CN206470608U - A kind of bionical unmanned vehicle control - Google Patents
A kind of bionical unmanned vehicle control Download PDFInfo
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- CN206470608U CN206470608U CN201621425726.0U CN201621425726U CN206470608U CN 206470608 U CN206470608 U CN 206470608U CN 201621425726 U CN201621425726 U CN 201621425726U CN 206470608 U CN206470608 U CN 206470608U
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- unmanned vehicle
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- moving trolley
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Abstract
A kind of bionical unmanned vehicle control, to solve at present mainly to realize unmanned vehicle operational control by guidance command, and needs the order of remote control too many during actual use and causes unhandy problem.The control system can be summarized as three parts：Information acquisition system, data handling system, order execution system.The utility model proposes technical scheme mode of operation can be selected by remote handling system, the automatic traveling posture to bionical unmanned vehicle of control system combination sensor collection information is adjusted, the intelligent level of bionical unmanned vehicle is improved, while also improving adaptability of the bionical unmanned vehicle to complicated landform.
Description
Technical field
The utility model is related to unmanned and robotic technology field, more particularly to a kind of bionical unmanned vehicle control system
System.
Background technology
Unmanned technology is more and more universal in the application of industry-by-industry, and that is especially embodied in mobile platform control is extremely bright
It is aobvious.Although there is a small amount of unmanned automobile to there is no the movement that can adapt to various road surfaces in flat running on expressway
Platform, especially adapts to the unmanned platform in rugged mountain region.The mobile platform that many road surfaces are adapted to, not by the shadow of road conditions environment
Ring, be that powerful guarantee is provided in terms of cargo transport, rescue and relief work, military activity, it is existing a kind of to realize multichannel using hydraulic cylinder
The unmanned vehicle of condition action, but be due to the complexity of road conditions, cause the complexity of control to be difficult to, therefore be badly in need of a kind of control system
And method realizes the control to this unmanned vehicle.
Utility model content
The utility model provides one kind for solution the deficiencies in the prior art enables bionical unmanned vehicle intelligently to adapt to not go the same way
The stable bionical unmanned vehicle control of the performance of condition.
To achieve these goals, the technical solution of the utility model is as follows：A kind of bionical unmanned vehicle control, including
The bionical unmanned vehicle of variable approach angle departure angle, the bionical unmanned vehicle of variable approach angle departure angle includes the first moving trolley and second
Moving trolley, the afterbody of first moving trolley is flexibly connected provided with hydraulic cylinder with the second moving trolley, and the hydraulic cylinder, which is locked at, to be stretched
When condensing, the front-wheel of first moving trolley and the trailing wheel of the second moving trolley be lifted away from ground or first moving trolley trailing wheel and
The front-wheel of second moving trolley, which is lifted away from ground, first moving trolley and the second moving trolley, independently sets a set of control system
System, two sets of control systems are connected by CAN, and information exchange is realized with standard CAN protocol, while acting on the control hydraulic pressure
Cylinder is acted.
Preferably, the control system includes being used to obtain bionical unmanned vehicle location information, determine bionical unmanned truck position
GPS location sensor, the laser radar sensor for scanning bionical unmanned vehicle ambient condition information, for detecting moving trolley
The obliquity sensor of posture, the tire pressure sensor group of tire pressure for detecting each tire, the operation for monitoring engine
The engine condition monitoring sensor group of state, the pressure sensor group of the pressure for detecting running motor input/output port,
For collecting GPS location sensor, laser radar sensor, obliquity sensor, tire pressure sensor group, starting
Machine condition monitoring sensors group input module and with engine speed is controlled engine control module, to it is bionical nobody
Car provides the output module of the hydraulic motor travel motor group connection of walking power source；
The information data collected by input module is carried out computing by two sets of control systems, and each executing agency is acted and adjusted
Whole amount carries out decision-making, and the result of decision is finally output to executing agency by output module.
Preferably, in addition to for obtaining the camera group of image information around bionical unmanned vehicle, for camera group
The image processing system that the information of image information and the laser radar sensor collection of collection is handled, described image processing system
System is connected with input module.
Preferably, in addition to telecontrol transmitter and remote-control receiver, the remote-control receiver passes through bus and input module
It is connected, the telecontrol transmitter carries out communication by wired or wireless mode with remote-control receiver and is connected.
Preferably, the executing agency includes the engine control mould being controlled to engine speed and throttle size
Block, control biomimetics unmanned vehicle advance, retreated, the vehicle body attitude adjustment of the hydraulic motor travel motor group of turning, control hydraulic cylinder extension
Executing agency and the camera control system moved up and down at control camera visual angle.
