CN112947192A - Teleoperation vehicle driving system - Google Patents
Teleoperation vehicle driving system Download PDFInfo
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- CN112947192A CN112947192A CN202110184505.8A CN202110184505A CN112947192A CN 112947192 A CN112947192 A CN 112947192A CN 202110184505 A CN202110184505 A CN 202110184505A CN 112947192 A CN112947192 A CN 112947192A
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- 230000000149 penetrating effect Effects 0.000 claims description 2
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- 230000009286 beneficial effect Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/23—Pc programming
- G05B2219/23051—Remote control, enter program remote, detachable programmer
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Abstract
The invention provides a teleoperation vehicle driving system, which comprises an operation device and an execution device, wherein the operation device comprises a control device body and a control device body; the control device comprises a driving simulator, a data acquisition system, a display, a communication system and a control system, wherein the data acquisition system is connected with each functional data output end of the driving simulator, and the control system is connected with the data acquisition system, the display and the communication system; the executing device comprises a fixed frame, a steering wheel control assembly, a gear control assembly, a pedal control assembly, an image acquisition assembly, a communication system and a control system; the invention replaces workers to finish the operation efficiently through remote operation, breaks through the limitation of space intervals, and leads the operator to be far away from a dangerous incident place, so that the operator can control the vehicle at a far distance, thereby ensuring the personal safety of the operator and reducing the probability of accidents and casualties. The invention has stronger adaptability and higher universality, can be suitable for vehicles with different sizes and specifications, has lower failure rate and has obvious progress.
Description
Technical Field
The invention relates to a vehicle driving system, in particular to a teleoperation vehicle driving system.
Background
With the continuous development of the scientific and technical level, the requirements of people on the working environment and the working conditions are higher and higher, and it is considered that under a plurality of extremely severe environments, people cannot safely and effectively reach a designated working place to carry out work. For example, when natural disasters such as earthquake, torrential flood, debris flow and the like occur, normal traffic roads are damaged, and rescue workers can hardly reach rescue places safely and quickly by means of normal rescue vehicles; when major accidents such as fire disasters and nuclear leakage happen, rescue workers are difficult to safely and effectively carry out work. Therefore, how to effectively solve the problem that people are in urgent need to solve the problem of carrying out rescue work under the condition of ensuring the personal safety of rescuers. In recent years, disasters such as earthquakes, tsunamis and nuclear leakage are frequent, heavy impact and loss are brought to people, and it is necessary that a robot replaces people to enter a rescue site or a high-risk construction site to complete work. Engineering vehicles and machinery are the main force of modern engineering operation, and if remote control driving or operation of various vehicles can be realized on the premise of not changing the structure of the original vehicle, the cost is saved (batch equipment has lower cost than special equipment), and a driver can be far away from danger. Some existing driving robots lack teleoperation control, are low in control precision of gears or pedals, are more in connecting parts, easily cause high mechanical failure rate, or are low in practicability and adaptability, only suitable for special vehicles or a small number of types of vehicles, often need to change a cab structure, and cause high cost.
Disclosure of Invention
In order to solve the technical problems, the invention provides a teleoperation vehicle driving system, which comprises a control device and an execution device;
the control device comprises a driving simulator, a data acquisition system, a display, a communication system and a control system, wherein the data acquisition system is connected with each functional data output end of the driving simulator, and the control system is connected with the data acquisition system, the display and the communication system;
the executing device comprises a fixed frame, a steering wheel control assembly, a gear control assembly, a pedal control assembly, an image acquisition assembly, a communication system and a control system;
the control system is connected with the steering wheel control assembly, the gear control assembly, the pedal control assembly, the image acquisition assembly and the communication system;
the control device and the execution device are connected through the communication system and the communication system.
The steering wheel control assembly is arranged on the upper platform, the gear control assembly is arranged on the lower platform, and the pedal control assembly is arranged on the lower part of the main frame body; the main frame body is buckled on a seat of a vehicle cab, the bottom fixing plate is positioned at the lower part of the seat and is connected with the main frame body through a connecting bolt rod, and the rear fixing plate is positioned at the rear part of a seat backrest and is connected with the main frame body through a connecting bolt rod. The fixing frame is fixed on the controlled vehicle seat at the bottom and the rear part simultaneously, and the whole actuating device is positioned, so that other control components can be conveniently installed without dismounting the seat and changing the structure in the cab.
