CN210760606U

CN210760606U - Multi-stage container unmanned tractor

Info

Publication number: CN210760606U
Application number: CN201921675562.0U
Authority: CN
Inventors: 邓建国
Original assignee: Hunan Shunjie Logistics Co ltd
Current assignee: Hunan Shunjie Logistics Co ltd
Priority date: 2019-10-09
Filing date: 2019-10-09
Publication date: 2020-06-16
Anticipated expiration: 2029-10-09

Abstract

The utility model discloses an unmanned tractor of multistage packing box, including the automobile body and with car connection's packing box, realize through the mechanism that drags between automobile body and the packing box, between packing box and the packing box respectively that automatic can dismantle to be connected fixedly, reduced human cost and time cost. Be provided with sensor integrated system, well accuse platform and magnetic navigation on the automobile body, sensor integrated system detects the automobile body barrier all around and the route planning of traveling including locating automobile body sensor all around separately, well accuse platform is including setting up anterior control cabinet, main control unit and the driving system of automobile body control the driving system through main control unit to the collection of sensor integrated system information, realize automatic opening and stop, turn to keep away barrier, automatic alarm etc. degree of automation is high, is applicable to the transformation of the unmanned tractor that needs to connect multistage packing box.

Description

Multi-stage container unmanned tractor

Technical Field

The utility model relates to an unmanned technical field, especially a multistage packing box unmanned tractor.

Background

In the context of high labor costs, robot replacement is becoming a necessary trend. If the traditional tractor is gradually transformed to the unmanned tractor at present, the unmanned tractor can help enterprises to improve the productivity and reduce the cost. No matter indoor or outdoor or under complicated working conditions, the unmanned tractor can freely run, 3 people can be saved every day, and the distribution efficiency is improved by more than 50%. In order to further improve the productivity of the unmanned towing vehicle, generally, a multi-stage container is added behind the unmanned towing vehicle to increase the transportation capacity of the unmanned towing vehicle, and the unmanned towing vehicle has the following problems after the multi-stage container is added: 1. due to the existence of the multi-stage container, the length of the whole vehicle is longer, and the traditional rail navigation is not applicable any more; 2. due to the existence of the multi-stage containers, the unmanned towing vehicle has many safety problems in operation, for example, in the process of steering, due to the existence of the multi-stage containers, the steering time and the steering angle are not easy to control, and accidents that the containers are separated from a preset route or collide with obstacles often occur, so that the matching of various detection sensors needs to be tighter and more careful, and the stable operation of the unmanned towing vehicle can be ensured; 3. manual connection and fixation and disconnection of the container consume labor and time, resulting in increased cost.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problem, the utility model provides a multistage packing box unmanned tractor.

The utility model provides a multistage packing box unmanned tractor, including the automobile body and with the packing box that the automobile body is direct or indirect to be connected, connect gradually through the mechanism of towing between automobile body and packing box, packing box and the packing box, be provided with sensor combined system, well accuse platform and magnetic navigation on the automobile body, well accuse platform is including setting up anterior control cabinet, main control unit and the driving system of automobile body, main control unit and driving system set up on the control cabinet, magnetic navigation is including setting up magnetic navigation sensor and the angle sensor on the automobile body, sensor combined system, magnetic navigation sensor and angle sensor's signal output part respectively with main control unit's signal input part is connected, main control unit's signal output part connects driving system's signal input part.

As an improvement of the scheme, the driving system comprises a route module, an accelerator module, a brake module, a steering module, a light module and a voice module, wherein the signal output end of the main controller is respectively connected with the signal input ends of the route module, the accelerator module, the brake module, the steering module, the obstacle avoidance module, the light module and the voice module.

As an improvement of the scheme, the sensor combination system comprises cameras, ultrasonic sensors, laser sensors and GPS sensors which are respectively arranged on the periphery of the vehicle body, and signal output ends of the cameras, the ultrasonic sensors, the laser sensors and the GPS sensors are respectively connected with a signal input end of the main controller.

