CN103592914B - Remote control target car control loop - Google Patents
Remote control target car control loop Download PDFInfo
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- CN103592914B CN103592914B CN201310546617.9A CN201310546617A CN103592914B CN 103592914 B CN103592914 B CN 103592914B CN 201310546617 A CN201310546617 A CN 201310546617A CN 103592914 B CN103592914 B CN 103592914B
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- steering wheel
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
Remote control target car control loop provided by the invention, the remote control target car comprising remote control base station and control by this remote control base station.This remote control target car control loop can complete the everything on general-utility car; such as: step on clutch, engage a gear, turning, acceleration, deceleration; the actions such as reversing; just drive to be the same with true man; only true man are sitting in remote control in base station to complete these control actions in car; and this system may be used for anti-terrorism vehicle, scout vehicle etc., protects the safety of personnel completely.
Description
Technical field
The invention belongs to the remote control device field of other vehicles such as target range target car, anti-terrorism vehicle, unmanned investigation car, be specifically related to a kind of remote control target car control loop.
Background technology
The target car used during target practice test current mainly rail type remote control target car and trackless remote control target car, the driving path of rail type remote control target car target is comparatively fixing, the condition of moving target when not possessing under battle conditions, trackless remote control target car therewith system is very similar, but trackless remote control target car uses as tractor, haul target by cable wire to move, turn, the action such as reversing time target can not imitate the motion state of real goal.
Summary of the invention
The object of the invention is a kind of remote control target car control loop, the manner overcoming the existence of existing target practice test target car is relatively more fixing, single, do not gear to actual circumstances the problem of vehicle driving mode (as stepping on clutch, engage a gear, turning, acceleration, deceleration, the actions such as reversing).
For this reason, the invention provides a kind of remote control target car control loop, the remote control target car comprising remote control base station and control by this remote control base station.
Above-mentioned remote control base station comprises steering automobile simulative instrument, industrial computer, transmission wireless control signal to the base station data radio station of remote control target car, the base station microwave image radio station receiving the signal of remote control target car transmission and monitor; Steering automobile simulative instrument is by industrial computer transmission of control signals to base station data radio station, and base station microwave image radio station is connected with monitor;
Described remote control target car comprises remote control target car electronic control system, control the bearing circle steering wheel of bearing circle, the clutch steering wheel of solenoidoperated cluthes pedal, control the throttle steering wheel of gas pedal, control the brake steering wheel of brake pedal, control the gear steering wheel of gear lever, vehicle-carried microwave image radio station, vehicle-mounted data radio station, be arranged on the forward sight CCD camera of target car front end, the backsight CCD camera of target car rear end is installed, vehicle-mounted data radio station receives control signal from base station data radio station to remote control target car electronic control system, remote control target car electronic control system produces output order to described bearing circle steering wheel according to this control signal, clutch steering wheel, throttle steering wheel, brake steering wheel and gear steering wheel are to control target vehicle travelling state, forward sight CCD camera and backsight CCD camera through remote control target car electronic control system transmission video signal to vehicle-carried microwave image radio station, this vision signal is transmitted to described base station microwave image radio station in this vehicle-carried microwave image radio station.
Above-mentioned remote control target car electronic control system comprises divider, servos control drive plate, video switch boards and state acquisition plate, divider is connected with the control signal received from base station data radio station with vehicle-mounted data radio station, and this control signal is transferred to described servos control drive plate, then realize described bearing circle steering wheel, clutch steering wheel, throttle steering wheel, the control of brake steering wheel and gear steering wheel, video switch boards and divider are connected to receive when moveing backward control signal and are communicated with backsight CCD camera and vehicle-carried microwave image radio station, cut off the connection in forward sight CCD camera and vehicle-carried microwave image radio station simultaneously, the photoelectric sensor signal that car state acquisition plate gathers rotational speed pulse signal that automobile rotating speed sensor exports and gear, clutch control mechanism installs additional, through the process of C8051F040 single-chip microcomputer, exports car tachometer value, gear, clutch state signal.
Above-mentioned servos control drive plate comprises the steering wheel controller controlling bearing circle steering wheel, the gear controller controlling gear steering wheel, the throttle control of control throttle steering wheel, the brake controller of control brake steering wheel and controls the clutch controller of clutch steering wheel.
Above-mentioned base station data radio station and vehicle-mounted data radio station are DSP radio station; Described base station microwave image radio station and vehicle-carried microwave image radio station are BY580-20 HIGH-POWERED MICROWAVES image radio station.
Above-mentioned steering automobile simulative instrument is sieve skill G25 bearing circle control loop.
