Cargo box material sticking detection mechanism, vehicle, and vehicle control system

Abstract

The utility model provides a kind of cargo box material sticking detection mechanism, vehicle and vehicle control system.Cargo box material sticking detection mechanism includes: support, support is used to be connected with vehicle cargo box;Detection arm, detection arm is provided with detection member, detection arm is movably connected with support, to make detection arm have reset position and detection position, when detection arm is in detection position, detection member can detect the material sticking data in vehicle cargo box.Application this scheme, cargo box material sticking detection mechanism passes through movable detection arm and detection member, can under the premise of not affecting vehicle normal working procedure, automatically, efficiently, accurately complete material sticking detection task, significantly improve the efficiency and accuracy of detection, reduce the dependence on manpower and cost, solve the problem of low efficiency and low accuracy in related art manual inspection cargo box material sticking, improve the material sticking detection efficiency of vehicle cargo box.

Description

Technical Field

[0001] This utility model relates to the fields of smart mining, unmanned driving, and vehicle technology. Specifically, it relates to a cargo box adhesive detection mechanism, a vehicle, and a vehicle control system. Background Technology

[0002] In related technologies, vehicles used for loading goods may experience incomplete unloading when transporting highly viscous materials. If this is not detected in time, the residual material will stick to the cargo box and return to the loading area with the empty vehicle. This not only increases the power consumption of the vehicle during empty transport but also occupies the interior space for a long time, thus reducing the transport capacity.

[0003] The current main solution is to have a dedicated person check the vehicle unloading area. If material is found stuck, the dispatcher will be notified via walkie-talkie, and then the dispatcher will send the vehicle to the excavator responsible for unloading the material for cleaning. This method has high labor costs, high labor intensity and low accuracy.

[0004] There is currently no effective solution to the problems of high labor intensity, low efficiency, low accuracy, and high cost associated with manual inspection of the aforementioned adhesive detection technology. Utility Model Content

[0005] The main purpose of this utility model is to provide a cargo box adhesion detection mechanism, vehicle and vehicle control system to solve the problems of low efficiency and low accuracy of manual inspection of cargo box adhesion in related technologies.

[0006] To achieve the above objectives, according to one aspect of the present invention, a cargo box adhesive detection mechanism is provided, comprising: a bracket for connecting to a vehicle cargo box; a detection arm with a detector element disposed thereon, the detection arm being movably connected to the bracket so that the detection arm has a return position and a detection position, wherein when the detection arm is in the detection position, the detector element can detect adhesive data inside the vehicle cargo box.

[0007] Furthermore, the cargo box adhesion detection mechanism also includes: a position detection device, which is connected to at least one of the bracket, the detection arm, and the vehicle cargo box, and is used to detect the current position of the detection arm.

[0008] Furthermore, the detection arm is rotatably connected to the support so that the detection arm can switch between the return position and the detection position.

[0009] Furthermore, the support includes: a support body; a drive assembly connected to the support body; and a transmission assembly, the first end of which is connected to the output end of the drive assembly, and the second end of which is connected to the detection arm; wherein, the rotation of the output end of the drive assembly can drive the transmission assembly to rotate, thereby driving the detection arm to rotate, so that the detection arm switches between a return position and a detection position.

[0010] Furthermore, the support body has a receiving cavity and a through hole. The receiving cavity is connected to the outside of the support body through the through hole. The drive component and the transmission component are both located in the receiving cavity. The transmission component extends through the through hole to the outside of the support body and is connected to the detection arm.

[0011] Furthermore, the position detection device includes: a first sensor, which is disposed on the transmission assembly and rotates synchronously with the transmission assembly; and a second sensor, which is disposed in the receiving cavity. There are two second sensors, one of which is used to send a return-to-position signal when the first sensor is detected, and the other of which is used to send a detection-to-position signal when the first sensor is detected.

[0012] Furthermore, the second sensing element is a Hall effect sensor switch.

[0013] Furthermore, the detection device includes at least one of lidar and image detection device.

[0014] Furthermore, the bracket is detachably connected to the vehicle's cargo box.

