CN109637038B - Shared vehicle wheel leg system and use method - Google Patents
Shared vehicle wheel leg system and use method Download PDFInfo
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- CN109637038B CN109637038B CN201910049580.6A CN201910049580A CN109637038B CN 109637038 B CN109637038 B CN 109637038B CN 201910049580 A CN201910049580 A CN 201910049580A CN 109637038 B CN109637038 B CN 109637038B
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F17/00—Coin-freed apparatus for hiring articles; Coin-freed facilities or services
- G07F17/0042—Coin-freed apparatus for hiring articles; Coin-freed facilities or services for hiring of objects
- G07F17/0057—Coin-freed apparatus for hiring articles; Coin-freed facilities or services for hiring of objects for the hiring or rent of vehicles, e.g. cars, bicycles or wheelchairs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/03—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for supply of electrical power to vehicle subsystems or for
- B60R16/033—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for supply of electrical power to vehicle subsystems or for characterised by the use of electrical cells or batteries
Abstract
The invention discloses a shared vehicle wheel leg system and a using method thereof, wherein the shared vehicle wheel leg system comprises an operation master station, an intelligent wheel leg terminal and a user terminal; the operation head desk is used for receiving a request of a user, sending an instruction to the intelligent wheel leg terminal and commanding the intelligent wheel leg terminal to go to a target place where the user is located according to the user requirement; the user terminal is equipment with a communication function owned by a user and used for sending a request to the operation platform and receiving feedback; each user has a vehicle body belonging to the user; the intelligent wheel leg terminal is standardized and is connected with the vehicle body of a user through a standard interface; the intelligent wheel leg terminal is managed, maintained and charged in a centralized way by an operator. The invention solves the contradiction between individual demand on the automobile and public sharing mode.
Description
Technical Field
The invention relates to a shared vehicle wheel leg system and a using method thereof, in particular to a future-oriented intelligent wheel leg mode which is automatically positioned for door-to-door service and can be automatically retrieved at any time and any place.
Background
At present, the most fierce in the economic model is the non-sharing economy, the public has shared bicycle to shared charger, the small public has shared umbrella, and the like, and the sharing economy is the paradox in the era.
In recent years, the concept of 'sharing economy' is continuously permeated, the 'green trip' is vigorously advocated at the national level, and the shared automobile industry is rapidly developed. In particular, the new energy automobile industry is continuously mature under the support of national policies, and a shared automobile project using new energy automobiles as main operating vehicles can be called to bloom all the time. Under the background, a research institution issues a research report on the shared vehicles in china in 2017, and makes detailed research on the aspects of shared vehicle industrial policies, industrial scales, competitive patterns, development prospects and the like.
The organization gives a broad and narrow definition of shared cars in the research report. In a broad sense, the organization considers that the shared automobile, namely a plurality of people share one automobile, and comprises a traditional automobile leasing mode, a P2P automobile sharing mode, an automobile shared traveling providing mode and an emerging time-sharing automobile leasing mode. The narrow-sense shared automobile mainly refers to an automobile time-sharing rental mode, namely, the same automobile is used by different users in different time periods, and rental business taking time or mileage as a metering unit. The organization focuses on research on narrow-sense shared automobile industry represented by time-sharing leasing in '2017 China shared automobile research report'.
With the continuous development of the shared automobile industry, after the shared automobile has the problems of vehicle maintenance, vehicle quality and no vehicle finding people, the shared automobile is the biggest problem nowadays, namely the problems of traffic obstruction, new hands getting on the road and the like caused by the random parking of the vehicle are solved, and the problems are beyond the problems of the platform of the shared automobile and become the problems facing the shared automobile users.
In recent years, the in-wheel motor and the storage battery energy storage technology have been rapidly developed, and a mobile platform represented by an electric balance car is very popular among young people and children, and is widely applied to occasions such as transportation, leisure entertainment, patrol for police and the like. With the development of future technologies, the wheel legs of the electric automobile which is mainly composed of hub motors, electric wheels, storage batteries, hydraulic suspensions or gas-liquid composite suspensions can lead our lives, and a plurality of standardized wheel leg supporting vehicle boxes form a moving platform of the electric automobile; one "wheel leg" is similar to a person standing on a motor balance car.