Remote control target car control loop provided by the invention can complete the everything on general-utility car; such as: step on clutch, engage a gear, turning, acceleration, deceleration; the actions such as reversing; just drive to be the same with true man; only true man are sitting in remote control in base station to complete these control actions in car; and this system may be used for anti-terrorism vehicle, scout vehicle etc., protects the safety of personnel completely.
Below with reference to accompanying drawing, the present invention is described in further details.
Accompanying drawing explanation
Fig. 1 is that remote control base station forms schematic block diagram.
Fig. 2 is remote control target car schematic block diagram.
Fig. 3 is vehicle-mounted remote-control target car electronic control system schematic diagram.
Fig. 4 is the relation schematic diagram of steering wheel output corner and pwm input signal.
Embodiment
In order to the manner overcoming the existence of existing target practice test target car is relatively more fixing, single, the vehicle driving mode that do not gear to actual circumstances (as steps on clutch, engage a gear, turning, acceleration, deceleration, the actions such as reversing) problem, present embodiments provide a kind of remote control target car control loop comprising remote control base station and the remote control target car by the control of this remote control base station, as shown in Figure 1, remote control base station comprises steering automobile simulative instrument, industrial computer, transmission wireless control signal to the base station data radio station of remote control target car, the base station microwave image radio station accepting the signal of remote control target car transmission and monitor; Steering automobile simulative instrument is by industrial computer transmission of control signals to base station data radio station, and base station microwave image radio station is connected with monitor;
Remote control target car comprises the remote control target car electronic control system shown in Fig. 2, control the bearing circle steering wheel of bearing circle, the clutch steering wheel of solenoidoperated cluthes pedal, control the throttle steering wheel of gas pedal, control the brake steering wheel of brake pedal, control the gear steering wheel of gear lever, vehicle-carried microwave image radio station, vehicle-mounted data radio station, be arranged on the forward sight CCD camera of target car front end, the backsight CCD camera of target car rear end is installed, vehicle-mounted data radio station receives control signal from base station data radio station to remote control target car electronic control system, remote control target car electronic control system produces output order to described bearing circle steering wheel according to this control signal, clutch steering wheel, throttle steering wheel, brake steering wheel and gear steering wheel are to control target vehicle travelling state, forward sight CCD camera and backsight CCD camera through remote control target car electronic control system transmission video signal to vehicle-carried microwave image radio station, this vision signal is transmitted to described base station microwave image radio station in this vehicle-carried microwave image radio station.
Steering automobile simulative instrument buys ready-made sieve skill G25 steering automobile simulative instrument: this bearing circle control loop adopts 11 English inch diametric(al) dishes, provides 900 degree (2 circle half) steering angles identical with real vehicles.FORCE FEEDBACK part adopts dual motor system, can be evenly distributed on whole bearing circle by the resistance turned to, the strengthening sense of reality, sieve skill G25 bearing circle control loop be also simultaneously sieve skill first possess clutch coupling and 6 fast hands and arrange the steering wheel controller product that gear designs.Pedal part except the brake of common product standard and throttle, and provides clutch pedal.Gear part possesses intends true Machine Design.Export usb data.
Base station data radio station and vehicle-mounted data radio station buy the product of ready-made technology maturation: DSP radio station, forward error correction channel, CPFSK digital modulation and demodulation, Viterbi decoding, balanced soft-decision, tail squelch; Transmission frequency 231MHZ, RS232 input data, baud rate 19200.
Base station microwave image radio station, vehicle-carried microwave image radio station are also the products buying existing technology maturation: frequency of operation: 1.2GHZ; Modulation system: FM, power consumption is little, and output power is large, long transmission distance; Image is real-time, clear; Undistorted, image transmitting quality is better than level Four; Full aluminium shell, rapid heat dissipation, good sealing effect, strong interference immunity.
Steering automobile simulative instrument is connected with industrial computer, the director data that control loop exports is converted by industrial computer to the data of RS232 agreement by USB RS 232 software, given by the vehicle-mounted data radio station on the target car of remote control by base station data radio station transmission of wireless signals, simultaneously, the forward image that car travels by the forward sight CCD camera on target car, base station microwave image radio station is transferred back to by vehicle-carried microwave image radio station, the image received is delivered on monitor and is shown by base station microwave image radio station, uses to provide driver's remote driving.
Note: USB RS 232 software is write application software by VC and the usb data of sieve skill driving simulation system is converted to RS232 data.
