CN212135229U

CN212135229U - Unmanned target vehicle

Info

Publication number: CN212135229U
Application number: CN202020831321.7U
Authority: CN
Inventors: 高强; 邹建平; 王定桥; 刘斯佳; 惠学瀚
Original assignee: Sichuan Tengdun Technology Co Ltd
Current assignee: Sichuan Tengdun Technology Co Ltd
Priority date: 2020-05-18
Filing date: 2020-05-18
Publication date: 2020-12-11
Anticipated expiration: 2030-05-18

Abstract

The utility model discloses an unmanned target vehicle, which belongs to the technical field of unmanned target vehicles and comprises a target vehicle and an on-board computer arranged on the target vehicle, wherein the on-board computer is connected with a steering engine interface module which is connected with a direction steering engine, an accelerator steering engine and a brake steering engine, and the three are respectively coupled with a steering wheel connecting rod, an accelerator connecting rod and a brake connecting rod arranged on the target vehicle; the target vehicle tracking system is characterized by further comprising a command control terminal, the command control terminal and the vehicle-mounted computer are respectively connected with a ground base station GPS and a vehicle-mounted GPS, the vehicle-mounted computer is connected to the command control terminal through a link in a communication mode, the target vehicle state is monitored in real time through the command control terminal, and the target vehicle navigation path is dynamically updated, so that the purposes that the dependency of the rail target vehicle on a track can be avoided, the dependency of the trackless remote control target vehicle on a driver and a link can be reduced, and the maneuverability and the reliability of the target vehicle can be improved are achieved.

Description

Unmanned target vehicle

Technical Field

The utility model belongs to the technical field of unmanned target car, particularly, relate to an unmanned target car that can independently drive.

Background

The target vehicle is used as a movable target, can simulate different motion tracks and is used for identifying the hit precision of various weapon systems on a moving target. The application of the target vehicle has very important significance for the identification test of a weapon system, and is an indispensable important link for realizing scientific and technological force army.

The target vehicles disclosed at present can be divided into a rail target vehicle and a trackless remote control target vehicle. The track target vehicle highly depends on the track, extra manpower and financial expenditure are required to be added for the construction and maintenance of the track, the running line is relatively fixed, and the flexibility is poor; the trackless remote control target vehicle is driven by a driver in a long distance and is limited by the transmission distance of the remote control link, once the link is broken, the target vehicle enters an uncontrollable state, so that the maneuverability of the target vehicle is poor, and the functional requirement for carrying out an identification test on a weapon system can not be met.

SUMMERY OF THE UTILITY MODEL

In view of this, in order to solve the above-mentioned problem that prior art exists, the utility model aims at providing an unmanned target car is in order to reach and to avoid the dependence of rail target car to the track, can reduce the dependence of trackless remote control target car to driver, link again, and then improve the purpose of the mobility and the reliability of target car.

The utility model discloses the technical scheme who adopts does: an unmanned target vehicle comprises a target vehicle and a vehicle-mounted computer arranged on the target vehicle, wherein the vehicle-mounted computer is connected with a steering engine interface module, the steering engine interface module is connected with a direction steering engine, an accelerator steering engine and a brake steering engine, and the steering engine interface module, the accelerator steering engine and the brake steering engine are respectively coupled and connected with a steering wheel connecting rod, an accelerator connecting rod and a brake connecting rod arranged on the target vehicle; the target vehicle state monitoring system further comprises a command control terminal, the command control terminal and the vehicle-mounted computer are respectively connected with a ground base station GPS and a vehicle-mounted GPS, the vehicle-mounted computer is connected to the command control terminal through link communication, and the target vehicle state is monitored in real time through the command control terminal and the target vehicle navigation path is dynamically updated.

Furthermore, the vehicle-mounted computer and the command control terminal are respectively connected with a vehicle-mounted data transmission radio station and a ground base station data transmission radio station, and a communication channel of a link is formed between the vehicle-mounted data transmission radio station and the ground base station data transmission radio station, so that channel support is provided for data communication between the vehicle-mounted computer and the command control terminal, and the dynamic state of a target vehicle can be mastered in real time conveniently.

