CN107450545A - A kind of new unmanned mobile platform - Google Patents
A kind of new unmanned mobile platform Download PDFInfo
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- CN107450545A CN107450545A CN201710695946.8A CN201710695946A CN107450545A CN 107450545 A CN107450545 A CN 107450545A CN 201710695946 A CN201710695946 A CN 201710695946A CN 107450545 A CN107450545 A CN 107450545A
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- 238000012546 transfer Methods 0.000 claims abstract description 6
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- 230000005540 biological transmission Effects 0.000 claims description 18
- 238000012545 processing Methods 0.000 claims description 5
- 230000002159 abnormal effect Effects 0.000 claims description 4
- 238000012937 correction Methods 0.000 claims description 4
- 238000013461 design Methods 0.000 abstract description 6
- 230000008901 benefit Effects 0.000 abstract description 4
- 238000010276 construction Methods 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 abstract 1
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- 230000006870 function Effects 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 5
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- 238000011161 development Methods 0.000 description 3
- 230000018109 developmental process Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Acoustics & Sound (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides a kind of new unmanned mobile platform, including main platform body, and infrared high-definition camera, ultrasonic distance-measuring sensor are installed in its front end, main platform body side and installs radar detedtor below, and tire connects tire automatic straightening system；Installation tele-control system in main platform body, tele-control system includes the platform courses main frame and communication server positioned at Surveillance center, data server and some remote control computers, the external steering wheel of remote control computer, USB handles, throttle and brake pedal, remote control table；Infrared high-definition camera and platform control main frame is connected with Surveillance center by communication, for the status information of the video data of platform and platform to be back into Surveillance center, while by the platform courses data transfer that Surveillance center issues to platform courses main frame.The beneficial effects of the invention are as follows：The design possess it is simple in construction, remotely can accurately manipulate, can self-aligning tire and using it is more convenient the advantages of.
Description
Technical field
The present invention relates to unmanned equipment technical field, more particularly, to a kind of new unmanned mobile platform.
Background technology
With the continuous development of the communication technology and electronics industry, unmanned mobile platform has become industrial intelligent metaplasia
Indispensable equipment is produced, its development for continuing to develop also with unmanned platform is complemented each other.Certainly, unmanned movement is put down
The basis of platform is the development of remote control technology.At present, telecar has become popular industry.Traditional remote control platform majority is all
It is the unmanned vehicle based on AGV (Automated Guided Vehicle) series and toys, has been required for trapped orbit operation
Or road conditions it is relatively easy in the case of run, free driving can not be realized.And existing telecontrol engineering is all based on short distance
Wireless remote control operation, it is necessary to which operating personnel observe whole platform surrounding environment to determine how to control mobile platform or logical
Cross and on the way lay sensor, the characteristic point on mobile platform identification travel route is realized automatic Pilot.In addition, it is distant
It is all relatively short to control the command range of mobile platform, thus the reality scene of remote-controlled movement platform still has various limitations,
Can not remote driving under the complex road condition of field again.In addition, the tire of traditional mobile platform will not self-aligning.If tire does not return
Just, tire shoulder and a part of tyre surface stress can be caused.Therefore, the side wall of tire can produce very big pressure, cause tire force not
Balance, the impaired and aging of sidewall so can be not only greatly increased, the potential safety hazard hair such as also result in tire gas leakage, blow out
It is raw.
As can be seen here, how to work out a kind of new unmanned mobile platform, possess it is simple in construction, can be remotely accurate
Manipulation, can self-aligning tire, using it is more convenient the advantages of, be current those skilled in the art's urgent problem to be solved.
The content of the invention
In order to solve the above problems, the invention provides a kind of new unmanned mobile platform.
A kind of new unmanned mobile platform of the invention, including main platform body, the front end of the main platform body are provided with
Vehicling lighting lamp, the main platform body bottom are provided with tire.Infrared high definition is installed at left and right sides of the main platform body front end
Video camera, the main platform body central front position are provided with ultrasonic distance-measuring sensor, and the upper surface of the main platform body is inserted
It is connected to baffle plate, the main platform body side and is mounted on radar detedtor below, the tire is connected with tire automatic straightening
System.The tire automatic straightening system includes the servomotor being arranged in steering spindle, and the servomotor passes through wire electricity
Control system, the control system electrically connecting position sensor are connected, the position sensor, which is arranged on, to be used to control tyre revolution
In the steering linkage in dynamic direction, encoder is installed between the control system and the servomotor.
