CN110427024A - A kind of unpiloted personnel's Material Transportation vehicle - Google Patents
A kind of unpiloted personnel's Material Transportation vehicle Download PDFInfo
- Publication number
- CN110427024A CN110427024A CN201910634255.6A CN201910634255A CN110427024A CN 110427024 A CN110427024 A CN 110427024A CN 201910634255 A CN201910634255 A CN 201910634255A CN 110427024 A CN110427024 A CN 110427024A
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- China
- Prior art keywords
- personnel
- unpiloted
- steering engine
- material transportation
- transportation vehicle
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- 239000000463 material Substances 0.000 title claims abstract description 24
- 230000005540 biological transmission Effects 0.000 claims abstract description 17
- 230000004888 barrier function Effects 0.000 abstract description 7
- 230000000694 effects Effects 0.000 abstract description 5
- 230000034994 death Effects 0.000 abstract description 2
- 231100000517 death Toxicity 0.000 abstract description 2
- 230000004044 response Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 3
- 230000032258 transport Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 231100001261 hazardous Toxicity 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- 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
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course 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
- G05D1/0238—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
- G05D1/0231—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
- G05D1/0253—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 extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
-
- 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
-
- 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
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
Abstract
A kind of unpiloted personnel's Material Transportation vehicle, including laser network transmitter, transfer, vision system, differential GPS, distance increasing unit, data transmission system, image delivering system, battery, winged control, gas pedal and brake pedal.Laser network transmitter is located in front cover, and transfer is installed on the steering wheel；Vision system, differential GPS, distance increasing unit, data transmission system and image delivering system are arranged successively, and are located at car body top, antenna is housed on differential GPS；Battery and winged control are installed in vehicle rear cabinet；Throttle steering engine is housed in gas pedal；Equipped with brake steering engine on brake pedal；Fly that speedometer is housed in control.The invention has the benefit that can fly control under macroscopical path planning using positive and negative barrier and plan current path to the response analysis of laser network occlusion effect and departure degree, realize unimpeded safe unmanned, avoids unnecessary injures and deaths on battlefield.
Description
Technical field
The invention belongs to intelligent equipment field, in particular to a kind of unpiloted personnel's Material Transportation vehicle.
Background technique
Construction consolidates national defense and strengthens the strategic task that army is various countries' modernization construction, is the safety of national peaceful development
It ensures.World's new military revolution deeply develops, weaponry accurate remote, intelligent, stealthyization, and unmanned trend is obvious.
Unmanned military vehicle is military unmanned one of important development direction, is had attracted much attention in recent years.On battlefield, combatant's bullet
The supply of the goods and materials such as medicine, food, the transfer of the wounded are all to drive haulage vehicle by rear service personnel to emit dead completion.In operation, surpass
The casualties for crossing half is all responsible for being engaged in the logistics support personnel of transport goods.If, can be with using automatic driving vehicle
Significant component of war damage is reduced, casualties is avoided.In order to push the development intelligently equipped, by logistics support personnel from need not
It is rescued in the hazardous environment wanted, can ensure the safe transport of battleground goods and materials, designed and manufactured a kind of unmanned
Personnel's Material Transportation vehicle be necessary.
Summary of the invention
For existing issue, the present invention provides a kind of unpiloted personnel's Material Transportation vehicle, using winged control as letter
Cease processing system, first draw macroscopic view GPS vehicle running route, by positive and negative barrier to the occlusion effect of laser network, inclined
Current path is planned from degree analyzing, is realized the unmanned of blocking-resistant safety, can be reduced unnecessary personal damage, in time by object
Money transports to destination.
