Unmanned towing vehicle

Abstract

The utility model discloses unmanned tractor, specifically relates to tractor technical field, including base, be provided with scanning driving assembly on the base, scanning driving assembly includes the protection box of setting on the base, the visual obstacle avoidance camera for obstacle avoidance is provided with one side of protection box, the bottom of visual obstacle avoidance camera is provided with the obstacle avoidance laser for scanning. The utility model is through the integration visual obstacle avoidance camera, obstacle avoidance laser, laser radar, ultrasonic wave radar etc. Variety of sensing components, combine AI path planning and obstacle identification algorithm, realized completely unmanned driving operation, need not to rely on the continuous operation of driver, is not restricted by the work system, can realize continuous transportation according to actual demand, effectively avoided the transportation interruption caused by personnel rest, significantly improved the overall efficiency of logistics transportation, especially suitable for logistics peak period or emergency transportation task scene.

Description

Technical Field

[0001] This utility model relates to the field of tractor technology, and more specifically, to unmanned tractor vehicles. Background Technology

[0002] With the rapid development of industrial production and logistics, factories, warehousing centers, and other similar settings are placing increasingly stringent demands on the efficiency and stability of material traction transportation. Currently, the mainstream traction transportation method in the market is still manned operation, but this model has significant limitations in practical applications: Firstly, operating hours are limited. Drivers' working hours are clearly restricted by labor laws (such as the 8-hour workday), making it impossible to work continuously for 24 hours. During peak logistics periods or emergency transportation tasks, transportation is easily interrupted due to personnel rest, affecting the overall production rhythm. At the same time, long driving times can cause driver fatigue, further reducing operational efficiency and safety.

[0003] Secondly, the risk of operational errors is relatively high. During manual driving, the driver's operational precision is easily affected by subjective factors such as the degree of concentration and reaction speed. Especially in complex working environments (such as multiple obstacles and narrow passages), when faced with emergencies, the human emergency response capability is limited, and operational errors such as collisions and path deviations are prone to occur. This may not only cause damage to goods and equipment failures, but may also lead to safety accidents. Therefore, an unmanned tractor is provided. Utility Model Content

[0004] In order to overcome the above-mentioned defects of the prior art, the present invention provides an unmanned tractor vehicle, which aims to solve the problems mentioned in the background art.

[0005] This utility model provides the following technical solution: an unmanned tractor vehicle, including a base, on which a scanning driving component is provided; The scanning driving component includes a protective case mounted on a base, a visual obstacle avoidance camera for obstacle avoidance on one side of the protective case, and an obstacle avoidance laser for scanning on the bottom of the visual obstacle avoidance camera. A support plate is provided on the side of the base away from the protective box. A mounting base is provided on the top of the support plate. An ultrasonic radar for emitting ultrasonic waves and receiving reflected waves to calculate distance is provided on the top of the mounting base. A laser radar for laser scanning is provided at one end of the mounting base. A camera for capturing images is provided at the bottom of the laser radar.

[0006] Optionally, in a possible implementation, an extension plate is bolted to the top of the support plate, the mounting base is bolted to the extension plate, and an indicator light for displaying the working status is provided on one side of the extension plate. A support frame for support is provided on the top of the protective box, a display screen for display is provided on the top of the support frame, a control panel for operation is provided on one side of the display screen, and a crash bar is provided on one side of the bottom of the protective box, the crash bar being bolted to the protective box. Optionally, in a possible implementation, the bottom of the base and one end of the base are respectively provided with support wheels, which support the base and the protective box for transportation. The support plate has a backrest on the side facing the protective box, which is bolted to the support plate, allowing the staff to lean against the support plate. The visual obstacle avoidance camera and the obstacle avoidance laser are each bolted to one side with a support rod, which is bolted to the protective box for adjusting the installation height of the visual obstacle avoidance camera and the obstacle avoidance laser.