Further, the vehicle-mounted data transmission radio station and the vehicle-mounted GPS are respectively connected with the vehicle-mounted computer through TTL serial ports; and the ground base station data transmission radio station and the ground base station GPS are respectively connected with the command control terminal through TTL serial ports so as to realize stable transmission and interaction of GPS positioning information and real-time target car state information.

And the state LED and the buzzer are respectively connected to a GPIO general port of the vehicle-mounted computer, so that the running state and running fault of the target vehicle are timely pre-warned through the state LED and the buzzer.

Furthermore, the vehicle-mounted computer is connected with the steering engine interface module through a CAN bus, and the steering engine interface module adopts an ICAN-4404 analog quantity output module, so that the steering engines CAN be driven by a control instruction issued by the vehicle-mounted computer.

Further, the vehicle-mounted computer adopts a Pixhawk hardware architecture, the Pixhawk hardware architecture comprises a 32-bit STM32F427Cortex M4 chip with an FPU and an STM32F100 fault coprocessor, the Pixhawk hardware architecture is open-source design, and the Pixhawk hardware architecture can be provided for development of a high-end industry standard autopilot platform with the advantages of low cost and high availability.

The utility model has the advantages that:

1. by adopting the unmanned target vehicle provided by the utility model, the vehicle-mounted computer is arranged on the unmanned target vehicle, and the unmanned target vehicle can replace a driver and finish driving work after running through the algorithm and software arranged in the vehicle-mounted computer, so that the working strength of the driver can be greatly liberated compared with the existing target vehicle, and meanwhile, the personal safety of the driver can be ensured; because the unmanned target vehicle is provided with the GPS positioning system, the position of the target vehicle can be tracked and positioned in real time through the GPS positioning, and the safety and controllability of the target vehicle in the use process are ensured.

2. Adopt the utility model provides an unmanned target car because the vehicle-mounted computer can with the command control terminal of ground control between establish communication connection in the operation process to realize that the vehicle-mounted computer passes down target car state information to command control terminal in real time, simultaneously, command control terminal also can implement monitoring target car state, and according to actual demand dynamic update target car navigation, in order to acquire target car control authority, ensured target car's mobility and adaptability.

Drawings

Fig. 1 is a block diagram of the overall system architecture of the unmanned target vehicle disclosed by the present invention;

FIG. 2 is a schematic front view of the vehicle computer of the drone vehicle of the present disclosure;

FIG. 3 is a schematic diagram of a back side view of the vehicle computer of the drone vehicle of the present disclosure;

the drawings are labeled as follows:

1-main status light, 2-bottom status light, 3-SAFETY buzzer unlocking switch, 4-DSM remote control signal + ADC6.6 interface, 5-GPS + electronic compass interface, 6-RADIO data transmission interface, 7-DBUS bus expansion interface, 8-DEBUG + GPS2 interface, 9-PM voltage and current sensor interface, 10-micro USB interface, 11-TF card interface, 12-FMU STM32F4 restart key and 13-IO STM32F100 restart key.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar modules or modules having the same or similar functionality throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application. On the contrary, the embodiments of the application include all changes, modifications and equivalents coming within the spirit and terms of the claims appended hereto.

Example 1

As shown in fig. 1, in this embodiment, an unmanned target vehicle is specifically provided, which can operate normally, and mainly includes an on-board system and a ground control system, where the on-board system mainly includes a target vehicle and an on-board computer provided on the target vehicle, and the on-board computer is used for: the automatic driving control algorithm is realized, the target vehicle state information is resolved in real time, a control instruction is output, and the target vehicle is driven to run along a preset navigation path through the control instruction; the ground control system mainly comprises a command control terminal, and the command control terminal has the following functions: the state of the target vehicle is monitored in real time, and the target vehicle navigation path is dynamically updated (or set) according to actual needs so as to obtain the control authority of the target vehicle and realize the maneuverability and flexibility of the target vehicle in operation.

