CN102166930A - Hovercar - Google Patents
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- CN102166930A CN102166930A CN2011100763644A CN201110076364A CN102166930A CN 102166930 A CN102166930 A CN 102166930A CN 2011100763644 A CN2011100763644 A CN 2011100763644A CN 201110076364 A CN201110076364 A CN 201110076364A CN 102166930 A CN102166930 A CN 102166930A
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Abstract
The invention discloses a hovercar which comprises a car body structure, a power package and a complex control system, the car body structure comprises a car body, a chassis and a passive driving wheel, and the power package comprises a power supply, four independent powerplants, four electronic speed regulators and four steering engines; each powerplant comprises a ducted propeller and an electric motor which drives the ducted propeller to run; the input ends of the four electronic speed regulators are connected with the complex control system, and the output end of each electronic speed regulator is connected with one electric motor to control the rotation speed of the electric motor; and the input ends of the four steering engines are connected with the complex control system, and each steering engine can control the angle of each ducted propeller by a rotating shaft which is fixedly connected with a duct of one ducted propeller. The hovercar further comprises an automatic image identification obstacle-surmounting control system. Compared with the prior art, the hovercar has the advantages that the hovercar can be used in the air and the floor, the engines can be driven without the wheel, the surmounted obstacle in the air can be automatically identified, the hovercar can take off and touch down without increasing the area, and the like.
Description
Technical field
The present invention relates to a kind of vehicle, relate in particular to a kind of hovercar.
Background technology
Present ground automobile all is to pass through transmission device driving automobile wheel by driving engine, travels on the ground.Aircraft and helicopter can aloft fly, but the cost costliness, consumption of fuel is big, high carbon consumption, and the driving technique complexity, wherein aircraft also needs airfield runway, and it is still improper as the ordinary traffic instrument.
Automobile is a proven technique, but conduct must be along " one dimension " vehicle of road running, and under the increasing situation of Modern Traffic automobile, traffic jam has been the problem that highway communication is had a headache most, and existing automotive technology is difficult to address this problem.For this reason, in recent years both at home and abroad all the someone propose in conjunction with existing automotive technology and aeronautical technology, development can dual-purpose " hovercar " in empty land, and these hovercars that propose mostly adopt on existing automobile basis and install wing additional at present, so that the automobile required lift that goes up to the air to be provided.For example U.S. Terrafugia company releases a kind of " the flight car " of plan listing in next year recently, and its structure is that wing is equipped with in the both sides of conventional car, and two vertical fins and an elevating rudder are housed at the rear portion, and is close with the conventional airplane shape.Though this flight car wing is collapsible to reduce width shared on highway and area, but when rolling start on highway (minimum coasting distance is 450 meters) and running landing, the wing length of run is 5-7 times of width of automobile approximately, therefore rises and falls on busier highway and hardly may.
Summary of the invention
Technical matters to be solved by this invention is to overcome existing hovercar can't be in busy road-basing schedule defective, providing a kind of can take off on highway under the situation that does not increase the automobile area and land, and the hovercar that can aloft fly as helicopter.
The present invention solves the problems of the technologies described above by the following technical solutions:
A kind of hovercar, comprise body construction, power pack and complex control system, described body construction comprises vehicle body, chassis, passive drive wheels, it is characterized in that, described power pack comprises power supply and four independently engine installation, four electronic governors and four steering wheels; Four independently engine installation be installed on both sides before and after the vehicle body respectively, each engine installation comprises a shrouded propeller and an electrical motor that drives its running; The input end of described four electronic governors all is connected with described complex control system, and the mouth of each electronic governor is connected to control the rotating speed of this electrical motor with an electrical motor; The input end of described four steering wheels all is connected with described complex control system, and each steering wheel is controlled the angle of this shrouded propeller by the rotating shaft of captiveing joint with the duct of a shrouded propeller.