The future automobile also develops towards standardization and modularization, and the wheel legs are key standard modules of the electric automobile. The private car is used as a travel tool, so that the life of people is facilitated, and each person has personal preferences on the own love car, such as appearance color, space size, interior decoration and the like; in order to balance the contradiction between individual demands on automobiles and the public sharing mode, a mode of sharing vehicle wheel legs is provided.
Disclosure of Invention
Aiming at the contradiction problem of how to balance individual requirements of a shared automobile on the automobile and a popular sharing mode, the invention aims to provide a shared automobile wheel leg system and a using method thereof, and provides a shared automobile wheel leg mode with the individuation of an automobile box body and the standardization of a wheel leg, namely, a standard interface is arranged between the automobile box body and the wheel leg, an electric wheel leg is intelligently controlled to automatically position and enter a door for service, and a future-oriented all-people intelligent wheel leg mode which is automatically returned at any time and any place is provided.
The invention provides a shared vehicle wheel leg system, which comprises an operation master station, an intelligent wheel leg terminal and a user terminal, wherein the operation master station comprises a central control center and a plurality of intelligent wheel leg terminals;
the operation head desk is used for receiving a request of a user, sending an instruction to the intelligent wheel leg terminal and commanding the intelligent wheel leg terminal to go to a target place where the user is located according to the user requirement;
the user terminal is equipment with a communication function owned by a user and used for sending a request to the operation platform and receiving feedback; each user has a vehicle body (a carriage without wheels) belonging to the user, so that individual requirements of different users can be met; in order to improve the cruising ability of the vehicle, a vehicle body of a user is provided with a storage battery, and when the battery of the intelligent terminal is insufficient, the battery of the intelligent terminal is supplemented with electric energy; the vehicle body is provided with a storage battery, so that the charging is convenient for a charging station at home or in a parking lot;
the intelligent wheel leg terminal: the intelligent wheel leg terminal is standardized and is connected with the vehicle body of a user through a standard interface; the intelligent wheel leg terminal is managed, maintained and charged in a centralized way by an operator.
Specifically, each intelligent wheel leg terminal comprises a mounting seat, a camera, a four-arm hydraulic lifting device, wheels, a battery, a gyroscope and a pressure sensor;
the mounting seat main body is a disc, the thickness of the disc is 2cm, the size of the disc meets the mounting size of a hydraulic cylinder, four lifting lug devices which are uniformly distributed along the circumferential direction are arranged below the mounting seat and used for being hinged with the lifting lug devices of the hydraulic cylinder, and meanwhile, the mounting seat is provided with four threaded through holes which are uniformly distributed and used for being connected with a vehicle body, so that the requirements of hydraulic hose connection, electric connection and communication connection are met; a distance meter is arranged on the outer side of the bottom of the mounting seat, and the distance meter comprises a camera for acquiring the road surface condition;
a battery pack is fixedly arranged right below the mounting seat, and a control chip is arranged below the battery pack;
the wheels are positioned below the bearing seats in a double-wheel structure, the double wheels are connected through a T-shaped coupler, and the T-shaped coupler is connected with the bottoms of the bearing seats; and a gyroscope is arranged on the bearing seat and is used for detecting the inclination change of the instantaneous horizontal direction.
The wheel is a hub motor wheel with an electronic locking device.