As an improvement of the above scheme, the camera is arranged at the top of the front end of the vehicle body, the ultrasonic sensor is arranged at the front end of the vehicle body, the laser sensor is arranged at the gap position between adjacent containers and/or the side surface of the vehicle body, and the laser sensor is arranged at the gap position between adjacent containers and is sequentially arranged from top to bottom.

As an improvement of the above scheme, a camera fixing seat and a camera mounting seat are arranged at the top of the front end of the vehicle body, the camera fixing seat is fixed at the top of the front end of the vehicle body, the camera mounting seat is mounted on the camera fixing seat, the camera mounting seat is rotatable on the camera fixing seat, and the camera is mounted on the camera mounting seat.

As an improvement of the scheme, the magnetic navigation sensor and the angle sensor are arranged at the bottom of the vehicle body, magnetic nails are arranged on a driving path of the unmanned towing vehicle at intervals, the magnetic navigation sensor conducts navigation for the unmanned towing vehicle by sensing the positions of the magnetic nails, and the angle sensor is used for adjusting vehicle body deviation when the unmanned towing vehicle drives.

As an improvement of the above scheme, the towing mechanism includes a male joint and a female joint fixed to the male joint, the male joint includes a base, a first guide plate, a second guide plate and a limiting rod, the first guide plate and the second guide plate are respectively fixed to the base in a welding manner, through holes are respectively formed in the first guide plate and the second guide plate and correspond to the through holes in position, the female joint includes a fixed plate, a limiting hole is formed in one end of the fixed plate connected to the male joint, the thickness of the fixed plate is smaller than a gap between the first guide plate and the second guide plate, and the limiting rod penetrates through the through holes of the first guide plate and the second guide plate and the limiting hole in the fixed plate to realize that the male joint is fixed to the female joint.

As an improvement of the above scheme, be provided with the handle on the gag lever post, the handle welding is in the gag lever post top, be provided with the chain on hand, the chain is fixed on the base, first deflector top corresponds the through-hole position is provided with spacing pipe, spacing pipe internal diameter is greater than the external diameter of through-hole, be provided with two confessions on the spacing pipe the helicla flute that the handle card was gone into.

As an improvement of the scheme, the starting point of the spiral groove is arranged at the top of the limiting circular tube, and the absolute value of the slope at the starting point of the spiral groove is larger than the absolute value of the slope at the final point.

As an improvement of the above scheme, the same sides of the first guide plate and the second guide plate are respectively welded and fixed with the base, the suspended portion of the first guide plate is arranged to be inclined upwards, and the suspended portion of the second guide plate is arranged to be inclined downwards.

The beneficial effects of the utility model are that:

1. through the comprehensive detection and judgment of the camera, the ultrasonic sensor and the laser sensor, the running environment detection and the obstacle detection early warning are realized, the starting and stopping, the braking, the steering, the alarming and the like are carried out through the running system, and the optimal running route is planned according to the actual condition by matching with the route modules of the magnetic navigation system, the GPS sensor and the running system, so that the unmanned tractor runs more stably and safely.

2. Between automobile body and the packing box, be provided with between packing box and the packing box and pull the mechanism and solve the connection problem of automobile body and packing box, be provided with the male joint at automobile body tail end and packing box tail end, the packing box front end is provided with female joint, it carries out spacing realization male joint and female joint to be connected the gag lever post of fixing between male joint and the female joint to be provided with on male joint, and the handle card on the gag lever post is gone into the helicla flute that sets up on the first deflector and is made the gag lever post can not pop out in jolting of the way of traveling, make its reliability of connecting inject the connection between male joint and the female joint at all times, guarantee its reliability of connecting, connected mode is firm.

Drawings

The present invention will be further explained with reference to the drawings and examples.

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the magnetic navigation system of the present invention;

fig. 3 is a schematic structural view of a male joint of the towing mechanism of the present invention;

fig. 4 is a schematic view of a female joint structure of the towing mechanism of the present invention;

FIG. 5 is a side view of the limiting circular tube of the hitch mechanism of the present invention;

fig. 6 is a schematic view of the structure of the stop lever of the present invention.

