CN105172502A - Novel modular air-land integrated carrier - Google Patents
Novel modular air-land integrated carrier Download PDFInfo
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- CN105172502A CN105172502A CN201510653679.9A CN201510653679A CN105172502A CN 105172502 A CN105172502 A CN 105172502A CN 201510653679 A CN201510653679 A CN 201510653679A CN 105172502 A CN105172502 A CN 105172502A
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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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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Abstract
The invention relates to the technical field of control systems and traffic carriers, in particular to a novel modular air-land integrated carrier. The carrier comprises a main body structure, a central control unit, motion units, an energy unit, a carrying unit and an accessory unit, wherein the main body structure is in a polygon shape in central symmetry and provided with the central control unit, the energy unit, the carrying unit and the accessory unit, an even number of motion units are installed on side edges of the main body structure in a central symmetry manner, support structures are arranged on peripheries of the motion units, a motion mechanism, a motor and a motor speed regulator are installed in the middle of each support structure, a mechanical interface and an electrical interface are formed in each support structure, and the motion units are installed and fixed on the main body structure through the mechanical interfaces. Multiple function units are integrated in one control system and controlled by the central control unit to cooperate with one another to work, and a powerful all-field air-land integrated carrier is formed.
Description
[technical field]
The present invention relates to control system, traffic delivery means technical field, specifically a kind of modular novel vacant lot one means of delivery.
[background technology]
Along with the fast development of mechanical technique and automated control technology, the various vehicle that are controlled or autonomous operation emerge in multitude, as Multi-axis aircraft, and all-wheel drive all-terrain vehicle, parallel robot etc., but there is following problem in current existing the said goods:
1) function singleness, can only work under a kind of operating mode, and as Multi-axis aircraft can only aloft run, all-wheel drive all-terrain vehicle and climbing robot can only run on the ground;
2) assembly process is complicated, be assemblied to form, fitting process very complicated, and assembly quality is difficult to be guaranteed by less part;
3) control method simplification, the control unit of often kind of equipment can only control for the motor function of self, and equipment interoperability is poor.
[summary of the invention]
The object of the invention is all deficiencies of the vehicle for above-mentioned controlled or autonomous operation, provide a kind of and use modular technology, possess multi-functional, general, the modular novel vacant lot one means of delivery of a series of requirement such as fast assembling-disassembling.
To achieve these goals, a kind of modular novel vacant lot of design one means of delivery, comprise agent structure, Central Processing Unit (CPU), moving cell, energy unit, load-carrying unit, accessory unit, the polygon that described agent structure is centrosymmetric, agent structure is provided with Central Processing Unit (CPU), energy unit, load-carrying unit and accessory unit, the side of agent structure is provided with some even number moving cells with centrosymmetric form, supporting construction is arranged with outside described moving cell, in the middle part of supporting construction, kinematic mechanism is housed, motor and machine governor, supporting construction is provided with mechanical interface and electric interfaces, moving cell is installed by mechanical interface, fix on the body construction, and connect the electric power supply that electric interfaces obtains energy unit, moving cell is connected with Central Processing Unit (CPU) and exchanges control signal.
Described kinematic mechanism is rotor or wheel or crawler belt or mechanical arm.
Described Central Processing Unit (CPU) comprises navigation module, remote control module, motion-control module, task-driven module, Central Processing Unit (CPU), the built-in GPS of described navigation module or BEI-DOU position system, is whole system programming movement route; The remote signal that described remote control module satellite receiver is sent, remote signal is radiofrequency signal or network data; Described motion-control module, according to motion control information or built-in gyrostatic attitude information, exports control information to moving cell; Task-driven module is extended function module, and if desired whole system performs new task, and insert the task-driven module having task description file, whole system will carry out work according to task description file.
Described energy unit provides electric energy for whole system, comprises rechargeable type power supply, wireless charging module and wired charging inlet, and described wireless charging module is power source charges by the mode near wireless charging base station; Charging inlet is power source charges by the mode of the wired charging plug of grafting.
Described accessory unit provides mounting interface for peripheral hardware accessory, comprises charging inlet, configuration interface, power supply interface, redundant interface and on & off switch, mode of motion switch key, control mode switch key.
Described load-carrying unit provides solid and reliable loading space, partial weight-bearing mount point and attachment point described agent structure be equipped with for installing load-carrying unit, load-carrying unit for carry goods or bear part cargo conveying function time institute's bearing goods is placed in load-carrying unit.
