Patent ID: 12194859

DETAILED DESCRIPTION

The present disclosure will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present disclosure, but not to limit the present disclosure. In addition, it should be noted that, in order to facilitate description, the drawings only show part of but not all structures related to the present disclosure.

In the description of the present disclosure, unless otherwise expressly specified and defined, the terms “connected with”, “connected to”, and “fixed” should be understood in a broad sense. For example, it can refer to a fixed connection, a detachable connection, or forming an integrated body; it can refer to a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediary; it can refer to a connection between two components or interaction between two components. For those skilled in the art, the specific meaning of the above terms in the present disclosure should be understood in context.

In the description of the embodiments, the positional terms “upper”, “lower”, “right”, etc. are based on the drawings, and are only for convenient description and simplified operations, not for indicating or implying that the device or components referred to must have a specific position or be constructed and operated in the specific position. Therefore, the positional terms should not be construed as a limitation of the present disclosure. In addition, the terms “first” and “second” are only used for distinguish in description, and have no special meaning.

FIG.1shows a structure of an electric vehicle in an embodiment. Referring toFIG.1, the electric vehicle1in this embodiment has a plurality of wheel assemblies2provided on a lower surface of a chassis10. Generally, the electric vehicle1has four wheel assemblies2. In some special embodiments, the electric vehicle1can also be equipped with other quantities of the wheel assemblies2as needed, such as three assemblies, six assemblies, eight assemblies, and so on. The plurality of the wheel assemblies2of the electric vehicle1are independent of each other, so the quantity of the wheel assemblies2can be flexibly increased or decreased according to configuration of the electric vehicle1.

Each of the wheel assemblies2includes a wheel21, a driving device22and a displacement device23. The driving device22can drive the wheel21to rotate. The displacement device23can drive at least the wheel21to move along a width direction “X” of a vehicle body of the electric vehicle, therefore, the wheel21can be extended away from the center of the electric vehicle1, that is, extended outward, and a track width will be increased; or the wheel21can be retracted toward the center of the electric vehicle1, that is, retracted inward, and the track width will be decreased.

The plurality of the wheel assemblies2are independent of each other, each of the wheel assemblies2can be flexibly assembled according to the configuration of the electric vehicle1, and the wheel21of each of the wheel assemblies2can be independently controlled by the driving device22and the displacement device23to improve flexibility. The driving device22controls a speed of the wheel21, and the speed of the wheels21can be the same with or different from each other. When the electric vehicle1turns, the wheel21does not need to turn, and the turning of the electric vehicle1can be flexibly controlled by a speed difference between the wheels21. For example, the speed of inside wheels is made smaller than the speed of outside wheels to achieve turning. The displacement device23controls the extension and the retraction of the wheel21to adjust track width, when driven at high speed, the track width can be increased to improve the stability of the electric vehicle1, and when driven at low speed, the track width can be decreased to improve the mobility of the electric vehicle1. Wherein, the track width of the present disclosure includes a track width of two front wheel assemblies2and a track width of two rear wheel assemblies2, the inside wheel assemblies of the present disclosure include a front wheel assembly2and a rear wheel assembly2near the side to which the electric vehicle turns, and the outside wheel assemblies include a front wheel assembly2and a rear wheel assembly2far from the side to which the electric vehicle turns.

In some embodiments, in each of the wheel assemblies2, the displacement device23, the driving device22and the wheel21are arranged in order from inside to outside along the width direction “X” of the vehicle body. The driving device22is connected to and drives the wheel21through a rotating shaft24, and the displacement device23is connected to the driving device22through a telescopic shaft25, and the displacement device23drives the driving device22and the wheel21through the telescopic shaft25. After the displacement device23, the driving device22and the wheel21are assembled, the driving device22drives the wheel21to rotate through the rotating shaft24, and each driving device22can independently drive and control the speed of the wheel21; the displacement device23drives the driving device22together with the wheels21to move in the width direction “X” of the vehicle body through the telescopic shaft25, therefore, the wheels21can be telescoped inward and outward and the track width can be adjusted. Wherein, the driving device22can be any device capable of rotating driving, and the displacement device23can be any device capable of telescopic pushing.

FIG.2shows an exploded structure of a wheel assembly in an embodiment,FIG.3shows an assembled structure of the wheel assembly, andFIG.4shows a section structure of the wheel assembly. Referring toFIG.1toFIG.4, in some embodiments, the displacement device23is a first electric motor fixed to the chassis10, a first end25aof the telescopic shaft25is telescopically connected to the displacement device23, and a second end25bof the telescopic shaft25is connected to the driving device22. The principle of the displacement device23driving the driving device22and the wheel21is that, the first electric motor generates a driving force to drive the telescopic shaft25to extend and retract along the width direction “X” of the vehicle body, thereby driving the driving device22to move along the width direction “X” of the vehicle body, and further the wheel21is driven to move along the width direction “X” of the vehicle body, and the wheel21is telescopic.

Further, the driving device22includes a housing221fixed to the chassis10and a second electric motor222accommodated in the housing221. The housing221has a hollow structure. A through hole extending along the width direction “X” of the vehicle body, for the telescopic shaft25to pass through and connect to the displacement device23and the second motor222, is provided on a first end face221aof the housing221; and a second end face221bof the221has an open structure used to provide space for the second motor222to move along the width direction “X” of the vehicle body. Two opposite inner walls of the housing221are provided with guide rails223extending in the width direction “X” of the vehicle body, and two opposite side walls of the second motor222are connected to the guide rails223via rotating pivots224, respectively. The rotating pivot224can be a short rotating shaft, one end of which is fixedly connected to the side wall of the second motor222, and the other end is movably embedded in the guide rail223. Driven by the displacement device23, the second motor222slides along the guide rail223through the rotating pivot224and drives the wheel21to move in the width direction “X” of the vehicle body. Through the cooperation of the guide rail223and the rotating pivot224, horizontal movement of the second motor222can be limited to the width direction “X” of the vehicle body, and stability and smoothness of the movement of the second motor222can be ensured, thereby the electric vehicle1can keep stable and normal driving will not be affected when the track width is adjusted.

During the running process of the electric vehicle1, the wheels21will jump up and down with bumps of road when encountering uneven rough roads. When the wheel21jumps in the direction “Y” perpendicular to the chassis10, the wheel21drives the second motor222to swing through the rotating shaft24, and the rotating pivot224rotates in the guide rail223in cooperation with the swing of the second motor222. Therefore, when the wheel21jumps, the second motor222swings to adapt to road roughness and prevent the chassis10from vibrating, and further vibration of the vehicle body can be prevented.

