CN112947192B - Teleoperation vehicle driving system - Google Patents
Teleoperation vehicle driving system Download PDFInfo
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- CN112947192B CN112947192B CN202110184505.8A CN202110184505A CN112947192B CN 112947192 B CN112947192 B CN 112947192B CN 202110184505 A CN202110184505 A CN 202110184505A CN 112947192 B CN112947192 B CN 112947192B
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- 238000004891 communication Methods 0.000 claims abstract description 27
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000026058 directional locomotion Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 238000006424 Flood reaction Methods 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
Classifications
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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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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Steering Controls (AREA)
Abstract
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 execution 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; according to the invention, the remote operation is used for replacing workers to efficiently complete the operation, the limitation of space interval is broken, and operators are far away from dangerous places, so that the operators can control the vehicle in a far distance, the personal safety of the operators is ensured, and the probability of accidents and casualties is reduced. The invention has stronger adaptability and universality, can be suitable for vehicles with different sizes and specifications, has lower failure rate and has obvious progress.
Description
Technical Field
The present invention relates to a vehicle driving system, and more particularly, to a teleoperated vehicle driving system.
Background
With the continuous development of the scientific and technical level, the requirements of people on working environments and working conditions are higher and higher, and the fact that people cannot safely and effectively reach a designated working place to carry out work under a plurality of extremely severe environments is considered. For example, when natural disasters such as earthquake, mountain floods, debris flows and the like occur, normal traffic roads are damaged, and rescue workers can hardly safely and quickly reach rescue sites by means of normal rescue vehicles; when major accidents such as fire and nuclear leakage occur, rescue workers can hardly safely and effectively develop work. Therefore, how to effectively solve the problem of carrying out rescue work under the condition of ensuring personal safety of rescue workers is an urgent need of people. In recent years, disasters such as earthquake, tsunami, nuclear leakage and the like frequently occur, heavy striking and loss are brought to people, and it is necessary to make robots to replace people to enter rescue sites or high-risk construction sites to complete work. Engineering vehicles and machinery are the main forces of modern engineering operations, if remote control driving or operation of various vehicles can be realized on the premise of not changing the original vehicle structure, the cost is saved (batch equipment is lower than special equipment cost), and drivers can be far away from danger, so that it is important to develop a teleoperation vehicle driving robot system to realize teleoperation control of the vehicle driving robot and enable the drivers working under dangerous working conditions to be far away from danger. Some existing driving robots lack teleoperation control, have low control precision to gears or pedals, have more connecting components, easily cause high mechanical failure rate, or have low practicality and adaptability, can only be suitable for proprietary vehicles or few types of vehicles, and often need to change the cab structure, so that the cost is higher.
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 steering wheel control assembly and the image acquisition assembly are respectively arranged on the upper part of the fixed frame, the image acquisition assembly is positioned behind the steering wheel control assembly, the gear control assembly is arranged in the middle of the fixed frame, the pedal control assembly is arranged on the lower part of the fixed 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 a communication system and the communication system.
The fixed frame comprises a main frame body, a bottom fixing plate and a rear fixing plate, an upper layer of platform and a lower layer of platform are arranged on the upper part of the main frame body, a steering wheel control assembly is arranged on the upper platform, a gear control assembly is arranged on the lower platform, and a 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 the connecting bolt, and the rear fixing plate is positioned at the rear part of the seat backrest and is connected with the main frame body through the connecting bolt. The bottom and the rear part are used for fixing the fixing frame on the controlled vehicle seat at the same time, and the whole actuating device is positioned so that other control components can be installed without disassembling the seat and changing the structure in the cab.
The steering wheel control assembly comprises a first bracket, a second bracket, a motor, a first universal joint, a second universal joint, a telescopic rod and a steering wheel connecting frame, wherein the first bracket is fixed on an upper platform of a main frame body of the fixed frame, the second bracket is positioned at the upper part of the first bracket, transverse connecting holes are respectively formed in the upper part of the first bracket and the lower part of the second bracket, the first bracket and the second bracket are connected through bolts penetrating through the connecting holes, and the angle between the first bracket and the second bracket can be adjusted according to the angle of the steering wheel, namely the inclination angle of the second bracket is adjusted to adapt to the steering wheel; the motor is established on second support upper portion, and the output shaft of motor links to each other with first universal joint, links to each other through the telescopic link between first universal joint and the second universal joint, and the other end and the steering wheel link of second universal joint link to each other, can be according to the length of distance adjustment telescopic link between motor and the steering wheel, first universal joint and second universal joint combined action to the angle change of adaptation steering wheel rotation in-process.
The steering wheel link be the cross, the end of steering wheel link is equipped with adjustable clamp, fixes on the car steering wheel through adjustable clamp, connects or dismantles through the buckle and the elasticity of adjustable clamp of adjustment.