The mode that mechanical interface is patched by bolt or bayonet socket or electromagnetic type is fixed.
Electric interfaces patches fixing with the electromagnetic type of contact or connector.
The present invention is by agent structure, Central Processing Unit (CPU), multi-motion unit, energy unit, load-carrying unit, the functional units such as accessory unit control each unit collaborative work by Central Processing Unit (CPU) in a control system, constitute powerful vacant lot, a full field one means of delivery, the present invention supports offline mode or ground handling pattern, and changeable autonomous operation pattern or remote control operational mode, easy to use, function diversification, applied widely, and the mankind can be used for by means of the field of traffic that self cannot arrive.
[accompanying drawing explanation]
Fig. 1 is control framework schematic diagram of the present invention;
Fig. 2 is structural representation of the present invention;
Fig. 3 is the schematic diagram of the specific embodiment in the present invention;
Fig. 4 is the structural representation of rotary wind type kinematic mechanism in the present invention;
Fig. 5 is the structural representation of wheel type motion mechanism in the present invention;
Fig. 6 is the structural representation of mechanical arm type kinematic mechanism in the present invention;
In figure: 1. agent structure 2. machinery and electric interfaces 3. are prevented hitting landing structure 4. moving cell supporting construction 5. rotary wind type kinematic mechanism 6. wheel type motion mechanism 7. mechanical arm type kinematic mechanism;
Specify Fig. 1 as Figure of abstract of the present invention.
[detailed description of the invention]
Below in conjunction with accompanying drawing, the invention will be further described, and the structure of this device and principle are very clearly concerning the people of this specialty.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
The present invention is the complete combination of a series of subsystem, as shown in Figures 1 and 2, comprising: agent structure, Central Processing Unit (CPU), moving cell, energy unit, load-carrying unit, accessory unit etc.Wherein, Central Processing Unit (CPU) comprises: navigation module, remote control module, motion-control module and task-driven module; Moving cell has rotary wind type, wheeled, mechanical arm type; Energy unit comprises propulsion source, and power supplements interface; Load-carrying unit provides solid and reliable loading space; Accessory unit provides mounting interface for peripheral hardware accessory.In sum, all functions unit is collaborative work in a control system all, constitutes powerful vacant lot, a full field one means of delivery.
Embodiment 1
Fig. 3 is the schematic diagram of the specific embodiment of the invention, the polygon that agent structure in the present invention is centrosymmetric, agent structure is provided with Central Processing Unit (CPU), energy unit, load-carrying unit and accessory unit, the side of agent structure is provided with some even numbers with centrosymmetric form, platform in the present embodiment selected by moving cell can install maximum 8 moving cells, minimum is 2 moving cells, and common pattern is 4 moving cells, installs with Central Symmetry form.
As shown in Figure 2; part A (A_1 ~ A_4) is moving cell; the multiple moving cell co-operation of general needs; supporting construction is arranged with outside moving cell; on the support structure kinematic mechanism is installed; supporting construction adopts light-weight high-strength material, for kinematic mechanism (as rotor, wheel or mechanical arm) provides enough protections.The supporting construction of moving cell is provided with special physical construction and electric interfaces, and completing being connected and fixed fast of multi-motion unit and agent structure by physical construction, electric interfaces is then transmitting electric power and control signal between moving cell and agent structure.
In the present embodiment, whole system mainly uses driven by power.
Following several form is divided into power-actuated kinematic mechanism:
Rotary wind type is as shown in Figure 4: motor, machine governor and rotor;
As shown in Figure 5 wheeled: motor, machine governor and wheel/pedrail mechanism; The type of drive of wheel type movement unit is integrated motor drive system
Mechanical arm type is as shown in Figure 6: motor, machine governor and mechanical arm and transmission device thereof.
Wherein part B is agent structure:
Agent structure is made up of light-weight high-strength material, and polygon symmetrical centered by plan view shape, having certain thickness, being above reserved with the draw-in groove for installing various equipment, cable and anchor fitting, also comprises certain anti-ly to hit landing structure simultaneously.Agent structure is provided with Central Processing Unit (CPU), moving cell, energy unit, load-carrying unit, accessory unit.Comprise a mechanical interface and corresponding electric combination type interface between agent structure and the structure of moving cell, mechanical interface and electric interfaces are all divided into two parts, are arranged on respectively in moving cell and agent structure.The function of mechanical interface is the structure making agent structure and moving cell, can fast, stable, firm being fixed together; And the radical function of electric interfaces has: the control information of motion control unit to be passed to kinematic mechanism; And electrical energy transfer energy unit provided is to kinematic mechanism.