Specifically,FIG.5shows a structure of the wheel jumping upward in an embodiment, andFIG.6shows a structure of the wheel jumping downward. Referring toFIG.1toFIG.6, when the wheel21jumps upward in an upward direction “Y1” perpendicular to the chassis, the wheel21drives the second motor222located in the housing221to swing upward through the rotating shaft24. When the second motor222swings upward, the rotating pivot224is rotated accordingly in the guide rail223along a direction of arrow “f1”. When the wheel21jumps downward in a downward direction “Y2” perpendicular to the chassis, the wheel21drives the second motor222located in the housing221to swing downward through the rotating shaft24. When the second motor222swings downward, the rotating pivot224is rotated accordingly in the guide rail223along a direction of arrow “m2”. Therefore, the wheel21jumping due to road roughness can be weakened by the second motor222swinging up and down, and the swing of the second motor222does not affect the chassis10, which avoids the vibration of the vehicle body caused by the vibration of the chassis10. And through the coordinated rotation of the rotating pivot224, the swing of the second motor222is stable and smooth, which ensures the wheel21to jump smoothly.

Further, the rotating shaft24and the telescopic shaft25are both rigid shafts, in order to ensure that the swing of the second motor222does not affect its connection with the wheel21and the displacement device23, a first end24aof the rotating shaft24is rotatably connected to the second electric motor222, a second end24bof the rotating shaft24is connected to the wheel21through a first rotating joint, and the second end25bof the telescopic shaft25is connected to the second electric motor222through a second rotating joint. The first rotating joint and the second rotating joint may be spherical connectors or other kind of movable connectors. The first rotating joint can ensure that the wheels21always adhere to ground over rough roads, and improve the stability and safety of the electric vehicle1under rough road conditions; the second rotating joint can ensure that the second motor222is steadily connected to the displacement device23when it swings.

With continued reference toFIG.1toFIG.6, in order to control the amplitude of the jumps of the wheels21and the second electric motor222, the rotating shaft24is connected to the chassis10through a first elastic member271. The first elastic member271can be stretched and compressed elastically in the direction “Y” perpendicular to the chassis. A first end of the first elastic member271is fixedly connected to the chassis10, and a second end of the first elastic member271is movably connected to the rotating shaft24through a connector272. With the ups and downs of the wheels21and the second electric motor222, the first elastic member271is stretched and compressed elastically in the direction “Y” perpendicular to the chassis, which can play a role in limiting the amplitude of the jumps of the wheels21and the second electric motor222, and avoiding causing the vibration of the chassis10. The first elastic member271is a mechanical spring structure to elastically stretch and compress in the direction “Y” perpendicular to the chassis in response to road bumps.

Further, each of the wheel assemblies2further includes a lifting device273, and the housing221of the driving device22is connected to the chassis10through the lifting device273. The lifting device273can go up and down in the direction “Y” perpendicular to the chassis to adjust ground clearance of the chassis. When the ground clearance of the chassis is adjusted, the height of the vehicle body is adjusted accordingly. The lifting device273may be a mechanical spring structure to elastically stretch and compress in the direction “Y” perpendicular to the chassis. In some embodiments, the lifting device273can actively adjust the ground clearance of the chassis.FIG.1toFIG.6illustrate that the lifting device273is an elastic member, but not limited to this, the lifting device273can be any device that can actively go up and down in the direction “Y” perpendicular to the chassis, e.g., an electric lifter or an air spring, which can adjust the ground clearance of the chassis according to a height adjustment signal transmitted from a control module of the electric vehicle1. When the electric vehicle1is running on rough roads, the lifting device273can adjust the ground clearance of the chassis according to the distance between the chassis10and the road surface, so as to improve the trafficability of the electric vehicle1on the rough road. When the electric vehicle1is running at a high speed, in order to improve the stability, the lifting device273reduce the ground clearance of the chassis to lower the center of gravity of the electric vehicle; when the running speed slows down or the vehicle stops, the lifting device273restores the ground clearance of the chassis to facilitate the passengers to get on and off the vehicle. In some embodiments, the lifting device273can be configured to adjust the ground clearance of the chassis in real time according to the running speed. When the running speed increases, the ground clearance of the chassis decreases, so as to lower the center of gravity of the electric vehicle and improve driving safety and stability; when the running speed gradually slows down, the ground clearance of the chassis gradually increases. Specific adjustment method is controlled by the control module of the electric vehicle, or configured by the user as needed, and the present disclosure does not limit this. Of course, the lifting device273can also play the role of vibration absorption and cushion as described in the first elastic member271, which further ensures that the chassis10is stable and not affected by road bumps.

In some embodiments, a side wall of the housing221is connected to the chassis10through a connecting rod274, a first end of the connecting rod274is fixedly connected to the chassis10, and a second end of the connecting rod274is connected to the side wall of the housing221through a third rotating joint. The connecting rod274can reduce the vibration of the chassis10and cooperate with the lifting movement of the lifting device273to move relative to the housing221through its rigid body and the third rotating joint.

In each of the wheel assemblies2, the wheel21may be equipped with a single tire, and can also be equipped with a plurality of tires arranged along the width direction “X” of the vehicle body. For example,FIG.2shows the wheel21including three tires, namely a first tire21a, a second tire21b, and a third tire21c, but it is not limited to this. Appropriate gaps are provided between the tires, and the tires are all connected to the second motor222of the driving device22through the rotating shaft24. Each tire can be a pneumatic rubber tire or a solid plastic tire. The wheel21of each of the wheel assemblies2can be provided with multiple tires to increase total width of the wheel21and contact area with the ground. When the electric vehicle1is running on the rough road, wider wheel21can reduce the vibration of the chassis10and improve the stability and comfort of the electric vehicle1. In some scenarios, when the electric vehicle1is running on the rough road, even if one tire of the wheel21is pressed against a concave hole or a raised barrier, the others are still running on flat ground, which can further reduce the vibration of the chassis10.

In some embodiments, each of the wheel assemblies2is provided with a wheel cover. Referring toFIG.2, the wheel cover includes a cover body28covered outside the wheel21to improve the aesthetics of the wheel assembly2; and a prompt module provided on the outer surface of the cover body28, e.g., surfaces indicated by arrows281and282. Outer surface of the cover body28can be provided with an electronic screen, i.e. the prompt module, which is used to generate a prompt message to timely prompt surrounding vehicles, when the wheel21is telescopically moved, especially extending away from the center of the electric vehicle1, along the width direction “X” of the vehicle body. Therefore, the surrounding vehicles can be prompted to avoid colliding with the wheel21due to a tiny distance between themselves and the electric vehicle1caused by the telescopically movement of the wheel21. The prompt module may also be a warning light (not specifically shown in the figure) provided on the outer surface of the cover body28, as long as it can provide a prompting function when the wheel21is telescopically moved. The wheel cover further includes a soft waterproof sheet283provided below the rear surface of the cover body28, which is used to block dust and keep the chassis10dry and clean during the running of the electric vehicle1.