Shrouded propeller is called the ducted fan screw propeller again, is meant a kind of propelling unit that duct is set in the periphery of free spiral rotation oar.Its principle is similar with aircraft wing, the motion of screw propeller is decomposed into horizontal motion and rotatablely moves, the resistance that mainly exists during the screw propeller motion has air friction drag, pressure drag, induced drag and interference drag etc., blade makes blade tip place speed the highest because of the high speed circular movement, induced drag is bigger, air-flow produces to impact and causes great noise to external world, and this is the low major cause of free spiral rotation oar dynamic efficiency.And after having installed duct additional, because the blade tip place is limited by duct, impulsive noise is less, and induced drag reduces, and efficient significantly improves.Under same consumption of power, the free spiral rotation oar of the same diameter of shrouded propeller can produce bigger thrust; Simultaneously because the ring of duct is drawn together effect, make it have compact conformation, aerodynamics noise is low, safety in utilization is good advantage, be used in the Flight Vehicle Design more and more.
Further, hovercar of the present invention also comprises image recognition crossing obstacle automatically control system, and described image recognition crossing obstacle automatically control system comprises the forward sight pick up camera that is installed in the automobile head, looks pick up camera, scanning laser radar and picture recognition module down; Described picture recognition module comprises video decoding unit and microprocessor, described video decoding unit is decoded as the video image analog signal digital signal and is transferred to described microprocessor, microprocessor is analyzed video image digital signal and laser ranging information, and the traffic information that analysis obtains is sent to complex control system.By above-mentioned image recognition crossing obstacle automatically control system, hovercar of the present invention can accurately be discerned traffic informations such as road environment, obstacle feature, obstacle distance, thereby be obstructed or the interruption situation (is stopped up landslide road blocking, flood road blocking as vehicle in that road is special; Bridge fracture etc.) under, the automatic clear thing of control hovercar.
Further, described complex control system comprises pilot steering mechanism and automatic controls; Described pilot steering mechanism comprise the pilot steering dish and with pilot steering dish bonded assembly wheel steering mechanism, manual command's keyboard and read-out; Described automatic controls comprise microprocessor and respectively with three gyros of this microprocessor signals bonded assembly, triaxial accelerometer, three magnetometers, barometric altimeter, GPS/ Beidou satellite receiver; The automatic controls input end is connected with described picture recognition module and scanning laser radar, receives image recognition data and laser ranging data; Four electronic governors are connected with four steering wheels in automatic controls mouth and the described power pack, send control command to power pack.Adopt technique scheme, ground run can pilot steering be main, and latter two shrouded propeller in the power pack axially transfers horizontal direction to, produces forward thrust; Pilot steering dish may command wheel steering mechanism change of direction; Be brownout, during ground run, preceding two shrouded propellers can not worked.Airflight is auxilliary based on automatic guidance, pilot steering; Automatic controls is made up of three gyros, triaxial accelerometer, three magnetometers, barometric altimeter, microcomputer treater and circuit thereof, attitude, position, speed and course when automatic controls is controlled car flight by multiple sensors signal and power pack.
Hovercar of the present invention utilizes the engine installation comprise shrouded propeller and electrical motor that automobile road traveling and the required power of lift-off flight are provided, and when realizing that empty land is dual-purpose, what solved that prior art exists can't be in busy road-basing schedule defective; The present invention has further realized that by the complex control system that comprises pilot steering mechanism, automatic controls and image recognition crossing obstacle automatically control system automatic guidance is driven and the mode of manual control driving combination, and can discern and judge road conditions automatically, thereby realize clearing the jumps automatically.Compared to existing technology, the present invention has the following advantages:
One, can on highway ground, travel as conventional automobile;
Two, in that do not increase can be from the ground take-off and landing under the automobile area situation;
Three, can aloft fly as helicopter;
Four, can discern automatically before the car and leapt obstacle before the obstacle lift-off, land again and travel.
