CN109343520A - A kind of Unmanned Systems - Google Patents
A kind of Unmanned Systems Download PDFInfo
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- CN109343520A CN109343520A CN201811075499.7A CN201811075499A CN109343520A CN 109343520 A CN109343520 A CN 109343520A CN 201811075499 A CN201811075499 A CN 201811075499A CN 109343520 A CN109343520 A CN 109343520A
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- 238000012545 processing Methods 0.000 claims abstract description 25
- 230000003068 static effect Effects 0.000 claims abstract description 12
- 230000005540 biological transmission Effects 0.000 claims description 66
- 239000000725 suspension Substances 0.000 claims description 41
- 238000004891 communication Methods 0.000 claims description 33
- 230000003287 optical effect Effects 0.000 claims description 30
- 230000001133 acceleration Effects 0.000 claims description 9
- 238000005303 weighing Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
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- 235000021307 Triticum Nutrition 0.000 claims 1
- 239000007787 solid Substances 0.000 claims 1
- 230000008859 change Effects 0.000 description 12
- 238000000034 method Methods 0.000 description 11
- 230000008569 process Effects 0.000 description 9
- 230000004888 barrier function Effects 0.000 description 8
- 206010039203 Road traffic accident Diseases 0.000 description 3
- 230000010485 coping Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 239000002699 waste material Substances 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 239000011295 pitch Substances 0.000 description 2
- 239000000523 sample Substances 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
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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 or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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 or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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 or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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 or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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 or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
The present invention relates to field of vehicles, and in particular to a kind of Unmanned Systems specifically include that central processing unit, starting controller used, starting controller used to connect with central I/O port, enter travel condition by static for controlling driving vehicle；Traveling controller, traveling controller is connect with central I/O port, for changing vehicle driving state；Brake monitor, brake monitor is connect with central I/O port, for controlling vehicle braking；Parking controller, parking controller are connect with central I/O port, are remained static for keeping stablizing vehicle.It is an object of the invention to the various drawbacks of pilot steering mode are solved by Unmanned Systems.
Description
Technical field
The present invention relates to field of vehicles, and in particular to a kind of Unmanned Systems.
Background technique
With the continuous development of the economy and society, some social concerns for increasing to cause of automobile quantity are also increasingly prominent
?.Social concern all sources of these reality
Contradiction between existing traffic infrastructure and automobile this carrier, this is not only embodied on traffic jam issue, simultaneously
Be also embodied in as traffic is unsmooth and caused by environmental pollution and relatively backward condition of road surface and advanced vehicle technology to people
Life, security risk caused by property.Now due to personnel caused by traffic accident and property loss are got in society
Come more serious, relates generally to the collision of vehicle in traffic accident, therefore the safety for improving vehicle in traffic traveling is to hand over now
Problem to be solved in logical development.
The automobile primary of pilot steering at present will there is following shortcomings: one, the waste of human resources is caused, with
Automobile is in the universal of the whole world, and a large amount of automobile is necessarily required to a large amount of driver, and this requires many people to have to specially take out
The time removes the driver behavior that learns to drive and carry out out；Two, the waste for causing vehicle resources and gasoline resource, due to each
It all must be equipped with a driver's seat in automobile, which reduces the carrying capacity of automobile, and also create automobile and gasoline
The waste of resource；Three, traffic accident incidence is high, since the quality level of driver is irregular, along with the modern times
People's lives rhythm quickly, will also participate in other social activitieies other than driving, therefore often have fatigue driving, drive when intoxicated
Accident occur, compromise the security of the lives and property of people；Four, rush hour severe obstruction, for the road blocked
Information, generally from radio, perhaps to obtain this information often not prompt enough or inadequate for other drivers there by driver
Comprehensively, therefore in most cases, it has to the time for for a long time wasting passenger is waited on the road of blocking, especially
For fire fighting truck or ambulance, it is more easier to cause hardly imaginable serious consequence.
Summary of the invention
The purpose of the present invention is to provide a kind of Unmanned Systems, to solve in above-mentioned background technique because pilot steering is led
The drawbacks of cause.
To achieve the above object, the invention provides the following technical scheme: a kind of Unmanned Systems, existing for driving
Automobile carries out automatic Pilot task, and automobile therein includes: the ECU control unit for controlling automobile engine operation, ECU control
Unit processed is equipped with the communication port connecting with central I/O port；For being controlled according to the DCT of speed and driving direction control gear
Unit, DCT control unit are equipped with the communication port connecting with central I/O port；For the EBA control unit of slowing-down brake, EBA
Control unit is equipped with the communication port connecting with central I/O port；For controlling the EPS control unit of vehicle heading, EPS
Control unit is equipped with the communication port connecting with central I/O port；For vehicle to be kept to the EPB control unit of halted state,
EPB control unit is equipped with the communication port connecting with central I/O port；And location information can be obtained and the vehicle-mounted of road conditions is led
Boat；And existing automobile is respectively equipped with the MacPherson type suspension of lower swing arm before being, each lower swing arm passes through balancing pull rod and balance
Bar is hinged, therefore the system specifically includes that central processing unit, central processing unit are connected with central I/O port, central I/O port
It is connect with vehicle mounted guidance；It is starting controller used, it is starting controller used to be connect with central I/O port, for control driving vehicle by it is static into
Enter driving status；Travel controller, travel controller is connect with central I/O port, for controlling motor turning, acceleration and deceleration；
Brake monitor, brake monitor is connect with central I/O port, for controlling vehicle brake parking；Parking controller, parking control
Device processed is connect with central I/O port, is remained static for keeping stablizing vehicle.
Preferably, starting controller used includes first processor, and first processor is equipped with the first I/O port；It further include that setting exists
The ultrasonic radar of the multiple height of vehicle body surrounding, ultrasonic radar are connect with the first I/O port.
Preferably, travel controller includes second processor, and second processor is equipped with the second I/O port；It further include that setting exists
The high-definition camera on vehicle head and tail portion, high-definition camera output end are connect with the second I/O port.
Preferably, travel controller further includes the laser radar that vehicle body two sides are arranged, laser radar output end and the 2nd IO
Port connection.