The steering wheel control assembly comprises a first support, a second support, a motor, a first universal joint, a second universal joint, a telescopic rod and a steering wheel connecting frame, wherein the first support is fixed on an upper platform of the fixing frame main frame body, the second support is positioned on the upper part of the first support, transverse connecting holes are respectively formed in the upper part of the first support and the lower part of the second support, the first support and the second support are connected through the connecting holes through bolts, and the angle between the first support and the second support can be adjusted according to the angle of a steering wheel, namely the inclination angle of the second support is adjusted to adapt to the steering wheel; the motor is arranged on the upper portion of the second support, an output shaft of the motor is connected with the first universal joint, the first universal joint is connected with the second universal joint through the telescopic rod, the other end of the second universal joint is connected with the steering wheel connecting frame, the length of the telescopic rod can be adjusted according to the distance between the motor and the steering wheel, and the first universal joint and the second universal joint act together to adapt to angle change in the rotating process of the steering wheel.
The steering wheel link be the cross, the end of steering wheel link is equipped with adjustable clamp, fixes on car steering wheel through adjustable clamp, connects or dismantles through buckle and the elasticity of adjusting adjustable clamp.
The gear control assembly comprises a longitudinal electric cylinder, a transverse electric cylinder and a gear sleeve, the longitudinal electric cylinder is longitudinally arranged on a lower platform of the main frame body of the fixing frame, a first fixing plate is arranged at the front end of a shell of the longitudinal electric cylinder, a push rod through hole is formed in the middle of the first fixing plate, smooth through holes are formed in two sides of the first fixing plate, a push rod of the longitudinal electric cylinder penetrates through the push rod through hole of the first fixing plate to be connected with the first connecting plate, smooth rods are arranged on two sides of the first connecting plate, and the two smooth rods respectively penetrate through the smooth through holes in two sides of the first fixing plate to play a role of directional; the transverse electric cylinder is horizontally fixed on the first connecting plate and is vertical to the longitudinal electric cylinder; the front end of horizontal electronic jar shell is equipped with the second fixed plate, is equipped with the push rod through-hole in the middle of the second fixed plate, and both sides are equipped with smooth through-hole, and the push rod through-hole that the push rod of horizontal electronic jar passed the second fixed plate links to each other with the second connecting plate, and the both sides of second connecting plate are equipped with smooth rod, and two smooth rods pass the smooth through-hole of second fixed plate both sides respectively, play directional effect of removing. The gear rod sleeve is fixed on the second connecting plate and is a cylindrical cylinder which is vertically arranged, the gear rod sleeve is sleeved on a gear rod of an automobile, and the gear rod sleeve is designed into the cylindrical cylinder so as to be suitable for gear rods with different shapes. The push rod of the longitudinal electric cylinder pushes the transverse electric cylinder to move longitudinally, and the push rod of the transverse electric cylinder pushes the gear rod sleeve to move transversely so as to operate the gear shifting gear rod to shift gears.
The pedal control assembly comprises a push rod fixing frame, a first electric cylinder, a second electric cylinder, a third electric cylinder and a pedal connecting piece, wherein two ends of the push rod fixing frame are connected with the fixing frame main frame body, the first electric cylinder, the second electric cylinder and the third electric cylinder are arranged on the push rod fixing frame side by side, and the pedal connecting piece is arranged at the front end of a telescopic rod of the first electric cylinder, the second electric cylinder and the third electric cylinder respectively.
The push rod fixing frame comprises a connecting rod, a first push rod clamping plate, a second push rod clamping plate and a third push rod clamping plate, two ends of the connecting rod are connected with two sides of the main frame body, the upper parts of the first push rod clamping plate, the second push rod clamping plate and the third push rod clamping plate are clamping parts, through holes are formed in the lower parts of the first push rod clamping plate, the second push rod clamping plate and the third push rod clamping plate, the first push rod clamping plate, the second push rod clamping plate and the third push rod clamping plate are sleeved on the connecting rod side by side through the through holes in the lower parts of the first push rod clamping; the first electric cylinder, the second electric cylinder and the third electric cylinder are respectively fixed on the clamping parts of the first push rod clamping plate, the second push rod clamping plate and the third push rod clamping plate; the footboard connecting piece include fixed connection portion and rotation connecting portion, the push rod of first electronic jar, the electronic jar of second, the electronic jar of third links to each other with fixed connection portion respectively, fixed connection portion passes through pivot connection with rotation connecting portion, is equipped with adjustable clamp on the rotation connecting portion, fixes on automobile pedal through adjustable clamp, connects or dismantles through buckle and the elasticity of adjusting adjustable clamp. The pedal is treaded by stretching and retracting the push rods of the first electric cylinder, the second electric cylinder and the third electric cylinder.
