Intelligent tractor

Abstract

The technical scheme of the utility model discloses an intelligent tractor which comprises a tractor body driving system, a coupler system, a charging system, a visual camera and a control system. The coupler system is installed at the front end and the rear end of the vehicle body driving system, the visual camera is arranged on the upper side of the coupler system, the charging system is arranged on the side face of the vehicle body driving system, and the control system is connected with the visual camera and controls the vehicle body driving system, the coupler system and the charging system. Through cooperation of the car body driving system, the car coupler system, the charging system, the visual camera and the control system, automatic car alignment of the car coupler connector is achieved, the car transfer task is automatically completed, and automatic charging can be completed when the electric quantity of a tractor is low.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the vehicle traction equipment technical field, and specifically relates to an intelligent tractor. BACKGROUND

[0002] The tractor is mainly used for the transverse rail transfer of the rail vehicle in the coating and assembly process of the vehicle, and completes the traction task of the rail vehicle. The tractor needs to be tractioned on the migration platform. Since the position of the vehicle hook of the tractor and the traction vehicle is uncertain, the hook of the vehicle hook is usually manually adjusted. Patent CN 11284283A discloses an automatic hooking system of a public road and a railway vehicle, which comprises a distance detection unit, an infrared position detection unit, a controller and a man-machine voice interaction unit; the controller is used for acquiring the distance between the public road and railway vehicle and the traction vehicle detected by the distance detection unit, and outputs a public road and railway vehicle stop instruction when the distance is less than a set distance threshold value, and then sends a public road and railway vehicle parking instruction to the man-machine voice interaction unit to broadcast the public road and railway vehicle parking information; the controller is used for acquiring the position information of the public road and railway vehicle hook adapter and the traction vehicle hook detected by the infrared position detection unit, and determining the alignment deviation value of the public road and railway vehicle hook adapter and the traction vehicle hook according to the position information, and adjusting the position of the public road and railway vehicle hook adapter when the alignment deviation value is greater than a set deviation threshold value until the connection is successful and stopped. It needs to be realized by the cooperation of multiple detection units. The cost is high, and faults are prone to occur. Therefore, a low-cost intelligent tractor capable of realizing automatic hooking and completing the automatic transfer of the traction vehicle needs to be developed. CONTENT OF THE UTILITY MODEL

[0003] In order to solve the existing technical problems, the utility model provides an intelligent tractor, which realizes the automatic hooking of the vehicle hook connector, automatically completes the migration task, and can complete automatic charging when the electric quantity of the tractor is low through the cooperation of the vehicle body driving system, the vehicle hook system, the charging system, the visual camera and the control system.

[0004] The technical scheme of the utility model is as follows: an intelligent tractor, comprising a vehicle body driving system, a vehicle hook system, a charging system, a visual camera and a control system; the vehicle hook system is installed at the front end and the rear end of the vehicle body driving system, the visual camera is arranged on the upper side of the vehicle hook system, the charging system is arranged on the side surface of the vehicle body driving system, the control system is connected with the visual camera, and the vehicle body driving system, the vehicle hook system and the charging system are controlled by the control system.

[0005] The vehicle body driving system comprises a vehicle frame, a motor, a motor reducer and a driving wheel; the motor, the motor reducer and the driving wheel are installed on the vehicle frame, and the motor is directly connected with the driving wheel through the motor reducer.

[0006] The car hook system comprises a car hook mounting seat, a car hook connector, a lifting mounting seat, a chain, a chain wheel support, a chain wheel, a straight line slide rail and a jacking oil cylinder, the car hook connector is installed on the car hook mounting seat, one end of the chain is connected with the car hook mounting seat, the other end is fixed on the lifting mounting seat, the lifting mounting seat is fixed on the car body driving system, the chain is installed on the chain wheel, the chain wheel is installed on the chain wheel support, the chain wheel support is slidably installed on the straight line slide rail, and the lower end of the chain wheel support is connected with the jacking oil cylinder;

[0007] The charging system is matched with the automatic charging machine and is used for charging the motor.

[0008] Further, the visual camera is used for shooting the model of the car hook connector of the towed vehicle and transmitting to the control system, and the control system controls the car hook system to adjust the height of the car hook connector and perform the hook butt joint operation.

[0009] Further, the visual camera is used for shooting the surrounding environment and transmitting to the control system, and the control system performs the intelligent positioning of the towing vehicle and the positioning of the target position.

[0010] Further, the motor adopts a storage battery as power, and specifically, a lithium battery.

[0011] Further, the intelligent towing vehicle is provided with an emergency brake button at each corner, and the roof is provided with a warning light, a buzzer and a horn.

[0012] When the intelligent towing vehicle works, the visual camera is first used for shooting the towed vehicle, the control system identifies the model of the car hook connector of the towed vehicle, then the control system controls the rotating disc on the car moving platform to steer the intelligent towing vehicle, so that the correct car hook connector of the intelligent towing vehicle faces the towed vehicle. When the car moving platform completes the track, the control system controls the jacking oil cylinder to work, and then drives the chain wheel support to ascend and descend along the straight line slide rail, finally drives the car hook mounting seat to ascend and descend through the chain wheel, so as to realize the ascending and descending of the car hook connector. When the intelligent towing vehicle is below the set value, the control system judges the position of the intelligent towing vehicle through the working scene shot by the visual camera, then controls the intelligent towing vehicle to drive to the position of the automatic charging machine, shoots the color card on the automatic charging machine through the visual camera, controls the intelligent towing vehicle to move to the accurate position, and connects the charging system with the automatic charging machine to charge.