To achieve the goals above, the present invention adopts the following technical scheme: a kind of unpiloted personnel's Material Transportation vehicle,
It include: laser network transmitter, transfer, vision system, differential GPS, distance increasing unit, data transmission system, image transmitting system
System, flies control, gas pedal and brake pedal at battery；Laser network transmitter is located in front cover, the transfer side of being mounted on
To on disk；Vision system, differential GPS, distance increasing unit, data transmission system and image delivering system are arranged successively, and are located at car body top
Portion wherein data transmission system and image delivering system and is arranged in last；Antenna is housed on differential GPS；Battery and winged control
It is installed in vehicle rear cabinet；Throttle steering engine is housed in gas pedal,；Equipped with brake steering engine on brake pedal；Fly in control equipped with speed
Degree meter；It is winged control respectively with laser network transmitter, transfer, vision system, differential GPS, distance increasing unit, data transmission system,
It is connected between image delivering system, gas pedal and brake pedal by data line, make each component and flies the firm letter of control foundation
Breath transmission.Wherein, laser network transmitter includes laser projecting apparatus and electric controller；Laser projecting apparatus is mounted on motorized adjustment
On device, more than 100,000 frees flow, laser projecting apparatus projectional angle is adjustable for the brightness of the laser projecting apparatus of selection；
Wherein, transfer is solid including lateral steering engine mounting and fixing support, longitudinal steering engine mounting and fixing support, steering-engine installation
Determine frame and steering engine, three welds together and is welded and fixed with car body, passes through connecting shaft between steering engine and vehicle steering wheel steering shaft
Device connection；
Wherein, vision system includes electric rotating foundation, electric rotating shaft and binocular camera；Electric rotating foundation is direct
It is mounted on roof, electric rotating shaft is installed thereon, binocular camera is mounted in electric rotating shaft, can go up backspin therewith
Turn；
Wherein, fly that speedometer is housed in control；
Wherein, a kind of GPS route that unpiloted personnel's Material Transportation vehicle is planned by differential GPS.
Beneficial effects of the present invention:
A kind of unpiloted personnel's Material Transportation vehicle of the present invention can fly control and utilize positive and negative barrier under macroscopical path planning
Hinder object to plan current path to the response analysis of laser network occlusion effect and departure degree, realizes that unimpeded safe nobody drives
It sails, avoids unnecessary injures and deaths on battlefield.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of unpiloted personnel's Material Transportation vehicle of the invention；
Fig. 2 is enlarged drawing at a in schematic structural view of the invention；
In figure, 1-laser network transmitter, 11-laser projectors, 12-electric controllers, 2-transfers, 21-
Lateral steering engine mounting and fixing support, 22-longitudinal steering engine mounting and fixing supports, 23-steering engines, 24-steering-engine mounting and fixing supports, 3-
Vision system, 31-electric rotating foundations, 32-electric rotating shafts, 33-binocular cameras, 4-differential GPSs, 41-antennas,
5-distance increasing units, 6-data transmission systems, 7-image delivering systems, 8-batteries, 9-fly to control, 101-gas pedals,
102-throttle steering engines, 111-brake pedals, 112-brake steering engines.
Specific embodiment
To keep purpose and the technical solution of the embodiment of the present invention clearer, below in conjunction with the attached of the embodiment of the present invention
Figure, is clearly and completely described the technical solution of the embodiment of the present invention.Obviously, described embodiment is of the invention
A part of the embodiment, rather than whole embodiments.Based on described the embodiment of the present invention, those skilled in the art are being not necessarily to
Every other embodiment obtained, belongs to protection scope of the present invention under the premise of creative work.
Now in conjunction with the drawings and specific embodiments, the present invention will be further described in detail.
As shown in Figs. 1-2, a kind of unpiloted personnel's Material Transportation vehicle, comprising: laser network transmitter 1 turns to dress
It sets 2, vision system 3, differential GPS 4, distance increasing unit 5, data transmission system 6, image delivering system 7, battery 8, fly control 9, throttle
Pedal 101 and brake pedal 111.
Wherein, fly control model are as follows: open source flies control APM2.8；Differential GPS model are as follows: ZED-F9P high-precision difference.
Laser network transmitter 1 is located in front cover, it includes laser projecting apparatus 11 and electric controller 12, laser projection
Device 11 is mounted on electric controller 12, and the projectional angle of laser projecting apparatus 11 can be changed in electric controller 12.
Transfer 2 is installed on the steering wheel, including lateral steering engine mounting and fixing support (cross spacing) 21, longitudinal steering engine peace
Fill fixed frame (longitudinal spacing) 22, steering-engine mounting and fixing support (limiting steering) 24 and steering engine 23, three steering engine bracket welding
It being welded and fixed together and with car body, three ensures steering engine 23 in transverse direction respectively, and position that is longitudinal and turning to three directions is constant,
And then the installation site of fixed steering engine 23, steering engine 23 can change the driving path of automobile by driving direction disk.
Vision system 3, differential GPS 4, distance increasing unit 5, data transmission system 6 and image delivering system 7 are arranged successively, and are located at
Car body top；
Vision system 3 includes electric rotating foundation 31, electric rotating shaft 32 and binocular camera 33, electric rotating foundation 31
It is directly installed on roof, electric rotating shaft 32 is installed thereon, binocular camera 33 is mounted in electric rotating shaft 32, electronic
Rotating base 31 and electric rotating shaft 32 are used to control the camera site of binocular camera 33, and binocular camera 33 is used for grid chart
The capture of picture and the depth information binocular camera 33 for obtaining barrier can be rotated up and down with, electric rotating shaft 32, maximum journey
Degree obtains information of road surface.