Description of drawings
Fig. 1 is the main assembly block diagram of hovercar of the present invention;
Fig. 2 is the total arrangement scheme drawing of hovercar of the present invention, and wherein figure (a) is a front view, and figure (b) is a birds-eye perspective;
Fig. 3 is the hovercar of the present invention stressed scheme drawing that travels, the stressed scheme drawing when wherein figure (a) be land locomotion, figure (b) the stressed scheme drawing when flying;
Fig. 4 is the engine installation structural representation of hovercar of the present invention, and wherein figure (a) is a front view, and figure (b) is a right elevation, and figure (c) looks transparent view for the right side;
Fig. 5 is the control block diagram of the power pack of hovercar of the present invention;
Fig. 6 is the complex control system composition frame chart of hovercar of the present invention;
Fig. 7 is the image recognition crossing obstacle automatically control system composition frame chart of hovercar of the present invention;
Fig. 8 is that image recognition obstacle principle is calculated scheme drawing with perspective in the image recognition crossing obstacle automatically control system of the present invention, and wherein figure (a) is a transparent view, and figure (b) is perspective principle geometric relationship figure;
Fig. 9 is the control principle figure of hovercar crossing obstacle automatically of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing technical scheme of the present invention is elaborated:
The main assembly of hovercar of the present invention comprises car body framework, power pack, complex control system and image recognition crossing obstacle automatically control system as shown in Figure 1.Wherein the car body framework comprises vehicle body, chassis and passive drive wheels; Power pack comprises power supply and four independently engine installation, four electronic governors and four steering wheels; Four independently engine installation be installed on both sides before and after the vehicle body respectively, each engine installation comprises a shrouded propeller and an electrical motor that drives its running, its structure as shown in Figure 4.The input end of four electronic governors all is connected with complex control system, and the mouth of each electronic governor is connected to control the rotating speed of this electrical motor with an electrical motor; The input end of four steering wheels all is connected with complex control system, and each steering wheel is controlled the angle of this shrouded propeller by the rotating shaft of captiveing joint with the duct of a shrouded propeller.The control block diagram of power pack as shown in Figure 5.The preferred brushless motor of electrical motor in the engine installation of hovercar of the present invention can improve the efficient of power output and reduce noise, and correspondingly electronic governor adopts the brushless electronic governor.Power supply adopts ripe at present lithium cell, when guaranteeing bigger energy storage, can reduce integral vehicle cost, and improves the commonality of equipment.
As shown in Figure 6, complex control system of the present invention is made up of pilot steering mechanism and automatic controls, its output divides two-way, one the tunnel is connected to control each shrouded propeller angle with 4 steering wheels, one the tunnel transfers to be connected with the control motor rotating speed with 4 electricity respectively and controls the shrouded propeller pulling force, input end is connected with picture recognition module, receives image recognition instruction (seeing Fig. 5, Fig. 6); Automatic controls comprise microprocessor and respectively with three gyros of this microprocessor signals bonded assembly, triaxial accelerometer, three magnetometers, barometric altimeter, GPS/ Beidou satellite receiver, for anti-vibration and expendable weight, wherein three gyros, triaxial accelerometer, three magnetometers etc. adopt MEMS (MEMS) chip.The skyborne attitude of hovercar is by three gyros and triaxial accelerometer automatic guidance; The skyborne course of hovercar is by three magnetometers and satellite receiver signal analysis and Control; Skyborne flight path of hovercar and position are controlled by barometric altimeter, GPS/ Beidou satellite receiver signal synthesis.Automatic controls is by microcomputer treater COMPREHENSIVE CALCULATING, controls controls such as attitude, position, speed and course when realizing that automobile flies by multiple sensors signal fused (adopting Kaman's filtering) and engine installation.Pilot steering mechanism is mainly by pilot steering dish and wheel steering mechanism, and its composition is identical with conventional automobile principle, but in order to alleviate complete vehicle weight, adopts the composite structure of lightweight; Pilot steering dish may command wheel steering mechanism change of flight automobile is in the direction of ground run; Pilot steering of the present invention mechanism also comprises manual command keyboard and the read-out related with described automatic controls, manual command's keyboard major control moving velocity and flying speed, and need the taking off of manual intervention, land instruction; Read-out plays the operation information of informing the relevant hovercar of chaufeur (as speed, highly, real time video image, navigation map and the driving trace etc. of current consumption, attitude, two pick up cameras).