Tele-control system is installed inside the main platform body, the tele-control system include platform courses main frame with
And the communication server positioned at Surveillance center, data server and a number of remote control computer, the remote control
External connection of computer steering wheel, USB handles, throttle and brake pedal, remote control table；The infrared high-definition camera and platform
Control main frame is connected with the Surveillance center by communication, for the state of the video data of platform and platform to be believed
Breath is back to Surveillance center, while by the platform courses data transfer that the Surveillance center issues to the platform courses main frame,
To complete platform Driving control；Between the communication server, data server and remote control computer in the Surveillance center
Connected by wired communication mode, for transmitting required data message.
Further, the ultrasonic distance-measuring sensor includes ultrasonic transmitter and ultrasonic receiver, the ultrasound
The centerline axis parallel of wave launcher and ultrasonic receiver is simultaneously put at a distance of 4-8cm, the ultrasonic transmitter electrical connection first
Big circuit, first amplifying circuit electrically connect single-chip microcomputer, the monolithic mechatronics wave detector, the wave detector electrical connection the
Two amplifying circuits, second amplifying circuit electrically connect the ultrasonic receiver, the reflection that the ultrasonic receiver receives
Signal is pure ultrasonic reflections signal, and the single-chip microcomputer has also been electrically connected timer, display and warning system.
Further, the ultrasonic distance-measuring sensor is ultrasonic distance-measuring sensor TCT40-16T/R, its maximum probe
Distance is 6m, and transmitting angle of flare is 60 °.
Further, for realizing that the electronic module of the communication is a kind of point-to-point broadband data transmission mould
Block, to transmit the control information of road conditions video information and platform control main frame；The wired communication mode is local area network communication,
For the information transfer between the communication server, data server and remote control computer.
Further, the status information of the video data of the platform and platform includes the current speed of service of platform, electricity
Pressure, steering angle, gear information, course continuation mileage and warning message, the communication server, data server and long-range control
Computer processed can be recorded, preserved, playing back platform running data, while can carry out multi-channel video switching.
Further, the data transmission module is to be designed based on LTE wireless communication standards using OFDM and MIMO
Flattening system architecture, the chip of the data transmission module is SOC, and the working frequency range of the data transmission module
Including 2.4G, 1.4G and 800M.
Further, the platform courses main frame receives the host computer from the Surveillance center by communication
Control data and it is verified；If correct, manipulation instruction is exported by the platform courses Framework computing to complete
Control operation；If mistake, the platform courses main frame sends error signal to the host computer of the Surveillance center.
Further, the platform courses main frame is used to gathering and preserving the data that all the sensors in platform detect,
And being capable of safe handling abnormal data；When the host computer of the Surveillance center, which is sent, reads instruction, the platform courses main frame
Data are transmitted.
Further, when the platform courses main frame and after Surveillance center's communication disruption certain time and/or detection
During to electric voltage exception, the platform courses main frame can send alarm signal and carry out brake processing.
Further, the control system electrically connects with the voice system in platform, and the control system is by controlling
Predicate system for electrical teaching makes voice system send the correction progress msg of tire.
A kind of new unmanned mobile platform of the invention, compared with prior art with advantages below：
First, in the new unmanned mobile platform, turned by set location sensor with real-time perception mobile platform
It is steering linkage status to mechanism, to detect the information such as the angle of inclination of the tire and direction, and by controlling system
System collection position sensor detection information, be changed into electric signal after control system is processed to information control with
The running status of the servomotor of steering spindle drive connection, carries out the work of nobody automatic tire balance.When control system receives
Started working after to stop sign, after tire returns just, control system is just stopped.