In this embodiment, the onboard computer needs to implement a route planning algorithm and an automatic driving control algorithm, complete functions of passing waypoint judgment, waypoint automatic iteration and the like, and can independently complete driving operation of the target vehicle. Therefore, the vehicle-mounted computer adopts Pixhack V3, which is a 32-bit open-source flight control designed and produced by CUAV according to a Pixhawk hardware architecture platform, aims to provide an autopilot platform with high-end industrial standards at low cost and high availability, and is suitable for mobile robot platforms such as fixed wings, multiple rotors, helicopters, automobiles, ships and the like. Pixhack adopts a 32-bit STM32F427Cortex M4 chip with FPU, the main frequency of the chip is 168MHZ, the chip has the operational capability of 252MIPS, RAM of 256KB and 2MB memory, and the chip is provided with an STM32F100 fault coprocessor. Pixhack adopts IMU separation design in the aspect of sensors, embeds high performance shock mitigation system, 3 groups of IMUs of 6 sensors in total: l3GD20 (triaxial accelerometer), LS303D (acceleration + magnetometer), Ms5611 (high precision barometer), MPU6000 (gyroscope + accelerometer), MPU9250 (accelerometer + gyroscope + magnetometer), Ms5611 (high precision barometer); meanwhile, Pixhack has very rich hardware interfaces: the system comprises the following steps of (1) 5 UARTs (serial ports), wherein the UARTs are compatible with high voltage, and 2 are provided with hardware flow control; the CAN bus interface comprises a CAN bus interface body and a CAN bus interface body; a three Spektrum DSM/DSM2/DSM-X satellite compatible input; the Futaba SBUS is compatible with input and output; fifthly, inputting a PPM signal; sixthly, inputting an RSSI (pulse width modulation or voltage); a sirtuin I2C protocol device extension; and reserving an SPI interface; the SANTIN 3.3 and 6.6VADC inputs; the external MICRO USB interface is available; 13 PWM/steering engine outputs are taken; a multi-tone buzzer, an unlocking button and a status LED interface are adopted; the use requirement of any movable robot platform can be met through abundant interfaces of the movable robot platform.

Pixhack V3 provides a set of open source software framework, which needs to be modified appropriately according to specific conditions, such as implementation of route planning, automatic driving control algorithm, steering engine driving interface, data transmission link remote control and telemetry protocol transmission, command control terminal software, etc., and the programming of the open source software is not the improvement point of the embodiment, belongs to the known technology of software developers, and the specific implementation mode is not described here.

In this embodiment, the hardware platform of the command control terminal is a conventional portable computer, and is externally connected with a ground base station data transmission radio station and a ground base station GPS, and simultaneously, the software of the command control terminal is automatically developed, so as to realize functions of route editing, uploading, downloading, target vehicle control instruction uploading, state monitoring, and the like. Since software development is not the key point of the embodiment, the specific implementation manner thereof will not be described.

In practical application, the vehicle-mounted computer is connected with a steering engine interface module, the steering engine interface module is connected with a direction steering engine, an accelerator steering engine and a brake steering engine, the direction steering engine, the accelerator steering engine and the brake steering engine are respectively coupled with a steering wheel connecting rod, an accelerator connecting rod and a brake connecting rod which are arranged on a target vehicle, and the direction steering engine, the accelerator steering engine and the brake steering engine are used as output actuating mechanisms of the vehicle-mounted computer to directly drive the target vehicle to run; the steering wheel connecting rod, the accelerator connecting rod and the brake connecting rod are used as executing mechanisms of the target vehicle, control instructions are output by the vehicle-mounted computer, the control instructions are converted by the steering engine interface module and then the executing mechanisms are driven to act, and therefore the target vehicle is controlled to run. In the embodiment, the direction steering engine, the accelerator steering engine and the brake steering engine are all ASME high-power steering engine series, the working voltage is 12V-24V/DC, the no-load current is less than 500mA (the current limiting value is 5A), the rotation angle range can be +/-150 degrees, 0-300 degrees or 0-3600 degrees, the control mode can be RC pulse or 0V-5V analog voltage, and the steering engine is suitable for high-power high-torque angle control occasions such as large robots and mechanical arms. The main control mechanisms of the unmanned target vehicle during movement are a steering wheel, an accelerator and a brake. The steering wheel is driven to rotate by the direction steering engine, the full range is one and a half of the left circle and the right circle, namely +/-540 degrees, and the steering engine with the range of 3600 degrees is selected and the zero position is corrected, so that the use requirement can be met; an accelerator pedal is pulled by an accelerator steering engine; and pulling a brake pedal by a brake steering engine, and selecting the steering engine with the range of 300 degrees.