Detailed Description

It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail with reference to examples.

The utility model relates to an unmanned tractor of multistage packing box, it is right below the preferred embodiment of the utility model makes further detailed description.

As shown in fig. 1, the multi-stage cargo box unmanned tractor comprises a vehicle body 10 and a cargo box 20 directly or indirectly connected with the vehicle body 10, wherein the vehicle body 10 and the cargo box 20 are respectively connected in sequence through a towing mechanism in an automatic detachable mode, and the vehicle body 10 and the cargo box 20 are connected and disconnected automatically through the towing mechanism 30. Be provided with sensor combined system 40, well accuse platform 50 and magnetic navigation 60 on automobile body 10, sensor combined system 40 is located including the branch camera 41, ultrasonic sensor 42, laser sensor 43 and the GPS sensor around automobile body 10, well accuse platform 50 is including setting up the anterior control cabinet of automobile body 10, main control unit and driving system set up on the control cabinet, magnetic navigation 60 is including setting up magnetic navigation sensor 61 and the angle sensor 62 on automobile body 10, magnetic navigation sensor 61 cooperates with the magnetic nail 63 of laying on the route of traveling, makes unmanned tractor lay the route along magnetic nail 63 and travel, and pass through angle sensor 62 adjusts automobile body 10 skew, camera 41, ultrasonic sensor 42, laser sensor 43, GPS sensor, magnetic navigation sensor 61 and the signal output of angle sensor 62 respectively with the signal input part of main control unit Connect, thereby will camera 41, ultrasonic sensor 42, laser sensor 43, GPS sensor, magnetic navigation sensor 61 and angle sensor 62's detected data transmit gives main control unit, main control unit's signal output part connects the signal input part of driving system, main control unit is through the data control that receives the driving system makes corresponding action, realizes opening automatically, stops, turns to and keeps away barrier, warning etc. degree of automation is high, and factor of safety compares in traditional unmanned tractor and improves greatly.

Preferably, the camera 41 is arranged at the top of the front end of the vehicle body 10, the top of the front end of the vehicle body 10 is provided with a camera fixing seat 11 and a camera mounting seat 12, the camera fixing seat 11 is fixed at the top of the front end of the vehicle body 10, the camera mounting seat 12 is installed on the camera fixing seat 11, the camera mounting seat 12 is rotatable on the camera fixing seat 11, and the camera 41 is installed on the camera mounting seat 12. Camera mount pad 12 is in the angularly adjustable of pitch direction on the camera fixing base 11, the left and right directions is also adjustable, and angle of adjustment can be at 20 degrees +/-, camera 41 stiff end articulates on camera mount pad 12, through camera mount pad 12 pitch direction and the characteristics of controlling the direction angularly adjustable to and camera 41 can be around the rotatory characteristics of pin joint, realize camera 41 is at the rotation of pitch direction and left and right directions, thereby make the shooting field of vision wider and wider.

Preferably, be provided with the camera mounting hole on camera mount pad 12, camera 41 set up in inside the camera mounting hole, correspond on the camera mounting hole camera 41 shoots the end position and is provided with the transparent plate, sets up the camera mounting hole is in order to adapt to outdoor various weather, avoids the rainy day rainwater to get into camera 41 inside and causes camera 41 to damage.

Preferably, the front end of the vehicle body 10 is provided with an anti-collision bumper 13, the ultrasonic sensor 42 is arranged on the anti-collision bumper 13, the working end of the ultrasonic sensor 42 is arranged on the front end face of the anti-collision bumper 13, the working end of the ultrasonic sensor 42 is parallel to the ground, preferably, the two ends of the anti-collision bumper 13 are respectively provided with the ultrasonic sensor 42, the front end of the vehicle body 10 is detected by obstacles, and the anti-collision bumper 13 is arranged at the front end of the unmanned tractor for avoiding the obstacles from suddenly appearing so as to ensure that the impact force can be buffered by the anti-collision bumper 13 even if collision occurs.