[0007] The technical effects and advantages of this utility model are as follows: By integrating various sensing components such as visual obstacle avoidance cameras, obstacle avoidance lasers, lidar, and ultrasonic radar, and combining AI path planning and obstacle recognition algorithms, fully unmanned driving operations are achieved. It does not rely on continuous operation by a driver, is not constrained by work schedules, and can achieve continuous transportation according to actual needs. It effectively avoids transportation interruptions caused by personnel rest, significantly improves the overall efficiency of logistics transportation, and is especially suitable for logistics peak periods or emergency transportation missions. By employing a multi-dimensional obstacle detection system that combines visual recognition, laser detection, and ultrasonic ranging, the visual obstacle avoidance camera can capture environmental images in real time, the obstacle avoidance laser can quickly detect nearby obstacles, the ultrasonic radar can accurately measure the distance to objects in front, and the lidar can achieve omnidirectional environmental scanning. Data from each component is transmitted to the control module in real time for fusion analysis. Compared to the subjective judgment and limited reaction speed of manual driving, it can identify obstacles and emergencies more quickly and accurately, and automatically trigger emergency measures such as deceleration, steering, and braking, significantly reducing the probability of operational errors such as path deviation and collisions. At the same time, the anti-collision strips and braking modules of the support wheels equipped in the protective box further enhance the safety of the equipment and the working environment. Attached Figure Description

[0008] To more clearly illustrate the technical solutions in this disclosure, the accompanying drawings used in some embodiments will be briefly described below. Obviously, the drawings described below are only drawings of some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings. In addition, the drawings described below can be regarded as schematic diagrams and are not intended to limit the actual size of the product, the actual flow of the method, the actual timing of the signals, etc. involved in the embodiments of this disclosure.

[0009] Figure 1 This is a front view of the overall structure of this utility model.

[0010] Figure 2 This is a schematic diagram of the protective box, obstacle avoidance laser, anti-collision strip, visual obstacle avoidance camera, support rod, display screen and control panel of this utility model.

[0011] Figure 3 This is a schematic diagram of the extension board, indicator light, mounting base, camera, lidar, and ultrasonic radar of this utility model.

[0012] Figure 4 This is a schematic diagram of the protective box, visual obstacle avoidance camera, obstacle avoidance laser and anti-collision strip of this utility model.

[0013] The attached diagram is labeled as follows: 1. Base; 2. Protective box; 3. Visual obstacle avoidance camera; 4. Obstacle avoidance laser; 5. Support plate; 6. Extension plate; 7. Mounting base; 8. Ultrasonic radar; 9. LiDAR; 10. Camera; 11. Indicator light; 12. Support rod; 13. Display screen; 14. Control panel; 15. Anti-collision strip; 16. Support wheel; 17. Backrest panel. Detailed Implementation

[0014] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention.

[0015] Example 1 This embodiment discloses an unmanned tractor, which aims to solve the problems of limited working time, high risk of operational errors, and difficulty in personnel management of existing manned tractors.

[0016] Specifically, the unmanned tractor in this embodiment includes a base 1, which serves as the installation foundation and load-bearing body of the overall equipment. Support wheels 16 are respectively provided at its bottom and one end. The support wheels 16 are made of wear-resistant rubber and equipped with shock-absorbing bearings. They are fixedly connected to the base 1 by bolts, which can stably support the base 1 and the various components installed on it, ensuring that the equipment can be transported smoothly on flat ground or in a slightly bumpy workshop environment. At the same time, the support wheels 16 are equipped with an independent braking module, which can quickly lock in an emergency, improving operational safety.

[0017] A protective box 2 is fixedly installed on one side of the upper surface of the base 1. The protective box 2 is made of high-strength aluminum alloy and forms a sealed cavity inside to house the core control modules of the autonomous driving system, such as the processor and power supply unit, providing protection against dust, moisture, and collisions. Figure 2 and Figure 4 As shown, a support rod is bolted to the upper side of one side of the protective box 2. The support rod is fixedly connected to both sides of the housing of the visual obstacle avoidance camera 3. The visual obstacle avoidance camera 3 is a high-definition wide-angle camera with its lens facing the direction of the device's movement. It can collect image information of the environment in front in real time and transmit it to the control module to realize visual recognition of obstacles. At the bottom of the visual obstacle avoidance camera 3, corresponding to the same side wall position of the protective box 2, an obstacle avoidance laser 4 is installed by a support rod. The length of the support rod can be extended or retracted by adjusting bolts, thereby adjusting the installation height of the obstacle avoidance laser 4. The obstacle avoidance laser 4 is an infrared laser emitter with a emission angle of 120°. It works with the visual obstacle avoidance camera 3 to form a dual short-range obstacle detection mechanism of vision and laser. When the laser beam is blocked by an obstacle, a distance warning signal can be quickly triggered.