The electric vehicle1described in the above embodiments can be used to carry passengers or goods. When the electric vehicle1is used to carry passengers, a body structure suitable for carrying passenger is provided on the chassis10, and the electric vehicle1will further include doors opened on sides of the body structure, seats provided inside the body structure, etc. The wheel21of each of the wheel assemblies of the electric vehicle1is independently controlled by the driving device22and the displacement device23, which can improve the flexibility, the stability, the safety and the comfort of the electric vehicle1. When the electric vehicle1is used to carry goods, a container structure suitable for carrying goods is provided on the chassis10, so that the electric vehicle1can meet the freighting needs of fully automation, high efficiency, high accuracy, low cost and high safety.

For example,FIG.7toFIG.9show changes of track width of the electric vehicle used for carrying passengers during straight running process in embodiments, whereinFIG.7shows a structure of the vehicle having a normal track width,FIG.8shows a structure of the vehicle having an increased track width, andFIG.9shows a structure of the vehicle having a reduced track width. As shown inFIG.7, when the electric vehicle1runs straight at a normal speed, the track width between the wheels21of every two wheel assemblies2, including the front track width and the rear track width, maintains the normal track width L1. When the electric vehicle1runs at a high speed, the electric vehicle1will be rolled over due to centrifugal force if the track width is too small, therefore, the wheel21is driven to extend outward by the displacement device23of each of the wheel assemblies2, to increase the track width and improve vehicle stability. Referring toFIG.8, the driving device22and the wheel21are driven to move in the direction “X1” away from the center of the electric vehicle1, along the width direction “X” of the vehicle body, by the displacement device23and through the telescopic shaft25of each of the wheel assemblies2. Therefore, the wheel21is extended outward to increase the track width to L2. When the electric vehicle1runs at a low speed or stops, the wheel21can be driven to retract inward by the displacement device23, thereby the track width will be reduced to save energy consumption at low speeds, and occupied area of the wheels21will be reduced to facilitate parking. Referring toFIG.9, the driving device22and the wheel21are driven to move in the direction “X2” towards the center of the electric vehicle1, along the width direction “X” of the vehicle body, by the displacement device23and through the telescopic shaft25of each of the wheel assemblies2. Therefore, the wheel21is retracted inward to decrease the track width to L3. Wherein, L2>L1>L3, and a specific degree of extension and retraction of the wheel21depends on parameters including the configuration of the electric vehicle1and the size of the wheel21. For example, under normal conditions, the wheel21can extend up to 1 m outwards and retract at least 50 cm inwards, but not limited to this. The degree of extension and retraction of the wheel21can also be configured by the user according to needs, which is not limited in the present disclosure. In addition, the above-mentioned normal speed, high speed, and low speed are also determined according to the configuration of the electric vehicle1, e.g., the normal speed is between 30 km/h to 100 km/h, the low speed is less than 30 km/h, and the high speed is greater than 100 km/h. The user can also configure the values as needed, for example, the running speed is configured into multiple stages, and every 5 km is a stage, which is not limited in the present disclosure.

Of course, the electric vehicle1has other driving conditions, which will be described in detail below in conjunction with the automatic driving method.

FIG.10shows a structure of the electric vehicle for carrying goods in an embodiment, andFIG.11shows a structure of the electric vehicle separated from a freight container. Referring toFIG.10andFIG.11, the electric vehicle1in this embodiment further includes: a fixing frame11provided on a carrying surface10aof the electric vehicle1, the carrying surface10ais located on the upper surface of the chassis10, the fixing frame11is provided with a sliding channel111and a switch112that controls at least the sliding channel111; a freight container3capable of being pushed into the fixing frame11through the sliding channel111, wherein when the freight container3is pushed into the fixing frame11, the switch112at least partially closes the sliding channel111and the freight container3is fixed to the carrying surface10a.

The fixing frame11includes a plurality of right-angle plates113connected with each other and side plates114that provide sliding channel111. For example, inFIG.11, five right-angle plates113and two side plates114are shown. The freight container3is pushed into the fixing frame11from the side plate114, and part of side edges of the freight container3is embedded in inner walls of the right-angle plates113. Part of side edges of the freight container3at the side plate114is limited and fixed by the switch112. Therefore, the freight container3can be stably embedded in the fixing frame11and move with the electric vehicle1. One or more sides of the freight container3, e.g., two sides shown inFIG.11can be equipped with electronic display screens30, which is used to display mobile advertisement, so that the freight container3becomes a movable billboard.

FIG.12shows an enlarged structure of the area A inFIG.11, specifically a structure of the switch112. The switch112may be an electronically controlled switch or a telescopic switch provided on the side plate114. ReferringFIG.10toFIG.12, in a first state when the electric vehicle1is not loaded with the freight container3, the switch112can move in a first direction “D1” shown inFIG.12, under a first control signal, thereby the sliding passage111for pushing the freight container3into the fixing frame11is provided between the side plates114. When the freight container3is completely pushed into the fixing frame11, the switch112can move in a second direction “D2” shown inFIG.12, under a second control signal, to partially close the sliding channel111and fix the freight container3. On each side plate114, one or more switches112may be provided as needed. The first control signal and the second control signal for controlling the switch112may be provided by a control cluster, and contents of the control cluster will be described in detail below in conjunction with the automatic freighting method.

FIG.13shows a side structure of the electric vehicle for carrying goods in the embodiment. As shown inFIG.13, the fixing frame11of the electric vehicle1is provided with a plurality of rotatable cameras115for detecting surroundings and aerials116for the camera115to communicate with the electric vehicle1; wherein, the cameras115are provided at least on a front end F1, a rear end F2, and one or more sides of the electric vehicle1along a forward direction F, and the aerials116are provided on the top of the fixing frame11. The electric vehicle1has an automatic driving function, and the electric vehicle1can be automatic driven based on the surroundings detected by the cameras115. In some embodiments, the cameras115are respectively disposed at four corners of the electric vehicle1to assist the automatic driving of the electric vehicle1. The fixing frame11is also provided with one or more scanners12for the user to scan corresponding pickup code and mailing code when picking up and mailing goods. There are one or more talkers117provided on the fixing frame11. The talker117has a call button. When the call button is pressed, target user or sender can talk to the control cluster through the talker117, thereby solving doubts of the target user and the sender during automatic pickup process and automatic sending process. There are one or more alarms118provided on the fixing frame11. When the electric vehicle1is damaged or other emergency occurs, the alarm118may notify the control cluster and emit alarm sounds. In some cases, passers-by may also notify emergency situation of the electric vehicle1to the control cluster through the talker117. The control cluster can also obtain the information of the surroundings of the electric vehicle1through the cameras115at any time. The scanners12, the talkers117and the alarms118can be provided at the four corners of the fixing frame11for the convenience of users, and scanning function, call function and alarm function of the electric vehicle1will not be affected by damage of some of the scanners12, some of the talkers117and some of the alarms118. In some embodiments, the scanners12, the talkers117, and the alarms118may also be provided on the freight container.