Preferably, travel controller further includes the wireless data module connecting with the second I/O port, and wireless data module is logical
It crosses wireless network and obtains traffic information.
Preferably, brake monitor includes third processor, and third processor is equipped with third I/O port；It further include that setting exists
The laser velocimeter device of vehicle bottom, laser lavatory device include connection be arranged in body bottom cavity structure shell, shell at
Wedge shape setting, and the small end of shell is towards headstock direction；Automobile is at the top of the balancing pull rod that vehicle body corresponds to each wheel suspension
Equipped with fixing seat, fixing seat includes putting down before being correspondingly arranged at the first fixing seat at the top of left front balancing pull rod, being correspondingly arranged at the right side
Weighing apparatus pull rod at the top of the second fixing seat, be correspondingly arranged at the top of left back balancing pull rod third fixing seat, be correspondingly arranged at the right side after
The 4th fixing seat at the top of balancing pull rod；The body bottom of automobile is additionally provided with the fixing pipe parallel with automobile front axle, fixing pipe packet
It includes one end to connect by side wall with the first fixing seat, the other end is through to the first fixing pipe in shell；One end by side wall with
The connection of second fixing seat, the other end are through to the second fixing pipe in shell；One end is connect by side wall with third fixing seat, separately
One end is through to the third fixing pipe in shell；One end is connect by side wall with the 4th fixing seat, and the other end is through in shell
The 4th fixing pipe；The first transmission shaft is coaxially provided in first fixing pipe, the first transmission shaft is close to one end of left front balancing pull rod
It is vertically equipped with the first curved boom, is coaxially provided with second driving shaft in the second fixing pipe, second driving shaft is close to right forward horizontal stand pull rod
One end is vertically equipped with the second curved boom, and third transmission shaft is coaxially provided in third fixing pipe, and third transmission shaft is drawn close to left back balance
One end of bar is vertically equipped with third curved boom, and the 4th transmission shaft is coaxially provided in the 4th fixing pipe, and the 4th transmission shaft is put down behind the right side
One end of weighing apparatus pull rod is vertically equipped with the 4th curved boom；First curved boom far from the first transmission shaft one end by the first hinge bar with it is left front
The top of balancing pull rod is hinged, and the one end of the second curved boom far from second driving shaft passes through the second hinge bar and right forward horizontal stand pull rod
Top is hinged, and the one end of third curved boom far from third transmission shaft is hinged by third hinge bar and the top of left back balancing pull rod,
The one end of 4th curved boom far from the 4th transmission shaft is hinged by the top of the 4th hinge bar and balancing pull rod behind the right side；First transmission shaft
It is vertically equipped with the first rocker arm positioned at the intracorporal one end of shell, second driving shaft is located at the intracorporal one end of shell and is vertically equipped with the second rocker arm,
Third transmission shaft is located at the intracorporal one end of shell and is vertically equipped with third rocker arm, and the 4th transmission shaft is located at the intracorporal one end of shell and is vertically equipped with
4th rocker arm；Ahead running body direction is equipped with suspension beam in shell, and one end level of the suspension beam close to vehicle body head, which is equipped with to two sides, prolongs
The front support stretched, suspension beam are equipped with the rear support extended to two sides close to one end level of tail of the body；Front support is close to first
The one end for passing transmission shaft is hinged by the one end of the first push-pull arm with the first rocker arm far from the first transmission shaft, and front support is close to second
The one end for passing transmission shaft is hinged by the one end of the second push-pull arm with the second rocker arm far from second driving shaft, and rear support is close to third
The one end for passing transmission shaft is hinged by the one end of third push-pull arm with third rocker arm far from third transmission shaft, and rear support is close to the 4th
The one end for passing transmission shaft is hinged by the 4th push-pull arm and the 4th one end of rocker arm far from the 4th transmission shaft；Suspension beam is close to vehicle body
The one end on head is vertically equipped with forward horizontal stand connecting rod, is vertically equipped with preceding spindle nose in the middle part of forward horizontal stand connecting rod, suspension beam is close to vehicle body head
One end be coaxially provided with front-axle hole, preceding spindle nose and front-axle hole cooperate；Suspension beam close to one end of tail of the body be vertically equipped with after put down
Weigh connecting rod, is vertically equipped with rear spindle nose in the middle part of rear balanced connecting rod, and suspension beam is coaxially provided with rear axis hole close to one end of tail of the body, after
Spindle nose and rear shaft hole matching；The both ends of forward horizontal stand connecting rod and the both ends of rear balanced connecting rod pass through long connecting rod and shell two sides respectively
Inner wall it is hinged；Suspension beam lower part is equipped with the optical sensor that output end is connect with third I/O port, and optical sensor is arbitrary
Side is equipped with laser emitter, and laser emitter connects to power supply and by the window through shell to immediately below optical sensor
Project laser facula；Optical sensor acquires laser facula image through window and passes through output end to third I/O port feedback coefficient
According to.
Preferably, brake monitor further includes connecting optical communication device with third I/O port, and optical communication device is used in
Share and transmit brake signal between vehicle.
Preferably, optical communication device includes the infrared remote receiver that headstock portion is arranged in connection, infrared remote receiver and third
I/O port connection；It further include the laser emitter that tailstock portion is arranged in connection, laser emitter is connect with third I/O port.
Preferably, parking controller includes fourth processor, and fourth processor is equipped with the 4th I/O port；It further include that setting exists
The output end and the 4th I/O port of horizon sensor, acceleration transducer in vehicle body, horizon sensor and acceleration transducer
Connection.
Preferably, body bottom level is equipped with anchor disk, and anchor pan bottom is equipped with teeth array, and anchor disk center of top is equipped with
Hinged seat；Vehicle crossbeam bottom is equipped with electric putter vertically, and electric putter telescopic end and hinged seat are hinged, and electric putter fixing end with
The connection of institute's vehicle chassis；Electric putter is connect with I O port.