[0015] According to another aspect of the present invention, a vehicle is provided, the vehicle having a cargo box adhesion detection mechanism and a cargo box, wherein the cargo box adhesion detection mechanism is the aforementioned cargo box adhesion detection mechanism.

[0016] Furthermore, the cargo box adhesion detection mechanism is located outside the vehicle cargo box and is connected to the upper edge of the vehicle cargo box.

[0017] According to another aspect of the present invention, a vehicle control system is provided, comprising: a vehicle, including the aforementioned cargo box adhesive detection mechanism; and cleaning equipment for cleaning the adhesive on the vehicle cargo box when the cargo box adhesive detection mechanism detects adhesive on the vehicle cargo box.

[0018] By applying the technical solution of this utility model, the cargo box adhesive detection mechanism, through its movable detection arm and probe, can automatically, efficiently, and accurately complete the adhesive detection task without affecting the normal operation of the vehicle. This significantly improves the efficiency and accuracy of detection, reduces reliance on manpower and costs, and solves the problems of low efficiency and low accuracy of manual inspection of cargo box adhesives in related technologies. It improves the efficiency of cargo box adhesive detection, and the adhesive data obtained from the detection can be directly used by the vehicle to determine whether to implement a cleaning strategy, further improving vehicle cleaning efficiency and work efficiency. Attached Figure Description

[0019] The accompanying drawings, which form part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an undue limitation of the present invention. In the drawings:

[0020] Figure 1 A schematic diagram of an embodiment of the cargo box adhesion detection mechanism according to the present invention is shown;

[0021] Figure 2 A partial structural schematic diagram of an embodiment of the cargo box adhesion detection mechanism according to the present invention is shown;

[0022] Figure 3 A schematic diagram of the first embodiment of the cargo box adhesion detection mechanism according to the present invention in the return position is shown;

[0023] Figure 4 A schematic diagram of the second embodiment of the cargo box adhesion detection mechanism according to the present invention in the return position is shown;

[0024] Figure 5 A schematic diagram of an embodiment of the cargo box adhesive detection mechanism according to the present invention in the detection position is shown;

[0025] Figure 6 A schematic diagram showing the detection range of the cargo box adhesive detection mechanism according to the present invention is shown;

[0026] Figure 7 A schematic diagram of the cargo box adhesion detection system according to the present invention is shown;

[0027] Figure 8 A schematic diagram of the detection process of the cargo box adhesion detection system according to the present invention is shown.

[0028] The above figures include the following reference numerals:

[0029] 1. Support; 11. Support body; 110. Receiving cavity; 111. Through hole; 112. Main body; 113. Cover plate;

[0030] 12. Drive assembly; 13. Transmission assembly;

[0031] 2. Detection arm;

[0032] 3. Detector components;

[0033] 4. Position detection device; 41. First sensor; 42. Second sensor;

[0034] 5. Vehicle cargo box;

[0035] 6. Tighten the screws;

[0036] 7. Tighten the nuts. Detailed Implementation

[0037] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0038] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0039] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that the embodiments of this application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0040] Exemplary embodiments according to this application will now be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in many different forms and should not be construed as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided so that the disclosure of this application is thorough and complete, and that the concept of these exemplary embodiments is fully conveyed to those skilled in the art. In the drawings, for clarity, the thickness of layers and regions may be exaggerated, and the same reference numerals are used to denote the same devices, and therefore their description will be omitted.

[0041] Combination Figures 1 to 6 As shown, according to a specific embodiment of this application, a cargo box adhesion detection mechanism is provided.

[0042] The cargo box adhesive detection mechanism includes a bracket 1 and a detection arm 2. The bracket 1 is used to connect to the vehicle cargo box 5. The detection arm 2 is equipped with a detector 3. The detection arm 2 is movably connected to the bracket 1 so that the detection arm 2 has a return position and a detection position. When the detection arm 2 is in the detection position, the detector 3 can detect the adhesive data inside the vehicle cargo box 5.