Preferably, the body 10 and the cargo box 20 are detachably connected in sequence, and the laser sensor 43 is disposed at a position spaced from the adjacent cargo box 20 and/or at a side of the body 10. The laser sensors 43 arranged at the gap positions of the adjacent containers 20 are sequentially arranged at intervals from top to bottom, and the working ends of the laser sensors 43 protrude out of the side faces of the vehicle body 10. Since the multiple cargo boxes 20 are connected to the rear of the vehicle body 10, the cargo boxes are very likely to collide with obstacles on the side of the vehicle body 10 during turning, and the turning timing of the cargo boxes needs to be adjusted, the laser sensor 43 is arranged on the side of the vehicle body 10, and is preferably arranged on the side of the vehicle body 10 and a gap between adjacent cargo boxes 20, so that the obstacles on the side of the vehicle body 10 and the side of the cargo boxes 20 can be detected, the smooth turning is ensured, and the multiple cargo boxes 20 are prevented from colliding with the obstacles on the side.

Preferably, the laser sensor 43 adopts the S300 series laser sensor 43 of the SICK, the effective detection distance of the laser sensor 43 is 8m, the scanning angle is 270 degrees, and the utility model is very suitable for detecting side obstacles.

Preferably, the driving system comprises a route module, an accelerator module, a brake module, a steering module, a light module and a voice module, and the signal output end of the main controller is respectively connected with the signal input ends of the route module, the accelerator module, the brake module, the steering module, the light module and the voice module.

Preferably, the brake module includes a first driving mechanism, a fixed end of the first driving mechanism is fixed on the console, a driving end of the first driving mechanism is connected with a brake lever or a brake pedal, when the ultrasonic sensor 42 and/or the laser sensor 43 detect an obstacle and cannot avoid the obstacle through steering, the controller controls the first driving mechanism to act, and the driving end of the first driving mechanism controls the brake lever or the brake pedal to stop the unmanned tractor.

Preferably, the steering module comprises a second driving mechanism, a fixed end of the second driving mechanism is fixed on the console, a driving end of the second driving mechanism is connected with the steering wheel, the accelerator module comprises a third driving mechanism, a fixed end of the third driving mechanism is fixed on the console, and a driving end of the third driving mechanism is connected with the accelerator lever or the accelerator pedal. When the ultrasonic sensor 42 and/or the laser sensor 43 detect an obstacle and the obstacle is located at a safe position, the main controller controls the second driving mechanism to act through information processing and calculation of the main controller when the obstacle is located at a proper position, the driving end of the second driving mechanism controls the steering wheel to rotate to perform steering operation, meanwhile, the main controller controls the third driving mechanism to act, the driving end of the third driving mechanism controls an accelerator lever or an accelerator pedal to perform acceleration operation, and the unmanned tractor achieves automatic steering and obstacle avoidance through simultaneous steering and acceleration.

Preferably, the first driving mechanism, the second driving mechanism and the third driving mechanism may be driven by hydraulic pressure, or pneumatic pressure, or electric push rod, and may be driven by electric push rod.

Preferably, the light module comprises an alarm lamp, the voice module comprises a buzzer, the alarm lamp is electrically connected with the main controller, and the buzzer is electrically connected with the main controller. When the ultrasonic sensor 42 and/or the laser sensor 43 detect the obstacle and cannot avoid the obstacle through steering, the alarm lamp flickers, and the buzzer gives an alarm to remind a worker.