Beneficial effects of the present invention: the Unmanned Systems are a set of system being embedded in common automatic catch car and dress
Set, wherein the system is started by the switch on console, before being initiated by vehicle mounted guidance set destination and
Route trip task is sent to central processing unit by stroke route, vehicle mounted guidance, and central processing unit passes through central I/O port and rises
Controller communication is walked, and sends starting instruction.It is starting controller used to receive after starting instructs through ECU control unit, DCT control list
Member, EPS control unit driving vehicle enter driving status, while the route running provided according to vehicle mounted guidance by static.
It is starting controller used to pass through vehicle when Unmanned Systems need for vehicle to be driven out to from narrow parking stall or garage
The ultrasonic radar of body surrounding measures vehicle at a distance from peripheral obstacle, and the row of vehicle is customized according to the measurement result
Traveling is sailed, selects forward gear or reverse gear shift including by DCT control unit, turning for vehicle is adjusted by EPS control unit
To angle, pause control is carried out to vehicle by EBA brake control unit.Simultaneously during vehicle outbound, ultrasonic radar is also
The distance between examinations vehicle body and barrier change, and make the movement held stationary of vehicle by EBA brake control unit,
Such as when the distance between vehicle and barrier are larger, braking strength zero, with close, the EBA brake control of barrier
Unit gradually increases the braking strength of vehicle, so as to avoid because of vehicle rolling innervation caused by bringing to a halt.
In the process of moving, traveling controller grasps vehicle periphery by the high-definition camera of headstock and the tailstock to vehicle
Situation, when the high-definition camera in headstock portion detects that there is barrier in front, control computer of advancing is by the second I/O port in
Central processor connection, and Emergency avoidance signal is sent, central computer is controlled after receiving the signal by third I/O port and EBA
Unit and the communication of EPS control unit control vehicle deceleration or change driving direction.
When there is other public vehicles close or according to navigation routine change lane from side in vehicle travel process
When, the laser radar detection side distance of obstacle of vehicle body two sides, and result of that probe is fed back into traveling controller, traveling controller
EPS control unit steering angle limiting is communicated and passed through with central processing unit by the second I/O port or carries out obstacle avoidance.
Therefore after vehicle opens Unmanned Systems, wireless data module is for example current by internet reception traffic information
When road is unimpeded state, travel controller is travelled according to the original data of vehicle mounted guidance.Such as gathered around on the programme path of front
When stifled road conditions, congestion data is fed back central processing unit by the second I/O port by travel controller, and central processing unit passes through center
I/O port sends again the instruction of programme path to vehicle mounted guidance, after vehicle mounted guidance such as has updated stroke route, its result is defeated
Out to central processing unit, central processing unit forwards updated route trip to travel controller, and travel controller is according to newly
Route, which is formed, carries out route change.
The laser velocimeter device of vehicle bottom projects LASER SPECKLE in road surface, and the spot is captured, due to working as
When vehicle is in driving status, it is based on road surface lines characteristic, the light spot image that optical sensor captures can generate light and shade variation, root
The acquisition of the absolute travel speed of vehicle is completed according to the variation laser velocimeter device.Therefore urgency is just taken when vehicle and to emergency
When brake, although there is the intervention of ABS anti-lock braking system system, vehicle wheel rotational speed is deposited with vehicle movement speed in brake process
In deviation, once braking strength is excessive, brake force breaks through tire maximum adhesion power, and tire just starts to skid, to cause out of control
Risk.It based on the absolute speed that the laser velocimeter device obtains, does not depend on tire rotational speed and obtains vehicle movement speed, therefore brake control
Device processed obtains car speed and execute by EPB brake control unit by third I/O port can get reliable control vehicle energy
Power.
In order to enable the laser velocimeter device to accurately measure the velocity of displacement of automobile and direction, passed through connection thus
Dynamic steady rest is arranged in the shell of body bottom, which obtains body gesture from automobile balance pull rod, and passes through
The working condition of the suspension of vehicle body is passed to and is fixed with by the first transmission shaft, second driving shaft, third transmission shaft, the 4th transmission shaft
The suspension beam of laser velocimeter device so that the suspension beam not by vehicle body and shell influenced to remain with the hoverheight on ground and
Angle.In steady rest work, mainly reply vehicle body integrally pitches when corresponding four kinds of states, respectively reply running car
When vertical height change, reply accelerate and brake when vehicle body tilt forward and back；Vehicle body caused by centrifugal force when coping with Vehicular turn
It tilts；Its working principle is that longitudinal direction can occur for any one or more balancing pull rods opposite vehicle body position in shock absorbing process
It is mobile, such as because braking when, vehicle's center of gravity, which shifts forward, causes vehicle body to lean forward, at this point, left front balancing pull rod and right forward horizontal stand pull rod
Risen according to the variation of suspension lower swing arm, shorten the spacing with vehicle body, at this point, left front balancing pull rod and right forward horizontal stand bar difference
By the first hinge bar, the second hinge bar and the first curved boom, the second curved boom it is hinged cooperation reverse respectively the first transmission shaft and
Second driving shaft, the first transmission shaft and second driving shaft torque transmitting effect under make the first rocker arm, the second synchronous rocker with
First curved boom and the second curved boom are overturn together, and the first rocker arm and the second curved boom of overturning pass through the first push-pull rod and the second push-pull rod
The front support for the beam that suspends is upturned, to realize the compensation to vehicle body forward leaning angle, and maintains suspension beam away from ground
It is consistent when height and posture and static vehicle body, to provide a metastable detection benchmark for laser velocimeter device.
Vehicle on the way travels, when forcing current vehicle to need to take brake measure because of preceding object, brake monitor
Start optical communication device by third I/O port, by the optical communication apparatus, can make current vehicle rear there are road conditions and is blind
The vehicle in area takes brake measure according to brake signal at the first time, to avoid the generation of rear-end collision.Similarly, front vehicle
The optical communication apparatus can be equally equipped with, and be rearward driven it while receiving brake signal, and so on make
Whole car team achievees the purpose that while slowing down, and avoids the generation of accident, each execution plan for the brake signal in car team
The distance between slightly visual vehicle and vehicle determine, thus the extra brake operating avoided.
