CN215793717U - Four-wheel driverless pure electric ferry vehicle - Google Patents
Four-wheel driverless pure electric ferry vehicle Download PDFInfo
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- CN215793717U CN215793717U CN202122104324.8U CN202122104324U CN215793717U CN 215793717 U CN215793717 U CN 215793717U CN 202122104324 U CN202122104324 U CN 202122104324U CN 215793717 U CN215793717 U CN 215793717U
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Abstract
The utility model discloses a four-wheel unmanned pure electric ferry vehicle. The system comprises a sensing module, a processing module and a display module, wherein the sensing module is used for acquiring position and attitude data of a vehicle in real time, identifying obstacles and identifying traffic lights, and comprises a laser radar unit, an ultrasonic radar unit, a camera unit, a GPS unit and an IMU unit; the system comprises a calculation decision module, a sensing module, a positioning module, a path planning module and an action planning module, wherein the calculation decision module is used for carrying out real-time dynamic path planning and converting specific operation into a control instruction, is in communication connection with the sensing module and comprises a mode switching unit, a positioning unit, an obstacle avoidance unit, a path planning unit and an action planning unit; and the execution module is used for converting the control instruction generated by the calculation decision module into an operation flow of the line-control chassis, is in communication connection with the calculation decision module, and comprises a chassis line-control system. The ferry vehicle can solve the problem that the ferry vehicle in the prior art does not have an automatic driving function.
Description
Technical Field
The utility model relates to the technical field of pure electric ferry vehicles, in particular to a four-wheel unmanned pure electric ferry vehicle.
Background
A ferry vehicle is a short-distance vehicle. The term "ferry vehicle" was originally originated at the airport and is a vehicle connecting the airport terminal and the distant airplane. The number of airplanes in an airport is large, the number of airplane positions is small, and the capital required for building one airplane position is large, so that most airplanes stay at a far airplane position and need to transport passengers through a ferry vehicle.
Later, the term ferry vehicle is extended to the aspects of urban short-distance traffic connection and industrial production equipment. The method is mainly divided into the following steps according to different purposes: airport ferry vehicles, city ferry vehicles, tunnel kiln ferry vehicles (industrial production), DBD ferry vehicles (industrial production) and the like. In the prior art, ferry vehicles do not have an automatic driving function.
Disclosure of Invention
Aiming at the defects of the prior art, the utility model discloses a four-wheel unmanned pure electric ferry vehicle which can solve the problem that the ferry vehicle in the prior art does not have an automatic driving function.
In order to achieve the purpose, the utility model is realized by the following technical scheme:
a four-wheel driverless pure electric ferry vehicle comprises
The sensing module is used for acquiring position and attitude data of a vehicle in real time, identifying obstacles and identifying traffic lights, and comprises a laser radar unit, an ultrasonic radar unit, a camera unit, a GPS unit and an IMU unit;
the system comprises a calculation decision module, a sensing module, a positioning module, a path planning module and an action planning module, wherein the calculation decision module is used for carrying out real-time dynamic path planning and converting specific operation into a control instruction, is in communication connection with the sensing module and comprises a mode switching unit, a positioning unit, an obstacle avoidance unit, a path planning unit and an action planning unit;
and the execution module is used for converting the control instruction generated by the calculation decision module into an operation flow of the line-control chassis, is in communication connection with the calculation decision module, and comprises a chassis line-control system.
The preferable technical scheme further comprises an upper assembly, wherein the upper assembly comprises an inner decoration, an unmanned recognition system and a vehicle body accessory. The unmanned identification system is installed through the upper assembly, and the identification range and the identification effect of the unmanned identification system are kept.
According to the preferable technical scheme, the laser radar unit, the ultrasonic radar unit, the camera unit, the GPS unit and the IMU unit are located in the upper assembly. Through the perception module of installing at the facial make-up assembly installation, all have better acquisition ability to the position, the gesture of vehicle, barrier and traffic lights.
The chassis assembly comprises a chassis body, a steering system used for executing steering operation, a driving system used for executing driving operation, a braking system used for executing braking operation, an electric system and an unmanned bottom layer control system. The chassis assembly is used for installing the unmanned bottom control system, so that the control speed and the control effect of the unmanned bottom control system can be kept.
In an embodiment, the mode switching unit, the positioning unit, the obstacle avoidance unit, the path planning unit, and the action planning unit are disposed in the chassis assembly. The calculation decision module installed on the chassis assembly has higher speed for real-time dynamic path planning and control instruction transmission, and can greatly reduce the reaction time of the four-wheel unmanned pure electric ferry vehicle.