Further, the chassis10of the electric vehicle1is provided with a battery slot13, and battery pack of the electric vehicle1is detachably installed in the battery slot13. The battery pack can be flexibly inserted into and removed from the battery slot13. In this way, when the electric vehicle1runs out of power, the battery pack can be quickly replaced, so that the electric vehicle1maintains long-lasting battery life. Or when the electric vehicle1returns to a distribution center and the freight container is unloaded, the electric vehicle1can be replaced with a new fully charged battery pack and then performs a next distribution.

FIG.14shows a structure of the freight container having multiple storage compartments in the embodiment. Referring toFIG.14, a plurality of interchangeable storage compartments31of different capacities are provided in the freight container3, e.g., four storage compartments31of different capacities are shown inFIG.14, so that the freight container3can be adapted to different storage requirements of goods in different sizes. Each storage compartment31is capable of storing a piece of goods through a turnover box. The storage compartment31is replaceable, so that the freight container3has combinations of storage compartments31with different capacities, thereby adapting to the size of the goods and making full use of an internal space of the freight container. The freight container is provided with a first memory (not specifically shown inFIG.14), the first memory stores user information and storage path of each piece of goods. The user information indicates a target user and a destination address of the piece of the goods, and the storage path indicates the storage compartment and the turnover box storing the piece of the goods. Some storage compartments31may also have a heat preservation function and an alarm function to detect whether a door of the storage compartments31is closed.

In some embodiments, the storage path of each piece of the goods is generated according to a first identification code of the freight container, a second identification code of the storage compartment corresponding to the piece of the goods, and a third identification code of the turnover box corresponding to the piece of the goods. Each freight container has a first identification code, each storage compartment in the freight container has a second identification code, and the turnover box in each storage compartment has a third identification code. The storage path of each piece of the goods generated according to the first identification code of the freight container, the second identification code of the storage compartment corresponding to the piece of the goods, and the third identification code of the turnover box corresponding to the piece of the goods, makes each piece of the goods uniquely correspond to a turnover box in a storage compartment of a freight container.

Wherein, the user information of the goods is transported along with the goods. For example, a label is attached to each piece of the goods, and the label stores the user information corresponding to the piece of the goods. The user information can be stored in an encrypted manner as long as it can be read by a computer of the control cluster. Encrypted storage can improve confidentiality of information and prevent leakage of the user information. The storage path of the goods is generated in stages according to transportation status of the goods. The transportation status of the goods includes at least: the goods being loaded into the turnover boxes and the goods together with the turnover boxes being loaded into the storage compartment of the freight container. Firstly, when the goods are loaded into the turnover boxes, temporary storage paths are generated according to the third identification codes of the turnover boxes, such as “a first piece of the goods: a first turnover box”. Secondly, when the goods together with the turnover boxes are loaded into the storage compartments of the freight container, complete storage paths are generated according to the third identification codes of the turnover boxes, the second identification codes of the storage compartments and the first identification code of the freight container, such as “the first piece of the goods: a first freight container→a first storage compartment→the first turnover box”. Finally, the storage path and the user information of each piece of the goods are stored in the first storage of the freight container. Thus, the first storage obtains the user information and storage path of each piece of the goods.

In some embodiments, the switch is a split type switch. The split switch includes a first switch contact provided on the freight container and a second switch contact provided on the fixing frame; when the freight container is pushed into the fixing frame, the split type switch is switched on and the first memory exchanges data with the electric vehicle. Specifically, the first memory exchanges data with the electric vehicle through the control cluster. When the freight container is pushed into the fixing frame to complete assembly, the first switch contact contacts with the second switch contact, therefore, the split switch is switched on and generates an electrical signal transmitted to the control cluster. The electric signal carries a fourth identification code of the electric vehicle and the first identification code of the freight container. After receiving the electric signal, the control cluster will know that the electric vehicle and the freight container are assembled, and then obtain the user information and the storage path of each piece of the goods stored in the first memory associated with the first identification code, and further generate distribution information according to the user information and the storage path of each piece of the goods stored in the first memory, the distribution route then will be transmitted to the electric vehicle associated with the fourth identification code. The electric vehicle includes a control module, and the electric vehicle can automatically distribute the goods in the freight container when the control module receives the distribution information.

The embodiment of the present disclosure also provides an automatic driving method of the electric vehicle, which is applied on the electric vehicle described in any of the above embodiments. The automatic driving method of the present disclosure can be executed by the control module of the electric vehicle, the control module is a function module configured in the electric vehicle with automatic driving function. The present disclosure adds the following steps to the control module but not changes basic control principle of the control module. The control module can communicate with a navigation system and an automatic driving system to realize the automatic driving of the electric vehicle.

FIG.15shows main steps of the automatic driving method of the electric vehicle in the embodiment. Referring toFIG.15, the automatic driving method of the electric vehicle in this embodiment mainly includes the following steps S110, S120and S130. In step S110, a track width increasing signal is transmitted to each of the wheel assemblies, when a running speed of the electric vehicle is greater than a first preset value, so that the displacement device of each of the wheel assemblies drives the wheel to extend away from the center of the electric vehicle and along the width direction of the vehicle body. Referring to a structure of increased track width of the electric vehicle shown inFIG.8, in response to the track width increasing signal, the displacement device drives the driving device and the wheel to move away from the center of the electric vehicle, along the width direction of the vehicle body, through the telescopic shaft, thereby the wheel is extended and the track width is increased.

In step S120, a track width decreasing signal is transmitted to each of the wheel assemblies, when the running speed of the electric vehicle is less than a second preset value, so that the displacement device of each of the wheel assemblies drives the wheel to retract towards the center of the electric vehicle, along the width direction of the vehicle body. Referring to a structure of decreased track width of the electric vehicle shown inFIG.9, in response to the track width decreasing signal, the displacement device drives the driving device and the wheel to move towards the center of the electric vehicle, along the width direction of the vehicle body, through the telescopic shaft, thereby the wheel is retracted and the track width is decreased.

Wherein, the first preset value is much larger than the second preset value. Further, when the running speed of the electric vehicle is between the first preset value and the second preset value, the control module can also transmit a track width adjusting signal to each of the wheel assemblies according to the running speed, instructing the displacement device to adjust the track width in real time, based on the running speed. Therefore, the track width is adapted to the running speed and the best driving experience is obtained.