Wherein for infrared remote receiver, then may be provided in headlight for vehicles rear seat windscreen.And the laser at rear is sent out
Emitter can also carry out judgement starting according at a distance from front vehicle, when front vehicle away from current vehicle farther out when, the laser
Transmitter can be standby mode, and when front vehicle and when being closer of current vehicle, the brake of laser emitter and vehicle
Lamp links, to provide the brake signal of first time for front vehicle.
After vehicle reaches purpose, parking controller issues parking instruction, centre to central processing unit by the 4th IO
Reason device passes through central I/O port and communicates with EBP parking control unit, and parking brake locks wheel and gearbox by parking device.
When vehicle is on ramp, tilt signals are sent to parking controller by interior horizon sensor, and parking controller is in
Central processor issues car slipping risk signal, so that EBP parking control unit be forced to increase vehicle braking force.
When car slipping phenomenon occurs for vehicle, after parking controller captures vehicle movable signal by acceleration transducer, stand
Electric putter is driven by the 4th I/O port, anchor disk is transferred, and promotes vehicle by the teeth of anchor pan bottom and ground friction
Firm ability.
Detailed description of the invention
Fig. 1 is each component connection schematic diagram of the present invention；
Fig. 2 is the top view of each component layouts of the present invention；
Fig. 3 is the side view of each component layouts of the present invention；
Fig. 4 is body bottom schematic diagram of the present invention；
Fig. 5 is laser velocimeter device schematic internal view of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention is described in detail.
Referring to Fig. 1, a kind of Unmanned Systems, therein for driving existing automobile to carry out automatic Pilot task
Automobile includes: the ECU control unit (4) for controlling automobile engine operation, and ECU control unit (4) is equipped with and the central end IO
The communication port of mouth (2) connection；For the DCT control unit (5) according to speed and driving direction control gear, DCT control is single
First (5) are equipped with the communication port connecting with central I/O port (2)；For the EBA control unit (7) of slowing-down brake, EBA control is single
First (7) are equipped with the communication port connecting with central I/O port (2)；For controlling the EPS control unit (6) of vehicle heading,
EPS control unit (6) is equipped with the communication port connecting with central I/O port (2)；For vehicle being kept the EPB of halted state control
Unit (8) processed, EPB control unit (8) are equipped with the communication port connecting with central I/O port (2)；And position letter can be obtained
The vehicle mounted guidance (3) of breath and road conditions；And existing automobile is respectively equipped with the MacPherson type suspension of lower swing arm, each lower swing arm before being
It is hinged with balancing pole by balancing pull rod, therefore the system specifically includes that central processing unit (1), central processing unit (1) connection is set
Have central I/O port (2), central I/O port (2) connect with vehicle mounted guidance (3)；Starting controller used (9), starting controller used (9) with
Central I/O port (2) connection enters driving status by static for controlling driving vehicle；Travel controller (10), traveling control
Device (10) is connect with central I/O port (2), for controlling motor turning, acceleration and deceleration；Brake monitor (11), control for brake
Device (11) is connect with central I/O port (2), for controlling vehicle brake parking；Parking controller (12), parking controller (12)
It connect with central I/O port (2), remains static for keeping stablizing vehicle.
The Unmanned Systems are a set of system being embedded in common automatic catch car and device, and wherein the system passes through
Switch on console (37) is started, and sets destination and stroke route, vehicle by vehicle mounted guidance (3) before being initiated
It carries navigation (3) to be sent to route trip task central processing unit (1), central processing unit (1) passes through central I/O port (2) and rises
Controller (9) communication is walked, and sends starting instruction.Starting controller used (9) receive starting instruction after by ECU control unit (4),
DCT control unit (5), EPS control unit (6) driving vehicle enter driving status by static, while giving according to vehicle mounted guidance (3)
Route running out.
According to fig. 2, Fig. 3, as a preferred embodiment, starting controller used (9) include first processor, and first processor is equipped with
First I/O port；It further include ultrasonic radar (15) of the setting in the multiple height of vehicle body (38) surrounding, ultrasonic radar (15) and first
I/O port connection.
When Unmanned Systems need for vehicle to be driven out to from narrow parking stall or garage, starting controller used (9) are logical
The ultrasonic radar (15) for crossing vehicle body (38) surrounding measures vehicle at a distance from peripheral obstacle, and according to the measurement result
The traveling traveling for customizing vehicle, selects forward gear or reverse gear shift including by DCT control unit (5), is controlled by EPS single
The steering angle of first (6) adjustment vehicle, carries out pause control to vehicle by EBA brake control unit.Simultaneously in vehicle outbound
In the process, ultrasonic radar (15) goes back the variation of the distance between examinations vehicle body (38) and barrier, and is braked and controlled by EBA
Unit makes the movement held stationary of vehicle, such as when the distance between vehicle and barrier are larger, braking strength zero, with
Barrier approaches, and EBA brake control unit gradually increases the braking strength of vehicle, so as to avoid because of vehicle caused by bringing to a halt
It shakes dynamic.
According to fig. 2, Fig. 3, as a preferred embodiment, travel controller (10) includes second processor, and second processor is set
There is the second I/O port；It further include the high-definition camera (18) that vehicle head and tail portion are set, high-definition camera (18) output end
It is connect with the second I/O port.
Vehicle in the process of moving, grasped by the high-definition camera (18) of headstock and the tailstock by travel controller (10)
Vehicle periphery situation, when the high-definition camera (18) in headstock portion detects that there is barrier in front, control computer of advancing is by the
Two I/O ports are connect with central processing unit (1), and send Emergency avoidance signal, and central computer passes through third after receiving the signal
I/O port and EBA control unit (7) and EPS control unit (6) communicate, and control vehicle deceleration or change driving direction.
According to Fig. 1, Fig. 2, Fig. 3, as a preferred embodiment, travel controller (10) further includes setting vehicle body (38) two sides
Laser radar (19), laser radar (19) output end are connect with the second I/O port.
When there is other public vehicles close or according to navigation routine change lane from side in vehicle travel process
When, the laser radar (19) of vehicle body (38) two sides detects side distance of obstacle, and result of that probe is fed back travel controller
(10), travel controller (10) is communicated with central processing unit (1) by the second I/O port and is limited by EPS control unit (6)
Steering angle carries out obstacle avoidance.