In the system, the four-arm hydraulic lifting device consists of four electromagnetic variable damping hydraulic cylinders, a hydraulic hose and a small memory with a five-way interface. The electromagnetic variable damping hydraulic cylinder consists of a lifting lug, a hydraulic hose, a guide sleeve, a solenoid coil, magnetorheological fluid, an end cover, a cylinder barrel, a piston rod and a coil electrode; the two ends of the hydraulic cylinder are respectively provided with a first lifting lug and a second lifting lug, the two sides of a cylinder barrel of the hydraulic cylinder are respectively provided with a first end cover and a second end cover, a piston rod and magnetorheological fluid are arranged in the cylinder barrel, the piston rod is of a hollow structure, one end of the piston rod is connected with a hydraulic hose (for introducing or leading out the magnetorheological fluid), and the other end of the piston rod is connected with a piston and communicated with the magnetorheological fluid; the outer side of the piston rod is provided with a spiral coil which is communicated with a coil electrode; the spiral coil is flush with the first end cover, and a guide sleeve is arranged on the outer side of the spiral coil close to the first end cover; the magnetorheological fluid is positioned in a cavity surrounded by the piston, the cylinder barrel and the second end cover; the hydraulic chambers of the four hydraulic cylinders are provided with stay wire displacement sensors for measuring the extension and the shortening of the four-arm hydraulic piston rod,
the upper parts of the four electromagnetic variable damping hydraulic cylinders are connected with a spherical hinge of the mounting seat, the lower parts of the hydraulic cylinders are connected with a spherical hinge of the bearing seat through lifting lugs at the bottom of the piston rod, the four hydraulic cylinders are connected by adopting a communication device, the communication device consists of a small storage with a five-way interface and an electromagnetic valve, hydraulic oil in the four hydraulic cylinders is led out through hydraulic hoses below the piston rod and is respectively connected to four connectors of the five-way, the four hydraulic hoses are respectively connected to the four connectors of the small storage, and a vertical direction interface of the small storage is used for connecting a hydraulic pump of the vehicle body; the hydraulic hose penetrates through the battery pack to be connected to a hydraulic pump of the vehicle body, and the on-off of hydraulic oil is controlled through an electromagnetic valve;
furthermore, the first lifting lug is fixedly connected with the piston rod, and the second lifting lug is fixed on the second end cover; the hydraulic suspension is connected with other parts; a sealing ring is arranged between the piston and the inner wall of the cylinder barrel; two ends of the cylinder barrel are respectively and fixedly connected with the first end cover and the second end cover in a vertical mode; the guide sleeve is fixedly connected with the first end cover so as to realize the linear motion of the piston rod; the spiral coil is sleeved around the piston rod and fixedly connected with the piston rod so as to realize the change of a magnetic field and change the damping of the magnetorheological fluid; the sealing ring is fixedly connected with the piston and is used for preventing the magnetorheological fluid from leaking from the high-pressure cavity to the low-pressure cavity; the piston is fixedly connected with the sealing ring, is arranged in parallel with the second end cover and is positioned in the middle of the whole cylinder body; the piston rod is vertically and fixedly connected with the piston and is parallel to the cylinder barrel. The wheels are positioned below the bearing seats in a double-wheel structure, the double wheels are connected through a T-shaped coupler, and the T-shaped coupler is connected with the bottoms of the bearing seats; the gyroscope is arranged on the bearing seat and used for detecting the inclination change in the instantaneous horizontal direction, and the self-balancing of the wheel leg terminal can be realized by controlling the rotation of the wheels.
In the system, the control chip adopts MT2503 and is a system-level packaging Internet of things chip with high integration and small volume, the size of the chip is only 5.4 multiplied by 6.2 mm, the interior of the chip is designed by a single-core ARM-7EJ-S, and the frequency is 260 MHz; the control chip supports a GPS and a Beidou multiple satellite positioning system, has a global navigation satellite system GNSS plus special function, supports Bluetooth 3.0 and is integrated with a 2G modem; the MT2503 chip has a GNSS second speed positioning function and an extremely low power consumption accurate track tracking function; the multi-satellite positioning support of Beidou, GPS and GLONASS ensures that the MT2503 has no dead angle for positioning, and is rapid and accurate.
The invention provides a using method of the shared vehicle wheel leg system, which comprises the following steps:
(1) a user sends a request for using the wheel legs to an operation central office through a user terminal at home (the number of intelligent wheel legs required by different vehicle bodies is different, at least 4);
(2) the operation total station positions the specific position of the user terminal through a satellite;
(3) the operation center sends an instruction to an intelligent wheel leg terminal near the user terminal;
(4) the intelligent wheel leg terminal is automatically unlocked and automatically positioned;
(5) the intelligent wheel leg terminal advances to a target place;
(6) the intelligent wheel leg terminal arrives at a preset place;
(7) the intelligent wheel leg terminal automatically loads and drives;
(8) the intelligent wheel leg terminal arrives at a destination;
(9) the intelligent wheel leg terminal automatically parks the vehicle body;
(10) the operation central office automatically charges the user terminal;
(11) the intelligent wheel leg terminal automatically drives to a nearby parking place;
(12) the intelligent wheel leg terminal is automatically locked and automatically charged;
(13) the vehicle using process is ended.