In step S130, when the electric vehicle is turning, a first speed signal is transmitted to inside group of the wheel assemblies, instructing the driving devices of the inside group of the wheel assemblies to drive inside wheels to run forward at a first speed, and a second speed signal is transmitted to outside group of the wheel assemblies, instructing the driving devices of the outside group of the wheel assemblies to drive outside wheels to run forward at a second speed. Wherein, the second speed is greater than the first speed.

FIG.16is a top view structure showing the electric vehicle turning in the embodiment. Referring toFIG.16, when the electric vehicle1turns, the wheels21maintain running forward without turning, which increases the stability of the electric vehicle1when turning. Turning of the electric vehicle1is achieved based on the speed difference between the inside wheel21and the outside wheel21, driven by the driving device22of each of the wheel assemblies2. Taking a right turn shown inFIG.16as an example, the driving devices22of inside group, i.e., two right-side wheel assemblies2drive two right-side wheels21to run at a first speed V1, and the driving devices22of outside group, i.e., two left-side wheel assemblies2drive two left-side wheels21to run at a second speed V2, wherein V1<V2. Since the speed V1 of the right-side wheel21is smaller than the speed V2 of the left-side wheel21, the electric vehicle1turns right under the action of the speed difference between the left-side and right-side wheels. The speed difference will be large when a turning angle is large, the speed difference will be small when the turning angle is small, and specific speed difference is calculated by the control module of the electric vehicle1, which is not limited in the present disclosure.

It should be noted that the sequence numbers of the steps in the above embodiments are only used to indicate the control mode of the electric vehicle under different driving conditions, and do not limit logical relation and execution order between the steps.

In some embodiments, the automatic driving method of the electric vehicle further includes the following steps: when the electric vehicle is turning, a retracting signal being transmitted to the inside group of the wheel assemblies, which instructs the displacement devices of the inside group of the wheel assemblies to drive the inside wheels to retract towards the center of the electric vehicle, along the width direction of the vehicle body; and, an extending signal being transmitted to the outside group of the wheel assemblies, which instructs the displacement devices of the outside group of the wheel assemblies to drive the outside wheels to extend away from the center of the electric vehicle, along the width direction of the vehicle body.

To assist the electric vehicle in turning, in addition to generating the speed difference between the inside wheel and the outside wheel through the driving device of each of the wheel assemblies, the control module further drives the inside front wheel and the inside rear wheel to retract, or drives the outside front wheel and the outside rear wheel to extend, or simultaneously drives the inside front wheel and the inside rear wheel to retract and the outside front wheel and the outside rear wheel to extend, through the displacement device. Referring toFIG.16, in order to further assist the electric vehicle in turning, the displacement devices23of the inside group, i.e., the two right-side wheel assemblies2drive the inside wheels to appropriately retract in the direction “X2” towards the center of the electric vehicle1, and/or, the displacement devices23of the outside group, i.e., the two left-side wheel assemblies2drive the outside wheels to appropriately extend in the direction “X1” away from the center of the electric vehicle1. The specific retraction degree of the inside wheels and the specific extension degree of the outside wheels are calculated by the control module, which is not limited in the present disclosure.

Further, in some embodiments, the automatic driving method of the electric vehicle may further include: when the running speed of the electric vehicle is greater than the first preset value, a height reducing signal being transmitted to each of the wheel assemblies, which instructs the lifting device of each of the wheel assemblies to reduce the ground clearance of the chassis, thereby the center of gravity of the electric vehicle will be reduced and the stability and safety of the electric vehicle at high speeds will be improved. Further, when the electric vehicle is stopping, a height increasing signal is transmitted to each of the wheel assemblies, which instructs the lifting device of each of the wheel assemblies to raise the ground clearance of the chassis, thereby height of the vehicle body will be restored to a height that facilitates getting on and off the electric vehicle for the passengers. In some embodiments, based on the control signal of the control module of the electric vehicle, the lifting device can adjust the ground clearance of the chassis in real time according to the running speed. The higher the running speed is, the lower the ground clearance of the chassis will be decreased, therefore the center of gravity of the electric vehicle will be reduced and driving safety and stability will be improved; when the running speed gradually slows down, the ground clearance of the chassis will be gradually restored to facilitate getting on and off the electric vehicle for the passengers.

The above process of adjusting the wheel speed, the telescoping degree of the wheel, and the ground clearance of the chassis may be a continuous adjustment or a phase adjustment, which depends on the configuration of the control module, and is not limited in the present disclosure. For example, in some embodiments, the running speed of the electric vehicle may be configured to multiple preset values to adjust the wheel of each of the wheel assemblies and the ground clearance of the chassis in phases.

In some embodiments, driving parameters of the electric vehicle may be adjusted in real time according to driving conditions of the electric vehicle. Wherein, the driving conditions of the electric vehicle can be obtained by the control module of the electric vehicle, according to the surroundings information collected by the cameras and combined with the navigation system and the automatic driving system.

FIG.17shows main steps of another automatic driving method in the embodiment. Referring toFIG.17, the automatic driving method of the electric vehicle in this embodiment includes the following steps S210, S220and S230. In step S210, when the electric vehicle is running straight, the wheels are controlled to rotate at a same speed by the driving devices, the track width along the width direction of the vehicle body is controlled to be increased as the running speed increases by the displacement devices, and the ground clearance of the chassis is controlled to be reduced as the running speed increases by the lifting devices of the plurality of the wheel assemblies; wherein each of the wheel assemblies is connected to the chassis through the lifting device. In step S220, when the electric vehicle is turning, the speed of the outside wheels are controlled to be greater than the speed of the inside wheels by the driving devices, the outside wheels are controlled to move outward, relative to the inside wheels, along the width direction of the vehicle body, by the displacement devices, and ground clearance of outside part of the chassis is controlled to be greater than ground clearance of inside part of the chassis by the lifting devices. In step S230, when the electric vehicle passes a slope, ground clearance of a part of the chassis located upstream of the slop is controlled to be less than ground clearance of a part of the chassis located downstream of the slop by the lifting devices, to reduce a gradient of the electric vehicle.