According to fig. 2, Fig. 3, as a preferred embodiment, travel controller (10) further include connect with the second I/O port it is wireless
Data module (20), wireless data module (20) obtain traffic information by wireless network.
Therefore after vehicle opens Unmanned Systems, wireless data module (20) receives traffic information such as by internet
When present road is unimpeded state, travel controller (10) is travelled according to the original data of vehicle mounted guidance (3).Such as on front planning road
When occurring congestion road conditions on line, congestion data is fed back central processing unit (1) by the second I/O port by travel controller (10), in
Central processor (1) passes through the instruction that central I/O port (2) sends again programme path to vehicle mounted guidance (3), and vehicle mounted guidance (3) is such as
After having updated stroke route, its result is exported and is given central processing unit (1), central processing unit (1) forwards updated route row
Journey is given travel controller (10), and travel controller (10) forms according to new route and carries out route change
According to fig. 2, Fig. 3, Fig. 4, Fig. 5, as a preferred embodiment, brake monitor (11) include third processor, third
Processor is equipped with third I/O port；It further include the laser velocimeter device that vehicle bottom is set, laser lavatory device includes connection setting
In the shell (40) of the cavity structure of vehicle body (38) bottom, the setting of shell (40) wedgewise, and the small end direction of shell (40)
Headstock direction；Automobile is equipped with fixing seat at the top of the balancing pull rod of vehicle body (38) corresponding each wheel suspension, and fixing seat includes pair
The first fixing seat (42) at the top of left front balancing pull rod (81) should be set, be correspondingly arranged at the top of right forward horizontal stand pull rod (82)
Second fixing seat (43), the third fixing seat (44) being correspondingly arranged at the top of left back balancing pull rod (83), after being correspondingly arranged at the right side
The 4th fixing seat (45) at the top of balancing pull rod (84)；Vehicle body (38) bottom of automobile is additionally provided with the fixation parallel with automobile front axle
Pipe, fixing pipe, which includes one end, to be connect by side wall with the first fixing seat (42), and what the other end was through in shell (40) first consolidates
Fixed pipe (47)；One end is connect by side wall with the second fixing seat (43), and the other end is through to the second fixing pipe in shell (40)
(48)；One end is connect by side wall with third fixing seat (44), and the other end is through to the third fixing pipe (49) in shell (40)；
One end is connect by side wall with the 4th fixing seat (45), and the other end is through to the 4th fixing pipe in shell (40)；First is fixed
It is coaxially provided with the first transmission shaft (51) in pipe (47), the first transmission shaft (51) is vertically set close to the one end of left front balancing pull rod (81)
Have the first curved boom (55), be coaxially provided with second driving shaft (52) in the second fixing pipe (48), second driving shaft (52) is before the right side
One end of balancing pull rod (82) is vertically equipped with the second curved boom (56), is coaxially provided with third transmission shaft in third fixing pipe (49)
(53), third transmission shaft (53) is vertically equipped with third curved boom (57), the 4th fixing pipe close to the one end of left back balancing pull rod (83)
It is inside coaxially provided with the 4th transmission shaft (54), the 4th transmission shaft (54) one end of balancing pull rod (84) behind the right side is vertically equipped with the 4th
Curved boom (58)；The one end of first curved boom (55) far from the first transmission shaft (51) passes through the first hinge bar (59) and left front balancing pull rod
(81) top is hinged, and the one end of the second curved boom (56) far from second driving shaft (52) before the second hinge bar (60) and the right side by putting down
Weigh pull rod (82) top it is hinged, third curved boom (57) far from third transmission shaft (53) one end by third hinge bar (61) with
The top of left back balancing pull rod (83) is hinged, and the 4th curved boom (58) passes through the 4th hinge bar far from one end of the 4th transmission shaft (54)
(62) hinged with the top of balancing pull rod (84) behind the right side；First transmission shaft (51) is located at the intracorporal one end of shell and is vertically equipped with and first
The first rocker arm (63) that curved boom (55) extends in the same direction, second driving shaft (52) be located at the intracorporal one end of shell be vertically equipped with it is second curved
The second rocker arm (64) that arm (56) extends in the same direction, third transmission shaft (53) are located at the intracorporal one end of shell and are vertically equipped with and third curved boom
(57) the third rocker arm (65) extended in the same direction, the 4th transmission shaft (54) are located at the intracorporal one end of shell and are vertically equipped with and the 4th curved boom
(58) the 4th rocker arm (66) extended in the same direction；Interior ahead running body (38) direction of shell (40) is equipped with suspension beam (67), suspension beam (67)
One end level close to vehicle body (38) head is equipped with the front support (68) extended to two sides, and suspension beam (67) is close to vehicle body (38) tail
One end level in portion is equipped with the rear support (69) extended to two sides；Front support (68) passes one end of transmission shaft by the close to first
The one end of one push-pull arm with the first rocker arm (63) far from the first transmission shaft (51) is hinged, and front support (68) passes transmission shaft close to second
One end it is hinged by the one end of the second push-pull arm and the second rocker arm (64) separate second driving shaft (52), rear support (69) is close
One end that third passes transmission shaft is hinged by third push-pull arm and the one end of third rocker arm (65) separate third transmission shaft (53), after
The one end for supporting (69) to pass transmission shaft close to the 4th passes through the 4th push-pull arm and separate 4th transmission shaft (54) of the 4th rocker arm (66)
One end it is hinged；Suspension beam (67) is vertically equipped with forward horizontal stand connecting rod (74), forward horizontal stand connecting rod close to the one end on vehicle body (38) head
(74) middle part is vertically equipped with preceding spindle nose (75), and suspension beam (67) is coaxially provided with front-axle hole close to the one end on vehicle body (38) head, preceding
Spindle nose (75) and front-axle hole cooperate；Suspension beam (67) is vertically equipped with rear balanced connecting rod (77) close to one end of vehicle body (38) tail portion,
Rear spindle nose (78) vertically are equipped in the middle part of balanced connecting rod (77) afterwards, suspension beam (67) is coaxially provided with close to one end of vehicle body (38) tail portion
Axis hole afterwards, rear spindle nose (78) and rear shaft hole matching；The both ends of forward horizontal stand connecting rod (74) and the both ends point of rear balanced connecting rod (77)
Not Tong Guo long connecting rod (80) and the inner wall of shell (40) two sides it is hinged；Suspension beam (67) lower part is equipped with output end and third I/O port
The optical sensor (34) of the optical sensor (34) of connection, optical sensor (34) the optional model " PMWDM-TZQU " is made
For reference element.The arbitrary side of optical sensor (34) is equipped with laser emitter (24), and the laser emitter (24) is by laser
Diode (26) is constituted, and laser emitter (24) connects to power supply and by the window (85) through shell (40) to optical sensing
Laser facula is projected immediately below device (34)；Optical sensor (34) acquires laser facula image through window (85) and passes through output end
To third I/O port feedback data.
