CN112829536B - Unmanned system with rollover prevention function - Google Patents

Abstract

The invention discloses an unmanned system with a rollover prevention function, which comprises a rollover prevention actuating mechanism, a control module, a gas generation module and a sensor unit, wherein the rollover prevention actuating mechanism is symmetrically arranged at two sides of a vehicle frame and comprises a gas chamber shell, the gas chamber shell is fixedly arranged on the vehicle frame, a sliding box is arranged in the gas chamber shell in a sliding mode through a transverse sliding channel, the upper part of the gas chamber shell close to the outer side of a vehicle body is provided with a gas jet, the sliding box is connected with and drives a translation transmission mechanism to translate, the translation transmission mechanism is also connected with one end of a transfer connecting rod and drives the translation transmission mechanism and the gas jet opening and closing mechanism to move together with the sliding box, a support ejection mechanism is arranged on the gas chamber shell, and the gas generation module is arranged in the sliding box. The invention achieves the anti-rollover effect superior to the prior art by continuously executing various anti-rollover actions, and simultaneously, the lateral actual extension length of the ejected support is smaller, thereby reducing the probability of secondary harm and simultaneously having better anti-rollover effect.

Description

Unmanned system with rollover prevention function

Technical Field

The invention belongs to the field of automatic driving systems, and relates to an unmanned driving system with a rollover prevention function.

Background

At present, in the technical field of automatic driving, methods such as active suspension, differential braking, active steering and chassis integrated control are mainly adopted for the side-tipping accident possibly caused by turning to realize the adjustment of the vehicle side-tipping angle, so as to achieve the purpose of preventing side-tipping. In the method, the lateral acceleration and the roll angle are required to be detected, and the transverse load transfer rate is calculated to be used as a judgment index for starting each rollover prevention actuating mechanism. However, when the wheels are laterally obstructed by low terrain obstacles in the turning process, the transverse load transfer rate is increased sharply, and at the moment, an actuating mechanism capable of rapidly applying a aligning moment opposite to the rollover direction is required to react immediately when the measured roll angle reaches a threshold value, so that the rollover-preventing action cannot be realized in time when the wheels are rolled over.

At present, the modes of generating aligning moment include air injection recoil, gravity center movement and auxiliary support of an injection support. Wherein the auxiliary stay can continuously provide with the supporting force that turns on one's side opposite direction, can realize better under suitable support angle and prevent the effect of turning on one's side, but the shortcoming is that the supporter that jets out is because the angle and the distance of jetting out are difficult for confirming to cause the secondary to the car safety of traveling easily. When the automobile has the risk of side turning, the automobile body starts the ejection of the support object at a certain side inclination angle, and at the moment, the support point of the auxiliary support is close to the side turning fulcrum on the obstacle due to the fact that the ejection position is low, and the aligning moment is small. Secondly, when the roll angle is larger, the included angle between the launching direction of the support and the transverse direction of the automobile needs to be smaller, otherwise, the support point can further approach the side-turning fulcrum, but the transverse extending distance of the support after the support is ejected is larger, and the support easily collides with people or objects during the movement of the automobile after the automobile is rightly returned, so that secondary damage is caused.

In addition at present in the driving system who adopts multiple mode to prevent turning on one's side, adopt a plurality of actuating mechanism independent control more, this is because these actuating mechanism prevent turning on one's side the action difference, it realizes each action in proper order with simpler control mode through unified power supply to be difficult to integrate, this leads to many actions to prevent that the structure of turning on one's side needs a plurality of power devices and independent starting drive to realize, this can increase each actuating mechanism's on the frame the degree of difficulty of arranging, the complexity of control has been improved, at the quick in-process of turning on one's side that meets barrier and leads to, it leads to a plurality of actions of preventing turning on one's side to fail in time to be carried out in proper order to take place control deviation easily, the effect of preventing turning on one's side has been influenced.

Disclosure of Invention

The invention aims to provide an unmanned system with a rollover prevention function, and aims to solve the technical problems that in the prior art, an unmanned system integrating a plurality of rollover prevention mechanisms such as air injection mechanisms, gravity center adjustment mechanisms, auxiliary supports and the like is lacked, so that the rollover prevention mechanisms are difficult to arrange, and after a support object of the auxiliary supports is ejected in the rollover prevention process, a supporting point is too close to a rollover fulcrum or the lateral extension distance is longer, so that the rollover prevention reliability and the later automobile running safety are influenced.