[0043] By applying the technical solution of this embodiment, the cargo box adhesive detection mechanism, through the movable detection arm 2 and the probe 3, can automatically, efficiently, and accurately complete the adhesive detection task without affecting the normal operation of the vehicle. This significantly improves the efficiency and accuracy of detection, reduces reliance on manpower and costs, and solves the problems of low efficiency and low accuracy of manual inspection of cargo box adhesives in related technologies. It improves the adhesive detection efficiency of the vehicle's cargo box 5. At the same time, the adhesive data obtained by detection can be directly used by the vehicle to determine whether to execute a cleaning strategy, further improving the vehicle's cleaning efficiency and work efficiency.

[0044] It should be understood that in this embodiment, the detector 3 is disposed on the detection arm 2, and the detector 3 moves along with the detection arm 2 when the detection arm 2 moves (such as rotating around other objects, rotating itself, or translating). The detector 3 can also be configured to be movable relative to the detection arm 2 according to actual needs. For example, the detector 3 can be configured to rotate relative to the detection arm 2, or the detector 3 can rotate itself, so as to change the detection range of the detector 3 and obtain more data on the adhesive material on the inner wall of the vehicle cargo box 5.

[0045] Furthermore, the cargo box adhesion detection mechanism also includes a position detection device 4, which is connected to at least one of the bracket 1, the detection arm 2, and the vehicle cargo box 5. The position detection device 4 is used to detect the current position of the detection arm 2.

[0046] In this embodiment, the position detection device 4 can detect the current position of the detection arm 2, thereby determining whether the detection arm 2 has reached the target position (such as the return position and the detection position), providing a basis for the next action of the detection mechanism, avoiding the problem of detection failure caused by activating the detection element 3 before the detection arm 2 has successfully reached the target position, and at the same time ensuring that the detection arm 2 accurately returns to its original position after the detection is completed, avoiding interference to other components caused by improper position of the detection arm 2.

[0047] Furthermore, the detection arm 2 is rotatably connected to the bracket 1, allowing the detection arm 2 to be in both the return position and the detection position. This rotatable connection makes switching the position of the detection arm 2 more convenient and improves the efficiency of material adhesion detection.

[0048] Specifically, in one exemplary embodiment of this application, after the bracket 1 is connected to the vehicle cargo box 5, the bracket 1 remains stationary, and the detection arm 2 rotates relative to the bracket 1, so that the detector 3 can be moved to the position for detecting adhesive material.

[0049] Furthermore, the bracket 1 includes a bracket body 11, a drive assembly 12, and a transmission assembly 13. The drive assembly 12 is connected to the bracket body 11. The first end of the transmission assembly 13 is connected to the output end of the drive assembly 12, and the second end of the transmission assembly 13 is connected to the detection arm 2. When the output end of the drive assembly 12 rotates, it can drive the transmission assembly 13 to rotate, thereby driving the detection arm 2 to rotate, so that the detection arm 2 is in the return position and the detection position.

[0050] In this embodiment, the support body 11 provides the main support function, the drive component 12 provides power output, and the transmission component 13 can transmit the power output by the drive component 12 to the detection arm 2, thereby driving the detection arm 2 to rotate and thus realizing the switching of the detection arm 2 between different positions.

[0051] In one exemplary embodiment of this application, the drive component 12 is a motor assembly, for example, a servo motor, and the transmission component 13 can be a drive shaft.

[0052] Furthermore, the support body 11 has a receiving cavity 110 and a through hole 111. The receiving cavity 110 is connected to the outside of the support body 11 through the through hole 111. The drive assembly 12 and the transmission assembly 13 are both located in the receiving cavity 110. The transmission assembly 13 extends through the through hole 111 to the outside of the support body 11 and is connected to the detection arm 2.

[0053] In this embodiment, the drive assembly 12 and the transmission assembly 13 are both located within the receiving cavity 110, which avoids exposing the drive assembly 12 and the transmission assembly 13 to the external environment, thus avoiding external interference with the drive of the detection arm 2 and making the detection arm 2 more stable in use.

[0054] Specifically, in an exemplary embodiment of this application, the support body 11 includes a main body 112 and a cover plate 113, the main body 112 and the cover plate 113 forming a receiving cavity 110, and a through hole 111 is formed on the main body 112.