In the invention, each wheel leg terminal is provided with four batteries, the total desk calculates the number of the wheel legs required by the user according to different requirements (different vehicle bodies) of different users, and if the electric quantity is insufficient in midway, the wheel legs can be replaced nearby; each wheel leg is designed in a full-intelligent manner like a person standing on a balance car, and after reaching the place where a user is located, the wheel leg automatically reaches the installation position on the car body, the hydraulic lifting device per se jacks up the car body, and the wheel leg automatically starts after the user gets on the car (the pressure sensor detects the weight change of the car body); each intelligent wheel leg terminal is provided with a four-arm hydraulic lifting device and a four-arm hydraulic oil communication device, so that the intelligent wheel leg terminal can be effectively prevented from being damaged by lateral force, and the loading capacity is greatly improved.
The automatic driving function of the invention is realized by an Intel EyeQ4 chip, an automatic driving data platform newly introduced by Intel and a high-definition camera.
The invention has the beneficial effects that:
(1) compared with a shared automobile, the automobile sharing method has the advantages that the operation cost is low, and the popularization and the realizability are high;
(2) the road surface energy-saving device is beneficial to relieving traffic jam and road abrasion, reducing air pollution and reducing the dependence on energy;
(3) future large-scale popularization and application of shared wheel legs are expected, and massive construction of parking infrastructure or road extension is avoided, which means that more benefits can be obtained.
Drawings
Fig. 1 is a relational diagram of an operation center, an intelligent wheel leg terminal and a user terminal according to the present invention.
Fig. 2 is a schematic structural diagram of an intelligent wheel leg terminal.
Fig. 3 is a schematic structural diagram of the hydraulic lifting device.
In the figure: the system comprises a wheel 1, a gyroscope 2, a hydraulic oil communicator 3, a hydraulic hose 4, a hydraulic lifting device 5, a mounting seat 6, a camera 7, a dustproof cover 8, a battery 9, a control chip 10, a displacement sensor 11, a bearing seat 12, a hydraulic pump interface 13 connected with a vehicle body 14, a first lifting lug 15, a guide sleeve 16, a solenoid coil 17, a sealing ring 18, magnetorheological fluid 19, a second end cover 19, a second lifting lug 20, a cylinder 21, a piston 22, a piston rod 23, a first end cover 24 and a coil electrode 25.
Detailed Description
The present invention is further illustrated by, but is not limited to, the following examples.
Example 1:
as shown in fig. 1 to 3, the present invention provides a shared vehicle wheel leg system, which includes an operation center, an intelligent wheel leg terminal and a user terminal;
the operation head desk is used for receiving a request of a user, sending an instruction to the intelligent wheel leg terminal and commanding the intelligent wheel leg terminal to go to a target place where the user is located according to the user requirement;
the user terminal is equipment with a communication function owned by a user and used for sending a request to the operation platform and receiving feedback; each user has a vehicle body (a carriage without wheels) belonging to the user, so that individual requirements of different users can be met; in order to improve the cruising ability of the vehicle, a vehicle body of a user is provided with a storage battery, and when the battery of the intelligent terminal is insufficient, the battery of the intelligent terminal is supplemented with electric energy; the vehicle body is provided with a storage battery, so that the charging is convenient for a charging station at home or in a parking lot;
the intelligent wheel leg terminal: the intelligent wheel leg terminal is standardized and is connected with the vehicle body of a user through a standard interface; the intelligent wheel leg terminal is managed, maintained and charged in a centralized way by an operator.