The gear control assembly comprises a longitudinal electric cylinder, a transverse electric cylinder and a gear lever sleeve, wherein the longitudinal electric cylinder is longitudinally arranged on a lower platform of a main frame body of the fixed 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, push rods of the longitudinal electric cylinder penetrate through the push rod through holes of the first fixing plate to be connected with a first connecting plate, smooth rods are arranged on two sides of the first connecting plate, and the two smooth rods penetrate through the smooth through holes in two sides of the first fixing plate respectively to play a role in directional movement; the transverse electric cylinder is horizontally fixed on the first connecting plate and is mutually perpendicular to the longitudinal electric cylinder; the front end of the 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 of horizontal electronic jar passes the push rod through-hole of second fixed plate and links to each other with the second connecting plate, and the both sides of second connecting plate are equipped with smooth pole, and two smooth poles pass the smooth through-hole of second fixed plate both sides respectively, play directional removal's effect. The gear lever sleeve is fixed on the second connecting plate, is a cylinder barrel which is vertically arranged, is sleeved on the gear lever of the automobile, and is designed into a cylinder barrel to be suitable for gear levers of different shapes. The push rod of the longitudinal electric cylinder pushes the transverse electric cylinder to longitudinally move, and the push rod of the transverse electric cylinder pushes the gear lever sleeve to transversely move so as to operate the gear shifting gear lever to change gears.
The pedal control assembly comprises a push rod fixing frame, a first electric cylinder, a second electric cylinder, a third electric cylinder and pedal connecting pieces, wherein two ends of the push rod fixing frame are connected with a main frame body of the fixing frame, 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 pieces are respectively arranged at the front ends of telescopic rods of the first electric cylinder, the second electric cylinder and the third electric cylinder.
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 are sleeved on the connecting rod side by side through the through holes in the lower parts, and the connecting rod can transversely move to adjust the distance and the angle so as to adapt to automobiles with different pedal distances and heights; 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 include fixed connection portion and rotation connecting portion, the push rod of first electronic jar, second electronic jar, third electronic jar 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 the automobile pedal through adjustable clamp, connects or dismantles through adjustable clamp's buckle and elasticity. The pedal is stepped by the expansion and contraction of 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 the 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 is controlled to operate through the motor driver, and the longitudinal electric cylinder, the transverse electric cylinder, the first electric cylinder, the second electric cylinder and the third electric cylinder are controlled to operate through the electric cylinder driver.
The working principle of the invention is as follows:
The invention installs the actuating device on the controlled vehicle, the control device is set in the safe area, the image acquisition component in the actuating device shoots the environment of the controlled vehicle through the camera, gathers to the control system, and transmits the image data back to the control device through the communication system and displays on the display, the operator drives the operation according to the image on the driving simulator of the control device, the data acquisition system gathers the data output by each function of the driving simulator, gathers to the control system, and transmits the operation data to the control system of the actuating device through the communication system, the control system of the actuating device sends the control signal to the motor driver and the electric cylinder driver, controls the motor, the longitudinal electric cylinder, the transverse electric cylinder, the first electric cylinder, the second electric cylinder and the third electric cylinder to execute the instruction according to the operation intention of the operator, drives the controlled vehicle to carry out unmanned remote operation.
The invention has the beneficial effects that:
According to the invention, the dangerous factors of manual operation under severe working conditions are eliminated, the manual operation is replaced by remote operation, the operation is efficiently completed, the limitation of space interval is broken, an operator is far away from dangerous places, and an execution end is arranged at a relatively dangerous working point, so that the operator can control the vehicle at a relatively long distance, the smooth development of the operation is realized to a great extent, the personal safety of the operator is ensured, and the accident and casualties probability is greatly reduced. The invention has stronger adaptability and 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 structure of a specific steering wheel, a gear and a pedal, and has higher control precision for the gear and the pedal; fewer mechanical connection components and therefore lower failure rates, with significant advances.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic view of a part of the structure of an actuator according to the present invention;
FIG. 3 is a schematic side view of the steering wheel control assembly and image acquisition assembly of the present invention;
FIG. 4 is a schematic elevational view of the steering wheel control assembly and image acquisition assembly of the present invention;
FIG. 5 is a schematic view of a gear control assembly according to the present invention;
FIG. 6 is a schematic view of the pedal control assembly of the present invention;
1. Control device2, execution device3, fixing frame 4 and steering wheel control assembly
5. Gear control assembly 6, pedal control assembly 7, image acquisition assembly 8, seat
11. Driving simulator 12, display 13, and data acquisition system
14. Control-side communication system 15, control-side control system 16, and execution-side communication system
17. Actuator control system 18, motor driver 19, and electric cylinder driver
31. Main frame 32, bottom fixing plate 33, rear fixing plate 34, and 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. Longitudinal electric cylinder 52, transverse electric cylinder 53, lever sleeve 54, first fixing plate
55. First connecting plate 56, slide bar 57, second fixing plate 58, 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 613, second push rod clamp
614. Third push rod clamping plate 651, fixed connection 652, rotational connection
71. Strut 72, camera
Detailed Description
Please refer to fig. 1-6: the invention provides a teleoperation vehicle driving system, which comprises 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 function 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 execution device 2 comprises a fixed frame 3, a steering wheel control assembly 4, a gear control assembly 5, a pedal control assembly 6, an image acquisition assembly 7, an execution end communication system 16 and an execution 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 control device 1 and the actuator 2 are connected via a control-side communication system 14 and an actuator-side communication system 16.