As shown in fig. 2, the magnetic navigation sensor 61 and the angle sensor 62 are disposed at the bottom of the vehicle body 10, magnetic nails 63 are disposed at intervals on a driving path of the unmanned towing vehicle, the magnetic navigation sensor 61 navigates the unmanned towing vehicle by sensing positions of the magnetic nails 63, and the angle sensor 62 is used for adjusting the deviation of the vehicle body 10 when the unmanned towing vehicle drives. The magnetic nails 63 are embedded on a running path at intervals, and at least three magnetic nails 63 are arranged at each curve position along the running path and are respectively arranged at the curve starting position, the curve middle position and the curve ending position. The magnetic nails 63 on the straight line path are longer in distance, the density is smaller, the magnetic nails 63 at the bent line are shorter in distance and larger in density, the unmanned towing vehicle conducts navigation by sensing the positions of the magnetic nails 63 through the magnetic navigation sensors 61, the unmanned towing vehicle between the adjacent magnetic nails 63 runs forwards through inertia and is in a distance metering state, the distance traveled is metered through the encoder, data is transmitted to the main controller, and the main controller judges whether the unmanned towing vehicle is separated from a preset running path or not through the metering data of the encoder. When the position of the next magnetic nail 63 is reached from one magnetic nail 63 position, the angle sensor 62 is used for adjusting the vehicle body offset to ensure the stable operation of the unmanned tractor. The degree of automation is high, and magnetism nail 63 buries underground in ground, and the secret nature is good, and the aesthetic property is strong, and other navigation auxiliary assembly need not to add again on ground, and indoor outdoor all is suitable for, and does not receive the influence of weather factors such as rainy day.

Preferably, the magnetic pin 63 at the starting position of the curve is further provided with an angle compensation magnetic pin 64 as a steering indication at a side close to the middle position of the curve.

As shown in fig. 3 and 4, the towing mechanism 30 includes a male connector 31 disposed at the rear portion of the vehicle body or the rear portion of the cargo box, and a female connector 32 disposed at the front portion of the cargo box and connected and fixed with the male connector 31, the male connector 31 includes a base 311, a first guide plate 312, a second guide plate 313 and a limiting rod 314, the same sides of the first guide plate 312 and the second guide plate 313 are respectively welded and fixed with the base 311, the first guide plate 312 is disposed above the second guide plate 313, the first guide plate 312 and the second guide plate 313 are disposed in parallel and corresponding, the first guide plate 312 and the second guide plate 313 are respectively provided with through holes and the positions of the through holes correspond up and down, the female connector 32 includes a fixing plate 321, one end of the fixing plate 321 connected with the male connector 31 is provided with a limiting hole 3211, and when the end of the fixing plate 321 provided with the limiting hole 3211 abuts against the base 311, the center of the limiting hole 3211, the center of the through hole on the first guide plate 312 and the center of the through hole on the second guide plate 313 are on the same axis, and the inner diameter of the limiting hole 3211 is greater than the inner diameter of the through hole, so that the subsequent operation is simple and convenient, only by placing the fixing plate 321 on the second guide plate 313 and abutting against the base 311, the thickness of the fixing plate 321 is less than the minimum gap between the first guide plate 312 and the second guide plate 313, so that the fixing plate 321 can be smoothly placed between the first guide plate 312 and the second guide plate 313, the limiting rod 314 passes through the through holes of the first guide plate 312 and the second guide plate 313 and the limiting hole 3211 on the fixing plate 321, so that the limiting rod 314 simultaneously limits the male connector 31 and the female connector 32, thereby realizing the connection and fixation of the male connector 31 and the female connector 32, and only needing to lift the fixing plate 321 of the female connector 32 on the connection, extend to the clearance department between first deflector 312 and the second deflector 313, move the packing box to male joint 31 one end again slightly, make fixed plate 321 tip offset with base 311, then usable gag lever post 314 passes the through-hole of first limiting plate, the through-hole of second limiting plate, the spacing hole 3211 of fixed plate 321 to realize male joint 31 and female joint 32's connection fixed, easy operation is convenient, connects firmly.