FIG.18shows a front view structure of the electric vehicle under the straight running condition in an embodiment, the electric vehicle in this embodiment is, for example, an electric vehicle carrying goods. As shown inFIG.18, when the electric vehicle1is running straight, the wheels21of each of the wheel assemblies2are respectively controlled by the driving devices22to have a same speed, which ensures stable running of the electric vehicle1carrying the freight container3. When the running speed of the electric vehicle1exceeds a certain threshold, the electric vehicle will be rolled over due to the centrifugal force, therefore, the displacement device23of each of the wheel assemblies2drives the wheel21to extend outward in the width direction “X” of the vehicle body, to increase the track width “L” and improve the stability of electric vehicle. When the running speed of the electric vehicle1is less than a certain threshold, the displacement device23will drive the wheel21to retract inward in the width direction “X” of the vehicle body, to reduce the track width “L” and save energy consumption at low speeds, and further to reduce the occupied area of the wheels21and be convenient for passing through narrow passages. Further, as the running speed increases, the ground clearance “H” of the chassis of the electric vehicle1is lowered by the lifting devices, which reduces the center of gravity of the electric vehicle1and improves the stability and safety of the electric vehicle1when running at high speeds. When the electric vehicle1is parking, the ground clearance “H” of the chassis of the electric vehicle1is raised by the lifting devices, so that the goods in the freight container3can be easily picked up.

FIG.19shows a front view structure of the electric vehicle for carrying goods under a left-turning condition in the embodiment. Referring toFIG.19, when the electric vehicle1loaded with the freight container3is turning left along an arrow “R1”, the speed of the outside wheels21′ is controlled to be greater than the speed of the inside wheels21″, by the driving devices22, therefore a speed difference is generated between the inside wheels21″ and the outside wheels21′ to achieve turning. Both the inside wheels21″ and the outside wheels21′ maintain running forward without turning, which increases the stability of the electric vehicle1when turning. Further, in order to assist turning, the displacement devices23control the outside wheels21′ to move outward, in the width direction “X” of the vehicle body, relative to the inside wheels21″, to make the turning process smoother. For example, the outside wheels21′ are driven to move outward in the width direction “X” of the vehicle body, or the inside wheels21″ are driven to move inward in the width direction “X” of the vehicle body, or the outside wheels21′ are driven to move outward in the width direction “X” of the vehicle body and at the same time the inside wheels21″ are driven to move inward in the width direction “X” of the vehicle body, to assist turning. During the turning process, the outside ground clearance H1 of the chassis can be controlled to be greater than the inside ground clearance H2 of the chassis, by the lifting devices, to further assist the turning. Specifically, the outside ground clearance H1 of the chassis can be increased by the outside lifting devices, or the inside ground clearance H2 of the chassis can be reduced by the inside lifting devices, or the outside ground clearance H1 of the chassis is increased by the outside lifting devices and at the same time the inside ground clearance H2 of the chassis is reduced by the inside lifting devices, so that the electric vehicle1carrying the freight container3leans slightly to the turning side, to assist the turning. Of course, a leaning degree of the electric vehicle1should be controlled within a certain safety range to ensure that the electric vehicle1keeps stable when turning.

FIG.20shows a side view structure of the electric vehicle for carrying goods under a downhill condition in the embodiment. Referring toFIG.20, when the electric vehicle1carrying the freight container3goes downhill, the ground clearance H3 of the chassis located upstream of the slop is controlled to be less than the ground clearance H4 of the chassis located downstream of the slop, by the lifting devices, to reduce a gradient of the electric vehicle1and keep the electric vehicle1and the freight container3stable when passing the slope. For example, the ground clearance H3 of the chassis part located upstream of the slop can be lowered by the lifting devices of the wheel assemblies2′ located upstream of the slope, or the ground clearance H4 of the chassis part located downstream of the slop can be raised by the lifting devices of the wheel assemblies2″ located downstream of the slope, or the ground clearance H3 of the chassis part located upstream of the slop is lowered by the lifting devices of the wheel assemblies2′ located upstream of the slope and at the same time the ground clearance H4 of the chassis part located downstream of the slop is raised by the lifting devices of the wheel assemblies2″ located downstream of the slope. Therefore, the ground clearance H3 of the chassis part located upstream of the slop is lower than the ground clearance H4 of the chassis part located downstream of the slop, and the gradient of the electric vehicle1is reduced, so that the electric vehicle1is running smoothly on the slope. The lifting device can be connected to the chassis of the electric vehicle1through a shock-absorbing mechanism, so as to smoothly adjust the ground clearance of the chassis.

When the electric vehicle carrying the freight container goes uphill, the ground clearance of the chassis part located upstream of the slop will also be controlled to be lower than the ground clearance of the chassis part located downstream of the slop, by the lifting devices, to reduce the gradient of the automatic electric vehicle.

In the above-mentioned automatic driving method, the driving device, the displacement device and the lifting device in each of the wheel assemblies independently control the wheel to increase the flexibility of the electric vehicle and be adapted to different conditions. When the electric vehicle runs at a high speed, the track width is increased by the displacement devices to improve stability and safety; when the electric vehicle runs at a low speed, the track width is decreased by the displacement devices to save energy consumption. When the electric vehicle is turning, a speed difference between the inside wheels and the outside wheels is generated by the driving devices to achieve turning. In addition, the ground clearance of the chassis is adjusted by the lifting devices to further enhance the safety, the stability and the mobility of the electric vehicle.

In some embodiments, when each of the wheel assemblies includes at least two tires arranged in the width direction of the vehicle body, the tires in a same wheel assembly are driven by the driving device, jointly, to have a same speed; while each tire in the same wheel assembly is driven by the displacement device, separately, to extend and retract independently along the width direction of the vehicle body.

The automatic driving method of the electric vehicle further includes: when the electric vehicle passes a hollow, a track width along the width direction of the vehicle body between the tires of a same wheel assembly located in the hollow increased, to avoid the hollow, by the displacement device of the wheel assembly located in the hollow. The way to increase the track width along the width direction of the vehicle body between the tires of the same wheel assembly located in the hollow may be, driving an outside tire of the wheel assembly located in the hollow to extend outwards in the width direction of the vehicle body, or driving an inside tire of the wheel assembly located in the hollow to retract inwards in the width direction of the vehicle body, or simultaneously driving the outside tire of the wheel assembly located in the hollow to extend outwards in the width direction of the vehicle body and driving the inside tire to retract inwards in the width direction of the vehicle body, thereby to increase the track width between the tires of the same wheel assembly located in the hollow and avoid the hollow. Or, when the electric vehicle passes the hollow, the tires of the same wheel assembly located in the hollow are driven to extend or retract in the width direction of the vehicle body, to avoid the hollow, by the displacement device of the wheel assembly located in the hollow. That is, in addition to increase the track width between the tires of the wheel assembly located in the hollow to avoid the hollow, all tires of the wheel assembly located in the hollow can also be moved in the width direction of the vehicle body to avoid the hollow.