Secondly, in the new unmanned mobile platform, mobile platform is connected with Surveillance center by wireless network, so as to
Make platform traveling more free.The communication server, the data server and some inside Surveillance center are connected by LAN
The remote control computer of quantity makes data transmission bauds faster.The point-to-point broadband data transmission module, it is wireless based on LTE
Communication standard, using key technologies such as OFDM and MIMO, the flattening system architecture design of various bandwidth distribution is supported, so as to have
Effect reduces system delay, improves system transport capacity, and possesses that long transmission distance, data throughout be big, the spy of strong interference immunity
Point.
Furthermore using ultrasonic distance-measuring sensor and single-chip microcomputer combined device using the transmitting of ultrasonic wave with receiving the time difference
Carry out ranging.Because ultrasonic wave is propagated distant in media as well, resolving power is higher, and energy expenditure is small, so utilizing ultrasound
Ripple ranging is more convenient and speed is fast, it is simple to calculate, and is easily able to control in real time, and good measuring accuracy, can reach
The needs of commercial measurement.Compared with other distance measuring methods, ultrasonic ranging is not influenceed by color, light and electricity, magnetic field, makes him
The possibility being interfered is greatly reduced.In addition, it also has unfailing performance high, simple in construction, cheap, easy for installation etc.
Advantage；It can also measure simultaneously in dark, smog, have barrier in the adverse circumstances such as dust, electromagnetic interference.
Finally, it is why of the invention using transmitting-receiving separate mode, it is to ensure that receiving and transmitting signal will not mix because on the one hand can be
Folded, pure received by ultrasonic receiver is reflected signal；On the other hand it is same by the way that ultrasonic receiver is placed on into conjunction
Right position is put, and can avoid ultrasonic wave various losses and interference caused by when body surface reflects, and improves the reliability of system.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structural representation of tire automatic straightening system in the present invention；
Fig. 3 is the structural representation of medium-long range control system of the present invention；
Fig. 4 is the operation principle schematic diagram of medium-long range control system of the present invention；
Fig. 5 is the specific business process map of medium-long range control system of the present invention；
Fig. 6 is the initialization flowchart of medium-long range control system of the present invention；
Fig. 7 is the structural representation of ultrasonic distance-measuring sensor security protection system in the present invention.
In figure：1st, baffle plate, 2, vehicling lighting lamp, 3, main platform body, 4, tire, 5, ultrasonic distance-measuring sensor, 6, infrared
High-definition camera, 7, radar detedtor, 8, steering spindle, 9, servomotor, 10, steering linkage, 11, control system, 12, position passes
Sensor.
Embodiment
In order to be better understood from the present invention, the present invention is further retouched with reference to specific embodiments and the drawings
State.
As shown in figs. 1-7, a kind of new unmanned mobile platform, including main platform body 3, before the main platform body 3
End is provided with vehicling lighting lamp 2, and the bottom of main platform body 3 is provided with tire 4.Pacify at left and right sides of the front end of main platform body 3
Equipped with infrared high-definition camera 6.The infrared high-definition camera 6 installed in platform being capable of regarding to Surveillance center's transmission of high-definition
Frequency image, also image sharpness can be lifted by opening infrared light filling even in rather dark night, so as to reality
When display platform in front of road conditions, provide more preferable foundation for remote control.
The central front position of main platform body 3 is provided with ultrasonic distance-measuring sensor 5.The upper end of the main platform body 3
Face is plugged with baffle plate 1, with Portable belt goods to be transported.The side of main platform body 3 and radar detedtor 7 is mounted on below,
To ensure the security of driving and reversing.Acousto-optic warning lamp is installed on platform, personnel nearby can be notified before platform starts, are prevented
Only occur unexpected.The tire 4 is connected with tire automatic straightening system.
The tire automatic straightening system includes the servomotor 9 being arranged in steering spindle 8, and the servomotor 9 passes through
Wire is electrically connected connected control system 11, the electrically connecting position sensor 12 of control system 11.The position sensor 12 is arranged on
For controlling the steering linkage 10 of the rotation direction of tire 4, volume is installed between the control system 11 and the servomotor 9
Code device.