Specifically, each intelligent wheel leg terminal comprises a mounting seat 6, a camera 7, a four-arm hydraulic lifting device 5, a wheel 1, a battery 9, a gyroscope 2 and a pressure sensor; the main body of the mounting seat 6 is a disc, the thickness of the disc is 2cm, the size of the disc meets the mounting size of a hydraulic cylinder, four lifting lug devices which are uniformly distributed along the circumferential direction are arranged below the mounting seat 6 and used for being hinged with the lifting lug devices of the hydraulic cylinder, and meanwhile, the mounting seat is provided with four threaded through holes which are uniformly distributed and used for being connected with a vehicle body, so that the requirements of hydraulic hose connection, electric connection and communication connection are met;
a distance meter is arranged on the outer side of the bottom of the mounting seat, and the distance meter comprises a camera 7 for acquiring the road surface condition;
a battery pack 9 is fixedly arranged right below the mounting seat, and a control chip 10 is arranged below the battery pack 9; and a dust cover 8 is arranged outside the control chip 10.
The upper part of the four-arm hydraulic lifting device is connected with a ball of the mounting seat, the lower part of the four-arm hydraulic lifting device is connected with a bearing seat ball , the four hydraulic cylinders are connected by a hydraulic oil connector 3, hydraulic oil in the four hydraulic cylinders is led out through hydraulic hoses below piston rods and is respectively connected to four five-way connectors, the four hydraulic hoses are respectively connected to four connectors of a small-sized storage, and a vertical connector of the small-sized storage is used for being connected with a hydraulic pump of a vehicle body; the hydraulic hose penetrates through the battery pack to be connected to a hydraulic pump of the vehicle body, and the on-off of hydraulic oil is controlled through an electromagnetic valve;
the wheel 1 is positioned at the bottom of the bearing seat 12 and fixedly connected with the bearing seat 12; the bearing block 12 is provided with a gyroscope 2 for detecting the inclination change in the instantaneous horizontal direction;
the wheel 1 is a hub motor wheel with an electronic locking device.
Furthermore, the electromagnetic variable damping hydraulic cylinder consists of a lifting lug, a hydraulic hose, a guide sleeve, a solenoid coil, magnetorheological fluid, an end cover, a cylinder barrel, a piston rod and a coil electrode; the two ends of the hydraulic cylinder are respectively provided with a first lifting lug 14 and a second lifting lug 20, the two sides of a cylinder barrel 21 of the hydraulic cylinder are respectively provided with a first end cover 24 and a second end cover 19, a piston rod 23 and magnetorheological fluid 18 are arranged inside the cylinder barrel 21, the piston rod 23 is of a hollow structure, one end of the piston rod is connected with the hydraulic hose 4, and the other end of the piston rod is connected with a piston 22 and communicated with the magnetorheological fluid 18; the outer side of the piston rod 23 is provided with a spiral coil 16, and the spiral coil 16 is communicated with a coil electrode 25; the spiral coil 16 is flush with the first end cover 24, and a guide sleeve 15 is arranged on the outer side of the spiral coil 16 close to the first end cover 24; the magnetorheological fluid 18 is positioned in a cavity surrounded by the piston 22, the cylinder 21 and the second end cover 19; stay wire displacement sensors 11 are arranged in hydraulic chambers of the four hydraulic cylinders and are used for measuring the extension and the contraction of the four-arm hydraulic piston rod.