As shown in fig. 5 and 6, a handle 315 is disposed on the position-limiting rod 314, the handle 315 is welded on the top of the position-limiting rod 314 to facilitate an operator to lift the position-limiting rod 314, a chain 316 is disposed on the handle 315, and the chain 316 is fixed on the base 311 so that the position-limiting rod 314 can be hung on the base 311 when position limitation is not performed. The top of the first guide plate 312 corresponds to the through hole, a limiting circular tube 317 is arranged at the position corresponding to the through hole, the inner diameter of the limiting circular tube 317 is larger than the outer diameter of the through hole, and two spiral grooves 3171 for clamping the handle 315 are arranged on the limiting circular tube 317. A closed annular handle 315, preferably a square handle 315, is formed at the welding position of the handle 315 and the top of the limiting rod 314, and the height of the handle 315 is higher than that of the limiting circular tube 317, so that the bottom of the handle 315 can be clamped in the spiral groove 3171 and move downwards along the spiral path of the spiral groove 3171 to realize that the handle 315 is clamped in the lowest point in the spiral groove 3171, and when the handle 315 is clamped in the lowest point in the spiral groove 3171, no matter how bumpy the handle is during transportation, the handle 315 cannot rotate out of the spiral groove 3171 along the spiral groove 3171 due to the limiting effect of the spiral groove 3171 on the handle 315 and is always clamped in the spiral groove 3171, so that the position of the limiting rod 314 is locked, and the stable connection between the male connector 31 and the female connector 32 is ensured.

Preferably, the starting point of the spiral groove 3171 is arranged at the top of the limit circular tube 317, the absolute value of the slope at the starting point of the spiral groove 3171 is greater than the absolute value of the slope at the end point, that is, the slope of the starting point of the spiral groove 3171 is steepest, the slope of the end point of the spiral groove 3171 is slowest, preferably, the slope of the starting point is 90 degrees, and the slope of the end point tends to 0 degree, so that the handle 315 clamped in the spiral groove 3171 is prevented from rotating out of the spiral groove 3171 due to bumping, and the connection stability between the male joint 31 and the female joint 32 during driving is.

Preferably, the bottom of the limiting rod 314 is a conical head, the tip of the conical head faces downward, and the conical bottom is more convenient for the limiting rod 314 to smoothly pass through the through hole of the first guide plate 312, the limiting hole 3211 of the fixing plate 321 and the through hole of the second guide plate 313.

Preferably, one end of the first guide plate 312, that is, the fixed end, is welded to the base 311, and the other end is suspended, and the suspended portion of the first guide plate 312 is disposed to be inclined upward, that is, if the fixed end of the first guide plate 312 is set to be the right end, the left end, the front end, and the rear end of the first guide plate 312 are disposed to be inclined upward and are arc-shaped, so that the gap entrance between the first guide plate 312 and the second guide plate 313 is larger, and the fixing plate 321 can extend into the gap between the first guide plate 312 and the second guide plate 313, and has a guiding function.

Preferably, one end, i.e., a fixed end, of the second guide plate 313 is welded to the base 311, and the other end is suspended, and similarly to the first guide plate 312, the right end of the second guide plate 313 is welded to the base 311, and the left end, the front end, and the rear end of the second guide plate 313 are all obliquely disposed downward and are arc-shaped, so that the gap entrance between the first guide plate 312 and the second guide plate 313 is larger, and the fixing plate 321 can more conveniently extend into the gap between the first guide plate 312 and the second guide plate 313, thereby having a guiding function.

Finally, the above embodiments are only used for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solution of the present invention can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution, which should be covered by the claims of the present invention.

Claims

1. The utility model provides a multistage packing box unmanned tractor which characterized in that: the cargo container comprises a vehicle body (10) and a cargo container (20) directly or indirectly connected with the vehicle body (10), wherein the vehicle body (10) is sequentially connected with the cargo container (20), the cargo container (20) and the cargo container (20) through a towing mechanism (30), a sensor combination system (40), a central control console (50) and a magnetic navigation system (60) are arranged on the vehicle body (10), the central control console (50) comprises a control console, a main controller and a traveling system which are arranged at the front part of the vehicle body (10), the main controller and the traveling system are arranged on the control console, the magnetic navigation system (60) comprises a magnetic navigation sensor (61) and an angle sensor (62) which are arranged on the vehicle body (10), and signal output ends of the sensor combination system (40), the magnetic navigation sensor (61) and the angle sensor (62) are respectively connected with a signal input end of the main controller, and the signal output end of the main controller is connected with the signal input end of the driving system.