The unmanned system with the anti-rollover function comprises an anti-rollover actuating mechanism, a control module, a gas generation module and a sensor unit, wherein the sensor unit is used for detecting the roll angle and the lateral acceleration of a vehicle body, the anti-rollover actuating mechanism is symmetrically arranged on two sides of the vehicle frame and comprises an air chamber shell, a sliding box, a gravity transfer mechanism, an air injection opening and closing mechanism, a translation transmission mechanism and a support ejection mechanism, the air chamber shell is fixedly arranged on the vehicle frame, the sliding box is arranged in the air chamber shell in a sliding way through a transverse sliding channel, the upper part of the air chamber shell, which is close to the outer side of the vehicle body, is provided with an air nozzle, the air injection opening and closing mechanism is arranged outside the air chamber shell and used for opening and closing the air nozzle, the gravity transfer mechanism comprises a transfer connecting rod connected between the vehicle frame and a vehicle axle, and the gravity transfer mechanism further comprises a mounting seat fixed below a cross beam of the vehicle frame, the utility model discloses a pneumatic control automobile air chamber, including air chamber casing, transfer connecting rod, support, air generation module, air injection opening and closing mechanism, transfer connecting rod upper portion be equipped with the mount pad rotates the connecting rod axle of connecting, the slip box is connected and is driven the translation of translation drive mechanism, and translation drive mechanism still connects transfer connecting rod one end with the jet-propelled opening and closing mechanism drive two is along with the box that slides moves together, the support jets out the mechanism and establishes on the air chamber casing, gas generation module locates in the slip box, the slip box both ends all are equipped with the electrically operated gate, control module judges the direction that the car turned according to lateral acceleration to the electrically operated gate of the same one side of inboard direction is for the closed state and the electrically operated gate of opposite side is for the open mode when control and turn.

Preferably, the two ends of the transverse sliding channel are respectively provided with an inner limiting structure close to the center of the vehicle body and an outer limiting structure far away from the center of the vehicle body for preventing the sliding box from moving, the sliding box is located at a position closer to the inner limiting structure before the rollover prevention executing mechanism is not started, the rotation amplitude of the transfer connecting rod when the sliding box moves to the outer limiting structure is larger than that when the sliding box moves to the inner limiting structure, and the gravity center of the vehicle body moves towards the oblique lower side of the sliding direction of the sliding box.

Preferably, the translation transmission mechanism comprises a sliding rod which is transversely arranged to penetrate into the air chamber shell to enter the transverse sliding channel, a guide sleeve fixed on the frame, a driving frame fixed below the sliding rod and a driving shaft connected with the air injection opening and closing mechanism, the sliding rod and the transverse sliding channel are in the same direction and are fixedly connected to the sliding box, and the driving frame comprises a driving rod which extends out in the same direction as the frame cross beam and is connected with the upper end of the transfer connecting rod.

Preferably, the air chamber casing leans on the outer one side of automobile body to be the semicircle cambered surface, the arc guide rail is fixed the upper portion outside of semicircle cambered surface, jet-propelled closing mechanism includes arc guide rail, sliding connection and can seal after rotating on the arc guide rail the arc shrouding, the rotation of air jet are connected the rotation piece and the rotation connecting rod of air chamber casing front and back end terminal surface, rotation connecting rod one end with rotate the piece and rotate and connect and the other end is equipped with the bar spout that extends along self length direction, the drive shaft with bar spout sliding connection just can rotate relatively, the arc shrouding with rotate a fixed connection, under initial condition, the drive shaft is located the bar spout is close to automobile body center one end.

Preferably, slide channel includes guide rail and passageway casing, interior limit structure does the air chamber casing leans on the inboard apron of automobile body, be equipped with on the apron with sliding rod sliding fit establishes the slip cap of sealing washer in, outer limit structure is for locating the tip bulge of automobile body center one end is kept away from to the guide rail, passageway casing one end contact apron and the other end are sealed through the destructible shrouding that can be washed out by high-pressure gas, destructible shrouding distance the distance of tip bulge is greater than slide box length.

Preferably, the lower part that the air chamber casing leaned on the automobile body outside is equipped with out the mouth, the supporter jets out the mechanism and includes the supporter, the fixed knot who unlocks constructs and prevents the reverse gliding guide structure of supporter, the supporter includes the bracing piece and fixes the end plate of bracing piece tip, it passes through to jet out the mouth fixed knot constructs the end plate, guide structure fixes on the air chamber casing and with the bracing piece is connected.