After parking, the effect of platform self-aligning tire 4.The design passes through often after compensate for people's parking
The defects of forgetting to return positive tire 4 in time and cause platform interior parts service life to shorten.Again because using whole unmanned wheel
Tire automatic straightening system carries out information detection using the high sensor of sensitivity, passes through the strong control of processing data information ability
Such as arm processor of system 11 is controlled, and possesses the feedback regulation function of encoder, so the design can reach tire 4
Correct the purpose that accuracy is high, restoring time is short.
The control system 11 electrically connects with the voice system in platform, and the control system 11 is by controlling the voice
System makes voice system send the correction progress msg of tire 4.So, the control system 11 is by controlling the voice system
System, makes voice system send correction progress msg, gives the information alert of platform management personnel or car owner definitely.
Tele-control system is installed, the tele-control system includes platform courses main frame inside the main platform body 3
And the communication server positioned at Surveillance center, data server and a number of remote control computer, the long-range control
External connection of computer steering wheel, USB handles, throttle and brake pedal processed, remote control table.
The infrared high-definition camera 6 and platform control main frame are connected with the Surveillance center by communication,
For the status information of the video data of platform and platform to be back into Surveillance center, while put down what the Surveillance center issued
Platform control data is transmitted to the platform courses main frame, to complete platform Driving control；Communication service in the Surveillance center
Connected between device, data server and remote control computer by wired communication mode, for transmitting required data message.
The tele-control system can be with acquisition platform running data, real-time display platform current state, such as speed, electricity
Pressure, steering angle, gear information, course continuation mileage, warning message etc.；Platform running data can also be recorded, facilitates user to consult
Historical record.It also has driving video record and playback function and multi-channel video handoff functionality.
The ultrasonic distance-measuring sensor 5 includes ultrasonic transmitter and ultrasonic receiver, the ultrasonic transmitter
Simultaneously the first amplifying circuit, institute are electrically connected with the centerline axis parallel of ultrasonic receiver at a distance of 4-8cm, the ultrasonic transmitter
State the first amplifying circuit electrical connection single-chip microcomputer, the monolithic mechatronics wave detector, the second amplification of wave detector electrical connection electricity
Road, second amplifying circuit electrically connect the ultrasonic receiver, and the reflected signal that the ultrasonic receiver receives is pure
Ultrasonic reflections signal, the single-chip microcomputer have also been electrically connected timer, display and warning system.
The ultrasonic distance-measuring sensor 5 is ultrasonic distance-measuring sensor TCT40-16T/R, and its maximum detectable range is
6m, transmitting angle of flare are 60 °.The crystal oscillator in single-chip microcomputer in the security protection system of ultrasonic distance-measuring sensor 5 is brilliant for 12.0MHZ
Shake, so as to make measuring accuracy reach grade, so as to be obviously improved the ranging of platform intelligent security protection system essence
True property and reliability.
For realizing that the electronic module of the communication is a kind of point-to-point broadband data transmission module, to pass
The control information of defeated road conditions video information and platform control main frame；The wired communication mode is local area network communication, for described
Information transfer between the communication server, data server and remote control computer.
The video data of the platform and the status information of platform include the current speed of service of platform, voltage, steering angle
Degree, gear information, course continuation mileage and warning message, the communication server, data server and remote control computer
It can record, preserve, playing back platform running data, while multi-channel video switching can be carried out.
The data transmission module is that based on the use of LTE wireless communication standards various bandwidth can be supported to distribute, as 10MHz,
20MHz etc. OFDM (Orthogonal Frequency Division Multiplexing) and MIMO (Multi-Input＆
Multi-Output) key technology, the design of flattening system architecture, so as to effectively reduce system delay, system transmission energy is improved
Power, the design possess the characteristics of big long transmission distance, data throughout, strong interference immunity.
The data transmission module uses SOC, improves integrated level, substantially reduces system power dissipation, reduces module size, side
Just application is integrated.The working frequency range of the data transmission module is tri- frequency ranges of 2.4G, 1.4G and 800M, selects frequency range to carry for the later stage
For very big flexibility.Wireless communication distance is in the case of sighting distance, and maximum can reach more than 5 kilometers, and traffic rate is not less than
10Mpbs, propagation delay time are not more than 100ms.