2. The multi-stage cargo box unmanned tractor of claim 1, wherein: the driving system comprises a route module, an accelerator module, a brake module, a steering module, a light module and a voice module, wherein the signal output end of the main controller is respectively connected with the signal input ends of the route module, the accelerator module, the brake module, the steering module, the light module and the voice module.

3. The multi-stage cargo box unmanned tractor of claim 1, wherein: the sensor combination system (40) comprises cameras (41), ultrasonic sensors (42), laser sensors (43) and GPS sensors which are arranged on the periphery of the vehicle body (10) respectively, and signal output ends of the cameras (41), the ultrasonic sensors (42), the laser sensors (43) and the GPS sensors are connected with a signal input end of the main controller respectively.

4. The multi-stage cargo box unmanned tractor of claim 3, wherein: camera (41) set up automobile body (10) front end top, ultrasonic sensor (42) set up automobile body (10) front end, laser sensor (43) set up in adjacent packing box (20) clearance position and/or automobile body (10) side, and set up in adjacent packing box (20) clearance position laser sensor (43) from top to bottom set gradually.

5. The multi-stage cargo box drone tractor of claim 4, wherein: automobile body (10) front end top is provided with camera fixing base (11) and camera mount pad (12), camera fixing base (11) are fixed in automobile body (10) front end top, install camera mount pad (12) on camera fixing base (11), camera mount pad (12) are in rotatable on camera fixing base (11), camera (41) install in on camera mount pad (12).

6. The multi-stage cargo box unmanned tractor of claim 1, wherein: magnetic navigation sensor (61) and angle sensor (62) set up automobile body (10) bottom, and the interval is provided with magnetism nail (63) on the unmanned tractor path of traveling, magnetic navigation sensor (61) are through the response magnetism nail (63) position is navigated for unmanned tractor, automobile body (10) skew when angle sensor (62) are used for adjusting unmanned tractor and travel.

7. The multi-stage cargo box unmanned tractor of claim 1, wherein: the pulling mechanism (30) comprises a male joint (31) and a female joint (32) fixedly connected with the male joint (31), the male joint (31) comprises a base (311), a first guide plate (312), a second guide plate (313) and a limiting rod (314), the first guide plate (312) and the second guide plate (313) are fixedly welded to the base (311) respectively, through holes are formed in the first guide plate (312) and the second guide plate (313) respectively, the positions of the through holes correspond to those of the through holes, the female joint (32) comprises a fixing plate (321), a limiting hole (3211) is formed in one end, connected with the male joint (31), of the fixing plate (321), the thickness of the fixing plate (321) is smaller than the gap between the first guide plate (312) and the second guide plate (313), and the limiting rod (314) penetrates through the through holes of the first guide plate (312) and the second guide plate (313) and the limiting hole (3211) in the fixing plate (321) to achieve the male joint (31) Is connected and fixed with the female joint (32).

8. The multi-stage cargo box drone tractor of claim 7, wherein: be provided with handle (315) on gag lever post (314), handle (315) welding is in gag lever post (314) top, be provided with chain (316) on handle (315), chain (316) are fixed on base (311), first deflector (312) top corresponds the through-hole position is provided with spacing pipe (317), spacing pipe (317) internal diameter is greater than the external diameter of through-hole, be provided with two confessions on spacing pipe (317) helicla flute (3171) that handle (315) card was gone into.

9. The multi-stage cargo box drone tractor of claim 8, wherein: the starting point of the spiral groove (3171) is arranged at the top of the limiting circular pipe (317), and the absolute value of the slope of the spiral groove (3171) at the starting point is larger than that at the ending point.

10. The multi-stage cargo box drone tractor of claim 9, wherein: the same sides of the first guide plate (312) and the second guide plate (313) are respectively welded and fixed with the base (311), the suspended part of the first guide plate (312) is arranged in an upward inclined mode, and the suspended part of the second guide plate (313) is arranged in a downward inclined mode.