Antenna 41 is housed, for determining macroscopical driving path of automobile on differential GPS 4.Data transmission system 6, image pass
Defeated system 7 and distance increasing unit 5 are used for the passback of image and data information, and headquarter can learn the state of vehicle, position, road in real time
The information such as condition.Battery 8 and winged control 9 are installed in vehicle rear cabinet, and battery 8 is used to power to each electrical appliance.Fly control 9 to be both used for
The processing of image is analyzed, and the signal output apparatus of each steering engine, electric device is also served as.Fly control 9 respectively with laser network transmitter
1, transfer 2, vision system 3, differential GPS 4, distance increasing unit 5, data transmission system 6, image delivering system 7, gas pedal
It is connected between 101 and brake pedal 111 by data line, make each component and flies the firm information transmission of control foundation, realize data
Interaction.The data line includes the power supply line worked normally for each component and the connection for information transmission, and two kinds of lines use
Anti-interference crust is wrapped up with three proofings crust is unified again after wrapping up respectively, can under rugged environment normal work
Make.
Throttle steering engine 102 is housed in gas pedal 101, the power output of automobile is provided；Equipped with brake on brake pedal 111
Steering engine 112 provides braking for vehicle.The brightness of laser projecting apparatus 11 is still visible outside room on daytime up to ten Wan Mingliu.Fly control
Speedometer is housed, the electric controller 12 in laser network transmitter 1 can be adjusted simultaneously and regard by flying control 9 when velocity variations on 9
Electric rotating shaft 32 in feel system.Fly steering-engine 23 of the control 9 into transfer 2 and issue turn signal, while flying control 9 and adjusting
Section laser projecting apparatus 11 projects the left-right rotary of electric rotating foundation 21 in the left-right position of grid, and adjustment vision system 2
Indexing is set, to ensure that automobile can equally hide positive and negative barrier when turning to.
The GPS route that unpiloted personnel's Material Transportation vehicle is planned according to requirement is transported by differential GPS 4.Object
Provide vehicle in the process of moving, laser projecting apparatus 11 issues laser network, detects goods and materials vehicle traveling speed when flying the speedometer in control 9
When degree becomes faster, it, which issues signal, is adjusted up electric controller 12, and the electric rotating shaft 32 of vision system 3 rotates clockwise,
33 focal length of binocular camera tunes up, and laser network range of exposures is farther.Goods and materials vehicle traveling speed is detected when flying the speedometer in control 9
When spending slack-off, it, which issues signal, adjusts electric controller 12 downwards, and 33 focal length of binocular camera is turned down, the electricity of vision system 3
Rotation, laser network range of exposures become smaller dynamic rotary shaft 32 counterclockwise.When, there are when positive and negative barrier, binocular is taken the photograph in driving path
Different previous deviations or breaking effect can occur for the grid as captured by first 33, occur when flying the shooting picture that control 9 detects
After this effect, the size and location of target obstacle is determined by analyzing, and is flown 9 control throttle steering engine 102 of control and is received oil, brake rudder
Machine 112 brakes, and steering-engine 23 turns to；While 23 turn signal of steering engine issues, winged control 9, which can also issue signal, makes projection
Grid and the rotating base of binocular camera 33 31 deflect respective angles to guarantee that vehicle can also be found in time when turning to
And avoiding barrier, the passage of smooth safety.
It in driving path, repeats the above process, unpiloted personnel's Material Transportation vehicle can be made smoothly to arrive at the destination,
Logistics support personnel are rescued from hazardous environment, conveniently all kinds of goods and materials can be transported in battleground, realize
It is unimpeded safe unmanned.
Claims (6)
1. a kind of unpiloted personnel's Material Transportation vehicle characterized by comprising laser network transmitter, transfer, view
Feel system, differential GPS, distance increasing unit, data transmission system, image delivering system, battery, winged control, gas pedal and brake are stepped on
Plate；Laser network transmitter is located in front cover, and transfer is installed on the steering wheel；Vision system, differential GPS, distance increasing unit,
Data transmission system and image delivering system are arranged successively, and are located at car body top, antenna is housed on differential GPS；Battery and fly
Control is installed in vehicle rear cabinet；Throttle steering engine is housed in gas pedal；Equipped with brake steering engine on brake pedal；Fly in control equipped with speed
Degree meter；It is winged control respectively with laser network transmitter, transfer, vision system, differential GPS, distance increasing unit, data transmission system,
It is connected between image delivering system, gas pedal and brake pedal by data line.