[0055] Furthermore, the position detection device 4 includes a first sensor 41 and a second sensor 42. The first sensor 41 is disposed on the transmission assembly 13 and rotates synchronously with the transmission assembly 13. The second sensor 42 is disposed in the receiving cavity 110. There are two second sensors 42. One second sensor 42 is used to send a return position signal when the first sensor 41 is detected, and the other second sensor 42 is used to send a detection position signal when the first sensor 41 is detected.

[0056] In this embodiment, the first sensor 41 and the second sensor 42 are matched with each other, and the second sensor 42 generates a sensing signal when it senses the first sensor 41. By arranging the second sensor 42 at different positions within the receiving cavity 110, different feedback signals can be obtained when the transmission assembly 13 rotates to different angles, thereby determining whether the current detection arm 2 has rotated to the correct position. The inductive detection method has good stability, ensuring that the position feedback function of the position detection device remains stable during long-term use.

[0057] In an alternative embodiment of this application, both second sensors 42 are arranged circumferentially along the through hole 111 and connected to the bottom of the receiving cavity 110, with the angle between the return position and the detection position being 90°.

[0058] It should be understood that, depending on actual needs, the position detection device 4 can also be an angle sensor or other device that directly measures the rotation angle of the transmission component 13. Alternatively, a limiting device can be provided in the receiving cavity 110 to limit the transmission component 13 to its current position after it has rotated to the target angle.

[0059] Preferably, the second sensing element 42 is a Hall effect sensor switch. Hall effect sensors have the advantages of high sensitivity, small size, and low cost, which can effectively reduce the size, weight, and cost of the detection mechanism.

[0060] The detector 3 includes at least one of a lidar and an image detection device.

[0061] The appropriate specifications of the lidar can be selected according to actual needs. For example, to reduce costs, a lidar with fewer lines, such as 16 lines, can be used. In operation, the detection mechanism is installed at a suitable location in the vehicle's cargo box 5 to detect adhesive residue in the main areas of the cargo box 5. To increase the coverage area for adhesive residue detection, a lidar with a higher line count, such as 64 lines, can also be used. The image detection device can be a camera or other device that directly captures images of the inner wall of the cargo box, and then the adhesive residue situation in the cargo box is analyzed based on the acquired images.

[0062] The detector 3 and the detection arm 2 are detachably connected to facilitate future replacement and maintenance.

[0063] Preferably, the bracket 1 is detachably connected to the vehicle cargo box 5. This detachable connection allows the testing mechanism to be fixed to the vehicle cargo box 5 only during use and can be removed when testing for adhesive materials is not required. It also allows one testing mechanism to be used for testing multiple vehicle cargo boxes 5, improving utilization.

[0064] Specifically, the detachable connection methods can include bolt connection, screw connection, pin connection, snap-fit ​​connection, magnetic connection, and other methods.

[0065] According to another specific embodiment of this application, a vehicle is provided, the vehicle having a cargo box adhesion detection mechanism and a vehicle cargo box 5, wherein the cargo box adhesion detection mechanism is the same as the cargo box adhesion detection mechanism in the above embodiment.

[0066] Applying the cargo box adhesion detection mechanism in the above embodiments to vehicles can automatically complete the cargo box adhesion detection during vehicle use and determine whether cargo box cleaning is required based on the detection results, saving manual detection time and improving vehicle working efficiency.

[0067] Furthermore, the cargo box adhesion detection mechanism is located outside the vehicle cargo box 5 and is connected to the upper edge of the vehicle cargo box 5.

[0068] In this embodiment, the cargo box adhesion detection mechanism is located outside the vehicle cargo box 5, so that it does not occupy the internal space of the cargo box when the cargo box is not being inspected. The cargo box adhesion detection mechanism is connected to the upper edge of the vehicle cargo box 5, which makes it easy for the detection arm 2 of the cargo box adhesion detection mechanism to move along the upper opening of the vehicle cargo box 5 into the interior of the vehicle cargo box 5 and reach the detection position, thereby successfully realizing the detection of adhesion on the inner wall of the cargo box.