The laser velocimeter device of vehicle bottom projects LASER SPECKLE in road surface, and the spot is captured, due to working as
When vehicle is in driving status, it is based on road surface lines characteristic, the light spot image that optical sensor (34) captures can generate light and shade change
Change, the acquisition of the absolute travel speed of vehicle is completed according to the variation laser velocimeter device.Therefore work as vehicle and arrive emergency
It takes when bringing to a halt, although having the intervention of ABS anti-lock braking system system, vehicle wheel rotational speed and vehicle movement in brake process
There are deviations for speed, once braking strength is excessive, brake force breaks through tire maximum adhesion power, and tire just starts to skid, to make
At risk out of control.Based on the absolute speed that the laser velocimeter device obtains, does not depend on tire rotational speed and obtain vehicle movement speed, therefore
Brake monitor (11) obtains car speed and execute by EPB brake control unit and can get reliably by third I/O port
Control vehicle ability.
According to 4, Fig. 5, in order to enable the laser velocimeter device to accurately measure the velocity of displacement of automobile and direction, thus
It is arranged in the shell (40) of vehicle body (38) bottom by the steady rest of linkage, which obtains from automobile balance pull rod
Pick-up body (38) posture, and pass through the first transmission shaft (51), second driving shaft (52), third transmission shaft (53), the 4th transmission shaft
(54) working condition of the suspension of vehicle body (38) is passed to the suspension beam (67) for being fixed with laser velocimeter device, so that the suspension beam
(67) it is not influenced to remain the hoverheight and angle with ground by vehicle body (38) and shell (40).In steady rest work,
Mainly corresponding four kinds of states are respectively vertical height change when reply vehicle body (38) integrally pitches when coping with running car
Change, the vehicle body (38) when reply accelerates and brakes tilts forward and back；The left and right of vehicle body (38) caused by centrifugal force when coping with Vehicular turn
Inclination；Its working principle is that longitudinal direction can occur for any one or more balancing pull rods opposite vehicle body (38) position in shock absorbing process
It is mobile, such as because braking when, vehicle's center of gravity, which shifts forward, causes vehicle body (38) to lean forward, at this point, before left front balancing pull rod (81) and the right side
Balancing pull rod (82) rises according to the variation of suspension lower swing arm, shortens the spacing with vehicle body (38), at this point, left front balancing pull rod
(81) and right forward horizontal stand bar passes through the first hinge bar (59), the second hinge bar (60) and the first curved boom (55), second curved respectively
The first transmission shaft (51) and second driving shaft (52) are reversed in the hinged cooperation of arm (56) respectively, in the first transmission shaft (51) and second
Keep the first rocker arm (63), the second rocker arm (64) synchronous and the first curved boom (55) and second under the torque transmitting effect of transmission shaft (52)
Curved boom (56) is overturn together, and the first rocker arm (63) and the second curved boom (56) of overturning pass through the first push-pull rod (70) and the second push-and-pull
The front support (68) of suspension beam (67) is upturned by bar (71), to realize the compensation to vehicle body (38) forward leaning angle, and protects
Held it is consistent when height and posture and vehicle body (38) static of the suspension beam (67) away from ground, to provide one for laser velocimeter device
Metastable detection benchmark.
According to fig. 2, Fig. 3, as a preferred embodiment, brake monitor (11) further include connecting optics with third I/O port to lead to
T unit, optical communication device, which is used between vehicle, shares and transmits brake signal.
Vehicle on the way travels, when forcing current vehicle to need to take brake measure because of preceding object, brake monitor
(11) optical communication device is started by third I/O port, by the optical communication apparatus, can making current vehicle rear, there are roads
The vehicle of condition blind area takes brake measure according to brake signal at the first time, to avoid the generation of rear-end collision.Similarly, rear
Vehicle can equally be equipped with the optical communication apparatus, and rearward be driven it while receiving brake signal, and so on
So that whole car team achievees the purpose that while slowing down, the generation of accident is avoided, each holding for the brake signal in car team
Tactful visual the distance between vehicle and vehicle go to determine, thus the extra brake operating avoided.
According to fig. 2, Fig. 3, as a preferred embodiment, optical communication device include the infrared receiver that headstock portion is arranged in connection
Device (25), infrared remote receiver (25) are connect with third I/O port；It further include the laser emitter (24) that tailstock portion is arranged in connection,
Laser emitter (24) is connect with third I/O port.
Wherein for infrared remote receiver (25), then may be provided in headlight for vehicles rear seat windscreen.And swashing for rear
Optical transmitting set (24) can also carry out judgement starting according at a distance from front vehicle, when front vehicle away from current vehicle farther out
When, which can be standby mode, and when front vehicle and when being closer of current vehicle, laser emitter
(24) it links with the brake lamp of vehicle, to provide the brake signal of first time for front vehicle.
According to fig. 2, Fig. 3, as a preferred embodiment, parking controller (12) includes fourth processor, and fourth processor is set
There is the 4th I/O port；It further include horizon sensor (29), the acceleration transducer (30) being arranged in vehicle body (38), horizontal sensor
The output end of device (29) and acceleration transducer (30) is connect with the 4th I/O port.