[0013] The beneficial effects realized by the utility model are as follows:

[0014] (1) The utility model can realize the task of automatically pulling the pulled vehicle into the transfer platform or pushing the pulled vehicle out of the transfer platform without manual intervention of the tractor when the vehicle is transferred on the transfer platform according to the instruction pushed by the MOM system or the manually input instruction, and can complete automatic charging when the electric quantity of the tractor is low.

[0015] (2) The utility model can complete the identification of the drawbar connector of the pulled vehicle, the switching of the drawbar connector of the tractor, and the adjustment of the height of the drawbar connector and the automatic hooking through the shooting of the working scene by the visual camera and the control system.

[0016] (4) Multiple sensors are not needed to measure data, the cost is low, and the failure rate is low. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is a structural schematic view of the utility model;

[0018] Figure 2 It is a rear view of the utility model;

[0019] Figure 3 It is a structural schematic view of the body driving system of the utility model;

[0020] Figure 4 It is a structural schematic view of the drawbar system of the utility model.

[0021] In the figure, 1, body driving system; 2, drawbar system; 3, charging system; 4, visual camera; 5, warning light; 6, emergency brake button;

[0022] 11, vehicle frame; 12, motor; 13, motor reducer; 14, driving wheel;

[0023] 21, drawbar mounting seat; 22, drawbar connector; 23, lifting mounting seat; 25, chain wheel support; 26, chain wheel; 27, linear slide rail; 28, jacking oil cylinder. DETAILED DESCRIPTION

[0024] The utility model will be further explained in detail in combination with the drawings and specific embodiments. EMBODIMENT

[0025] Refer to Figures 1-4The utility model relates to an intelligent tractor, which comprises a vehicle body driving system 1, a coupler system 2, a charging system 3, a visual camera 4 and a control system, wherein the coupler system 2 is installed at the front end and the rear end of the vehicle body driving system 1, the visual camera 4 is arranged on the upper side of the coupler system 2, the charging system 3 is arranged on the side of the vehicle body driving system 1, and the control system is connected with the visual camera 4 and controls the vehicle body driving system 1, the coupler system 2 and the charging system 3.

[0026] The vehicle body driving system 1 comprises a vehicle frame 11, a motor 12, a motor reducer 13 and a driving wheel 14, wherein the motor 12, the motor reducer 13 and the driving wheel 14 are installed on the vehicle frame 11, the motor 12 is directly connected with the driving wheel 14 through the motor reducer 13,

[0027] The motor 12 provides power for the entire intelligent tractor, the motor 12 is directly connected with the driving wheel 14 through the motor reducer 13, thereby driving the walking of the entire intelligent tractor. The driving wheel 14 adopts a steel wheel guiding mode.

[0028] The coupler system 2 comprises a coupler mounting seat 21, a coupler connector 22, a lifting mounting seat 23, a chain, a chain wheel support 25, a chain wheel 26, a linear slide rail 27 and a jacking cylinder 28, wherein the coupler connector 22 is installed on the coupler mounting seat 21, one end of the chain is connected with the coupler mounting seat 21, the other end of the chain is fixed on the lifting mounting seat 23, the lifting mounting seat 23 is fixed on the vehicle body driving system 1, the chain is installed on the chain wheel 26, the chain wheel 26 is installed on the chain wheel support 25, the chain wheel support 25 is slidably installed on the linear slide rail 27, and the lower end of the chain wheel support 25 is connected with the jacking cylinder 28.

[0029] The lifting mounting seat 23 is fixed on the vehicle frame 11 of the vehicle body driving system 1, and the coupler mounting seat 21 is driven to move up and down by the chain transmission, thereby driving the coupler connector 22 to move up and down, so as to meet the needs of different coupler connector 22 heights for hooking.

[0030] The charging system 3 is adapted to an automatic charging machine and is used for charging the motor 12 of the vehicle body driving system 1. The automatic charging machine is prior art, for example, an automatic charging pile.

[0031] Further, the visual camera 4 is used for shooting and identifying the model of the coupler connector of the towed vehicle and transmitting to the control system, and the control system controls the coupler system 2 to adjust the height of the coupler connector 22 and performs the hooking butt joint operation.

[0032] The control system controls the rotation of the rotating disc on the migration platform to steer the intelligent towing vehicle according to the model of the towing hook connector 22 of the towed vehicle photographed by the visual camera 4, selects the correct towing hook connector 22 to face the towed vehicle, controls the lifting cylinder 28 to work after the migration platform completes the alignment, adjusts the height of the towing hook connector 22, so that the intelligent towing vehicle and the towed vehicle are on the same axis, and finally performs the hook docking operation. Through the identification of the color card of the towing hook connector of the towed vehicle, the control system obtains the height of the towing hook connector of the towed vehicle, thereby controlling the adjustment of the height of the towing hook connector 22 of the intelligent towing vehicle and the hook docking.