[0069] Preferably, the height of the upper edge of the vehicle cargo box 5 gradually decreases along its length. This creates a sloping structure at the upper edge of the cargo box 5. When the cargo box adhesion detection mechanism is connected to the vehicle, the bracket 1 is connected to the outer wall of the cargo box 5. The detection arm 2 will not be blocked by the side wall of the cargo box when it rotates. That is, the fixing point of the detection arm 2 and the bracket 1 is at the high point of the sloping structure. When the detection arm 2 rotates, its rotation path will not interfere with the side wall of the cargo box 5. The detection arm 2 can move smoothly into the inner wall of the cargo box, allowing the detector 3 to extend into the cargo box 5, thereby successfully detecting the adhesion on the inner wall of the cargo box.

[0070] According to another specific embodiment of this application, a vehicle control system is provided, the vehicle control system including: a vehicle, including the above-mentioned cargo box adhesive detection mechanism; and cleaning equipment for cleaning the adhesive on the vehicle cargo box 5 when the cargo box adhesive detection mechanism detects adhesive on the vehicle cargo box 5.

[0071] By installing cleaning equipment, if it is determined that there is material adhering to the vehicle's cargo box 5, the adhering material can be cleaned in a timely manner, avoiding the problem of mixing different materials during subsequent loading. Optionally, the cleaning equipment can be a mini excavator.

[0072] According to another specific embodiment of this application, a vehicle control device is provided, comprising: a cargo box adhesive detection mechanism, wherein the cargo box adhesive detection mechanism is the aforementioned cargo box adhesive detection mechanism; a first control module, wherein the first control module is configured to control the detection arm 2 of the cargo box adhesive detection mechanism to move to the detection position in response to a detection request signal; a second control module, wherein the second control module is configured to control the detection element 3 to perform cargo box adhesive detection and obtain adhesive data in response to the detection arm 2 being in the detection position; a third control module, wherein the third control module is configured to control the detection arm 2 of the cargo box adhesive detection mechanism to move to the return position in response to the detection element 3 finishing detection; a determination module, wherein the determination module is configured to determine whether the vehicle cargo box 5 needs to be cleaned based on the adhesive data in response to the detection arm 2 being in the return position; and a fourth control module, wherein the fourth control module is configured to control the vehicle to drive to the target cleaning area in response to the need for the vehicle cargo box 5 to be cleaned.

[0073] Applying the technical solution of this embodiment, the first control module and the third control module are used to control the movement of the detection position and the return position of the detection arm 2, respectively. The second control module is used to control the detection element 3 to work. The determination module can determine whether the vehicle cargo box 5 needs to be cleaned based on the adhesive data. The fourth control module controls the vehicle to drive to the target cleaning area according to the determination result. The vehicle control device in this embodiment can realize the automatic control of the entire cargo box adhesive detection mechanism, the automatic analysis of adhesive data, and the automatic control of cargo box cleaning, so that the detection and cleaning of the vehicle cargo box can be completed even when no one is operating, thereby improving the working efficiency of the vehicle.

[0074] Specifically, the detection request signal can be automatically generated by the vehicle's controller. For example, it can be automatically generated after the vehicle finishes unloading or before the vehicle enters the loading process. The detection request signal can also be generated manually by the operator. For example, the operator can press the detection button (which can be set in the cab or on the cargo box material adhesion detection mechanism) to generate the corresponding detection request signal. Alternatively, the vehicle controller can receive control signals sent by a remote control terminal (such as a mobile phone, tablet, host computer, etc.) and then generate the detection request signal.

[0075] In this embodiment, the first control module, the second control module, the third control module, the determination module, and the fourth control module can be integrated into a single control device placed inside the vehicle, or each module can be embedded into the vehicle's own controllers (such as the vehicle's overall controller, autonomous driving domain controller, etc.) to reduce vehicle costs.

[0076] This application also provides a cargo box adhesion detection system for use in unmanned wide-body transport vehicles.