The fixed frame 3 comprises a main frame body 31, a bottom fixed plate 32 and a rear fixed plate 33, an upper layer of platform and a lower layer of platform are arranged on the upper part 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 part of the main frame body 31; the main frame 31 is fastened to the seat 8 of the vehicle cab, the bottom fixing plate 32 is located at the lower portion of the seat 8 and is connected to the main frame 31 through the connecting bolt 36, and the rear fixing plate 33 is located at the rear portion of the backrest of the seat 8 and is connected to the main frame 31 through the connecting bolt 36. The bottom and rear portions simultaneously secure the mount 3 to the controlled vehicle seat 8 and position the entire actuator 2 for other control components to be installed without removing 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, transverse connecting holes 48 are respectively arranged at the upper part of the first bracket 41 and the lower part of the second bracket 42, the first bracket 41 and the second bracket 42 are connected through bolts 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 on the upper portion of the second bracket 42, an 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 are combined to adapt to the angle change in the steering wheel rotating process.
The steering wheel link 47 be the cross, the end of steering wheel link 47 is equipped with adjustable clamp 49, fixes on the car steering wheel through adjustable clamp 49, connects or dismantles through the buckle and the elasticity of adjustable clamp 49 of adjustment.
The gear control assembly 5 comprises a longitudinal electric cylinder 51, a transverse electric cylinder 52 and a gear lever sleeve 53, wherein the longitudinal electric cylinder 51 is longitudinally arranged on a lower platform 35 of a main frame body 31 of the fixed frame 3, a first fixing plate 54 is arranged at the front end of a shell of the longitudinal electric cylinder 51, a push rod through hole is arranged in the middle of the first fixing plate 54, smooth through holes are arranged at two sides of the first fixing plate 54, 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, smooth rods 56 are arranged at two sides of the first connecting plate 55, and the two smooth rods 56 respectively penetrate through the smooth through holes at two sides of the first fixing plate 54 to play a role of directional movement limiting; the transverse electric cylinder 52 is horizontally fixed on the first connecting plate 55 and is mutually perpendicular to the longitudinal electric cylinder 51; the front end of the outer 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, two sides of the second fixing plate 57 are provided with smooth through holes, 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, two sides of the second connecting plate 58 are provided with smooth rods 56, and the two smooth rods 56 respectively penetrate through the smooth through holes on two sides of the second fixing plate 57 to play a role in directional movement limiting. The gear lever sleeve 53 is fixed on the second connecting plate 58, the gear lever sleeve 53 is a cylinder barrel vertically arranged, the gear lever sleeve 53 is sleeved on a gear lever of an automobile, and the gear lever sleeve 53 is designed as a cylinder barrel so as to be applicable to gear levers of different shapes. The push rod of the longitudinal electric cylinder 51 pushes the transverse electric cylinder 52 to longitudinally move, and the push rod of the transverse electric cylinder 52 pushes the shift lever sleeve 53 to transversely move so as to operate the shift lever to perform gear change.
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, wherein 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 respectively arranged at the front ends of push rods of the first electric cylinder 62, the second electric cylinder 63 and the third electric cylinder 64.
The push rod fixing frame 61 includes 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 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, the lower parts are provided with through holes, 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 the through holes at the lower parts, and the connecting rod 611 can be transversely moved to adjust the distance and the angle so as to adapt to automobiles with different pedal distances and heights; the first electric cylinder 62, the second electric cylinder 63 and the third electric cylinder 64 are respectively fixed on the clamping 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 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, the rotating connecting part 652 is provided with an adjustable clamp 49, the adjustable clamp 49 is fixed on an automobile pedal, and the adjustable clamp 49 is connected or detached through adjusting the clamping buckle and the tightness of the adjustable clamp 49. The extension and retraction of the push rods of the first, second and third electric cylinders 62, 63, 64 realizes the stepping on the pedal.
The image acquisition assembly 7 comprises a supporting rod 71 and a camera 72, the supporting 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 supporting rod 71.