The image acquisition assembly comprises a supporting rod and a camera, the supporting rod is arranged on an upper platform of the main frame body of the fixing frame and is positioned at the rear part of the steering wheel control assembly, and the camera is arranged on the upper part of the supporting rod.
The invention also comprises a motor driver and an electric cylinder driver, wherein a control system is respectively connected with the motor driver and the electric cylinder driver, the motor driver is connected with the motor, the electric cylinder driver is respectively connected with the longitudinal electric cylinder, the transverse electric cylinder, the first electric cylinder, the second electric cylinder and the third electric cylinder, the control system sends out a control signal, the motor driver controls the motor to operate, and the electric cylinder driver controls the longitudinal electric cylinder, the transverse electric cylinder, the first electric cylinder, the second electric cylinder and the third electric cylinder to operate.
The working principle of the invention is as follows:
the invention installs an executing device on a controlled vehicle, the controlling device is arranged in a safe area, an image acquisition component in the executing device shoots the environment of the controlled vehicle through a camera, collects the environment to a control system, transmits image data back to the controlling device through a communication system and displays the image data on a display, an operator drives on a driving simulator of the controlling device according to the image, the data acquisition system acquires data output by each function of the driving simulator, collects the data to the control system, transmits the operation data to the control system of the executing device through the communication system, the control system of the executing device sends control signals to a motor driver and an electric cylinder driver, and the control motor, a longitudinal electric cylinder, a transverse electric cylinder, a first electric cylinder, a second electric cylinder and a third electric cylinder execute instructions according to the operation intention of the operator, and driving the controlled vehicle to perform unmanned remote operation.
The invention has the beneficial effects that:
the invention eliminates the danger factor of manual work under severe working conditions, replaces workers to efficiently finish the work through remote operation, breaks the limitation of space intervals, leads an operator to be far away from a dangerous incident place, and places an execution end at a relatively dangerous working point, leads the operator to control the vehicle at a far distance, realizes the smooth development of the work to a great extent, ensures the personal safety of the operator, and greatly reduces the probability of accidents and casualties. The invention has stronger adaptability and higher universality, can be suitable for vehicles with different sizes and specifications, does not need to change the structure of the original cab of the vehicle, can be adjusted according to the structures of a specific steering wheel, a specific gear and a specific pedal, and has higher control precision on the gear and the pedal; there are fewer mechanical connections and therefore a lower failure rate, with significant advances.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic diagram of a partial structure of an actuator according to the present invention;
FIG. 3 is a schematic side view of the steering wheel control assembly and the image capturing assembly of the present invention;
FIG. 4 is a schematic front view of a steering wheel control assembly and an image capture assembly in accordance with the present invention;
FIG. 5 is a schematic structural view of a shift control assembly according to the present invention;
FIG. 6 is a schematic view of the pedal control assembly of the present invention;
1. control device 2, actuating device 3, fixing frame 4 and steering wheel control assembly
5. Gear control assembly 6, pedal control assembly 7, image acquisition assembly 8 and seat
11. Driving simulator 12, display 13 and data acquisition system
14. Control terminal communication system 15, control terminal control system 16, and execution terminal communication system
17. Execution end control system 18, motor driver 19 and electric cylinder driver
31. Main frame 32, bottom fixing plate 33, rear fixing plate 34, upper platform
35. Lower platform 36, connecting bolt
41. First bracket 42, second bracket 43, motor 44, first universal joint
45. Second universal joint 46, telescopic rod 47, steering wheel connecting frame 48 and connecting hole
49. Adjustable clamp
51. A longitudinal electric cylinder 52, a transverse electric cylinder 53, a gear rod sleeve 54 and a first fixing plate