C part is Central Processing Unit (CPU), comprises following subsystem in this unit:
Motion-control module, according to motion control information or built-in gyrostatic attitude information, can export control information to moving cell;
Remote control module, can the remote signal sent of satellite receiver, and remote signal can be radiofrequency signal or network data;
Navigation module, built-in position fixing system (as GPS or dipper system) terminal can be whole system programming movement route;
Task-driven module, this module is extended function module, and if desired whole system performs new task, can insert the task-driven module having task description file, and whole system will carry out work according to task description file.
Central Processing Unit (CPU), with athletic posture computing power, exports control signal by certain algorithm to moving cell, thus controls the state of kinematic motion of each moving cell.The mode of motion of algorithm and system and the moving cell controlled closely related.Different algorithms also can be inputted from outside by task-driven module by the Central Processing Unit (CPU) stored in advance.In the present embodiment, the selection mode of algorithm has following two kinds, and first kind of way directly carries out manual switchover by mode of motion switch key; The second is then automatically switched by the mode of autonomous classification moving cell electric characteristic parameter, as installed different RFID chip additional on different motion unit, the recognizer of RFID is then arranged on motion control unit, different RFID heading codes represents different moving cells, and motion control unit determines correct motion algorithm after the RFID heading code reading mounted moving cell.Central Processing Unit (CPU) is according to the operational motion of actual condition and user, and the motion control signal drawn after calculating, sends to moving cell by motion-control module by electric interfaces.
D part is the energy unit of whole system, and in the present embodiment, because whole system is that use is power-actuated, therefore, energy unit comprises following components:
Rechargeable type power supply, for whole system provides electric energy, the form of power supply is lithium cell or super capacitor;
Wireless charging module can be battery charging by the mode near wireless charging base station fast;
Charging inlet, the mode by grafting charging plug is battery charging;
E part is mainly the external interface of whole system, comprise charging inlet, configuration interface, for the power supply interface that external equipment is reserved, and the partial redundance interface reserved by the future Function Extension, also comprise partial function key, as on & off switch, mode of motion switch key (switching offline mode or ground handling pattern), control mode switch key (switching autonomous operation pattern or remote control operational mode) etc.
In addition, agent structure is also provided with partial weight-bearing to hang over a little and attachment point, for installing load-carrying unit, the effect of load-carrying unit is exactly when native system is for carrying goods, or when bearing part cargo conveying function, can by safe and reliable being positioned in load-carrying unit of institute's bearing goods.The form of load-carrying unit is comparatively flexible, different according to the article of carrying, presents different forms, as hard casing, the string bag also can be failure-free hanging point, when single device is not enough to a carrying large item, multiple devices distractive load can be used, work in coordination with transport by hanging point.
The pattern of the mechanical interface on each unit module is that constitutional formula is fixed and electromagnetic type patches fixing.Constitutional formula is fixedly be fixed by the mode of bolt or bayonet socket, installs fixed speed comparatively slow, is applicable to the situation higher to the requirement of system architecture firmness, as under large load or the more harsh applying working condition of environment; Electromagnetic type is patched to fix and is connected and fixed by electromagnetic force, and installation rate is fast, and under being suitable for being provided with the operating mode of certain speed requirement to equipment, but loading demands can not be too high, and working environment is ideal.
On each unit module, electric interfaces has following connection mode, contact and socket connector type.The installation rate of contact is fast, but waterproof type and reliability on the low side; The installation rate of socket connector type is partially slow, but applying working condition is more extensive, and user can select suitable form according to the operating needs of oneself.
Claims (8)
1. a modular novel vacant lot one means of delivery, comprise agent structure, Central Processing Unit (CPU), moving cell, energy unit, load-carrying unit, accessory unit, it is characterized in that the polygon that described agent structure is centrosymmetric, agent structure is provided with Central Processing Unit (CPU), energy unit, load-carrying unit and accessory unit, the side of agent structure is provided with some even number moving cells with centrosymmetric form, supporting construction is arranged with outside described moving cell, in the middle part of supporting construction, kinematic mechanism is housed, motor and machine governor, supporting construction is provided with mechanical interface and electric interfaces, moving cell is installed by mechanical interface, fix on the body construction, and connect the electric power supply that electric interfaces obtains energy unit, moving cell is connected with Central Processing Unit (CPU) and exchanges control signal.