The beneficial effects of the utility model are：The utility model passes through laser radar sensor, engine condition monitoring
Effectively road conditions can be identified for sensor group, GPS location sensor, and adjust hydraulic cylinder difference by corresponding road conditions
Posture, so as to adapt to different road conditions, the drawbacks of overcoming many landform adjustment problems under traditional approach, with reliable steady
It is qualitative and pass through property；The utility model is by the control to hydraulic cylinder, so that control biomimetics unmanned vehicle is adjusted to corresponding actions appearance
State, obliquity sensor is used for the angle ∠ EOB for detecting the axis wheel line of car body two and horizontal plane, so as to calculate hydraulic cylinder
Actuating quantity, improves adaptability of the bionical unmanned vehicle to various road conditions, it is ensured that user can faster, more accurately operate bionical nothing
People's car, while also reducing the labor intensity of operator.
In summary, this hair has fabulous adaptation to road surfaces such as muddy road, gravel road, hillside road, vertical obstacle, trenches
Property, it compensate for the drawbacks of existing product is not enough to complicated landform adaptability.
Brief description of the drawings
Fig. 1 is state diagram when the utility model crosses over obstacle on ground；
Fig. 2 is state diagram when the utility model crosses over gully；
Fig. 3 is state diagram when the utility model crosses over muddy road surface.
Fig. 4 is the flow chart of the system.
In accompanying drawing：1st, the first moving trolley；2nd, the second moving trolley；3rd, hydraulic cylinder.
Embodiment
The utility model is described in further details below with reference to Figure of description and specific embodiment.
As shown in figure 1, the bionical unmanned vehicle of variable approach angle departure angle includes the first moving trolley 1 and the second moving trolley 2, institute
The front frame tail end for stating the first moving trolley is hinged on one end of intermediate connector, and the other end of the intermediate connector passes through connection
Axle is movably arranged on the front end of the second moving trolley Rear frame, and the Rear frame can be around connecting shaft axial-rotation, first walking
The afterbody of car is additionally provided with hydraulic cylinder and is flexibly connected with the second moving trolley, and one end of the hydraulic cylinder is hinged on the first moving trolley top
End, the other end is hinged on intermediate connector, when the hydraulic cylinder 3 is locked at punctured bit, the front-wheel of first moving trolley and
The trailing wheel of second moving trolley is lifted away from ground, and the hydraulic cylinder is in quick condition, and first moving trolley and the second moving trolley are certainly
By acting；
As shown in figure 4, being provided with GPS location sensor, laser radar sensor on the first moving trolley, camera group A, taking the photograph
As head control system A, obliquity sensor, tire pressure sensor group A, hydraulic motor travel motor group A, engine control module A, defeated
Enter modules A, controller A, output module A, illuminating lamp A, loudspeaker A and warning lamp A, GPS location sensor obtains bionical unmanned vehicle
Location information, confirm bionical unmanned vehicle particular location, laser radar sensor scans bionical unmanned vehicle ambient condition information, shape
Into virtual environment, so that the height or the width in gully of the bionical unmanned vehicle direction of travel obstacle of real-time judge, the collection of camera group
Surrounding environment image information, by the surrounding environment image information of collection, such as road sign, road marking information passes through image procossing
System A confirms the particular type of road surface ahead, and obliquity sensor is used for the folder for detecting the axis wheel line of car body two and horizontal plane
Angle ∠ EOB.
Input module A is used to collect GPS location sensor, laser radar sensor, obliquity sensor, tire pressure sensing
Device group A, engine control module A, hydraulic motor travel motor group A, the signal of remote-control receiver pass to controller A；
Output module A controller A signal is passed to engine speed is controlled engine control module A,
Hydraulic motor travel motor group A, camera control system A, illuminating lamp A, loudspeaker A and the police of walking power source are provided to bionical unmanned vehicle
Show lamp A, information exchange is realized while being connected by CAN with the input module B on the second moving trolley.
Be provided with second moving trolley pose adjustment oil cylinder B, camera group B, camera control system B, obliquity sensor,
Tire pressure sensor group B, hydraulic motor travel motor group B, engine control module B, input module B, controller B, output module
B, illuminating lamp B, loudspeaker B and warning lamp B, input module B are used to collect GPS location sensor, laser radar sensor, inclination angle biography
Sensor, tire pressure sensor group B, engine control module B, hydraulic motor travel motor group B, the signal of remote-control receiver are passed to
Controller B；
Output module B passes to controller B signal the engine control module group being controlled to engine speed
B, provide the walking hydraulic motor travel motor group B of power source to bionical unmanned vehicle, camera control system B, illuminating lamp B, loudspeaker B and
Warning lamp B,
Controller A and controller B sets rule according to software program, and the data of the controller of input are run, located
Reason, and the result after computing, processing is exported by software program setting rule, final control pose adjustment oil cylinder B.