55. First connecting plate 56, slide bar 57, second fixing plate 58 and second connecting plate
61. Push rod fixing frame 62, first electric cylinder 63, second electric cylinder 64 and third electric cylinder
65. Pedal connecting piece
611. Connecting rod 612, first push rod clamp plate 613 and second push rod clamp plate
614. Third push rod clamp 651, fixed connecting part 652 and rotary connecting part
71. Support rod 72 and camera
Detailed Description
Please refer to fig. 1-6: the invention provides a teleoperation vehicle driving system, comprising a control device 1 and an execution device 2;
the control device 1 comprises a driving simulator 11, a display 12, a data acquisition system 13, a control end communication system 14 and a control end control system 15, wherein the data acquisition system 13 is connected with each functional data output end of the driving simulator 11, and the control end control system 15 is respectively connected with the display 12, the data acquisition system 13 and the control end communication system 14;
the executing device 2 comprises a fixed frame 3, a steering wheel control component 4, a gear control component 5, a pedal control component 6, an image acquisition component 7, an executing end communication system 16 and an executing end control system 17;
the fixed frame 3 is fixed on a controlled vehicle seat 8, the steering wheel control assembly 4 and the image acquisition assembly 7 are respectively arranged on the upper part of the fixed frame 3, the image acquisition assembly 7 is positioned behind the steering wheel control assembly 4, the gear control assembly 5 is arranged in the middle of the fixed frame 3, the pedal control assembly 6 is arranged on the lower part of the fixed frame 3, and the execution end control system 17 is respectively connected with the steering wheel control assembly 4, the gear control assembly 5, the pedal control assembly 6, the image acquisition assembly 7 and the execution end communication system 16;
the operating device 1 and the executing device 2 establish connection through the operating terminal communication system 14 and the executing terminal communication system 16.
The fixing frame 3 comprises a main frame body 31, a bottom fixing plate 32 and a rear fixing plate 33, an upper layer platform and a lower layer platform are arranged on the upper portion of the main frame body 31, the steering wheel control assembly 4 is arranged on the upper platform 34, the gear control assembly 5 is arranged on the lower platform 35, and the pedal control assembly 6 is arranged on the lower portion of the main frame body 31; the main frame body 31 is fastened to the seat 8 of the vehicle cab, the bottom fixing plate 32 is located below the seat 8 and connected to the main frame body 31 by a connecting bolt 36, and the rear fixing plate 33 is located at the rear of the backrest of the seat 8 and connected to the main frame body 31 by a connecting bolt 36. The bottom and the rear part fix the fixed frame 3 on the controlled vehicle seat 8 at the same time, and position the whole actuating device 2 so as to install other control components without disassembling the seat 8 and changing the structure in the cab.
The steering wheel control assembly 4 comprises a first bracket 41, a second bracket 42, a motor 43, a first universal joint 44, a second universal joint 45, a telescopic rod 46 and a steering wheel connecting frame 47, wherein the first bracket 41 is fixed on the upper platform 34 of the main frame body 31 of the fixed frame 3, the second bracket 42 is positioned at the upper part of the first bracket 41, the upper part of the first bracket 41 and the lower part of the second bracket 42 are respectively provided with a transverse connecting hole 48, the first bracket 41 and the second bracket 42 are connected by a bolt penetrating through the connecting holes 48, and the angle between the first bracket 41 and the second bracket 42 can be adjusted according to the angle of the steering wheel, namely the inclination angle of the second bracket 42 is adjusted to adapt to the steering wheel; the motor 43 is arranged at the upper part of the second support 42, the output shaft of the motor 43 is connected with the first universal joint 44, the first universal joint 44 is connected with the second universal joint 45 through the telescopic rod 46, the other end of the second universal joint 45 is connected with the steering wheel connecting frame 47, the length of the telescopic rod 46 can be adjusted according to the distance between the motor 43 and the steering wheel, and the first universal joint 44 and the second universal joint 45 act together to adapt to the angle change in the rotating process of the steering wheel.