After vehicle reaches purpose, parking controller (12) issues parking instruction to central processing unit (1) by the 4th IO,
Central processing unit (1) passes through central I/O port (2) and communicates with EBP parking control unit, and parking brake is locked by parking device
Wheel and gearbox.When vehicle is on ramp, tilt signals are sent to parking control by interior horizon sensor (29)
Device (12), parking controller (12) issues car slipping risk signal to central processing unit (1), to force EBP parking control unit
Increase vehicle braking force.
According to fig. 2, Fig. 3, as a preferred embodiment, vehicle body (38) bottom level are equipped with anchor disk (31), in the middle part of anchor disk (31)
Equipped with hinged seat, vehicle crossbeam (36) bottom is equipped with electric putter (35) vertically, and electric putter (35) telescopic end and hinged seat are hinged, electricity
Push rod (35) fixing end is fixedly connected with institute's vehicle chassis, and electric putter (35) is connect with I O port.
When car slipping phenomenon occurs for vehicle, parking controller (12) captures the mobile letter of vehicle by acceleration transducer (30)
After number, immediately by the 4th I/O port driving electric putter (35), anchor disk (31) are transferred, and pass through the teeth of anchor disk (31) bottom
The firm ability of vehicle is promoted with ground friction.
Finally, it should be noted that these are only the preferred embodiment of the present invention, it is not intended to restrict the invention, although
Present invention has been described in detail with reference to the aforementioned embodiments, for those skilled in the art, still can be right
Technical solution documented by foregoing embodiments is modified or equivalent replacement of some of the technical features, it is all
Within the spirit and principles in the present invention, any modification, equivalent replacement, improvement and so on should be included in protection of the invention
Within the scope of.
Claims (10)
1. a kind of Unmanned Systems, for driving existing automobile to carry out automatic Pilot task, the existing automobile packet
Include: for controlling the ECU control unit (4) of automobile engine operation, the ECU control unit (4) is equipped with communication port；For
Communication port is equipped with according to speed and the DCT control unit (5) of driving direction control gear, the DCT control unit (5)；With
In the EBA control unit (7) of slowing-down brake, the EBA control unit (7) is equipped with communication port；For controlling vehicle driving side
To EPS control unit (6), the EPS control unit (6) be equipped with communication port；For vehicle to be kept to the EPB of halted state
Control unit (8), the EPB control unit (8) are equipped with communication port；And location information can be obtained and the vehicle-mounted of road conditions is led
It navigates (3), the vehicle mounted guidance (3), which is equipped with, leads to new port；And the existing automobile is the wheat that front and back is respectively equipped with lower swing arm
Fu Xunshi suspension, each lower swing arm are hinged by balancing pull rod and balancing pole；It is characterised by comprising:
Central processing unit (1), the central processing unit (1) are connected with central I/O port (2), it is described center I/O port (2) with
The communication port of vehicle mounted guidance (3) connects；
Starting controller used (9), starting controller used (9) connects with the central I/O port (2), for control drive vehicle by
It is static to enter driving status；
Travel controller (10), the travel controller (10) connect with the central I/O port (2), turn for controlling automobile
To, accelerate and slow down；
Brake monitor (11), the brake monitor (11) connect with the central I/O port (2), for controlling vehicle braking
Parking；
Parking controller (12), the parking controller (12) connect with the central I/O port (2), stablize vehicle for keeping
It remains static.
2. Unmanned Systems according to claim 1, it is characterised in that: described starting controller used (9) include at first
Device is managed, the first processor is equipped with the first I/O port；It further include ultrasonic radar of the setting in the multiple height of vehicle body (38) surrounding
(15), the ultrasonic radar (15) connect with first I/O port.
3. Unmanned Systems according to claim 1, it is characterised in that: the travel controller (10) includes at second
Device is managed, the second processor is equipped with the second I/O port；It further include the high-definition camera (18) that vehicle head and tail portion are set,
High-definition camera (18) output end is connect with second I/O port.
4. Unmanned Systems according to claim 3, it is characterised in that: the travel controller (10) further includes setting
The laser radar (19) of vehicle body (38) two sides, laser radar (19) output end are connect with second I/O port.
5. Unmanned Systems according to claim 3, it is characterised in that: the travel controller (10) further includes and institute
The wireless data module (20) of the second I/O port connection is stated, the wireless data module (20) obtains road conditions by wireless network and believes
Breath.