The upper parts of the four electromagnetic variable damping hydraulic cylinders are connected with a spherical hinge of the mounting seat 6, the lower parts of the hydraulic cylinders are connected with a spherical hinge of the bearing seat through lifting lugs at the bottom of the piston rod, the four hydraulic cylinders are connected by adopting a communication device, the communication device consists of a small storage with a five-way interface and an electromagnetic valve, hydraulic oil in the four hydraulic cylinders is led out through hydraulic hoses below the piston rod and is respectively connected to four connectors of the five-way, the four hydraulic hoses are respectively connected to the four connectors of the small storage, and a vertical direction interface of the small storage is used for connecting a hydraulic pump of a vehicle body; the hydraulic hose penetrates through the battery pack to be connected to a hydraulic pump of the vehicle body, and the on-off of hydraulic oil is controlled through an electromagnetic valve;
further, the first lifting lug 14 is fixedly connected with the piston rod 23, and the second lifting lug 20 is fixed on the second end cover 19; the hydraulic suspension is connected with other parts; a sealing ring 17 is arranged between the piston 22 and the inner wall of the cylinder 21; two ends of the cylinder 21 are respectively and fixedly connected with the first end cover 24 and the second end cover 19 vertically; the guide sleeve 15 is fixedly connected with the first end cover 24 to realize the linear motion of the piston rod 23; the spiral coil 16 is sleeved around the piston rod 23 and fixedly connected with the piston rod to realize the change of a magnetic field and change the damping of the magnetorheological fluid 18; the sealing ring 17 is fixedly connected with the piston 22, so as to prevent the magnetorheological fluid 18 from leaking from the high-pressure cavity to the low-pressure cavity; the piston 22 is fixedly connected with the sealing ring 17, is arranged in parallel with the second end cover 19 and is positioned in the middle of the whole cylinder body; the piston rod 23 is vertically and fixedly connected with the piston 22 and is parallel to the cylinder 21. The wheel 1 is positioned below the bearing seat 12 in a double-wheel structure, and double wheels are connected through a T-shaped coupler which is connected with the bottom of the bearing seat 12; and the bearing seat 12 is provided with a gyroscope 2 for detecting the inclination change in the instantaneous horizontal direction, and the self-balancing of the wheel leg terminal can be realized by controlling the rotation of wheels.
In the system, the control chip adopts MT2503 and is a system-level packaging Internet of things chip with high integration and small volume, the size of the chip is only 5.4 multiplied by 6.2 mm, the interior of the chip is designed by a single-core ARM-7EJ-S, and the frequency is 260 MHz; the control chip supports a GPS and a Beidou multiple satellite positioning system, has a global navigation satellite system GNSS plus special function, supports Bluetooth 3.0 and is integrated with a 2G modem; the MT2503 chip has a GNSS second speed positioning function and an extremely low power consumption accurate track tracking function; the multi-satellite positioning support of Beidou, GPS and GLONASS ensures that the MT2503 has no dead angle for positioning, and is rapid and accurate.
The invention provides a using method of the shared vehicle wheel leg system, which comprises the following steps:
(1) a user sends a request for using the wheel legs to an operation central office through a user terminal at home (the number of intelligent wheel legs required by different vehicle bodies is different, at least 4);
(2) the operation total station positions the specific position of the user terminal through a satellite;
(3) the operation center sends an instruction to an intelligent wheel leg terminal near the user terminal;
(4) the intelligent wheel leg terminal is automatically unlocked and automatically positioned;
(5) the intelligent wheel leg terminal advances to a target place;
(6) the intelligent wheel leg terminal arrives at a preset place;
(7) the intelligent wheel leg terminal automatically loads and drives;
(8) the intelligent wheel leg terminal arrives at a destination;
(9) the intelligent wheel leg terminal automatically parks the vehicle body;
(10) the operation central office automatically charges the user terminal;
(11) the intelligent wheel leg terminal automatically drives to a nearby parking place;
(12) the intelligent wheel leg terminal is automatically locked and automatically charged;
(13) the vehicle using process is ended.
In the invention, each wheel leg terminal is provided with four batteries, the total desk calculates the number of the wheel legs required by the user according to different requirements (different vehicle bodies) of different users, and if the electric quantity is insufficient in midway, the wheel legs can be replaced nearby; each wheel leg is designed in a full-intelligent manner like a person standing on a balance car, and after reaching the place where a user is located, the wheel leg automatically reaches the installation position on the car body, the hydraulic lifting device per se jacks up the car body, and the wheel leg automatically starts after the user gets on the car (the pressure sensor detects the weight change of the car body); every intelligent wheel leg terminal is furnished with four-arm hydraulic pressure elevating gear 5 and four-arm hydraulic oil linker 3, can prevent the destruction of yawing force to intelligent wheel leg terminal effectively, greatly improves the load-carrying capacity.
The automatic driving function of the invention is realized by an Intel EyeQ4 chip, an automatic driving data platform newly introduced by Intel and a high-definition camera.