[0077] To illustrate the technical effectiveness of this solution, the unmanned wide-body transport vehicle in the relevant technology is described below: Unmanned wide-body transport vehicles are increasingly favored for their high efficiency, safety, and low cost in material transportation tasks. Their basic working principle is that the vehicle is loaded with materials in the loading area, then transported to the unloading area, where the cargo box is lifted to unload the materials. The vehicle then leaves the unloading area and returns to the loading area to reload, repeating this process. However, when transporting highly viscous materials, incomplete unloading may occur. If this is not detected in time, residual material will adhere to the cargo box and return to the loading area empty. This not only increases the power consumption of the vehicle during empty transport but also occupies interior space for an extended period, reducing the transport capacity.

[0078] There are currently three main solutions: First, assign personnel to monitor the unloading area and notify dispatch via walkie-talkie if material is found sticking to the cargo box. Dispatch then moves the vehicle to the excavator responsible for unloading the material for cleaning. Second, use special materials to reduce the coefficient of friction at the bottom of the cargo box, thereby minimizing the amount of residual material. Third, utilize the fact that the cargo box becomes heavier after material sticks to it, resulting in a faster descent speed, and identify the problem by detecting the descent speed. For the first solution, labor costs are high, and for unmanned vehicle operations, a completely unmanned operation is required, making it impossible to have personnel on-site. For the second solution, it still cannot completely solve the problem when the material is too sticky. In addition, since this method does not have a detection device, there is still a possibility of not detecting residual material. For the third solution, when the amount of sticky material is small, the descent speed does not change much, and the friction caused by changes in shaft wear can lead to inaccurate identification.

[0079] To address the problems of high labor intensity, low efficiency, and high cost associated with manual inspection in the aforementioned adhesive material detection technologies, the adhesive material detection system in this embodiment can detect adhesive material in a timely manner and provide accurate information for subsequent cleaning operations by detecting the amount of adhesive material.

[0080] The cargo box adhesion detection system in this embodiment adopts the principle of laser detection of adhesion in the cargo box. The system block diagram and vehicle interaction interface design are completed, and the design of the actuator with automatic extension function is also completed. The composition and control principle of the actuator control system are given, the operation process of laser radar detection of adhesion is described, and finally, the layout and installation positions are given to meet the cargo box adhesion detection needs of various dump trucks. The details of each part are as follows:

[0081] like Figure 7As shown, the cargo box adhesion detection system consists of a VCU (Vehicle Control Unit), an autonomous driving domain controller, a motor and reducer assembly (i.e., the aforementioned drive assembly 12), a return proximity switch (i.e., one of the aforementioned second sensors 42), a detection position proximity switch (i.e., the aforementioned other second sensor 42), a lidar (i.e., the aforementioned detector 3), and a motion mechanism (including the aforementioned support body 11, transmission assembly 13, and detection arm 2). The control flow of the cargo box adhesion detection system is as follows: Figure 8 As shown, the main functions of each part are as follows:

[0082] (1) The power of the motor and reducer is provided by the vehicle's low-voltage battery. The signal comes from the VCU and is controlled by the VCU's direction signal and PWM (Pulse Width Modulation) signal to achieve forward and reverse rotation. The use of PWM signal can easily realize speed adjustment during start and stop, so that the motion mechanism can start and stop slowly and move at the most reasonable speed, ensuring the safe and efficient operation of the system.

[0083] (2) The return proximity switch and the detection position proximity switch are Hall effect sensors, which are used to detect when the lidar returns to the concealed position when it is not working and when it should be in the position when it is working, so as to ensure that the mechanism moves accurately and is controlled.

[0084] (3) The motion mechanism is responsible for fixing and moving the lidar to the designated position;

[0085] (4) The lidar is responsible for scanning the coordinate information of the inner surface of the cargo box and transmitting the information to the autonomous driving domain controller. In this scenario, it is not necessary to classify the detected objects, so there is no need to use a high line count. Using 16 lines is both low cost and meets the requirements.

[0086] (5) After receiving the point cloud data, the autonomous driving domain controller processes it, calculates the material sticking situation in the cargo box, and decides whether it needs to be cleaned based on this. At the same time, it sends the end of detection instruction to the VCU and guides the vehicle to drive directly back to the loading area or to the designated cleaning area. The autonomous driving domain controller is also responsible for sending the request to detect and end of detection instructions to the VCU based on the lifting action, so that the VCU can request to implement control over the detection mechanism.