The invention also comprises a motor driver 18 and an electric cylinder driver 19, wherein the 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, the execution end control system 17 sends out control signals, the motor driver 18 controls the motor 43 to operate, and the electric cylinder driver 19 controls 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 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 actuating 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, gathers to the actuating end control system 17, and transmits the image data back to the actuating device 1 through the actuating end communication system 16 and displays on the display 12, the operator carries out driving operation on the driving simulator 11 of the actuating device 1 according to the image, the data acquisition system 13 acquires the data output by each function of the driving simulator 11, gathers to the actuating end control system 15, and transmits the operation data to the actuating end control system 17 of the actuating device 2 through the actuating end communication system 14, the actuating end control system 17 sends control signals to the motor driver 18 and the electric cylinder driver 19, 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 to execute instructions according to the operation intention of the operator, and the controlled vehicle carries out unmanned remote operation.
Claims (5)
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 a communication system and the communication system;
The fixed frame comprises a main frame body, a bottom fixed plate and a rear fixed plate, an upper layer of platform and a lower layer of platform are arranged on the upper part of the main frame body, a steering wheel control assembly is arranged on the upper platform, a gear control assembly is arranged on the lower platform, and a 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 connected with the main frame body through a connecting bolt rod, and the rear fixing plate is positioned at the rear part of the seat backrest and connected with the main frame body through the connecting bolt rod;
The gear control assembly comprises a longitudinal electric cylinder, a transverse electric cylinder and a gear lever sleeve, wherein the longitudinal electric cylinder is longitudinally arranged on a lower platform of a main frame body of the fixed frame, a first fixed 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 fixed plate, smooth through holes are formed in two sides of the first fixed plate, a push rod of the longitudinal electric cylinder penetrates through the push rod through hole of the first fixed plate to be connected with a 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 fixed plate; the transverse electric cylinder is horizontally fixed on the first connecting plate and is mutually perpendicular to the longitudinal electric cylinder; the front end of the shell of the transverse electric cylinder is provided with a second fixed plate, a push rod through hole is arranged in the middle of the second fixed plate, smooth through holes are arranged at two sides of the second fixed plate, a push rod of the transverse electric cylinder penetrates through the push rod through hole of the second fixed plate to be connected with a second connecting plate, smooth rods are arranged at two sides of the second connecting plate, and the two smooth rods respectively penetrate through the smooth through holes at two sides of the second fixed plate; the gear lever sleeve is fixed on the second connecting plate and is a cylinder barrel vertically arranged; the push rod of the longitudinal electric cylinder pushes the transverse electric cylinder to longitudinally move, and the push rod of the transverse electric cylinder pushes the gear lever sleeve to transversely move so as to operate the gear shifting gear lever to change gears;
The pedal control assembly comprises a push rod fixing frame, a first electric cylinder, a second electric cylinder, a third electric cylinder and pedal connecting pieces, wherein two ends of the push rod fixing frame are connected with a main frame body of the fixing frame;
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 are sleeved on the connecting rod side by side through the through holes in the lower parts of the first push rod clamping plate, the second push rod clamping plate and the third push rod clamping plate, and the space and the adjusting angle can be adjusted by transversely moving on the connecting rod; 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 include fixed connection portion and rotation connecting portion, the push rod of first electronic jar, second electronic jar, third electronic jar 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.
2. A teleoperated vehicle driving system according to claim 1, characterized in that: the steering wheel control assembly comprises a first bracket, a second bracket, a motor, a first universal joint, a second universal joint, a telescopic rod and a steering wheel connecting frame, wherein the first bracket is fixed on an upper platform of a main frame body of the fixed frame, the second bracket is positioned on the upper part of the first bracket, transverse connecting holes are respectively formed in the upper part of the first bracket and the lower part of the second bracket, and the first bracket and the second bracket 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.
3. A teleoperated vehicle driving system according to claim 2, characterized in that: the steering wheel link be the cross, the end of steering wheel link is equipped with adjustable clamp.
4. A teleoperated vehicle driving system according to claim 1, characterized in that: 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.
5. A teleoperated vehicle driving system according to claim 1, characterized in that: the control system is connected with the motor driver and the electric cylinder driver respectively, the motor driver is connected with the motor, and the electric cylinder driver is connected with the longitudinal electric cylinder, the transverse electric cylinder, the first electric cylinder, the second electric cylinder and the third electric cylinder 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 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110184505.8A CN112947192B (en) | 2021-02-10 | 2021-02-10 | Teleoperation vehicle driving system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112947192A CN112947192A (en) | 2021-06-11 |
| CN112947192B true CN112947192B (en) | 2024-06-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110184505.8A Active CN112947192B (en) | 2021-02-10 | 2021-02-10 | Teleoperation vehicle driving system |
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