[0018] A crash strip 15 is bolted to the bottom outer side of the protective box 2. Figure 2 and Figure 4 As shown, the anti-collision strip 15 is made of elastic polyurethane material and is horizontally set along the width of the protective box 2, with a thickness of 5cm. When the equipment is accidentally collided, the anti-collision strip 15 can absorb the impact force through its own deformation, preventing damage to the protective box 2 and its internal components. A cylindrical support frame 12 is vertically welded to the top center of the protective box 2. The top of the support frame 12 is fixedly mounted with a display screen 13 via a flange. The display screen 13 is a touch-screen LCD display that can display the equipment's working status in real time, such as driving speed, remaining battery power, and current task progress. A control panel 14 is integrated on the right side of the display screen 13. The control panel 14 integrates a power switch, a manual / automatic mode switch button, an emergency stop button, etc., to facilitate manual intervention by staff in special circumstances.

[0019] Example 2 Based on Example 1, this embodiment, for example Figure 1 and Figure 3As shown, a support plate 5 is vertically welded to the upper surface of the base 1 on the side away from the protective box 2. The support plate 5 is a rectangular steel plate, and its height is higher than the top of the protective box 2. A backrest plate 17 is bolted to the side of the support plate 5 facing the protective box 2. The backrest plate 17 is made of soft sponge wrapped around a hard base plate, and its surface is provided with anti-slip texture. When the equipment requires temporary manual assistance, the operator can lean against the backrest plate 17 to improve operating comfort. An extension plate 6 is fixed to the top of the support plate 5 with four high-strength bolts. The extension plate 6 is a horizontally set rectangular plate, and its length direction is consistent with the length direction of the base 1. An indicator light 11 is embedded in the right side wall of the extension plate 6. The indicator light 11 includes red, green and yellow LED beads, which correspond to the fault status, normal operation status and standby status of the equipment, respectively. The constant light or flashing light can intuitively reflect the operating status of the equipment, which is convenient for the operator to observe from a distance.

[0020] A mounting base 7 is fixedly installed on the top of the extension plate 6. For example... Figure 3 As shown, an ultrasonic radar 8 is fixedly mounted on the top of the mounting base 7 with bolts. The transmitting and receiving ends of the ultrasonic radar 8 are both facing forward. It can emit ultrasonic signals and receive reflected waves. By calculating the signal propagation time, it obtains the distance data between the device and the obstacle in front. Its detection distance range is 0.5-10 meters. Together with the visual obstacle avoidance camera 3 and the obstacle avoidance laser 4, it forms a multi-dimensional and multi-level obstacle detection system to ensure accurate identification of obstacles of different distances and types, such as walls, shelves, people, and other equipment.

[0021] A lidar 9 is mounted on the front end of the mounting base 7, near the direction of the device's movement, via a rotary joint. The lidar 9 can rotate 360° around the rotary joint to scan, with a scanning frequency of 10Hz and a detection radius of up to 20 meters. It can comprehensively collect 360° three-dimensional environmental data around the device, providing accurate spatial environmental information for path planning algorithms. At the bottom of the lidar 9, corresponding to the position below the horizontal section of the mounting base 7, a camera 10 is fixedly installed. This camera 10 is a high-definition night vision camera with its lens facing the ground. It can collect image information of the ground below the device and at close range, and can identify ground markings, QR codes, and other navigation marks, assisting the lidar 9 in achieving high-precision positioning and path tracking.

[0022] The specific working principle is as follows: The operator presses the power switch on the control panel 14, the equipment starts up and enters the initialization state, the display screen 13 shows the initialization progress, and the indicator light 11 flashes yellow; the lidar 9 begins a 360° rotating scan to collect initial three-dimensional data of the surrounding environment, the ultrasonic radar 8, the visual obstacle avoidance camera 3, and the obstacle avoidance laser 4 complete self-checks in sequence and enter the working state, the camera 10 collects the initial image of the ground, and the data of all sensing components are transmitted to the control module in the protective box 2 for data fusion and environmental modeling.