6. Unmanned Systems according to claim 1, it is characterised in that: the brake monitor (11) includes at third
Device is managed, the third processor is equipped with third I/O port；It further include the laser velocimeter device that vehicle bottom is set, the Laser Measuring
Fast device includes shell (40) of the connection setting in the cavity structure of vehicle body (38) bottom, and shell (40) wedgewise is arranged, and
And the small end of the shell (40) is towards headstock direction；
Fixing seat is equipped at the top of the balancing pull rod of vehicle body (38) corresponding each wheel suspension, the fixing seat includes being correspondingly arranged
The first fixing seat (42) at the top of left front balancing pull rod (81), second be correspondingly arranged at the top of right forward horizontal stand pull rod (82) are solid
Reservation (43), the third fixing seat (44) being correspondingly arranged at the top of left back balancing pull rod (83) balance drawing after being correspondingly arranged at the right side
The 4th fixing seat (45) at the top of bar (84)；
Vehicle body (38) bottom of automobile is additionally provided with the fixing pipe parallel with automobile front axle, and the fixing pipe includes that one end passes through side wall
It is connect with the first fixing seat (42), the other end is through to the first fixing pipe (47) in the shell (40)；One end passes through side wall
It is connect with the second fixing seat (43), the other end is through to the second fixing pipe (48) in the shell (40)；One end passes through side wall
It is connect with third fixing seat (44), the other end is through to the third fixing pipe (49) in the shell (40)；One end passes through side wall
It is connect with the 4th fixing seat (45), the other end is through to the 4th fixing pipe in the shell (40)；
It is coaxially provided with the first transmission shaft (51) in first fixing pipe (47), first transmission shaft (51) is close to left front flat
One end of weighing apparatus pull rod (81) is vertically equipped with the first curved boom (55), is coaxially provided with second driving shaft in second fixing pipe (48)
(52), the second driving shaft (52) is vertically equipped with the second curved boom (56) close to one end of right forward horizontal stand pull rod (82), described
It is coaxially provided with third transmission shaft (53) in third fixing pipe (49), the third transmission shaft (53) is close to left back balancing pull rod (83)
One end be vertically equipped with third curved boom (57), be coaxially provided with the 4th transmission shaft (54) in the 4th fixing pipe, the described 4th
Transmission shaft (54) one end of balancing pull rod (84) behind the right side is vertically equipped with the 4th curved boom (58)；
The one end of first curved boom (55) far from first transmission shaft (51) passes through the first hinge bar (59) and left front balance
The top of pull rod (81) is hinged, and second curved boom (56) passes through the second hinge bar far from the one end of the second driving shaft (52)
(60) hinged with the top of right forward horizontal stand pull rod (82), the one end of the third curved boom (57) far from the third transmission shaft (53)
Hinged by third hinge bar (61) and the top of left back balancing pull rod (83), the 4th curved boom (58) passes far from the described 4th
One end of moving axis (54) is hinged by the top of the 4th hinge bar (62) and balancing pull rod (84) behind the right side；
One end that first transmission shaft (51) is located in the shell (40) is vertically equipped with the first rocker arm (63), and described second passes
One end that moving axis (52) is located in the shell (40) is vertically equipped with the second rocker arm (64), and the third transmission shaft (53) is located at institute
It states one end in shell (40) to be vertically equipped with third rocker arm (65), the 4th transmission shaft (54) is located in the shell (40)
One end is vertically equipped with the 4th rocker arm (66)；
Interior ahead running body (38) direction of shell (40) is equipped with suspension beam (67), and the suspension beam (67) is close to vehicle body (38) head
One end level be equipped with the front support (68) that extends to two sides, one end level of the suspension beam (67) close to vehicle body (38) tail portion
Equipped with the rear support (69) extended to two sides；The front support (68) passes through first close to one end of first transmission shaft (51)
The one end of push-pull rod (70) with first rocker arm (63) far from first transmission shaft (51) is hinged, and the front support (68) is leaned on
One end of the nearly second driving shaft (52) is passed by the second push-pull rod (71) and second rocker arm (64) far from described second
One end of moving axis (52) is hinged, and the rear support (69) passes through third push-pull rod close to one end of the third transmission shaft (53)
(72) one end with the third rocker arm (65) far from the third transmission shaft (53) is hinged, and the rear support (69) is close to described
One end of 4th transmission shaft (54) is by the 4th push-pull rod (73) and the 4th rocker arm (66) far from the 4th transmission shaft
(54) one end is hinged；
The suspension beam (67) is vertically equipped with forward horizontal stand connecting rod (74) close to the one end on vehicle body (38) head, the forward horizontal stand connecting rod
(74) middle part is vertically equipped with preceding spindle nose (75), and the suspension beam (67) is coaxially provided with front axle close to the one end on vehicle body (38) head
Hole, the preceding spindle nose (75) and the front-axle hole cooperate；The suspension beam (67) vertically sets close to one end of vehicle body (38) tail portion
Have rear balanced connecting rod (77), is vertically equipped with rear spindle nose (78) in the middle part of the rear balanced connecting rod (77), the suspension beam (67) is close
One end of vehicle body (38) tail portion is coaxially provided with rear axis hole, the rear spindle nose (78) and the rear shaft hole matching；
The both ends of the forward horizontal stand connecting rod (74) and it is described after balanced connecting rod (77) both ends pass through respectively long connecting rod (80) with
The inner wall of shell (40) two sides is hinged；
Suspension beam (67) lower part is equipped with the optical sensor (34) that output end is connect with the third I/O port, the optics
The arbitrary side of sensor (34) is equipped with laser emitter (24), and the laser emitter (24) connects to power supply and by running through
The window (85) of the shell (40) projects laser facula to the optical sensor (34) underface；The optical sensor
(34) the laser facula image is acquired through the window (85) and pass through output end to the third I/O port feedback data.
7. Unmanned Systems according to claim 6, it is characterised in that: the brake monitor (11) further includes and institute
Third I/O port connection optical communication device is stated, the optical communication device, which is used between vehicle, shares and transmit brake signal.
8. Unmanned Systems according to claim 6, it is characterised in that: the optical communication device includes connection setting
Infrared remote receiver (25) in headstock portion, the infrared remote receiver (25) connect with the third I/O port；It further include that connection is set
The laser emitter (24) in tailstock portion is set, the laser emitter (24) connect with the third I/O port.
9. Unmanned Systems according to claim 1, it is characterised in that: the parking controller (12) 2 includes the 4th
Processor, the fourth processor are equipped with the 4th I/O port；Further include the horizon sensor (29) being arranged in vehicle body (38), add
The output end of velocity sensor (30), the horizon sensor (29) and the acceleration transducer (30) and the 4th end IO
Mouth connection.
10. Unmanned Systems according to claim 9, it is characterised in that: vehicle body (38) bottom level is equipped with anchor
Disk (31), anchor disk (31) bottom is equipped with teeth array, and anchor disk (31) center of top is equipped with hinged seat；Vehicle is big
Beam (36) bottom is equipped with electric putter (35) vertically, and electric putter (35) telescopic end and the hinged seat are hinged, and the electricity
Push rod (35) fixing end is connect with institute's vehicle chassis；The electric putter (35) connect with the 4th I/O port.
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| CN201811075499.7A CN109343520B (en) | 2018-09-14 | 2018-09-14 | Unmanned driving system |
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|---|---|---|---|
| CN201811075499.7A CN109343520B (en) | 2018-09-14 | 2018-09-14 | Unmanned driving system |
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| CN109343520B CN109343520B (en) | 2021-05-28 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110412998A (en) * | 2019-09-05 | 2019-11-05 | 中国计量大学 | The positioning of outdoor roughness pavement mobile robot chassis and device for adjusting posture |
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