Preferably, the guide structure is including fixing sleeve pipe above the air chamber casing with locate the contrary structure of ending of sleeve pipe side, the bracing piece with the sleeve pipe slides and pegs graft, a plurality of contrary archs of ending have been laid along length direction to the bracing piece side, it is perpendicular to end bellied lower part for the inclined plane and upper portion to end contrary the plane of length direction, it is including fixing to end contrary shell, the sliding connection of sleeve pipe side end stop plug connector and pressure spring in the shell, end the shell perpendicular to the sleeve pipe ends contrary bottom and be connected with between the plug connector the pressure spring, the plug connector stretches out the end and inserts the sleeve pipe and have with end contrary protruding matched with joint portion.

Preferably, the sliding box is provided with two driving devices for driving the electric door, each driving device comprises a door control motor, a gear mechanism and a lifting door plate, the lifting door plate is connected to two ends of the sliding box in a sliding mode, vertically arranged racks are fixed on the lifting door plate, each gear mechanism comprises a driving gear installed on the door control motor, a turning gear meshed with the driving gear and equal in size and a pair of transmission gears, the transmission gears are respectively meshed with the driving gear and the turning gear, and the racks on two sides of each gear mechanism are respectively meshed with the transmission gears on the corresponding sides.

The invention has the technical effects that: 1. the scheme is that the opening and closing of the electric doors on the two sides of the sliding box are adjusted in advance when the automobile turns, the gas generating device can be quickly started when the automobile body seriously heels, the rollover-preventing executing mechanism can sequentially finish the operation that the automobile frame is far away from a rollover fulcrum and the inclination angle of the automobile frame part is changed without extra control, gas injection recoil is carried out on one side of the rollover-preventing executing mechanism far away from the rollover fulcrum, and a series of actions such as auxiliary support is carried out on an injection support when the inclination angle of the automobile body side is further increased. Multiple anti-rollover actions are continuously executed to achieve an anti-rollover effect superior to that of the prior art. Meanwhile, the air injection recoil action is performed after the frame moves, so that the air injection position is far away from the side turning fulcrum, the generated aligning moment is larger, and the side turning prevention effect is better.

2. According to the scheme, the frame not only moves towards the side opposite to the side turning direction, but also changes towards the side opposite to the side turning direction in the inclination direction of the frame, so that the inclination angle of the frame towards the side turning direction is reduced, and the position of the anti-side-turning actuating mechanism located in the same direction as the side turning direction is higher. Therefore, when the support is ejected, the ejection starting position is higher, so that the support is farther from the side-turning fulcrum position than the prior art. Meanwhile, when the support is ejected, the actual inclination angle of the vehicle body is smaller, so that the ejection direction of the support can have a larger downward inclination angle relative to the transverse direction of the vehicle body. Like this when the automobile body returns the positive back, the support thing side that jets out is to actual extension length less, when reducing the chance of taking place the secondary nuisance, prevents that the effect of turning on one's side is also better.

3. The scheme controls the sequence of each specific anti-rollover action and selects different left and right anti-rollover actions to be realized through the structure of the anti-rollover executing mechanism, so that the control mode of the scheme is greatly simplified, rollover can be avoided in multiple modes through a series of actions in a short time after the rollover occurs, and the problem of disordered sequence of the anti-rollover actions caused by control signal errors is solved.

4. According to the scheme, the actuating mechanisms of multiple anti-rollover modes are integrated into one anti-rollover actuating mechanism, power devices for providing power for different anti-rollover actions are reduced, three anti-rollover actions are sequentially and continuously driven by the gas generating device in a short time, the arrangement of the anti-rollover actuating mechanism is more convenient, the continuity of the actuating actions is improved, and the stability of the anti-rollover continuous actions is guaranteed.

Drawings

Fig. 1 is a schematic structural diagram of an unmanned system with a rollover prevention function in normal driving.

Fig. 2 is a schematic structural view of the structure shown in fig. 1 when the gas generator is started after the rollover risk occurs.

Fig. 3 is a schematic view of the structure of fig. 1 when the auxiliary support is ejected after the rollover risk occurs.

Fig. 4 is a schematic structural view of the rollover prevention actuator in the structure shown in fig. 1.

Fig. 5 is a front view of the structure shown in fig. 4.

Fig. 6 is a cross-sectional view in the direction of a-a of the structure shown in fig. 5.