In this embodiment, the vehicle-mounted computer is connected with the steering engine interface module through a CAN bus, and the steering engine interface module adopts an ICAN-4404 analog quantity output module to convert 3 paths of control signals into voltage signals respectively to drive each steering engine to rotate, and couple the direction steering engine, the throttle steering engine and the brake steering engine with the steering wheel connecting rod, the throttle connecting rod and the brake connecting rod respectively, so as to realize the driving operation of the target vehicle. The working voltage of the ICAN-4404 analog quantity output module is 10V-30V/DC, 4 paths of analog quantity signals can be output simultaneously, and a 12-bit resolution DAC is adopted inside the module. In practical application, the analog output signal can be configured into a voltage signal (0-10V) or a current signal (0-20 mA or 4-20 mA) through software. The ICAN-4404 analog output module supports a standard Canopen protocol, and simultaneously has 4 paths of digital input channels, can collect level signals or switch contact signals and provides a matching input function for analog output.

In order to realize the tracking and positioning of the position of the target vehicle, a ground base station GPS and a vehicle-mounted GPS are respectively connected to the command control terminal and the vehicle-mounted computer, the vehicle-mounted GPS is connected with the vehicle-mounted computer through a TTL serial port, and the ground base station GPS is connected with the command control terminal through the TTL serial port so as to form a GPS positioning system through the ground base station GPS and the vehicle-mounted GPS and provide high-precision real-time position information for the automatic driving of the target vehicle. In the embodiment, a hertzian RTK navigation module (comprising a vehicle-mounted GPS and a ground base station GPS) is adopted, and the hertzian and open source unmanned aerial vehicle Ardupilot team is used for cooperating, researching, producing, adapting to open source flight control PIXHAWK and providing centimeter-level positioning and navigation accuracy.

The vehicle-mounted computer is connected to the command control terminal through link communication, the target vehicle state is monitored in real time through the command control terminal, the target vehicle navigation path is dynamically updated, the vehicle-mounted computer and the command control terminal are respectively connected with a vehicle-mounted data transmission radio station and a ground base station data transmission radio station, the vehicle-mounted computer and the vehicle-mounted data transmission radio station are connected through TTL serial ports, the command control terminal and the ground base station data transmission radio station are connected through the TTL serial ports, a communication channel of a link is formed between the vehicle-mounted data transmission radio station and the ground base station data transmission radio station, the communication channel is a 900M link, and the target vehicle dynamic state can be conveniently.

The vehicle-mounted computer alarm system further comprises a buzzer and a plurality of state LEDs, wherein each state LED and the buzzer are respectively connected to the GPIO general port of the vehicle-mounted computer, each state LED can display according to preset parameters to remind an operator of the working condition of the current vehicle-mounted computer, and the buzzer can timely alarm under abnormal conditions and timely remove faults.

As shown in fig. 2 and 3, in this embodiment, the adopted vehicle-mounted computer mainly includes a main status light, a bottom status light, an SAFETY buzzer unlocking switch, a DSM remote control signal + ADC6.6 interface, a GPS + electronic compass interface, a RADIO data transmission interface, a DBUS bus expansion interface, a DEBUG + GPS2 interface, a PM voltage and current sensor interface, a micro USB interface, a TF card interface, an FMU STM32F4 restart key, and an IO STM32F100 restart key, where the RADIO data transmission interface is connected to the vehicle-mounted data transmission RADIO, the GPS + electronic compass interface is connected to the vehicle-mounted GPS, and the DBUS bus expansion interface is connected to the steering engine interface module through a CAN bus.