[0023] Staff input transportation tasks such as origin, destination, and route via display screen 13. The control module, combined with the environmental model and high-precision map constructed by lidar 9, automatically plans the optimal driving path. After path confirmation, it switches to automatic mode, and the equipment starts the drive module of support wheels 16 to drive along the planned path. During driving, visual obstacle avoidance camera 3 collects images of the front in real time and identifies the shape and type of obstacles; obstacle avoidance laser 4 continuously emits laser beams to monitor sudden obstacles at close range; ultrasonic radar 8 dynamically measures the distance to obstacles in front, and when the distance is less than the safety threshold preset by the control module, the control module automatically issues deceleration or steering commands; lidar 9 continuously updates surrounding environmental data and adjusts the driving path in a timely manner to avoid dynamic obstacles such as moving staff and temporarily placed goods; camera 10 corrects the driving trajectory by recognizing ground marking lines to ensure that the equipment drives accurately along the preset route.

[0024] During operation, the display screen 13 shows real-time information such as driving speed, remaining battery power, and current location, while the indicator light 11 remains solid green. If a sensing component malfunctions, such as an abnormal data collection by the visual obstacle avoidance camera 3, the control module immediately issues an alarm signal, the display screen 13 displays the fault type, the indicator light 11 flashes red, and the equipment automatically decelerates to a stop. In case of an emergency, staff can force a stop via the emergency stop button on the control panel 14 or send a stop command via the remote control terminal, causing the brake module of the support wheel 16 to lock quickly and prevent accidents.

[0025] After the equipment reaches its destination, it will automatically stop and brake. The indicator light 11 will return to a solid yellow light, and the display screen 13 will indicate that the task is completed. Staff can then perform loading and unloading operations. After completion, a new transportation task can be entered or the system can be switched to standby mode.

[0026] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. An unmanned tractor vehicle, including a base (1), characterized in that: The base (1) is equipped with a scanning driving component; The scanning driving component includes a protective box (2) mounted on a base (1), a visual obstacle avoidance camera (3) for obstacle avoidance is mounted on one side of the protective box (2), and an obstacle avoidance laser (4) for scanning is mounted on the bottom of the visual obstacle avoidance camera (3). A support plate (5) is provided on the side of the base (1) away from the protective box (2). A mounting seat (7) is provided on the top of the support plate (5). An ultrasonic radar (8) for emitting ultrasonic waves and receiving reflected waves to calculate distance is provided on the top of the mounting seat (7). A laser radar (9) for laser scanning is provided at one end of the mounting seat (7). A camera (10) for taking pictures is provided at the bottom of the laser radar (9).

2. The unmanned tractor vehicle according to claim 1, characterized in that: An extension plate (6) is bolted to the top of the support plate (5), and the mounting base (7) is bolted to the extension plate (6). An indicator light (11) for displaying the working status is provided on one side of the extension plate (6).

3. The unmanned tractor vehicle according to claim 1, characterized in that: The protective box (2) is provided with a support frame (12) for support, and a display screen (13) for display is provided on the top of the support frame (12). A control panel (14) for operation is provided on one side of the display screen (13).

4. The unmanned tractor vehicle according to claim 1, characterized in that: A crash bar (15) is provided on one side of the bottom of the protective box (2), and the crash bar (15) is installed on the protective box (2) by bolts.

5. The unmanned tractor vehicle according to claim 1, characterized in that: The bottom of the base (1) and one end of the base (1) are respectively provided with support wheels (16), which support the base (1) and the protective box (2) for transporting the base (1) and the protective box (2).

6. The unmanned tractor vehicle according to claim 1, characterized in that: The support plate (5) has a backrest (17) on the side facing the protective box (2). The backrest (17) is bolted to the support plate (5) so that the staff can lean against the support plate (5).

7. The unmanned tractor vehicle according to claim 1, characterized in that: The visual obstacle avoidance camera (3) and the obstacle avoidance laser (4) are each bolted to one side with a support rod. The support rod is bolted to the protective box (2) and is used to adjust the installation height of the visual obstacle avoidance camera (3) and the obstacle avoidance laser (4).

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