Claims (8)
1. A shared vehicle wheel leg system, characterized by: the intelligent wheel leg system comprises an operation main station, an intelligent wheel leg terminal and a user terminal;
the operation head desk is used for receiving a request of a user, sending an instruction to the intelligent wheel leg terminal and commanding the intelligent wheel leg terminal to go to a target place where the user is located according to the user requirement;
the user terminal is a device with a communication function owned by a user and used for sending a request to an operation central office and receiving feedback; each user has a vehicle body belonging to the user, so that individual requirements of different users can be met;
the intelligent wheel leg terminal: the intelligent wheel leg terminal is standardized and is connected with the vehicle body of a user through a standard interface; the intelligent wheel leg terminal is managed, maintained and charged in a centralized way by an operator; each intelligent wheel leg terminal comprises a mounting seat, a camera, a four-arm hydraulic lifting device, wheels, a battery, a gyroscope and a pressure sensor;
the four-arm hydraulic lifting device consists of four electromagnetic variable damping hydraulic cylinders, a hydraulic hose and a small memory with a five-way interface;
the electromagnetic variable damping hydraulic cylinder consists of a lifting lug, a hydraulic hose, a guide sleeve, a solenoid coil, magnetorheological fluid, an end cover, a cylinder barrel, a piston rod and a coil electrode; the two ends of the hydraulic cylinder are respectively provided with a first lifting lug and a second lifting lug, the two sides of a cylinder barrel of the hydraulic cylinder are respectively provided with a first end cover and a second end cover, a piston rod and magnetorheological fluid are arranged in the cylinder barrel, the piston rod is of a hollow structure, one end of the piston rod is connected with a hydraulic hose, and the other end of the piston rod is connected with a piston and communicated with the magnetorheological fluid; the outer side of the piston rod is provided with a spiral coil which is communicated with a coil electrode; the spiral coil is flush with the first end cover, and a guide sleeve is arranged on the outer side of the spiral coil close to the first end cover; the magnetorheological fluid is positioned in a cavity surrounded by the piston, the cylinder barrel and the second end cover; the hydraulic chambers of the four hydraulic cylinders are provided with stay wire displacement sensors for measuring the extension and the shortening of the four-arm hydraulic piston rod,
the upper parts of the four electromagnetic variable damping hydraulic cylinders are connected with a spherical hinge of the mounting seat, the lower parts of the hydraulic cylinders are connected with a spherical hinge of the bearing seat through lifting lugs at the bottom of the piston rod, the four hydraulic cylinders are connected by adopting a communication device, the communication device consists of a small storage with a five-way interface and an electromagnetic valve, hydraulic oil in the four hydraulic cylinders is led out through hydraulic hoses below the piston rod and is respectively connected to four connectors of the five-way, the four hydraulic hoses are respectively connected to the four connectors of the small storage, and a vertical direction interface of the small storage is used for connecting a hydraulic pump of the vehicle body; the hydraulic hose penetrates through the battery pack to be connected to a hydraulic pump of the vehicle body, and the on-off of hydraulic oil is controlled through the electromagnetic valve.
2. The shared vehicle wheel leg system as claimed in claim 1, wherein: the automobile body of user oneself is from taking the battery, when intelligent wheel leg terminal battery electric energy is not enough, supplements the electric energy for the battery at intelligent wheel leg terminal.
3. The shared vehicle wheel leg system as claimed in claim 1, wherein: the mounting seat main body is a disc, the thickness of the disc is 2cm, the circular size is the size meeting the mounting of the hydraulic cylinder, four lifting lug devices which are uniformly distributed along the circumferential direction are arranged below the mounting seat and used for being hinged with the lifting lug devices of the hydraulic cylinder, and meanwhile, the mounting seat is provided with four threaded through holes which are uniformly distributed and used for being connected with a vehicle body, so that the requirements of hydraulic hose connection, electric connection and communication connection are met;
a distance meter is arranged on the outer side of the bottom of the mounting seat, and the distance meter comprises a camera for acquiring the road surface condition;
a battery pack is fixedly arranged right below the mounting seat, and a control chip is arranged below the battery pack;
the wheels are positioned below the bearing seats in a double-wheel structure, the double wheels are connected through a T-shaped coupler, and the T-shaped coupler is connected with the bottoms of the bearing seats; the gyroscope is arranged on the bearing seat and used for detecting the inclination change in the instantaneous horizontal direction, and the self-balancing of the wheel leg terminal can be realized by controlling the rotation of the wheels;
the wheel is a hub motor wheel with an electronic locking device.