FIG. 7 is a schematic view showing the structure of the interior of the air cell housing in the structure shown in FIG. 6.

Fig. 8 is a cross-sectional view in the direction of B-B of the structure shown in fig. 5.

Fig. 9 is a cross-sectional view in the direction of C-C of the structure shown in fig. 5.

Fig. 10 is a schematic structural view of a guide structure in the structure shown in fig. 4.

Fig. 11 is a schematic structural view of the fixing structure in the structure shown in fig. 4.

The labels in the figures are: 1. frame, 2, axle, 3, jet opening and closing mechanism, 31, arc guide rail, 32, arc sealing plate, 33, rotating piece, 34, rotating connecting rod, 35, strip-shaped sliding groove, 4, gravity center transferring mechanism, 41, transferring connecting rod, 42, mounting seat, 5, translation transmission mechanism, 51, guide sleeve, 52, sliding rod, 53, driving shaft, 54, driving frame, 55, driving rod, 6, support ejection mechanism, 61, supporting rod, 611, check projection, 62, guide structure, 621, sleeve, 622, check shell, 623, plug connector, 624, pressure spring, 63, end plate, 631, electric ejection device, 632, fixing support rod, 633, fixing shell, 7, air chamber shell, 71, jet opening, 72, cover plate, 73, semi-circular arc surface, 74, ejection opening, 8, transverse sliding channel, 81, channel shell, 82, breakable sealing plate, 83, channel guide rail, 84, 34, rotating piece, rotating connecting rod, 6, support ejection mechanism, 61, supporting rod, 611, check projection, and projection, 62, guide structure, 621, sleeve, 622, check shell, injection opening and injection opening of air chamber, End protruding part 9, sliding box 91, gas generating device 92, lifting door panel 93, door control motor 94 and gear mechanism.

Detailed Description

The following detailed description of the embodiments of the present invention will be given in order to provide those skilled in the art with a more complete, accurate and thorough understanding of the inventive concept and technical solutions of the present invention.

As shown in fig. 1 to 11, the present invention provides an unmanned system with rollover prevention function, which comprises a rollover prevention actuator, a control module, a gas generation module, and a sensor unit for detecting a roll angle and a lateral acceleration of a vehicle body. The rollover prevention actuating mechanisms are symmetrically arranged on two sides of the frame 1 and comprise an air chamber shell 7, a sliding box 9, a gravity transfer mechanism 4, an air injection opening and closing mechanism 3, a translation transmission mechanism 5 and a support ejection mechanism 6, wherein the air chamber shell 7 is fixedly arranged on the frame 1, the sliding box 9 is arranged in the air chamber shell 7 in a sliding way through a transverse sliding channel 8, an air injection port 71 is arranged at the upper part of the air chamber shell 7 close to the outer side of the vehicle body, the air injection opening and closing mechanism 3 is arranged outside the air chamber shell 7 and used for opening and closing the air injection port 71, the gravity transfer mechanism 4 comprises a transfer connecting rod 41 connected between the frame 1 and the vehicle axle 2, the sliding box 9 is connected with and drives the translation transmission mechanism 5 to translate, the translation transmission mechanism 5 is also connected with one end of the transfer connecting rod 41 and the air injection opening and closing mechanism 3 to drive the two to move together with the sliding box 9, the utility model discloses a support ejection mechanism 6, including support, air chamber casing 7, gas generation module, slip box 9 both ends all are equipped with the electrically operated gate, the both ends of horizontal slip passageway 8 are equipped with respectively and are close to the interior limit structure at automobile body center and keep away from the outer limit structure at automobile body center and be used for preventing slip box 9 motion, slip box 9 is in be located the nearer position of limit structure in the distance before the actuating mechanism that prevents turning on one's side does not start, control module judges the direction that the car turned according to lateral acceleration to the electrically operated gate of the same one side of inboard direction is for the closed condition and the electrically operated gate of opposite side is the open condition when control and turn, starts in proper order when the lateral inclination and the lateral acceleration of automobile body are greater than the threshold value gas generation module and unblock support ejection mechanism 6.

The gravity center shifting mechanism 4 further comprises a mounting seat 42 fixed below the cross beam of the frame 1, a link shaft rotatably connected with the mounting seat 42 is arranged at the upper part of the shifting link 41, the rotating amplitude of the shifting link 41 when the sliding box 9 moves to the outer limit structure is larger than that when the sliding box 9 moves to the inner limit structure, and the gravity center of the vehicle body moves towards the oblique lower direction of the sliding box 9.