Image recognition crossing obstacle automatically control system of the present invention as shown in Figure 7, comprises the forward sight pick up camera that is installed in the automobile head, looks pick up camera, scanning laser radar and picture recognition module down; Described picture recognition module comprises video decoding unit and microprocessor, described video decoding unit is decoded as the video image analog signal digital signal and is transferred to described microprocessor, microprocessor is analyzed video image digital signal and laser ranging information, and the traffic information that analysis obtains sent to complex control system, picture recognition module is utilized methods analyst disturbance in judgement thing feature, distance and speed etc. such as image characteristics extraction, perspective geometry, obtains traffic information and sends to complex control system.
Owing to will realize airflight, the structural weight of hovercar should be light as far as possible, therefore flight of the present invention
Automobile, the covering of its vehicle body adopts the composite material of outer fibre layer, foamed plastic sandwich; The composite material of glass-epoxy panel, polyurethane sandwich is adopted on described chassis; The wheel shaft of described passive drive wheels adopts glass fibre winding structure reinforcement tubular composite material.
Total arrangement of the present invention as shown in Figure 2, two shrouded propellers are arranged in the both sides of body forward structure symmetrically, two other shrouded propeller is arranged symmetrically in the body tail both sides; The vehicle body shaped design is convenient to the installation and the control of 4 shrouded propellers; Front and back wheel does not have driving engine and actuator, passive relative ground lift-over under the shrouded propeller tension; The forward sight pick up camera, look pick up camera down, scanning laser radar is installed in the automobile head, the forward sight pick up camera and under look the real-time captured video image of pick up camera and pass to picture recognition module, and on read-out, show that the information that scanning laser radar obtains directly sends to microprocessor and handles simultaneously.
Engine installation of the present invention is the propulsion source of ground run, also is the propulsion source of airflight.During the hovercar ground run, shown in Fig. 3 (a), transfer two shrouded propellers of postposition to horizontal direction, produce forward thrust, the only passive lift-over of wheel is travelled; And two preposition shrouded propellers are in axial plumbness, can not start, to reduce energy resource consumption.Automobile driving speed changes, and can be realized by automatic controls control electricity mediation motor speed with " throttle driving lever " by chaufeur.
When hovercar is done airflight, shown in Fig. 3 (b), transfer two shrouded propellers of postposition to vertical preceding partially direction, produce lift and forward thrust, two preposition shrouded propellers start simultaneously, produce lift, before also adjustable-angle omited partially, more preceding partially than rearmounted shrouded propeller usually angle was little.The pulling force of 4 designed shrouded propellers should be enough to make the flight car to go up to the air from ground.During airflight, the adjusting of 4 shrouded propellers should guarantee the vertical component and the gravitational equilibrium of pulling force; The flying speed size is controlled by the rotating speed and the preceding partially angle of regulating 4 shrouded propellers.
Picture recognition module of the present invention when the realtime graphic that obtains is handled, comprise image characteristics extraction, perspective geometry analysis and steps such as disturbance in judgement thing feature, distance and speed.At first, according to color characteristic, connected domain is handled and form topology, Treatment Analysis road environment and " obstacle " feature; Again image is carried out gaussian filtering, then image is transformed into the HSI color space and handles, and at HIS spatial extraction histogram; Propose two criterions: 1, set a H and divide magnitude threshold value h, the H on reference histograms divides the value of magnitude less than h when the H of a certain pixel on image component; 2, set an I component level threshold value i, when the value of the I component level of I component on reference histograms of a certain pixel on the image less than i; Every two field picture is extracted reference histograms, each reference histograms is carried out simple exclusive disjunction, H after obtaining making up and I reference histograms, and according to these two combined reference histograms and two sorting criterions, carry out binary conversion treatment, then can obtain road environment feature and obstacle feature in the image.
Further carry out quantitative analysis.Stitching carries out the analysis of image perspective at first by road: shown in the perspective principle geometric relationship figure of Fig. 8 (b), P is an image, and D is an optical axis object distance line, and d is the image stadia traverse, can be derived by the fluoroscopy images principle:
The overhead high h of pick up camera before known, the downward drift angle of preceding pick up camera is α, thing B on the image
'(corresponding to actual object B) is to looking heart O
'(corresponding to actual ground-surface optical axis intersection point O) distance is H
1, A
'(for actual object A) is to looking heart O
'Distance is H
2,
Angle then
,
So can obtain the road surface actual distance:
In the formula,
AFBe the road surface distance of A in kind and this car, BF is the road surface distance of B in kind and this car.So just can obtain obtaining image at that time each object from the horizontal throw of flight car.