4. The shared vehicle wheel leg system as claimed in claim 1, wherein: the first lifting lug is fixedly connected with the piston rod, and the second lifting lug is fixed on the second end cover; the hydraulic suspension is connected with other parts; a sealing ring is arranged between the piston and the inner wall of the cylinder barrel; two ends of the cylinder barrel are respectively and fixedly connected with the first end cover and the second end cover in a vertical mode; the guide sleeve is fixedly connected with the first end cover so as to realize the linear motion of the piston rod; the spiral coil is sleeved around the piston rod and fixedly connected with the piston rod so as to realize the change of a magnetic field and change the damping of the magnetorheological fluid; the sealing ring is fixedly connected with the piston and is used for preventing the magnetorheological fluid from leaking from the high-pressure cavity to the low-pressure cavity; the piston is fixedly connected with the sealing ring, is arranged in parallel with the second end cover and is positioned in the middle of the whole cylinder body; the piston rod is vertically and fixedly connected with the piston and is parallel to the cylinder barrel.
5. The shared vehicle wheel leg system as claimed in claim 3, wherein: the control chip adopts MT2503, is a system-level packaging Internet of things chip with high integration and small volume, the size of the chip is only 5.4 multiplied by 6.2 mm, the interior of the chip is designed by a single-core ARM-7EJ-S, and the frequency is 260 MHz; the control chip supports a GPS and a Beidou multiple satellite positioning system, has a global navigation satellite system GNSS plus special function, supports Bluetooth 3.0 and is integrated with a 2G modem; the MT2503 chip has a GNSS second speed positioning function and an extremely low power consumption accurate track tracking function; the multi-satellite positioning support of Beidou, GPS and GLONASS ensures that the MT2503 has no dead angle for positioning, and is rapid and accurate.
6. Use of a shared vehicle wheel leg system according to any of claims 1 to 5, characterized by comprising the steps of:
(1) a user sends a request for using the wheel legs to an operation central office at home through a user terminal;
(2) the operation total station positions the specific position of the user terminal through a satellite;
(3) the operation center sends an instruction to an intelligent wheel leg terminal near the user terminal;
(4) the intelligent wheel leg terminal is automatically unlocked and automatically positioned;
(5) the intelligent wheel leg terminal advances to a target place;
(6) the intelligent wheel leg terminal arrives at a preset place;
(7) the intelligent wheel leg terminal automatically loads and drives;
(8) the intelligent wheel leg terminal arrives at a destination;
(9) the intelligent wheel leg terminal automatically parks the vehicle body;
(10) the operation central office automatically charges the user terminal;
(11) the intelligent wheel leg terminal automatically drives to a nearby parking place;
(12) the intelligent wheel leg terminal is automatically locked and automatically charged;
(13) the vehicle using process is ended.
7. The method of using a shared vehicle wheel leg system as claimed in claim 6, wherein: the number of the intelligent wheel legs required by different vehicle bodies is different, and the intelligent wheel leg terminal is at least four wheel legs; each wheel leg terminal is provided with four batteries, the total desk calculates the number of the wheel legs needed by the user according to different requirements of different users, and the wheel legs can be replaced nearby when the electric quantity is insufficient midway.
8. The method of using a shared vehicle wheel leg system as claimed in claim 6, wherein: the wheel legs are designed in a full-intelligent mode, and can automatically reach the installation position on the vehicle body after reaching the place where a user is located, the hydraulic lifting devices of the wheel legs jack the vehicle body, and after the user gets on the vehicle, the pressure sensors detect the weight change of the vehicle body and automatically start.
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| BR112018009617B1 (en) * | 2015-12-22 | 2023-12-19 | Beijing DIDI Infinity Technology and Development Co., Ltd | SYSTEM AND METHOD FOR SERVICE SEQUENCE UPDATE |
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