As shown in Figure 2, remote control target car electronic control system comprises divider, servos control drive plate, video switch boards and state acquisition plate, divider is connected with the control signal received from base station data radio station with vehicle-mounted data radio station, and this control signal is transferred to described servos control drive plate, then realize described bearing circle steering wheel, clutch steering wheel, throttle steering wheel, the control of brake steering wheel and gear steering wheel, video switch boards and divider are connected to receive when moveing backward control signal and are communicated with backsight CCD camera and vehicle-carried microwave image radio station, cut off the connection in forward sight CCD camera and vehicle-carried microwave image radio station simultaneously, namely when remote control base station sends reversing instruction, video switch boards in remote control target car electronic control system produces video switching signal, make the image transmitting of backsight CCD camera to vehicle-carried microwave image radio station, and after see reverse image through being transferred to monitor for driver to base station microwave image radio station, otherwise video transmits the image of forward sight CCD camera collection always, driver is it is seen that the image in car body front.
Divider is connected with vehicle-mounted data radio station, and receive this vehicle-mounted data radio station transmission and carry out a frame director data, Transmission bit rate is 19200; Data transmitting period is 20ms.Divider is by the data that receive or signal decoding, by parallel port, each data (parallel port data) are distributed to each servos control drive plate after analysis, as shown in Figure 3, servos control drive plate mainly comprises the steering wheel controller controlling bearing circle steering wheel, control the gear controller of gear steering wheel, control the throttle control of throttle steering wheel, control the brake controller of brake steering wheel and control the clutch controller of clutch steering wheel, single-chip microcomputer on these servos control drive plates all adopts C8051F040, data are obtained from the parallel port of divider, because data are 8 bit data, i.e. 0-255, these data are converted to the corresponding 20ms cycle, high level is the pulsewidth of 750uS ~ 2250uS, servos control and drive part (because the input quantity of steering wheel is the pulsewidth of the 500uS---2500uS) (brief introduction of work principle of steering wheel: steering wheel is the DC servo motor system with position feedback is given by HCPL2630 light-coupled isolation by this pulsewidth, during input 500us high level 20MS cycle PWM square wave, motor is-90 ° of positions, when inputting the PWM square wave in 2500us high level 20ms cycle, motor is the position of+90 °, as shown in Figure 4).
In Fig. 3, bearing circle is controlled by bearing circle steering wheel, and gear lever is controlled by gear steering wheel, and gas pedal is controlled by throttle steering wheel, and brake pedal is controlled by brake steering wheel, and clutch pedal is controlled by clutch steering wheel.
Throttle, brake, clutch for clutch control principle: on the output shaft of corresponding steering wheel (i.e. throttle steering wheel, brake steering wheel and clutch steering wheel), do a moment transmit rotating disk, this rotating disk hauls wire rope, the pedal of the other throttle of ining succession of wire rope, brake, clutch, when signal comes, steering wheel rotates to an angle, thus haul wire rope and rotate, angle variable quantity is changed into path increment, thus reach step on the throttle, brake, clutch and unclamp the object of throttle, brake, clutch.
Bearing circle control principle: the output shaft of bearing circle steering wheel is coaxial with steering wheel hub axle, adds a groove fallen on the steering wheel, by bearing circle steering wheel insertion groove, beats only spiral shell, the axle of bearing circle steering wheel is firmly engaged with the groove of bearing circle in the side of groove.When semaphore request rotates, bearing circle is just followed bearing circle steering wheel and is rotated and rotate.
Gear control principle: the topworks of doing a two dimensional motion on gear control lever, with two steering wheels, angular metric is converted into path increment, when engage a gear, two steering wheels have matched two dimensional motion, reach the object of engage a gear, such as, when putting in the first speed, after X-axis steering wheel completes and walks a specific stroke left, Y-axis steering wheel upwards walks a specific stroke again, now one grade has just hung up, and the operation of other gear is the same.
The car state acquisition plate of the remote control target car electronic control system kind that the present embodiment provides gathers the photoelectric sensor signal that rotational speed pulse signal that automobile rotating speed sensor exports and gear, clutch control mechanism install additional, through the process of C8051F040 single-chip microcomputer, export car tachometer value, gear, clutch state signal.
This completes the signal sent by remote control base station to change into corresponding topworks on car and perform the object of corresponding action, thus corresponding action can be made by the controlled vehicle of remote driving: veer dish, step on (pine) clutch, step on (pine) and brake, step on (pine) throttle, hang different gears, reach the actions such as turning, acceleration, deceleration, reversing.
More than exemplifying is only illustrate of the present invention, does not form the restriction to protection scope of the present invention, everyly all belongs within protection scope of the present invention with the same or analogous design of the present invention.
The parts that the present embodiment does not describe in detail and structure belong to the well-known components of the industry and common structure or conventional means, do not describe one by one here.