According to the preferable technical scheme, the chassis drive-by-wire system is arranged on the chassis assembly. The reaction time of the four-wheel unmanned pure electric ferry vehicle can be further reduced by the chassis line control system arranged on the chassis assembly.
The utility model discloses a four-wheel unmanned pure electric ferry vehicle, which has the following advantages:
through the perception module that sets up, calculate decision module and execution module, can acquire the position and the gesture data of vehicle in real time, carry out obstacle discernment and discern the traffic lights, through handling the data that the discernment obtained, carry out real-time dynamic path planning and convert concrete operation into control command, the operation of deuterogamy execution module, can realize remote control driving mode, three kinds of driving modes of unmanned driving mode and remote driving mode, very big promotion four-wheel unmanned pure electric ferry vehicle's nimble driving ability, thereby be applicable to different driving environment through the selection of different driving modes when possessing automatic driving.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below.
It is obvious that the drawings in the following description are only some embodiments of the utility model, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a block diagram of the architecture of an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a chassis assembly according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are a part of the embodiments of the present invention, but not all of the embodiments.
All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
As shown in fig. 1, the sensing module according to the embodiment of the present invention is configured to acquire position and attitude data of a vehicle in real time, identify an obstacle, and identify a traffic light, and includes a laser radar unit, an ultrasonic radar unit, a camera unit, a GPS unit, and an IMU unit;
the system comprises a calculation decision module, a sensing module, a positioning module, a path planning module and an action planning module, wherein the calculation decision module is used for carrying out real-time dynamic path planning and converting specific operation into a control instruction, is in communication connection with the sensing module and comprises a mode switching unit, a positioning unit, an obstacle avoidance unit, a path planning unit and an action planning unit;
and the execution module is used for converting the control instruction generated by the calculation decision module into an operation flow of the line-control chassis, is in communication connection with the calculation decision module, and comprises a chassis line-control system.
The vehicle has three driving modes: a remote control driving mode, an unmanned driving mode, and a remote driving mode. The driving mode can be switched by operating a switch on the panel.
Remote control driving mode: the calculation decision module converts a control signal of the remote controller into a control instruction of the drive-by-wire chassis and sends the control instruction to the execution module, and the execution module realizes the transverse and longitudinal control of the vehicle. And the vehicle-mounted laser radar and the high-precision integrated navigation system are combined to realize the drawing of the high-precision map of the target area.
Unmanned mode: after the high-precision map is input, a destination can be designated on the operation panel, and the system automatically plans a global path. And switching to the unmanned driving mode by starting a key by one key of the vehicle. The sensing module performs data fusion on sensors such as a laser radar, a GPS (global positioning system), an IMU (inertial measurement unit) and the like, and acquires position and attitude data of a vehicle in real time; carrying out obstacle identification through a laser radar and an ultrasonic radar; the traffic lights are identified through the cameras. The calculation decision module carries out real-time dynamic path planning according to data of the sensing system and converts specific operations into control instructions to be issued to the execution system so as to realize an intelligent obstacle avoidance function; the execution module converts the control instruction of the calculation decision module into an operation flow of the drive-by-wire chassis, and the control of the transverse and longitudinal movement of the vehicle is realized.
Remote driving mode: the mode switching key system can be switched to a remote driving mode by one key, and the bidirectional transmission of image data and control instructions of the vehicle and the simulation cabin is realized through the remote driving simulation cabin connected with the vehicle-mounted 5G module. The calculation and decision module converts the control data of the simulation cabin into control instructions and sends the control instructions to the execution module, and the execution module converts the control instructions into operation flows of the drive-by-wire chassis to realize the control of the transverse and longitudinal movement of the vehicle. Meanwhile, the vehicle transmits real-time camera data to a remote control cabin, and remote driving is further achieved.
Example 2
As shown in fig. 2 and 3, the four-wheel unmanned all-electric ferry vehicle further comprises an upper assembly, wherein the upper assembly comprises an inner decoration, an unmanned identification system and vehicle body accessories. The chassis assembly comprises a chassis body, a steering system used for executing steering operation, a driving system used for executing driving operation, a braking system used for executing braking operation, an electrical system and an unmanned bottom layer control system.