By the graphical analysis of time period as can be known, just can go out the horizontal velocity of road surface object, when speed is that canonical is far away more from automobile, when speed is negative then near more from automobile by Difference Calculation with respect to hovercar.When the object that calculates from the automobile distance with when becoming nearly speed and all reaching " warning value ", automobile takes off automatically.
The crossing obstacle automatically control principle of hovercar of the present invention as shown in Figure 9, hovercar calculates the distance and the speed of the place ahead obstacle feature by graphical analysis and laser ranging, can judge automatic rise flight.After hovercar takes off automatically, will be according to resultant velocity given in advance flight forward aloft.Under look camera supervised road surface, hovercar below object situation, road surface, forward sight camera supervised hovercar the place ahead situation.Hovercar can land automatically according to road surface situation whether " totally "; Perhaps land and travel from other roads that detour in the air.Also can monitor read-out by chaufeur, the manual command lands, and continues at road traveling.
Hovercar model test machine of the present invention (scaled-down version) is finished, and has successfully carried out automatic identification obstacle detouring flight test and ground run test.
Claims (3)
1. hovercar, comprise body construction, power pack and complex control system, described body construction comprises vehicle body, chassis, passive drive wheels, it is characterized in that, described power pack comprises power supply and four independently engine installation, four electronic governors and four steering wheels; Four independently engine installation be installed on both sides before and after the vehicle body respectively, each engine installation comprises a shrouded propeller and an electrical motor that drives its running; The input end of described four electronic governors all is connected with described complex control system, and the mouth of each electronic governor is connected to control the rotating speed of this electrical motor with an electrical motor; The input end of described four steering wheels all is connected with described complex control system, and each steering wheel is controlled the angle of this shrouded propeller by the rotating shaft of captiveing joint with the duct of a shrouded propeller.
2. hovercar according to claim 1, it is characterized in that, also comprise image recognition crossing obstacle automatically control system, described image recognition crossing obstacle automatically control system comprises the forward sight pick up camera that is installed in the automobile head, looks pick up camera, scanning laser radar and picture recognition module down; Described picture recognition module comprises video decoding unit and microprocessor, described video decoding unit is decoded as the video image analog signal digital signal and is transferred to described microprocessor, microprocessor is analyzed video image digital signal and laser ranging information, and the traffic information that analysis obtains is sent to complex control system.
3. as hovercar as described in the claim 2, it is characterized in that described complex control system comprises pilot steering mechanism and automatic controls; Described pilot steering mechanism comprise the pilot steering dish and with pilot steering dish bonded assembly wheel steering mechanism, manual command's keyboard and read-out; Described automatic controls comprise microprocessor and respectively with three gyros of this microprocessor signals bonded assembly, triaxial accelerometer, three magnetometers, barometric altimeter, GPS/ Beidou satellite receiver; The automatic controls input end is connected with described picture recognition module and scanning laser radar, receives image recognition data and laser ranging data; Four electronic governors are connected with four steering wheels in automatic controls mouth and the described power pack, send control command to power pack.
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| CN102529621A (en) * | 2012-01-13 | 2012-07-04 | 大连理工大学 | Unmanned triphibian vehicle control system and unmanned triphibian vehicle control method |
| CN102963230A (en) * | 2012-11-16 | 2013-03-13 | 空军工程大学 | Water-air vertical crossing vehicle |
| CN103171388A (en) * | 2013-03-18 | 2013-06-26 | 中国人民解放军装甲兵工程学院 | Vertical lifting land-air dual-purpose vehicle |
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| CN104401193A (en) * | 2014-12-02 | 2015-03-11 | 长春工业大学 | Obstacle-surmounting reconnaissance robot |
| CN104476994A (en) * | 2014-11-18 | 2015-04-01 | 南京航空航天大学 | Novel coaxial dual-rotor ducted wheel |
| CN105005314A (en) * | 2015-07-23 | 2015-10-28 | 广州杰赛科技股份有限公司 | Obstacle-crossing method of environment detection device, control terminal and detection system |
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