2. modular novel vacant lot as claimed in claim 1 a kind of one means of delivery, is characterized in that described kinematic mechanism is rotor or wheel or crawler belt or mechanical arm.
3. a kind of modular novel vacant lot as claimed in claim 1 one means of delivery, it is characterized in that described Central Processing Unit (CPU) comprises navigation module, remote control module, motion-control module, task-driven module, Central Processing Unit (CPU), the built-in GPS of described navigation module or BEI-DOU position system are whole system programming movement route; The remote signal that described remote control module satellite receiver is sent, remote signal is radiofrequency signal or network data; Described motion-control module, according to motion control information or built-in gyrostatic attitude information, exports control information to moving cell; Task-driven module is extended function module, and if desired whole system performs new task, and insert the task-driven module having task description file, whole system will carry out work according to task description file.
4. a kind of modular novel vacant lot as claimed in claim 1 one means of delivery, it is characterized in that described energy unit provides electric energy for whole system, comprise rechargeable type power supply, wireless charging module and wired charging inlet, described wireless charging module is power source charges by the mode near wireless charging base station; Charging inlet is power source charges by the mode of the wired charging plug of grafting.
5. a kind of modular novel vacant lot as claimed in claim 1 one means of delivery, it is characterized in that described accessory unit provides mounting interface for peripheral hardware accessory, comprise charging inlet, configuration interface, power supply interface, redundant interface and on & off switch, mode of motion switch key, control mode switch key.
6. a kind of modular novel vacant lot as claimed in claim 1 one means of delivery, it is characterized in that the loading space that described load-carrying unit provides solid and reliable, partial weight-bearing mount point and attachment point described agent structure be equipped with for installing load-carrying unit, load-carrying unit for carry goods or bear part cargo conveying function time institute's bearing goods is placed in load-carrying unit.
7. modular novel vacant lot as claimed in claim 1 a kind of one means of delivery, is characterized in that the mode that mechanical interface is patched by bolt or bayonet socket or electromagnetic type is fixed.
8. a kind of modular novel vacant lot as claimed in claim 1 one means of delivery, is characterized in that electric interfaces patches fixing with the electromagnetic type of contact or connector.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510653679.9A CN105172502A (en) | 2015-10-10 | 2015-10-10 | Novel modular air-land integrated carrier |
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| CN201510653679.9A CN105172502A (en) | 2015-10-10 | 2015-10-10 | Novel modular air-land integrated carrier |
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| CN201510653679.9A Pending CN105172502A (en) | 2015-10-10 | 2015-10-10 | Novel modular air-land integrated carrier |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106741945A (en) * | 2017-01-08 | 2017-05-31 | 广州途道信息科技有限公司 | A kind of master control set, unmanned plane and balance car |
| WO2018023870A1 (en) * | 2016-08-02 | 2018-02-08 | 湖南星思科技有限公司 | Intelligent low-altitude traffic management and control centre |
| CN109227567A (en) * | 2018-10-26 | 2019-01-18 | 中国电子科技集团公司电子科学研究院 | Sniffing robot |
| CN110001985A (en) * | 2019-04-01 | 2019-07-12 | 苏州臻迪智能科技有限公司 | A kind of smart machine |
| WO2020199691A1 (en) * | 2019-04-01 | 2020-10-08 | 苏州臻迪智能科技有限公司 | Intelligent device and switching method therefor |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2018023870A1 (en) * | 2016-08-02 | 2018-02-08 | 湖南星思科技有限公司 | Intelligent low-altitude traffic management and control centre |
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| CN110001985A (en) * | 2019-04-01 | 2019-07-12 | 苏州臻迪智能科技有限公司 | A kind of smart machine |
| WO2020199691A1 (en) * | 2019-04-01 | 2020-10-08 | 苏州臻迪智能科技有限公司 | Intelligent device and switching method therefor |
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| TA01 | Transfer of patent application right |
Effective date of registration: 20170510 Address after: 201801 Shanghai Jiading District Malu town built 55 Lane Road, No. 6 Applicant after: Shanghai union Electromechanical Technology Co., Ltd. Address before: 200135, room 27, building 2000, Pudong Avenue, Pudong New Area, Shanghai, Applicant before: Shanghai Dynaforce Automation System Co., Ltd. |
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Application publication date: 20151223 |