2. a kind of unpiloted personnel's Material Transportation vehicle as described in claim 1, which is characterized in that the laser network hair
Emitter includes laser projecting apparatus and electric controller；Laser projecting apparatus is mounted on electric controller, the brightness of laser projecting apparatus
More than 100,000 frees flow, laser projecting apparatus projectional angle is adjustable.
3. a kind of unpiloted personnel's Material Transportation vehicle as described in claim 1, which is characterized in that the transfer packet
It includes lateral steering engine mounting and fixing support, longitudinal steering engine mounting and fixing support, steering-engine mounting and fixing support and steering engine, three and is welded on one
It rises and is welded and fixed with car body, connected between steering engine and vehicle steering wheel steering shaft by shaft joint.
4. a kind of unpiloted personnel's Material Transportation vehicle as described in claim 1, which is characterized in that the vision system packet
Include electric rotating foundation, electric rotating shaft and binocular camera；Electric rotating foundation is directly installed on roof, is equipped with thereon
Electric rotating shaft, binocular camera are mounted in electric rotating shaft, and camera can be rotated up and down with rotary shaft.
5. a kind of unpiloted personnel's Material Transportation vehicle as described in claim 1, which is characterized in that be equipped in the winged control
Speedometer.
6. a kind of unpiloted personnel's Material Transportation vehicle as described in claim 1, which is characterized in that transport vehicle passes through difference
The GPS route of GPS planning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910634255.6A CN110427024A (en) | 2019-07-15 | 2019-07-15 | A kind of unpiloted personnel's Material Transportation vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910634255.6A CN110427024A (en) | 2019-07-15 | 2019-07-15 | A kind of unpiloted personnel's Material Transportation vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110427024A true CN110427024A (en) | 2019-11-08 |
Family
ID=68410604
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910634255.6A Pending CN110427024A (en) | 2019-07-15 | 2019-07-15 | A kind of unpiloted personnel's Material Transportation vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110427024A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115583249A (en) * | 2022-12-13 | 2023-01-10 | 深圳佑驾创新科技有限公司 | Modular automatic driving hardware system |
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| CN202022172U (en) * | 2010-12-31 | 2011-11-02 | 王贤志 | Unpiloted carrier vehicle |
| CN205034051U (en) * | 2015-04-20 | 2016-02-17 | 吉林大学 | Road surface monitoring system based on laser net |
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| CN207571584U (en) * | 2017-12-26 | 2018-07-03 | 西京学院 | Fly the control system of the unmanned cruise vehicle of control based on APM |
| CN108279680A (en) * | 2018-03-13 | 2018-07-13 | 河北工业大学 | A kind of agricultural machinery collecting cart intelligence system for tracking based on GPS and visual identity |
| CN108883788A (en) * | 2016-01-13 | 2018-11-23 | 日立汽车系统株式会社 | Steering gear |
| CN109229200A (en) * | 2018-09-10 | 2019-01-18 | 东南大学 | A kind of general steering system of unmanned equation motorcycle race and control method |
-
2019
- 2019-07-15 CN CN201910634255.6A patent/CN110427024A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202022172U (en) * | 2010-12-31 | 2011-11-02 | 王贤志 | Unpiloted carrier vehicle |
| CN205034051U (en) * | 2015-04-20 | 2016-02-17 | 吉林大学 | Road surface monitoring system based on laser net |
| CN108883788A (en) * | 2016-01-13 | 2018-11-23 | 日立汽车系统株式会社 | Steering gear |
| CN106950964A (en) * | 2017-04-26 | 2017-07-14 | 北京理工大学 | Nobody electronic university student's equation motorcycle race and its control method |
| CN207264194U (en) * | 2017-07-31 | 2018-04-20 | 张天雷 | Container truck automated driving system |
| CN207571584U (en) * | 2017-12-26 | 2018-07-03 | 西京学院 | Fly the control system of the unmanned cruise vehicle of control based on APM |
| CN108279680A (en) * | 2018-03-13 | 2018-07-13 | 河北工业大学 | A kind of agricultural machinery collecting cart intelligence system for tracking based on GPS and visual identity |
| CN109229200A (en) * | 2018-09-10 | 2019-01-18 | 东南大学 | A kind of general steering system of unmanned equation motorcycle race and control method |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115583249A (en) * | 2022-12-13 | 2023-01-10 | 深圳佑驾创新科技有限公司 | Modular automatic driving hardware system |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191108 |
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