Adopt the unmanned target car that this embodiment provided, its theory of operation is as follows:

(1) the vehicle-mounted computer calculates the state information of the target vehicle in real time, such as position longitude and latitude, driving speed, driving course, track angle, lateral offset along the air line, yaw angle speed, driving distance from a target navigation point and the like, and comprehensively analyzes and makes intelligent decision by combining with air route information;

(2) controlling the target vehicle to run along a course, wherein each steering engine is respectively connected with a steering wheel, an accelerator and a brake of the target vehicle, and after the steering engines are installed and fixed, the positions of the steering engines need to be calibrated, so that the steering wheel can rotate leftwards and rightwards by 540 degrees, and the accelerator and the brake can be in a completely loose or full-stroke state;

(3) in the running process of the target vehicle, the vehicle-mounted computer downloads the state information of the target vehicle, such as the state of a vehicle-mounted sensor, GPS positioning information of the target vehicle, the speed, the course, the lateral offset distance, an automatic driving control instruction and the like, to the command control terminal in real time; meanwhile, the command control terminal monitors the state of the target vehicle in real time, dynamically uploads route information to the vehicle-mounted computer according to actual needs (manual intervention can be carried out if emergency occurs, and accidents are prevented), obtains the control authority of the target vehicle so as to dynamically update the route of the target vehicle, obtains the control authority of the target vehicle, and completes manual remote control driving of the target vehicle.

It should be noted that, in the description of the present application, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Further, in the description of the present application, the meaning of "a plurality" means at least two unless otherwise specified.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and the scope of the preferred embodiments of the present application includes other implementations in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.

It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.

In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.

The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.

In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.

Claims

1. An unmanned target vehicle is characterized by comprising a target vehicle and a vehicle-mounted computer arranged on the target vehicle, wherein the vehicle-mounted computer is connected with a steering engine interface module, the steering engine interface module is connected with a direction steering engine, an accelerator steering engine and a brake steering engine, and the steering engine interface module, the accelerator steering engine and the brake steering engine are respectively coupled with a steering wheel connecting rod, an accelerator connecting rod and a brake connecting rod arranged on the target vehicle; the target vehicle state monitoring system further comprises a command control terminal, the command control terminal and the vehicle-mounted computer are respectively connected with a ground base station GPS and a vehicle-mounted GPS, the vehicle-mounted computer is connected to the command control terminal through link communication, and the target vehicle state is monitored in real time through the command control terminal and the target vehicle navigation path is dynamically updated.

2. The drone vehicle of claim 1, wherein the vehicle computer and the command control terminal are connected to a vehicle data transmission station and a ground base station data transmission station, respectively, and a communication channel of a link is formed between the vehicle data transmission station and the ground base station data transmission station.

3. The drone vehicle of claim 2, wherein the vehicle mounted data transfer station and the vehicle mounted GPS are connected to the vehicle mounted computer through TTL serial ports, respectively; and the ground base station data transmission radio station and the ground base station GPS are respectively connected with the command control terminal through TTL serial ports.

4. The drone vehicle of claim 1, further comprising a buzzer and a plurality of status LEDs, each of the status LEDs and buzzer being respectively connected to GPIO general purpose ports of the on-board computer.

5. The unmanned target vehicle of claim 1, wherein the vehicle-mounted computer is connected to the steering engine interface module through a CAN bus, and the steering engine interface module employs an ICAN-4404 analog output module.

6. The drone vehicle of any one of claims 1-5, wherein the onboard computer employs a Pixhawk hardware architecture that includes a 32-bit STM32F427Cortex M4 chip with an FPU and an STM32F100 fault co-processor.