The gear control assembly 5 comprises a longitudinal electric cylinder 51, a transverse electric cylinder 52 and a gear sleeve 53, wherein the longitudinal electric cylinder 51 is longitudinally arranged on the lower platform 35 of the main frame body 31 of the fixing frame 3, the front end of the shell of the longitudinal electric cylinder 51 is provided with a first fixing plate 54, the middle of the first fixing plate 54 is provided with a push rod through hole, two sides of the first fixing plate 54 are provided with smooth through holes, a push rod of the longitudinal electric cylinder 51 penetrates through the push rod through hole of the first fixing plate 54 to be connected with a first connecting plate 55, two sides of the first connecting plate 55 are provided with smooth rods 56, and the two smooth rods 56 respectively penetrate through the smooth through holes on two sides of the first fixing plate 54 to play a role in; the transverse electric cylinder 52 is horizontally fixed on the first connecting plate 55 and is vertical to the longitudinal electric cylinder 51; the front end of the shell of the transverse electric cylinder 52 is provided with a second fixing plate 57, a push rod through hole is arranged in the middle of the second fixing plate 57, smooth through holes are arranged on two sides of the second fixing plate 57, a push rod of the transverse electric cylinder 52 penetrates through the push rod through hole of the second fixing plate 57 to be connected with a second connecting plate 58, smooth rods 56 are arranged on two sides of the second connecting plate 58, and the two smooth rods 56 respectively penetrate through the smooth through holes on two sides of the second fixing plate 57 to achieve the effect of directional movement limitation. The gear lever sleeve 53 is fixed on the second connecting plate 58, the gear lever sleeve 53 is a vertically arranged cylindrical cylinder, the gear lever sleeve 53 is sleeved on a gear lever of an automobile, and the gear lever sleeve 53 is designed into the cylindrical cylinder so as to be suitable for gear levers of different shapes. The push rod of the longitudinal electric cylinder 51 pushes the transverse electric cylinder 52 to move longitudinally, and the push rod of the transverse electric cylinder 52 pushes the gear lever sleeve 53 to move transversely so as to operate the gear shifting gear lever to shift gears.
The pedal control assembly 6 comprises a push rod fixing frame 61, a first electric cylinder 62, a second electric cylinder 63, a third electric cylinder 64 and a pedal connecting piece 65, two ends of the push rod fixing frame 61 are connected with the main frame body 31 of the fixing frame 3, the first electric cylinder 62, the second electric cylinder 63 and the third electric cylinder 64 are arranged on the push rod fixing frame 61 side by side, and the pedal connecting piece 65 is arranged at the front end of a push rod of the first electric cylinder 62, the second electric cylinder 63 and the third electric cylinder 64 respectively.
The push rod fixing frame 61 comprises a connecting rod 611, a first push rod clamping plate 612, a second push rod clamping plate 613 and a third push rod clamping plate 614, two ends of the connecting rod 611 are connected with two sides of the main frame body 31, the upper parts of the first push rod clamping plate 612, the second push rod clamping plate 613 and the third push rod clamping plate 614 are clamping parts, through holes are formed in the lower parts of the first push rod clamping plate 612, the second push rod clamping plate 613 and the third push rod clamping plate 614, the first push rod clamping plate 612, the second push rod clamping plate 613 and the third push rod clamping plate 614 are sleeved on the connecting rod 611 side by side through holes in the lower parts of the connecting rod 612; the first electric cylinder 62, the second electric cylinder 63 and the third electric cylinder 64 are respectively fixed on clamping parts of a first push rod clamping plate 612, a second push rod clamping plate 613 and a third push rod clamping plate 614; the pedal connecting piece 65 comprises a fixed connecting part 651 and a rotating connecting part 652, push rods of the first electric cylinder 62, the second electric cylinder 63 and the third electric cylinder 64 are respectively connected with the fixed connecting part 651, the fixed connecting part 651 is connected with the rotating connecting part 652 through a pivot, an adjustable clamp 49 is arranged on the rotating connecting part 652, the adjustable clamp 49 is fixed on the automobile pedal through the adjustable clamp 49, and the connection or the disassembly is carried out through adjusting the buckle and the tightness of the adjustable clamp 49. The extension and contraction of the push rods of the first electric cylinder 62, the second electric cylinder 63 and the third electric cylinder 64 realize the treading of the pedal.
The image acquisition assembly 7 comprises a support rod 71 and a camera 72, wherein the support rod 71 is arranged on the upper platform 34 of the main frame body 31 of the fixing frame 3 and is positioned at the rear part of the steering wheel control assembly 4, and the camera 72 is arranged on the upper part of the support rod 71.