The telecontrol transmitter carries out communication by wired or wireless mode with remote-control receiver and is connected.
Remote-control receiver is installed on bionical unmanned vehicle foremost；Camera in camera group is arranged on the first moving trolley
With the front side, left side and right side of the second moving trolley；It is placed in the middle that laser radar sensor is located at the first moving trolley and the second moving trolley
Position；GPS location sensor is located at the first moving trolley center ofthe rearward position；Obliquity sensor be located at the first moving trolley and
Second moving trolley center ofthe side rearward；Tire pressure sensor group is located in the wheel of the first moving trolley and the second moving trolley；
On the engine of the moving trolley of engine condition monitoring sensor first and the second moving trolley；
Specific control method is as follows：As shown in Figures 1 to 3, if the first moving trolley front axle heart is point O, before the first moving trolley
Wheel radius is R, and it is E points that the first moving trolley front-wheel is contacted with ground, and the front frame tail end of first moving trolley is connected with centre
The pin joint of part is B points, and the B points are mapped as D points in the vertical of ground, and the hydraulic cylinder and the first moving trolley pin joint are A
Point, the hydraulic cylinder is C points with intermediate connector pin joint, and the second moving trolley front-wheel axle center is O1, and rear axis are O2；S is
First distance of the moving trolley front axle heart away from ground, that is, straight line OE length；L is the total length of hydraulic cylinder, that is, directly
Line AC length；L0 is the distance between axle of single-unit moving trolley two, that is, straight line O1O2 length；L1 is before the first moving trolley
Axle center is taken turns to the length of the distance between the first moving trolley and hydraulic cylinder twisted point, that is, straight line OA；L2 is before the first moving trolley
Axle center is taken turns to the length of the distance of the first moving trolley and intermediate connector twisted point, that is, straight line OC；T is the first moving trolley front-wheel
Axle center is to the horizontal range between vertical line where intermediate connector twisted point；L3 is the first moving trolley and hydraulic cylinder twisted point to first
The distance between moving trolley and intermediate connector twisted point, that is, straight line AB length；L4 is that the first moving trolley is connected with centre
Part twisted point the distance between to the second moving trolley connecting shaft, that is, straight line BC length；
When across obstacle on ground：Detect to be crossed over vertical in real time by the sensor being arranged on the first moving trolley
The height H of barrier, ∠ EOB angle is detected by obliquity sensor；
As H≤R, control system control hydraulic cylinder is in floating mode；
Work as R<During H≤L2, control system control pose adjustment hydraulic cylinder extends or foreshortened to S >=H, across obstacle；
Work as H>During L2, obstacle can not be crossed, and control system control biomimetics unmanned vehicle, which turns left to walk or turn right, walks
Cut-through thing halts；
When across gully：Detect the width W in gully to be crossed in real time by the sensor being arranged on the first moving trolley,
∠ EOB angle is detected by obliquity sensor；
As W≤2*R, control system control hydraulic cylinder is in floating mode；
Work as 2*R<During W≤L2, control system control pose adjustment hydraulic cylinder is elongated or shortened to T >=W, to increase vehicle
Close, departure angle, improves the performance of vehicle across obstacle；
Work as W>During L2, obstacle can not be crossed, and now bionical unmanned vehicle can combine laser radar sensor and camera group institute
The external environment information of collection, control system choose can bypass barrier section by or control system control biomimetics unmanned vehicle stop
Only advance；
In normally travel：The tire pressure of each tire is monitored by tire pressure sensor group, passes through the height of tire pressure
It is low to confirm tire and the size of ground contact force, by control system to regulating and controlling respectively to each wheel driving force, so as to realize whole
Uniform rectilinear's traveling of car, go to action；
When tyre slip：Control system is monitored confirmation to the tire pressure of each tire by tire pressure sensor group and beaten
Wheel, controls hydraulic cylinder extension, drives the wheel lift skidded so that the center of gravity of vehicle is in non-slip wheel, increases simultaneously
The driving force of big non-slip wheel.
The surface conditions of bionical unmanned vehicle walking and the specific determination methods of direction of travel obstacle are as follows：
The operational factor for monitoring engine by engine condition monitoring sensor group calculates bionical unmanned vehicle theory traveling
The size of mileage number, by the bionical unmanned vehicle actual travel mileage number of GPS location Sensor monitoring, control system monitors two in real time
The difference of person's parameter, and the section situation that the difference combination GPS location sensor of parameter is obtained in real time is subjected to contrast judgement,
So as to confirm the surface conditions of bionical unmanned vehicle traveling；
The bionical unmanned vehicle ambient condition information scanned by laser radar sensor, forms virtual environment, so that in real time
Judge the height of bionical unmanned vehicle direction of travel obstacle or the width in gully.