[0087] (6) After receiving the request to probe and end probe command from the autonomous driving domain controller, the VCU performs extension and retraction mechanism drive control respectively.

[0088] Among them, the autonomous driving domain control, VCU and battery can reuse original vehicle parts without the need for new additions, which can further reduce costs.

[0089] The mechanical structure is used to deliver the lidar to the detection position, including a motor and reducer assembly, a return proximity switch, a detection position proximity switch, and a connecting shaft (i.e., the aforementioned transmission assembly 13).

[0090] The assembly process of the mechanical structure is as follows:

[0091] 1) The drive shaft below the motor and reducer assembly passes through the upper hole of the connecting shaft and is connected by a keyway. The connecting shaft passes downward into the through hole of the corresponding upper arm (i.e., the aforementioned bracket body 11) structure below it, and then its lower half is exposed from below. The exposed part is connected to the mounting hole of the corresponding lower arm (i.e., the aforementioned detection arm 2) below it. The fastening nut 7 fastens the lower arm and the connecting shaft into one piece. When the motor output shaft rotates, it will take the connecting shaft and the lower arm together to rotate around the rotation center line of the hole on the upper arm below the connecting shaft that mates with the connecting shaft.

[0092] 2) The motor and reducer assembly are securely fixed to the boom with fastening screws 6 to ensure that the motor remains in the same position during operation;

[0093] 3) The sensing column on the connecting shaft (i.e., the aforementioned first sensing element 41) will rotate together with the forearm during rotation. Approaching the return proximity switch and the detection position proximity switch respectively indicates that the lidar is in the non-operating position and the detection position. Figure 3 The position shown indicates that the lidar is in the return position.

[0094] The principle of motion of mechanical structures is as follows:

[0095] When no detection is required, the mechanism is in a state as follows Figure 4 The return position shown indicates that the forearm will press when detection is needed. Figure 4 Rotate around the dashed axis as indicated by the middle arrow until... Figure 5 At the location shown, the detection range of the lidar is as follows: Figure 6 As shown, Figure 6 Regions S1, S2, S3, and S4 in the diagram represent the laser scanning range of the lidar. The lidar can scan different detection areas by changing its own angle. Figure 6 As can be seen, the laser beam of the lidar can scan almost all the space inside the carriage, meaning that when there is sticky material, the lidar can completely identify the sticky material and its volume.

[0096] As can be seen from the above description, this embodiment achieves the following technical effects:

[0097] 1) In terms of efficiency, the traditional method requires the vehicle to lower the cargo box, walk around to the inspection personnel's position, and then raise the cargo box for inspection. After the inspection, the cargo box is lowered again and the vehicle drives away, which takes about 5 minutes per vehicle. However, the cargo box adhesion detection system in this embodiment can save the time of raising and lowering the cargo box once, and the inspection time per vehicle is about 2 minutes, saving 3 minutes.

[0098] 2) In terms of accuracy, traditional manual methods are prone to missed detection due to poor visibility at night, and the method of detecting the descent speed of the cargo box cannot accurately detect cases with less adhesive material. However, the cargo box adhesive material detection system in this embodiment can detect adhesion at the centimeter level through laser, which is more accurate.

[0099] 3) In terms of cost comparison, the traditional method has a labor cost of 200,000 yuan per work area (work platform) per year, while the cargo box adhesion detection system in this embodiment costs 20,000 yuan per work area, which is 180,000 yuan less than the traditional method (calculation method: the additional cost of each vehicle due to the addition of this equipment is 5,000 yuan, assuming 20 vehicles per work area, a total additional cost of 100,000 yuan is required. Assuming a vehicle lifespan of 5 years, the annual cost over the vehicle lifespan is 20,000 yuan, which saves 180,000 yuan compared to the manual method).

[0100] In summary, the cargo box adhesion detection system in this embodiment uses lidar to detect adhesion to the cargo box. Compared with traditional methods such as manual visual observation or identification based on the cargo box's descent speed, it can not only accurately detect whether there is adhesion, but also detect the size of the adhesion, and is not affected by day or night. The actuator has an automatic extension and retraction function, which can extend the lidar to the top of the cargo box for detection, and can also retract to a safe position when loading, effectively preventing it from being hit and protecting the lidar.