Platform has automatic parking function, when platform stop motion, self-actuating brake, prevents car slipping；Platform also has hand
Brake parking function；And possess the left and right independent brake function of wheel, in order to increase driving force under special circumstances.In addition, platform has
Standby upward slope miscellaneous function, it can prevent from starting car slipping；Its control model is divided into manual, semi-automatic and full-automatic three patterns.
The external steering wheel of remote control computer, throttle and brake pedal, simulate true car and drive sense；Remote control computer
The information such as speed, steering angle, driving radar, battery electric quantity and mileage are shown on software interface；Remote control computer can be with
More controlled platforms are connected, but synchronization can only connect and control a platform.
The operation principle of platform courses main frame：Platform courses main frame is verified the systematic parameter received, judges have
Effect property, is modified afterwards, preserves.After control signal is received, paired domination number is according to being verified, after correct, according to system
Parameter calculates final output value with assignment algorithm, and the accuracy of output is determined further according to feedback signal, completes a secondary control
Operation.The data that platform courses main frame detects all the sensors are preserved, when host computer, which is sent, reads instruction, by number
According to being transmitted.
In addition, the signal that platform courses main frame detects according to sensor carries out automatic decision, if being tested with collision
Danger is, it is necessary to carry out corresponding safe handling.To improve the stability of system, after thering are data abnormal conditions occur, platform control
Main frame processed needs to automatically process, and changes abnormal data, ensures the safety of operation and control.
If there is communication disruption, it is necessary to wait certain time between platform courses main frame and Surveillance center, if in still
The platform courses main frame that breaks can send alarm signal, and carry out brake processing.If communication check errors, the platform control
Main frame processed can respond error signal to Surveillance center.If detecting electric voltage exception, the platform courses main frame can send alarm
Signal, and carry out brake processing.
Established and connected with wireless network between platform courses main frame and infrared high-definition camera 6 and remote control computer,
Need first to change configuration file and IP address before connection, connect USB handles, if go to confirm it is errorless after, runs software is soft
Part can load configuration information and connect equipment, and connection is completed, each item data and video data of viewing hardware, wait user behaviour
Make.
Platform courses main frame and infrared high-definition camera 6 are kept after connecting with remote control computer, it is possible to are read
The data of hardware device, and hardware device is operated, remote control can be carried out by USB handles.If operation exception,
First attempt to reconnect, it is automatic if multiple trial failure to search mistake and report connection failure reason.
Software can record the log and exception record of hardware device automatically.Also it is manually operable record video counts simultaneously
According to such as sectional drawing or preservation video file.Hardware device can automatically save log during running, and can check historical data
And delete unwanted data.
After multi-functional unmanned remote controlled motor platform success, distal end can be entered by USB handles and is manipulated, such as the direction on handle
Disk rotates controllable hardware device and rotated；Gear on handle can control moving forward and backward for hardware device；Plus-minus on handle
Speed pedal can control speed of hardware device etc..
By the Independent keys on USB handles, the various switches of hardware device are can control, such as No. 1 button can control hardware
The horn switch of equipment；No. 2 buttons can control the headlamp switch of hardware device；No. 3 buttons can control the motor electricity of hardware device
Source etc..
The running status of Current hardware equipment can be checked by software, such as the speed of service, dump energy, obstacle detection, position
Confidence breath, each on off state etc..The hardware device refers to by driving platform.
Embodiments of the invention are described in detail above, but the content is only presently preferred embodiments of the present invention,
It is not to be regarded as the practical range for limiting the present invention.All equivalent changes made according to the scope of the invention and improvement etc., all should
Still belong within this patent covering scope.