The invention also comprises a motor driver 18 and an electric cylinder driver 19, wherein an execution end control system 17 is respectively connected with the motor driver 18 and the electric cylinder driver 19, the motor driver 18 is connected with the motor 43, the electric cylinder driver 19 is respectively connected with the longitudinal electric cylinder 51, the transverse electric cylinder 52, the first electric cylinder 62, the second electric cylinder 63 and the third electric cylinder 64, a control signal is sent by the execution end control system 17, the motor driver 18 is used for controlling the motor 43 to operate, and the electric cylinder driver 19 is used for controlling the longitudinal electric cylinder 51, the transverse electric cylinder 52, the first electric cylinder 62, the second electric cylinder 63 and the third electric cylinder 64 to operate.
The control end control system and the execution end control system are all microcomputers and are existing equipment.
The working principle of the invention is as follows:
the invention installs the actuating device 2 on the controlled vehicle, the control device 1 is set in the safe area, the image acquisition component 7 in the actuating device 2 shoots the environment of the controlled vehicle through the camera 72, collects the image data to the execution end control system 17, and transmits the image data back to the control device 1 through the execution end communication system 16 and displays the image data on the display 12, the operator drives the driving simulator 11 of the control device 1 according to the image, the data acquisition system 13 acquires the data output by each function of the driving simulator 11, collects the data to the control end control system 15, and transmits the operation data to the execution end control system 17 of the actuating device 2 through the control end communication system 14, the execution end control system 17 sends out control signals to the motor driver 18 and the electric cylinder driver 19, and controls the motor 43, the longitudinal electric cylinder 51, the transverse electric cylinder 52, The first electric cylinder 62, the second electric cylinder 63, and the third electric cylinder 64 execute instructions according to the operation intention of the operator, and the controlled vehicle is driven to perform unmanned remote operation work.
Claims (9)
1. A teleoperated vehicle driving system, characterized by: comprises a control device and an execution device;
the control device comprises a driving simulator, a data acquisition system, a display, a communication system and a control system, wherein the data acquisition system is connected with each functional data output end of the driving simulator, and the control system is connected with the data acquisition system, the display and the communication system;
the executing device comprises a fixed frame, a steering wheel control assembly, a gear control assembly, a pedal control assembly, an image acquisition assembly, a communication system and a control system;
the steering wheel control assembly and the image acquisition assembly are respectively arranged on the upper part of the fixing frame, the image acquisition assembly is positioned behind the steering wheel control assembly, the gear control assembly is arranged in the middle of the fixing frame, the pedal control assembly is arranged on the lower part of the fixing frame, and the control system is connected with the steering wheel control assembly, the gear control assembly, the pedal control assembly, the image acquisition assembly and the communication system;
the control device and the execution device are connected through the communication system and the communication system.
2. The teleoperated vehicle driving system of claim 1, wherein: the fixing frame comprises a main frame body, a bottom fixing plate and a rear fixing plate, an upper layer platform and a lower layer platform are arranged on the upper portion of the main frame body, the steering wheel control assembly is arranged on the upper platform, the gear control assembly is arranged on the lower platform, and the pedal control assembly is arranged on the lower portion of the main frame body; the main frame body is buckled on a seat of a vehicle cab, the bottom fixing plate is positioned at the lower part of the seat and is connected with the main frame body through a connecting bolt rod, and the rear fixing plate is positioned at the rear part of a seat backrest and is connected with the main frame body through a connecting bolt rod.
3. The teleoperated vehicle driving system of claim 2, wherein: the steering wheel control assembly comprises a first support, a second support, a motor, a first universal joint, a second universal joint, a telescopic rod and a steering wheel connecting frame, wherein the first support is fixed on an upper platform of the fixing frame main frame body, the second support is positioned on the upper part of the first support, transverse connecting holes are respectively formed in the upper part of the first support and the lower part of the second support, and the first support and the second support are connected through bolts penetrating through the connecting holes; the motor is arranged at the upper part of the second bracket, an output shaft of the motor is connected with the first universal joint, and the first universal joint is connected with the second universal joint through a telescopic rod; the other end of the second universal joint is connected with the steering wheel connecting frame.
4. The teleoperated vehicle driving system of claim 3, wherein: the steering wheel link be the cross, the end of steering wheel link is equipped with adjustable clamp.