Described above, only the utility model illustrates intelligent control by taking the intelligence control system that two cars are constituted as an example
The operation principle of system processed, but protection domain of the present utility model is not limited to such intelligent control system for being made up of two cars
System, any one skilled in the art is in the technical scope that the utility model is disclosed, according to of the present utility model
Technical scheme and its utility model design are subject to equivalent substitution or change, all cover within protection domain of the present utility model.
Claims (5)
1. a kind of bionical unmanned vehicle control, includes the bionical unmanned vehicle of variable approach angle departure angle, variable approach angle is left away
The bionical unmanned vehicle at angle includes the first moving trolley and the second moving trolley, and the afterbody of first moving trolley is provided with hydraulic cylinder and second
Moving trolley is flexibly connected, when the hydraulic cylinder is locked at flexible position, after the front-wheel and the second moving trolley of first moving trolley
Wheel is lifted away from ground or the trailing wheel of first moving trolley and the front-wheel of the second moving trolley is lifted away from ground, it is characterised in that：Described
A set of control system is independently set on one moving trolley and the second moving trolley, and two sets of control systems are connected by CAN, with
Standard CAN protocol realizes information exchange, while acting on the control hydraulic cylinder action.
2. bionical unmanned vehicle control according to claim 1, it is characterised in that：The control system includes being used to obtain
Take bionical unmanned vehicle location information, determine the GPS location sensor of bionical unmanned truck position, for scanning around bionical unmanned vehicle
The laser radar sensor of environmental information, the obliquity sensor for detecting moving trolley posture, the tire pressure for detecting each tire
Tire pressure sensor group, the engine condition monitoring sensor group of running status for monitoring engine, for detecting
The pressure sensor group of the pressure of running motor input/output port, for collect GPS location sensor, laser radar sensor,
Obliquity sensor, tire pressure sensor group, engine condition monitoring sensor group input module and with entering to engine speed
The output mould that the engine control module of row control, the hydraulic motor travel motor group to bionical unmanned vehicle offer walking power source are connected
Block；
The information data collected by input module is carried out computing by two sets of control systems, and adjustment amount is acted to each executing agency
Decision-making is carried out, the result of decision is finally output to executing agency by output module.
3. bionical unmanned vehicle control according to claim 2, it is characterised in that：Also include be used for obtain it is bionical nobody
The letter that the camera group of image information, image information and laser radar sensor for being gathered to camera group are gathered around car
The image processing system handled is ceased, described image processing system is connected with input module.
4. bionical unmanned vehicle control according to claim 3, it is characterised in that：Also include telecontrol transmitter and remote control
Receiver, the remote-control receiver is connected by bus with input module, and the telecontrol transmitter is with remote-control receiver by having
Line or wireless mode carry out communication connection.
5. the bionical unmanned vehicle control according to one of claim 2 to 4, it is characterised in that：Executing agency's bag
The engine control module for being controlled engine speed and throttle size, control biomimetics unmanned vehicle is included to advance, retreat, turn
Hydraulic motor travel motor group, control the vehicle body attitude adjustment executing agency of hydraulic cylinder extension and the upper bottom left at control camera visual angle
The camera control system moved right.
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| CN201621425726.0U CN206470608U (en) | 2016-12-23 | 2016-12-23 | A kind of bionical unmanned vehicle control |
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| CN201621425726.0U CN206470608U (en) | 2016-12-23 | 2016-12-23 | A kind of bionical unmanned vehicle control |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117429277A (en) * | 2023-12-21 | 2024-01-23 | 上海易咖智车科技有限公司 | Unmanned vehicle step-crossing control method and device, unmanned vehicle and storage medium |
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2016
- 2016-12-23 CN CN201621425726.0U patent/CN206470608U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117429277A (en) * | 2023-12-21 | 2024-01-23 | 上海易咖智车科技有限公司 | Unmanned vehicle step-crossing control method and device, unmanned vehicle and storage medium |
| CN117429277B (en) * | 2023-12-21 | 2024-02-23 | 上海易咖智车科技有限公司 | Unmanned vehicle step-crossing control method and device, unmanned vehicle and storage medium |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220907 Address after: 410100 Shanhe intelligent industrial city, 1335 liangtang East Road, Changsha Economic and Technological Development Zone, Changsha City, Hunan Province Patentee after: SHANHE INTELLIGENT SPECIAL EQUIPMENT CO.,LTD. Patentee after: Sunward Intelligent Equipment Co.,Ltd. Address before: 410100 Shanhe intelligent industrial park, No. 16, Lixiang Middle Road, Changsha Economic and Technological Development Zone, Changsha City, Hunan Province Patentee before: Sunward Intelligent Equipment Co.,Ltd. |
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| TR01 | Transfer of patent right |