The embodiment of the present disclosure also provides an electronic device, including a processor and a memory storing executable instructions executed by the processor, and the processor is configured to execute the steps of the automatic driving method of the electric vehicle described in any of the above embodiments, by executing the executable instructions. The electronic device is configured in the electric vehicle and independently controls the wheel of each of the wheel assemblies through the driving device, the displacement device, and the lifting device, to assist automatic driving and improve the flexibility, the stability, the safety and the comfort of the electric vehicle. The electronic device can communicate with a navigation system (e.g., GPS or BDS) and an automatic driving software, to realize automatic driving of the electric vehicle.

FIG.21is a block diagram of an electronic device in an embodiment of the present disclosure, it should be understood thatFIG.21only schematically shows modules, these modules may be virtual software modules or actual hardware modules, and splitting, merging, and adding of these modules all fall within the protection scope of the present disclosure.

Hereinafter, referring toFIG.21, an electronic device400of the present disclosure will be described. The electronic device400shown inFIG.21is only an example, which should not constitute any limitation to the function and use scope of the embodiments of the present disclosure.

As shown inFIG.21, the electronic device400is represented in a form of a general computing device. Components of the electronic device400may include, but is not limited to: at least one processing unit410, at least one memory unit420, a bus430connecting different system components (including the memory unit420and the processing unit410), and a display unit440, etc.

Wherein, the memory unit stores program codes which may be executed by the processing unit410, causing the processing unit410to execute the steps of the automatic driving method described in any of the above embodiments.

The memory unit420may include a readable medium in a form of a volatile memory unit, e.g. a random-access memory unit (RAM)4201and/or a cache memory unit4202, and may further include a read-only memory unit (ROM)4203.

The memory unit420may further include a program/practical tool4204having a set (at least one) of program modules4205. Such program modules4205include, but are not limited to: an operating system, one or more application programs, other program modules and program data, wherein each or a certain combination in these examples may include implementation of a network environment.

The bus430may represent one or more of several bus structures, including a memory unit bus or a memory unit controller, a peripheral bus, a graphical acceleration port, a processing unit, or a local area bus using any bus structure in a plurality of bus structures.

The electronic device400may also communicate with one or more external devices500(e.g., a keyboard, a pointing device, a Bluetooth device, etc.), and communicate with one or more devices enabling users to interact with the electronic device400, and/or communicate with any device (e.g., a router, a modem, etc.) enabling the electronic device400to communicate with one or more other computing devices. Such communication may be performed through an input/output (I/O) interface450. Moreover, the electronic device400may further communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and/or a public network, e.g., the Internet) through a network adapter460. The network adapter460may communicate with other modules of the electronic device400through the bus430. It should be understood that although not shown in the figure, other hardware and/or software modules may be used in conjunction with the electronic device400, including, but not limited to, microcode, an device driver, a redundancy processing unit, an external disk driving array, an RAID system, a tape driver, and a data backup memory system, etc.

The embodiment of the present disclosure also provides an automatic freighting system including multiple electric vehicles. The electric vehicle referred to in this embodiment is the electric vehicle used for carrying goods described in any of the above embodiments. The electric vehicle can communicate with the control cluster to realize automatic freighting under control of the control cluster.

The automatic freighting system also includes a distribution center equipped with two freight channels, i.e., an inward freight channel and an outward freight channel. The inward freight channel is used to distribute goods transferred from other distribution centers to destinations; and the outward freight channel is used to transfer goods received to other distribution centers. The distribution center can be set up according to freight volume. For example, for a city with a small freight volume, a distribution center can be set up in the city; while for a city with a large freight volume, multiple distribution centers can be set up in different areas of the city.

The distribution center is equipped with automatic device for automatic loading and unloading and automatic transporting. The automatic device is, for example, a belt conveyor with a movable robot arm and an automatic scanner. The automatic device can automatically load the goods into the turnover boxes, take out the goods from the turnover boxes, load the turnover boxes together with the goods into the storage compartments of the freight container, take out the turnover boxes together with the goods from the storage compartments of the freight container, load the freight container onto the electric vehicle, and unload the freight container from the electric vehicle. The automatic device can connect the inward freight channel and the outward freight channel, so that the electric vehicles, the freight containers, and the turnover boxes can be transferred to corresponding freight channels according to needs of goods transporting. The automatic device may also scan and obtain the third identification code of the turnover box, the second identification code of the storage compartment and the first identification code of the freight container at each stage of the goods transporting, thereby obtaining the storage path of the goods.

FIG.22shows a structure of the distribution center in an embodiment. As shown inFIG.22, an inward freight channel61and an outward freight channel62are provided in the distribution center6. The inward freight channel61includes a receiving area611and a dispatch area612. The receiving area611receives transferred first goods610, loads the first goods610into corresponding turnover boxes600through the automatic device60, and transports them to the dispatch area612. Then the turnover boxes600together with the first goods610are loaded into corresponding freight container3, and the freight container3is loaded into the electric vehicle1for automatic distribution. The outward freight channel62includes an unloading area621and a transfer area622, and the electric vehicle1loaded with second goods620that needs to be transferred to other areas is received in the unloading area621. The freight container3and the turnover boxes600containing the second goods620in the freight container3are sequentially unloaded by the automatic device60. Next, the freight container3and the electric vehicle (marked as electric vehicle1′ inFIG.22, from which the freight container3has been unloaded) can return to the dispatch area612to continue to deliver the first goods610. The electric vehicle1′ can first reach a battery center to automatically replace a fully charged battery pack and then return to the dispatch area612, and a replaced battery pack will be recharged automatically in the battery center, to be ready for use. The turnover boxes600containing the second goods620are transported by the automatic device60to the transfer area622, and then the second goods620are taken out of the turnover boxes600and wait to be transferred to other corresponding distribution centers. The second goods620can be transferred by any existing transportation means. The turnover boxes600will be returned to the receiving area611by the automatic device60.

Delivering process and receiving process of the automatic freighting method will be specifically described with two embodiments in the following. The automatic freighting method is mainly realized by the control cluster.

FIG.23andFIG.24show main steps of the delivering process of the automatic freighting method in the embodiment. Referring toFIG.23, the automatic freighting method includes the following steps S710-S760. In step S710, the first goods to be distributed and obtaining user information of each piece of the first goods are received, in the receiving area of the distribution center; in step S720, each piece of the first goods is fitted into a turnover box according to size of the first goods, wherein the first goods can be loaded into the turnover boxes by the above-mentioned automatic device; in step S730, the turnover boxes together with the first goods are automatically transported to the dispatch area of the distribution center, wherein a plurality of empty freight containers and fully-charged electric vehicles are arranged in the dispatch area; in step S740, the turnover boxes together with the first goods are loaded into the storage compartments of the freight containers, making the first goods in a same freight container have a same target area, and obtaining storage path of each piece of the first goods; in step S750, the fright container is loaded on the carrying surface to form the electric vehicle, and the user information and the storage path of each piece of the first goods are stored in the memory of the electric vehicle; in step S760, the electric vehicle is controlled to automatically distribute the first goods in the freight container.