5. The teleoperated vehicle driving system of claim 2, wherein: the gear control assembly comprises a longitudinal electric cylinder, a transverse electric cylinder and a gear rod sleeve, the longitudinal electric cylinder is longitudinally arranged on a lower platform of the fixing frame main frame body, a first fixing plate is arranged at the front end of a longitudinal electric cylinder shell, a push rod through hole is formed in the middle of the first fixing plate, smooth through holes are formed in two sides of the first fixing plate, a push rod of the longitudinal electric cylinder penetrates through the push rod through hole of the first fixing plate to be connected with the first connecting plate, smooth rods are arranged on two sides of the first connecting plate, and the two smooth rods respectively penetrate through the smooth through holes in two sides of the first fixing plate; the transverse electric cylinder is horizontally fixed on the first connecting plate and is vertical to the longitudinal electric cylinder; a second fixing plate is arranged at the front end of the shell of the transverse electric cylinder, a push rod through hole is formed in the middle of the second fixing plate, smooth through holes are formed in two sides of the second fixing plate, a push rod of the transverse electric cylinder penetrates through the push rod through hole of the second fixing plate to be connected with a second connecting plate, smooth rods are arranged on two sides of the second connecting plate, and the two smooth rods respectively penetrate through the smooth through holes in two sides of the second fixing plate; the gear rod sleeve is fixed on the second connecting plate and is a vertically arranged cylindrical barrel.
6. The teleoperated vehicle driving system of claim 2, wherein: the pedal control assembly comprises a push rod fixing frame, a first electric cylinder, a second electric cylinder, a third electric cylinder and a pedal connecting piece, the two ends of the push rod fixing frame are connected with the fixing frame main frame body, the first electric cylinder, the second electric cylinder and the third electric cylinder are arranged on the push rod fixing frame side by side, and the pedal connecting piece is arranged at the front end of a telescopic rod of the first electric cylinder, the second electric cylinder and the third electric cylinder respectively.
7. The teleoperated vehicle driving system of claim 6, wherein: the push rod fixing frame comprises a connecting rod, a first push rod clamping plate, a second push rod clamping plate and a third push rod clamping plate, two ends of the connecting rod are connected with two sides of the main frame body, the upper parts of the first push rod clamping plate, the second push rod clamping plate and the third push rod clamping plate are clamping parts, the lower parts of the first push rod clamping plate, the second push rod clamping plate and the third push rod clamping plate are provided with through holes, and the first push rod clamping plate, the second push rod clamping plate and the third push rod clamping plate are; the first electric cylinder, the second electric cylinder and the third electric cylinder are respectively fixed on the clamping parts of the first push rod clamping plate, the second push rod clamping plate and the third push rod clamping plate; the pedal connecting piece comprises a fixed connecting part and a rotating connecting part, push rods of the first electric cylinder, the second electric cylinder and the third electric cylinder are respectively connected with the fixed connecting part, the fixed connecting part is connected with the rotating connecting part through a pivot, and an adjustable clamp is arranged on the rotating connecting part.
8. The teleoperated vehicle driving system of claim 2, wherein: the image acquisition assembly comprises a supporting rod and a camera, the supporting rod is arranged on an upper platform of the main frame body of the fixing frame and is positioned at the rear part of the steering wheel control assembly, and the camera is arranged on the upper part of the supporting rod.
9. A teleoperated vehicle steering system according to claim 3 or 5 or 6 or 7, wherein: still include electric motor drive and electronic jar driver, control system links to each other with electric motor drive and electronic jar driver respectively, and electric motor drive links to each other with the motor, and electronic jar driver links to each other with vertical electronic jar, horizontal electronic jar, first electronic jar, the electronic jar of second and the electronic jar of third respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110184505.8A CN112947192B (en) | 2021-02-10 | 2021-02-10 | Teleoperation vehicle driving system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110184505.8A CN112947192B (en) | 2021-02-10 | 2021-02-10 | Teleoperation vehicle driving system |
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| CN112947192A true CN112947192A (en) | 2021-06-11 |
| CN112947192B CN112947192B (en) | 2024-06-14 |
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| CN202110184505.8A Active CN112947192B (en) | 2021-02-10 | 2021-02-10 | Teleoperation vehicle driving system |
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