassis 5 includes a chassis shell and a combined inertial navigation system, a central domain control module and a network module installed in the chassis shell. Figure 4 As shown, the chassis VCU controller, display, sensor module 3, combined inertial navigation system and network module are all connected to the central domain control module; the combined inertial navigation system receives GPS signals and RTK differential positioning data and sends them to the central domain control module, and the network module is used to connect the central domain control module to the host computer through a network.

[0043] The central domain control module obtains data from the sensor module and the combined inertial navigation system for processing, and controls the chassis VCU controller to operate the wheel power assembly to move, thereby enabling the automatic guided vehicle to operate unmanned.

[0044] The battery is used to power the wire-controlled chassis module 1, the cockpit module 2, the sensor module 3, and the driving control equipment chassis 5.

[0045] Example 2

[0046] Based on the first embodiment, the manual control unit further includes an operation unit, which is connected to the central domain control module. The operator sets the destination for the automatic tractor through the operation unit. The operation unit includes a wireless keyboard and mouse, a USB interface, a reserved interface and a voice controller. Figure 4 shown.

[0047] When debugging an automatic tractor, the operator can see the visual dispatching system interface of the domain controller through the display and perform debugging operations on the unmanned tractor through a wireless keyboard and mouse or voice controller.

[0048] Although not shown in the figure, the brackets used to support the laser radar and camera in the sensor module are all replaceable brackets. The replaceable brackets are used to easily replace other models of laser radar and cameras.

[0049] Shock-absorbing pads are arranged around the driving control device chassis 5 to reduce the shaking of the equipment and play a shock-absorbing effect. The combined inertial navigation system is installed on the central axis of the automatic tractor body to improve the calibration effect.

[0050] The combined inertial navigation system is connected to the central domain control module through the CAN communication interface and 232 serial port.

[0051] An anti-collision bracket 101 is also installed on one side of the front of the tractor chassis to protect the vehicle body when the automatic tractor collides with a target object.

Claims

1. An automatic tractor for low-speed transportation within a factory, characterized by: It comprises a wire-controlled chassis module (1), a cockpit module (2), a sensor module (3), a traction component (4), a driving control device chassis (5) and a battery; wherein: The control chassis module (1) carries the cockpit module (2) and the driving control device chassis (5); the traction component (4) is arranged on a side of the wire-controlled chassis module (1) close to the rear of the vehicle and is used to pull the object to be towed; The sensor module (3) is mounted on the cockpit module (2) and is used to acquire data of the surrounding environment; The driving control device chassis (5) comprises a chassis shell and a combined inertial navigation system and a central domain control module installed in the chassis shell; The controlled-by-wire chassis module (1), the sensor module (3) and the combined inertial navigation system are all connected to the central domain control module; The central domain control module receives data acquired by the sensor module (3) and the combined inertial navigation system, processes the data, and controls the control-by-wire chassis module (1) to move; The battery is used to supply power to the wire-controlled chassis module (1), the cockpit module (2), the sensor module (3) and the driving control device chassis (5).

2. The automatic tractor for low-speed transportation within a factory according to claim 1, characterized in that: A network module connected to the central domain control module is also installed in the driving control device chassis (5), and the network module is used to connect the central domain control module to the host computer through a network.

3. The automatic tractor for low-speed transportation within a factory according to claim 2, characterized in that: The control-by-wire chassis module (1) comprises a tractor chassis, a wheel power assembly and a chassis VCU controller mounted on the tractor chassis, wherein the chassis VCU controller is used to receive instructions from the central domain control module and control the steering or travel of the wheel power assembly.

4. The automatic tractor for low-speed transportation within a factory according to claim 3, characterized in that: The cockpit module (2) comprises a transparent cockpit shell and a manual control unit installed in the cockpit shell; wherein: The manual control unit includes a seat, a driving unit and a display; the driving unit is used to operate the automatic tractor in an emergency; The display is connected to the central domain control module and is used to observe the driving status of the automatic tractor; The cockpit shell is used to protect the working environment of the automatic tractor.

5. The automatic tractor for low-speed transportation within a factory according to claim 4, characterized in that: The manual control unit also includes an operating unit, which is connected to the central domain control module. The operating unit includes a wireless keyboard and mouse, a USB interface, a reserved interface and a voice controller; the operating unit is used to debug the automatic tractor.

6. The automatic tractor for low-speed transportation within a factory according to claim 5, characterized in that: The sensor module (3) includes first to third laser radars and first to fifth cameras, wherein: The first laser radar (301) is arranged on the top of the cockpit shell on one side close to the front of the vehicle, and the second laser radar (302) and the third laser radar (303) are horizontally symmetrically arranged at both ends of the bottom of the cockpit shell on the front side of the vehicle; the first to third laser radars are used to construct a SLAM high-precision map of the driving area of ​​the automatic tractor; The first camera (304) and the second camera (305) are arranged horizontally and side by side in the middle of the front side of the cockpit shell, and are used to photograph the target object in front of the automatic tractor. The third camera (306) is installed on the side of the roof close to the rear of the vehicle, and is used to photograph the target object behind the automatic tractor. The fourth camera (307) and the fifth camera (308) are respectively arranged on the left and right edges of the front side of the cockpit shell, and are used to photograph the targets on both sides of the automatic tractor. The targets include road elements, vehicles, pedestrians and objects to be towed around the automatic tractor.

7. The automatic tractor for low-speed transportation within a factory according to claim 6, characterized in that: The field of view of the first camera (304) is 60°, and the field of view of the second camera (305), the third camera (306), the fourth camera (307) and the fifth camera (308) are all 120°; the first laser radar (301), the second laser radar (302) and the third laser radar (303) are semi-solid laser radars or mechanical laser radars.

8. The automatic tractor for low-speed transportation within a factory according to claim 7, characterized in that: A shock-absorbing pad is provided at the connection between the driving control device chassis (5) and the control chassis module (1).

9. The automatic tractor for low-speed transportation within a factory according to claim 8, characterized in that: The tractor chassis is further provided with an anti-collision bracket (101) on the front side of the vehicle, and the anti-collision bracket (101) is used to play a protective role when the automatic tractor collides with the target object.

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