[0101] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0102] In addition to the above, it should be noted that the terms "one embodiment," "another embodiment," and "embodiment" used in this specification refer to specific features, structures, or characteristics described in connection with that embodiment, which are included in at least one embodiment described in the general description of this application. The appearance of the same expression in multiple places in the specification does not necessarily refer to the same embodiment. Furthermore, when a specific feature, structure, or characteristic is described in connection with any embodiment, the intention is to suggest that implementing such a feature, structure, or characteristic in conjunction with other embodiments also falls within the scope of this utility model.

[0103] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0104] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A cargo box adhesion detection mechanism, characterized in that, include: A bracket (1) is used to connect to the vehicle cargo box (5); The detection arm (2) is provided with a detector (3). The detection arm (2) is movably connected to the bracket (1) so that the detection arm (2) has a return position and a detection position. When the detection arm (2) is in the detection position, the detector (3) can detect the adhesive data in the cargo box (5) of the vehicle.

2. The cargo box adhesion detection mechanism according to claim 1, characterized in that, The cargo box adhesion detection mechanism also includes: A position detection device (4) is connected to at least one of the bracket (1), the detection arm (2), and the vehicle cargo box (5), and the position detection device (4) is used to detect the current position of the detection arm (2).

3. The cargo box adhesion detection mechanism according to claim 2, characterized in that, The detection arm (2) is rotatably connected to the bracket (1) so that the detection arm (2) can switch between the return position and the detection position.

4. The cargo box adhesion detection mechanism according to claim 2 or 3, characterized in that, The support (1) includes: Support body (11); A drive assembly (12) is connected to the bracket body (11); A transmission assembly (13) is provided, the first end of which is connected to the output end of the drive assembly (12), and the second end of which is connected to the detection arm (2). The output of the drive component (12) rotates, which drives the transmission component (13) to rotate, and in turn drives the detection arm (2) to rotate, so that the detection arm (2) switches between the return position and the detection position.

5. The cargo box adhesion detection mechanism according to claim 4, characterized in that, The support body (11) has a receiving cavity (110) and a through hole (111). The receiving cavity (110) communicates with the outside of the support body (11) through the through hole (111). The driving assembly (12) and the transmission assembly (13) are both located in the receiving cavity (110). The transmission assembly (13) extends through the through hole (111) to the outside of the support body (11) and is connected to the detection arm (2).

6. The cargo box adhesion detection mechanism according to claim 5, characterized in that, The position detection device (4) includes: The first sensing element (41) is disposed on the transmission assembly (13) and the first sensing element (41) rotates synchronously with the transmission assembly (13); The second sensor (42) is disposed in the receiving cavity (110). There are two second sensors (42), one of which is used to send a return position signal when the first sensor (41) is detected, and the other is used to send a detection position signal when the first sensor (41) is detected.

7. The cargo box adhesion detection mechanism according to claim 6, characterized in that, The second sensing element (42) is a Hall effect sensor switch.

8. The cargo box adhesion detection mechanism according to claim 1, characterized in that, The detector (3) includes at least one of a lidar and an image detection device.

9. The cargo box adhesion detection mechanism according to claim 1, characterized in that, The bracket (1) is detachably connected to the vehicle cargo box (5).

10. A vehicle having a cargo box adhesion detection mechanism and a cargo box (5), characterized in that, The cargo box adhesion detection mechanism is the same as any one of claims 1-9.

11. The vehicle according to claim 10, characterized in that, The cargo box adhesion detection mechanism is located outside the vehicle cargo box (5) and is connected to the upper edge of the vehicle cargo box (5).

12. A vehicle control system, characterized in that, The vehicle control system includes: The vehicle includes the cargo box adhesive detection mechanism as described in any one of claims 1-9; The cleaning equipment is used to clean the adhesive material on the vehicle cargo box (5) when the cargo box adhesive detection mechanism detects that there is adhesive material on the vehicle cargo box (5).

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