[0033] Further, the visual camera 4 is used to photograph the surrounding environment and transmit it to the control system, which performs self-positioning of the intelligent towing vehicle and positioning of the target position.

[0034] When the power of the intelligent towing vehicle is lower than the set value, the control system judges the position of the intelligent towing vehicle through the visual camera 4, then controls the intelligent towing vehicle to automatically drive to the automatic charging machine position, controls the intelligent towing vehicle to move to the precise positioning through the visual camera 4 photographing the color card on the automatic charging machine, and controls the charging system 3 to connect with the automatic charging machine for charging.

[0035] Further, the motor 12 uses a battery as power, and the motor of the embodiment 1 uses a lithium battery.

[0036] Further, the intelligent towing vehicle is provided with an emergency brake button 6 at each corner, and a warning light 5, a buzzer and a horn on the roof. The safety warning is performed through the warning light 5, the buzzer and the horn, and the safety is improved in combination with the emergency brake button.

[0037] When the intelligent towing vehicle of the embodiment 1 works, the towed vehicle is first photographed by the visual camera 4, the control system identifies the model of the towing hook connector 22 of the towed vehicle, then controls the rotating disc on the migration platform to steer the intelligent towing vehicle, so that the correct towing hook connector 22 of the intelligent towing vehicle faces the towed vehicle. When the migration platform completes the alignment, the control system controls the lifting cylinder 28 to work, thereby driving the chain wheel support 25 to ascend and descend along the linear slide rail 27, finally driving the towing hook mounting seat 21 to ascend and descend through the chain wheel 26 and the chain, realizing the ascending and descending of the towing hook connector 22, when the towing hook connector 22 moves to the same axis position with the vehicle connector of the towed vehicle, the control system controls the towing hook connector 22 to perform the hook docking operation, then the intelligent towing vehicle drives the whole vehicle to walk through the vehicle body driving system 1, and the towed vehicle is towed into the migration platform or pushed out of the migration platform.

[0038] When the electric quantity of the intelligent towing vehicle is less than 25%, the control system captures the working scene through the visual camera 4, judges the position of the intelligent towing vehicle, and then controls the intelligent towing vehicle to drive to the position of the automatic charging machine. The control system controls the intelligent towing vehicle to move to the accurate positioning through the color card on the automatic charging machine captured by the visual camera 4, and the charging system 3 is connected with the automatic charging machine to charge.

Claims

1. An intelligent tractor unit, characterized in that: It includes a vehicle driving system (1), a coupler system (2), a charging system (3), a vision camera (4), and a control system; the coupler system (2) is installed at the front and rear ends of the vehicle driving system (1), the vision camera (4) is located on the upper side of the coupler system (2), the charging system (3) is located on the side of the vehicle driving system (1), and the control system is connected to the vision camera (4) and controls the vehicle driving system (1), the coupler system (2), and the charging system (3). The coupler system (2) includes a coupler mounting base (21), a coupler connector (22), a lifting mounting base (23), a chain, a sprocket bracket (25), a sprocket (26), a linear slide rail (27), and a lifting cylinder (28). The coupler connector (22) is mounted on the coupler mounting base (21). One end of the chain is connected to the coupler mounting base (21), and the other end is fixed on the lifting mounting base (23). The lifting mounting base (23) is fixed on the vehicle drive system (1). The chain is mounted on the sprocket (26), and the sprocket (26) is mounted on the sprocket bracket (25). The sprocket bracket (25) is slidably mounted on the linear slide rail (27), and the lower end of the sprocket bracket (25) is connected to the lifting cylinder (28).

2. The intelligent tractor vehicle according to claim 1, characterized in that: The vehicle drive system (1) includes a frame (11), a motor (12), a motor reducer (13) and a drive wheel (14); the motor (12), the motor reducer (13) and the drive wheel (14) are mounted on the frame (11), and the motor (12) is directly connected to the drive wheel (14) through the motor reducer (13).

3. The intelligent tractor vehicle according to claim 1, characterized in that: The vision camera (4) is used to capture and identify the coupler connector model of the towed vehicle and transmit it to the control system. The control system controls the coupler system (2) to adjust the height of the coupler connector (22) and perform the hook-and-hook docking operation.

4. The intelligent tractor vehicle according to claim 1 or 3, characterized in that: The vision camera (4) is used to capture the surrounding environment and transmit the images to the control system, which then performs self-positioning and target positioning of the intelligent tractor.

5. The intelligent tractor vehicle according to claim 1, characterized in that: The charging system (3) is adapted to an automatic charger for charging the motor (12) of the vehicle drive system (1).

6. The intelligent tractor vehicle according to claim 1, characterized in that: The motor (12) is powered by a storage battery.

7. The intelligent tractor vehicle according to claim 1, characterized in that: The intelligent tractor is equipped with an emergency brake button (6) at each of its four corners, and a warning light (5), a buzzer alarm, and a horn on the roof.

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