Claims (10)
1. a kind of new unmanned mobile platform, including main platform body (3), the front end of the main platform body (3) are provided with row
Licence bright lamp (2), main platform body (3) bottom are provided with tire (4), it is characterised in that：Main platform body (3) front end is left
Right both sides are provided with infrared high-definition camera (6), and main platform body (3) the central front position is provided with ultrasonic ranging sensing
Device (5), the upper surface of the main platform body (3) are plugged with baffle plate (1), main platform body (3) side and are mounted on below
Radar detedtor (7), the tire (4) are connected with tire automatic straightening system；The tire automatic straightening system includes installation
Servomotor (9) in steering spindle (8), the servomotor (9) are electrically connected connected control system (11) by wire, the control
System (11) electrically connecting position sensor (12), the position sensor (12), which is arranged on, to be used to control tire (4) rotation direction
Steering linkage (10) on, encoder is installed between the control system (11) and the servomotor (9)；The platform master
Tele-control system is installed, the tele-control system includes platform courses main frame and positioned at Surveillance center inside body (3)
The communication server, data server and a number of remote control computer, the external direction of remote control computer
Disk, USB handles, throttle and brake pedal, remote control table；The infrared high-definition camera (6) and platform control main frame with
The Surveillance center is connected by communication, for the status information of the video data of platform and platform to be back into prison
Control center, while by the platform courses data transfer that the Surveillance center issues to the platform courses main frame, to complete platform
Driving control；Pass through cable modem between the communication server, data server and remote control computer in the Surveillance center
Letter mode connects, for transmitting required data message.
2. new unmanned mobile platform according to claim 1, it is characterised in that：The ultrasonic distance-measuring sensor
(5) ultrasonic transmitter and ultrasonic receiver are included, the central axis of the ultrasonic transmitter and ultrasonic receiver is put down
Row simultaneously electrically connects monolithic at a distance of 4-8cm, the first amplifying circuit of the ultrasonic transmitter electrical connection, first amplifying circuit
Machine, the monolithic mechatronics wave detector, the wave detector electrically connect the second amplifying circuit, the second amplifying circuit electrical connection
The ultrasonic receiver, the reflected signal that the ultrasonic receiver receives are pure ultrasonic reflections signal, the single-chip microcomputer
Also it has been electrically connected timer, display and warning system.
3. new unmanned mobile platform according to claim 2, it is characterised in that：The ultrasonic distance-measuring sensor
(5) it is ultrasonic distance-measuring sensor TCT40-16T/R, its maximum detectable range is 6m, and transmitting angle of flare is 60 °.
4. new unmanned mobile platform according to claim 1, it is characterised in that：For realizing the radio communication
The electronic module of mode is a kind of point-to-point broadband data transmission module, to transmit road conditions video information and platform control main frame
Control information；The wired communication mode is local area network communication, for the communication server, data server and long-range control
Information transfer between computer processed.
5. new unmanned mobile platform according to claim 4, it is characterised in that：The video data of the platform and
The status information of platform includes the current speed of service, voltage, steering angle, gear information, course continuation mileage and the alarm of platform
Information, the communication server, data server and remote control computer can be recorded, preserved, playing back platform traveling number
According to, while multi-channel video switching can be carried out.
6. new unmanned mobile platform according to claim 4, it is characterised in that：The data transmission module is base
In the flattening system architecture that LTE wireless communication standards are designed using OFDM and MIMO, the core of the data transmission module
Piece is SOC, and the working frequency range of the data transmission module includes 2.4G, 1.4G and 800M.
7. new unmanned mobile platform according to claim 4, it is characterised in that：The platform courses main frame passes through
Communication receives the control data of the host computer from the Surveillance center and it is verified；If correct, pass through
The platform courses Framework computing output manipulation instruction is crossed to complete a control operation；If mistake, the platform courses master
Machine sends error signal to the host computer of the Surveillance center.
8. new unmanned mobile platform according to claim 4, it is characterised in that：The platform courses main frame is used for
The data that all the sensors in platform detect are gathered and preserve, and being capable of safe handling abnormal data；When the Surveillance center
Host computer send read instruction when, the platform courses main frame transmits data.
9. new unmanned mobile platform according to claim 4, it is characterised in that：When the platform courses main frame with
When after Surveillance center's communication disruption certain time and/or detecting electric voltage exception, the platform courses main frame can send report
Alert signal simultaneously carries out brake processing.
10. the new unmanned mobile platform according to any one in claim 1-9, it is characterised in that：The control
System (11) processed electrically connects with the voice system in platform, and the control system (11) is by controlling the voice system to make voice
System sends the correction progress msg of tire (4).
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