Wherein, the target area belongs to a distribution range of the distribution center, and is a small-scale distribution area pointed by the destination address of the first goods. In other words, the distribution center corresponds to a large distribution area, and there are many small distribution areas within the scope of the large distribution area of the distribution center. When distributing goods, the goods that point to a same small distribution area are allocated to a same group of the freight containers, and the same group of the freight containers are assigned to one or more electric vehicles. Therefore, each time the electric vehicle is assembled with a freight container, the electric vehicle can distribute first goods in a small distribution area, which saves resources and accelerates efficiency.

Further, referring toFIG.24, a process of controlling the electric vehicle to automatically distribute the first goods in the freight container in step S760specifically includes the following steps S760-2, S760-4, S760-6and S760-8. In step S760-2, a distribution route, a pickup time and a pickup location of each piece of the first goods, and a pickup code of each piece of the first goods related to the storage path of the piece of the first goods are generated, according to the destination address of each piece of the first goods in the freight container. In step S760-4, the distribution route is transmitted to the electric vehicle, and the pickup time, the pickup location and the pickup code are transmitted to the target user of each piece of the first goods. Wherein, the pickup location is agreed with the target user and near the destination address. At the agreed pickup time, the electric vehicle arrives at the pickup location, and the target user also goes to the pickup location to pick up. For example, when the destination address of the target user is on a 15th floor of a building, an entrance of the building, i.e., an address of the building on the map can be the pickup location when agreed with the target user. In step S760-6, when the electric vehicle arrives at a pickup location, the pickup code is identified by the scanner of the electric vehicle, and the pickup code is transmitted to the control cluster by the electric vehicle; after the control cluster confirms that the pickup code is correct, a notification message indicating a location of the storage compartment corresponding to the pickup code is transmitted to the target user by the control cluster, and an unlock instruction corresponding to the storage compartment is transmitted to the freight container by the control cluster, which instructs the freight container to open the storage compartment corresponding to the pickup code for the target user to pick up the first goods. The target user should close the door of the storage compartment after receiving the first goods. And in step S760-8, whether the door of the storage compartment is closed is detected, a return notification is transmitted to the target user when the door is not closed, and the electric vehicle will continue to move on after detecting that the door of the storage compartment is closed. That is to say, the electric vehicle will continue to move on after the target user receives the first goods and closes the door of the storage compartment.

Through the above delivering process, the first goods can be automatically distributed in each distribution center, without manual participation throughout the process, which greatly speeds up the freight efficiency, and avoids errors and information leakage caused by human factors.

FIG.25andFIG.26show main steps of the receiving process of the automatic freighting method in the embodiment. Referring toFIG.25, the automatic freighting method further includes the following steps S810, S820, S830and S840. In step S810, a sending request including sender information and recipient information is received, wherein the sender information includes at least a sender, a sender address and size of a piece of second goods, and the sender information and recipient information are materials filled in by the sender online. In step S820, an electric vehicle with an empty storage compartment matching the size of the piece of the second goods and in a target area where the sender address is located is obtained. In step S830, a sending time, a sending location and a sending code are transmitted to the sender. And in step S840, a receiving route related to the sending location and the sending time is transmitted to the electric vehicle.

Further, referring toFIG.26, the receiving process further includes following steps S850, S860, S870, S880, S890and S8910. In step S850, when the electric vehicle arrives at the sending location, the sending code is identified and then transmitted, by the scanner, to the control cluster for confirmation; afterwards a notification message indicating a location of the empty storage compartment is transmitted to the sender by the control cluster, and an unlock instruction, instructing the freight container to open a door of the empty storage compartment for the sender to place the piece of the second goods into the turnover box in the empty storage compartment, is transmitted to the freight container by the control cluster. The sender should close the door of the storage compartment after placing the second goods. In step S860, detect whether the door of the storage compartment is closed, and transmit a return notification, informing the sender to return and close the door of the storage compartment, to the sender, when the door is not closed; and the electric vehicle will continue to move on after detecting that the door of the storage compartment is closed. In step S870, the electric vehicle is controlled to travel to the unloading area of the distribution center, when the electric vehicle is full loaded with the second goods. In step S880, the fright container and the turnover boxes and the second goods in the fright container are unloaded, and the electric vehicle and the fright container are returned to the dispatch area; wherein the electric vehicle can first arrive at the battery center to replace the fully charged battery pack, and the replaced battery pack will be automatically recharged. After returning to the dispatch area, the freight container can be loaded with new first goods, specifically, the turnover boxes containing the new first goods are fitted into the storage compartments with suitable capacities of the freight container. The freight container full-loaded with the new first goods is then loaded onto the electric vehicle for automatic distribution of the new first goods. In step S890, the turnover boxes together with the second goods are automatically transported to corresponding transfer areas, according to the recipient information of each piece of the second goods, wherein the turnover boxes and the second goods can be automatically transported by the above-mentioned automatic device. And in step S8910, the second goods are unloaded for transferring and the turnover boxes are returned to the receiving area. After returning to the receiving area, the turnover boxes will be loaded with new first goods, and then transported to the dispatch area to be loaded into the storage compartments of the freight container. The second goods in the transfer area can be transferred to other distribution centers by large trucks, or be transferred to an airport and then to remote distribution center in the cases of long distance. The first goods in other distribution centers can be transferred to the receiving area of the distribution center by the large trucks.

The receiving process is linked up with the delivering process. Therefore, in each distribution center, the first goods are automatically distributed and the second goods are automatically received, without manual participation throughout the entire process, which greatly speeds up the freight efficiency. The electric vehicle used for carrying goods is separated from the freight container, and the freight container can be easily installed onto and removed from the electric vehicle, the entire structure is simple and the installation is easy. The electric vehicle can be quickly replaced with a new fully charged battery pack, and the replaced battery pack can be sent to the battery center to be recharged for later use, which has high efficiency. The electric vehicle can transport goods in multiple freight containers, which saves costs and improves efficiency; and the electric vehicle can realize freighting with fully automation, high efficiency, high accuracy, low cost and high safety, without human error and information leakage.

Obviously, the above-mentioned embodiments of the present disclosure are merely examples for clearly illustrating the present disclosure, rather than limiting the implementation of the present disclosure. For those of ordinary skill in the art, various obvious changes, readjustments, and substitutions can be made without departing from the protection scope of the present disclosure. There is no need to exhaustively list all implementations. Any modification, equivalent replacement and improvement made within the spirit and principle of the present disclosure shall be included in the protection scope of the claims of the present disclosure.