The translation transmission mechanism 5 comprises a sliding rod 52 which is transversely arranged to penetrate through the air chamber shell 7 and enter the transverse sliding channel 8, a guide sleeve 51 which is fixed on the vehicle frame 1, a driving frame 54 which is fixed below the sliding rod 52 and a driving shaft 53 which is connected with the air injection opening and closing mechanism 3, the sliding rod 52 is in the same direction as the transverse sliding channel 8 and is fixedly connected to the sliding box 9, and the driving frame 54 comprises a driving rod 55 which extends in the same direction as the cross beam of the vehicle frame 1 and is connected with the upper end of the transfer connecting rod 41. A connecting shaft is fixed on the driving rod 55, an upper end guide groove extending along the length direction is formed in the upper end of the transfer connecting rod 41, and the connecting shaft is slidably connected with the upper end guide groove and can rotate relatively. The driving shafts 53 are fixed in pairs at both sides of the sliding rod 52 and are connected to the transfer links 41 at both sides, respectively.

Air chamber casing 7 is by the outer one side of automobile body for semicircle cambered surface 73, arc guide rail 31 is fixed the upper portion outside of semicircle cambered surface 73, jet-propelled closing mechanism 3 includes arc guide rail 31, sliding connection and can seal after rotating on the arc guide rail 31 the arc shrouding 32, the rotation of air jet 71 are connected the rotation piece 33 and the rotation connecting rod 34 of air chamber casing 7 front and back end terminal surface, rotate connecting rod 34 one end with rotate piece 33 and rotate and connect and the other end is equipped with the bar spout 35 that extends along self length direction, drive shaft 53 with bar spout 35 sliding connection and can rotate relatively, arc shrouding 32 with rotate piece 33 fixed connection, under initial condition, drive shaft 53 is located bar spout 35 is close to automobile body center one end.

Slide channel includes passageway guide rail 83 and passageway casing 81, interior limit structure does air chamber casing 7 leans on the inboard apron 72 of automobile body, be equipped with on the apron 72 with slide bar 52 sliding fit establishes the slip cap of sealing washer in, outer limit structure is for locating the tip bulge 84 of passageway guide rail 83 keeping away from automobile body center one end, passageway casing 81 one end contact apron 72 and the other end are sealed through the destructible shrouding 82 that can be washed out by high-pressure gas, destructible shrouding 82 distance the distance of tip bulge 84 is greater than slide box 9 length. The channel guide rail 83 is provided with a limiting protrusion for limiting the sliding box 9 at an initial position, and the limiting protrusion is located at two ends of the sliding box 9. The height of the limiting projection is small, and the limiting projection is provided with an arc angle, so that the air injection impulse generated when the gas generating device 91 is started can overcome the limiting effect of the limiting projection to enable the sliding box 9 to move along the channel guide rail 83.

The lower part that the air chamber casing 7 leaned on the automobile body outside is equipped with out mouthful 74, the supporter jets out mechanism 6 and includes the supporter, the fixed knot who unlocks constructs and prevents the reverse gliding guide structure 62 of supporter, the supporter includes bracing piece 61 and fixes the end plate 63 of bracing piece 61 tip, it passes through to go out mouthful 74 fixed knot constructs and connects end plate 63, guide structure 62 is fixed on the air chamber casing 7 and with bracing piece 61 is connected.

The fixing structure comprises a fixing shell 633 fixed at the center of the upper side of the end plate 63, a fixing support rod 632 and an electric ejector 631, wherein a fixing groove is arranged at the inner side of the side wall of the ejection hole 74, the electric ejector 631 is installed in the fixing groove and extends out of the center of the end plate 63, one end of the fixing support rod 632 is connected to the telescopic end of the electric ejector 631, and the other end of the fixing support rod 632 is inserted into the fixing shell 633.

The guide structure 62 comprises a sleeve 621 fixed on the air chamber housing 7 and a check structure arranged on the side surface of the sleeve 621, the support rod 61 is inserted into the sleeve 621 in a sliding manner, a plurality of check protrusions 611 are arranged on the side surface of the support rod 61 along the length direction, the lower portions of the check protrusions 611 are inclined planes, the upper portions of the check protrusions are perpendicular to the plane of the length direction, the check structure comprises a check shell 622 fixed on the side surface of the sleeve 621, a plug connector 623 and a pressure spring 624, the plug connector 623 is connected into the check shell 622 in a sliding manner, the check shell 622 is perpendicular to the sleeve 621, the pressure spring 624 is connected between the bottom of the check shell 622 and the plug connector 623, and the extending end of the plug connector 623 is inserted into the sleeve 621 and is provided with a combination portion matched with the check protrusions 611.