Claims (3)
1. remote control target car control loop, is characterized in that: the remote control target car comprising remote control base station and control by this remote control base station; Described remote control base station comprises steering automobile simulative instrument, industrial computer, transmission wireless control signal to the base station data radio station of remote control target car, the base station microwave image radio station receiving the signal of remote control target car transmission and monitor; Steering automobile simulative instrument is by industrial computer transmission of control signals to base station data radio station, and base station microwave image radio station is connected with monitor;
Described remote control target car comprises remote control target car electronic control system, control the bearing circle steering wheel of bearing circle, the clutch steering wheel of solenoidoperated cluthes pedal, control the throttle steering wheel of gas pedal, control the brake steering wheel of brake pedal, control the gear steering wheel of gear lever, vehicle-carried microwave image radio station, vehicle-mounted data radio station, be arranged on the forward sight CCD camera of target car front end, the backsight CCD camera of target car rear end is installed, vehicle-mounted data radio station receives control signal from base station data radio station to remote control target car electronic control system, remote control target car electronic control system produces output order to described bearing circle steering wheel according to this control signal, clutch steering wheel, throttle steering wheel, brake steering wheel and gear steering wheel are to control target vehicle travelling state, forward sight CCD camera and backsight CCD camera through remote control target car electronic control system transmission video signal to vehicle-carried microwave image radio station, this vision signal is transmitted to described base station microwave image radio station in this vehicle-carried microwave image radio station.
2. remote control target car control loop as claimed in claim 1, it is characterized in that: described remote control target car electronic control system comprises divider, servos control drive plate, video switch boards and car state acquisition plate, divider is connected with the control signal received from base station data radio station with vehicle-mounted data radio station, and this control signal is transferred to described servos control drive plate, then realize described bearing circle steering wheel, clutch steering wheel, throttle steering wheel, the control of brake steering wheel and gear steering wheel, video switch boards is connected with divider, when receiving reversing control signal, be communicated with backsight CCD camera and vehicle-carried microwave image radio station, cut off the connection in forward sight CCD camera and vehicle-carried microwave image radio station simultaneously, the photoelectric sensor signal that car state acquisition plate gathers rotational speed pulse signal that automobile rotating speed sensor exports and gear, clutch control mechanism installs additional, through the process of C8051F040 single-chip microcomputer, exports car tachometer value, gear, clutch state signal.
3. remote control target car control loop as claimed in claim 2, is characterized in that: described servos control drive plate comprises the steering wheel controller controlling bearing circle steering wheel, the gear controller controlling gear steering wheel, the throttle control of control throttle steering wheel, the brake controller of control brake steering wheel and controls the clutch controller of clutch steering wheel.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310546617.9A CN103592914B (en) | 2013-11-07 | 2013-11-07 | Remote control target car control loop |
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| CN201310546617.9A CN103592914B (en) | 2013-11-07 | 2013-11-07 | Remote control target car control loop |
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| CN103592914A CN103592914A (en) | 2014-02-19 |
| CN103592914B true CN103592914B (en) | 2016-04-20 |
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| CN107662605B (en) * | 2016-07-28 | 2020-07-10 | 比亚迪股份有限公司 | Remote control method and system of vehicle, controlled vehicle and control vehicle |
| CN107399306A (en) * | 2017-08-02 | 2017-11-28 | 张天欣 | A kind of automotive emergency brake system, method, apparatus and small electronic equipment |
| CN108344330A (en) * | 2018-01-04 | 2018-07-31 | 中国空空导弹研究院 | A kind of unmanned target vehicle and a kind of unmanned target vehicle ontology |
| CN108183847A (en) * | 2018-01-17 | 2018-06-19 | 江苏徐工信息技术股份有限公司 | The engineer machinery operation tele-control system and method for a kind of low time delay |
| CN108869724A (en) * | 2018-06-06 | 2018-11-23 | 浙江大学城市学院 | A kind of university student's equation motorcycle race automatic gear shifting system |
| CN109696313A (en) * | 2018-12-27 | 2019-04-30 | 河南护航实业股份有限公司 | A kind of operating system of intelligent driving test target vehicle |
| CN109696314A (en) * | 2018-12-27 | 2019-04-30 | 河南护航实业股份有限公司 | A kind of intelligent driving test target vehicle and its control system |
| CN110065389A (en) * | 2019-04-18 | 2019-07-30 | 河北汉光重工有限责任公司 | A kind of driving mode switching device for trackless target vehicle |
| CN110171504A (en) * | 2019-05-14 | 2019-08-27 | 重庆市合川区均恒金属加工厂 | A kind of mobile device of intelligent machine arm |
| CN110077992A (en) * | 2019-06-10 | 2019-08-02 | 国网江苏省电力有限公司南京供电分公司 | Remote control cabin and matched unmanned fork lift |
| CN112486085A (en) * | 2020-11-09 | 2021-03-12 | 西北工业大学 | Remote-control tank driving system with long distance and low time delay |
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