The vehicle is started, a worker firstly controls the vehicle to walk through remote control to mainly perform scanning operation, the surrounding environment is scanned through the unmanned recognition system, the result is fed back to the background, the background generates corresponding three-dimensional maps with the data, the route can be automatically planned through positioning at the background after the map data exist, the vehicle can automatically run along the route after receiving the background instruction, and when encountering an obstacle on the way, the vehicle can automatically avoid and bypass and automatically stop when arriving at the terminal. The steering operation is completed by a steering system, and a steering motor drives a steering gear to steer; the operation of executing the driving is completed by a driving system, and is mainly realized by driving a rear axle by a walking motor; the operation of executing braking is completed by a braking system, and the braking system mainly uses an electric push rod to pull a brake rocker arm to push a brake oil pump to brake.
Other undescribed structures refer to example 1.
Example 3
As shown in fig. 1 to 3, in the four-wheeled unmanned all-electric ferry vehicle according to the embodiment of the present invention, the laser radar unit, the ultrasonic radar unit, the camera unit, the GPS unit, and the IMU unit are disposed on the upper mounting assembly.
According to the four-wheel unmanned pure electric ferry vehicle provided by the embodiment of the utility model, the mode switching unit, the positioning unit, the obstacle avoidance unit, the path planning unit and the action planning unit are arranged on the chassis assembly.
And the calculation and decision module converts the sensor data of the sensing module into decision data through fusion calculation. And then, calculating a control instruction for the line control chassis through an internal positioning, obstacle avoidance and path planning algorithm, and realizing traffic light identification, automatic obstacle avoidance, automatic tracking of a planned operation route, one-key switching between unmanned driving and remote control driving and the like.
According to the four-wheel unmanned pure electric ferry vehicle provided by the embodiment of the utility model, the chassis wire control system is arranged on the chassis assembly. And the chassis line control system receives the control instruction output by the calculation decision module and converts the control instruction into a corresponding action, and finally drives the vehicle to complete the task of automatic driving.
Other undescribed structures refer to example 1.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
It will be apparent to those skilled in the art that the modules or steps of the present invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and they may alternatively be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, or fabricated separately as individual integrated circuit modules, or fabricated as a single integrated circuit module from multiple modules or steps. Thus, the present invention is not limited to any specific combination of hardware and software.
Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (6)
1. Four-wheel unmanned pure electric ferry vehicle is characterized in that: comprises that
The sensing module is used for acquiring position and attitude data of a vehicle in real time, identifying obstacles and identifying traffic lights, and comprises a laser radar unit, an ultrasonic radar unit, a camera unit, a GPS unit and an IMU unit;
the system comprises a calculation decision module, a sensing module, a positioning module, a path planning module and an action planning module, wherein the calculation decision module is used for carrying out real-time dynamic path planning and converting specific operation into a control instruction, is in communication connection with the sensing module and comprises a mode switching unit, a positioning unit, an obstacle avoidance unit, a path planning unit and an action planning unit;
and the execution module is used for converting the control instruction generated by the calculation decision module into an operation flow of the line-control chassis, is in communication connection with the calculation decision module, and comprises a chassis line-control system.
2. The four-wheeled unmanned all-electric ferry vehicle of claim 1, characterized in that: the automobile unmanned aerial vehicle further comprises an upper assembly, wherein the upper assembly comprises an inner decoration, an unmanned aerial vehicle recognition system and an automobile body accessory.
3. The four-wheeled unmanned all-electric ferry vehicle of claim 2, characterized in that: the laser radar unit, the ultrasonic radar unit, the camera unit, the GPS unit and the IMU unit are located on the upper assembling assembly.
4. The four-wheeled unmanned all-electric ferry vehicle of claim 1, characterized in that: the chassis assembly comprises a chassis body, a steering system used for executing steering operation, a driving system used for executing driving operation, a braking system used for executing braking operation, an electrical system and an unmanned bottom layer control system.
5. The four-wheeled unmanned all-electric ferry vehicle of claim 4, characterized in that: the mode switching unit, the positioning unit, the obstacle avoidance unit, the path planning unit and the action planning unit are arranged on the chassis assembly.
6. The four-wheeled unmanned all-electric ferry vehicle of claim 4, characterized in that: the chassis line control system is arranged on the chassis assembly.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202122104324.8U CN215793717U (en) | 2021-09-02 | 2021-09-02 | Four-wheel driverless pure electric ferry vehicle |
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| CN202122104324.8U CN215793717U (en) | 2021-09-02 | 2021-09-02 | Four-wheel driverless pure electric ferry vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115214494A (en) * | 2022-07-14 | 2022-10-21 | 安徽一维新能源技术有限公司 | High-precision chassis control system supporting ros system |
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2021
- 2021-09-02 CN CN202122104324.8U patent/CN215793717U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115214494A (en) * | 2022-07-14 | 2022-10-21 | 安徽一维新能源技术有限公司 | High-precision chassis control system supporting ros system |
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