The sliding box 9 is provided with a driving device for driving the two electric doors, the driving device comprises a door control motor 93, a gear mechanism 94 and a lifting door plate 92, the lifting door plate 92 is connected to two ends of the sliding box 9 in a sliding manner, vertically arranged racks are fixed on the lifting door plate 92, the gear mechanism 94 comprises a driving gear installed on the door control motor 93, a direction changing gear meshed with the driving gear and equal in size and a pair of transmission gears, the transmission gears are respectively meshed with the driving gear and the direction changing gear, and the racks on two sides are respectively meshed with the transmission gears on the corresponding sides. The frame 1 and the axle 2 are connected by a spring, at this time, the transfer connecting rod 41 can adopt a telescopic rod and is composed of an inner rod and an outer rod which are connected in an inserting way, and an electric ejection device 631 is arranged between the inner rod and the outer rod.

The air chamber shell 7 can be further provided with other air outlets which are communicated, air paths communicated with the air outlets are controlled by a switch valve, and the air outlets are arranged at positions which do not influence the stability of the vehicle when exhausting, such as the top of the vehicle or two sides of the vehicle which are symmetrically arranged. Thus, if the exhaust port is opened without ejection of the support after the vehicle is returned to a stable state, the high-pressure gas in the gas chamber case 7 on the side of the former roll pivot can be exhausted through the exhaust port.

When the invention is used, a control module of the system firstly detects the roll angle and the lateral acceleration when turning, calculates the transverse load transfer rate by combining information such as vehicle speed and the like, judges whether the risk of side turning exists or not, and automatically controls the turning angle and the turning speed by using an ESP system (an electronic stability program) to prevent the side turning. At the moment, the turning direction is judged according to the direction of the lateral acceleration, and the electric door on one side, which is the same as the inner side direction in the turning process, is controlled to be in a closed state, and the electric door on the other side is controlled to be in an open state, so that preparation is made for the operation of the rollover prevention actuating mechanism.

When the automobile turns, due to terrain change, the side faces of wheels are hindered by short obstacles when the automobile turns, the transverse load transfer rate is increased sharply, the turning speed is caused to be in a dangerous range, the risk of side turning is caused, when the automobile body rolls to a certain angle, the roll angle is not large at the moment, but the lateral acceleration is still large, the risk of side turning is caused, and the control module immediately and simultaneously starts the gas generation modules in the side turning prevention actuating mechanisms at the two sides. The gas generation module starts to generate a large amount of gas by chemical reaction, the gas is ejected from the electrically operated gate toward the outside direction at the time of turning, and the slide cassette 9 is thus slid in the lateral slide passage 8.

In the anti-rollover actuator positioned in the inner side direction during turning, namely in the anti-rollover actuator positioned on the side opposite to the rollover direction, the sliding box 9 slides towards the side close to the outer side of the vehicle body until being blocked by the end part protruding part 84, the translation transmission mechanism 5 moves along the side opposite to the rollover direction in the transverse direction of the vehicle frame 1, and the transfer connecting rod 41 rotates. While the drive shaft 53 is moved in the bar-shaped chute 35 in the vehicle body outside direction, the rotation of the rotary member 33 is not caused by the movement because the drive shaft 53 is located at the end of the bar-shaped chute 35 in the initial state, and the air outlet 71 of the air chamber housing is still in the open state in the initial state.

In the anti-rollover actuator located in the outer side direction during turning, i.e., in the anti-rollover actuator located on the same side as the rollover direction, the slide box 9 slides toward the inner side of the vehicle body until being blocked by the cover plate 72, the translation transmission mechanism 5 moves along the transverse direction of the vehicle frame 1 toward the side opposite to the rollover direction, and the transfer link 41 rotates, but the rotation angle of the transfer link 41 is smaller because the movement distance of the side slide box 9 is shorter than that of the other side. This results in that the frame 1 not only moves to the side opposite to the rollover direction, but also the tilt direction of the frame 1 changes to the side opposite to the rollover direction, the tilt angle of the frame 1 towards the rollover direction is reduced, and the position of the rollover prevention actuator located in the same direction as the rollover direction is also higher. This makes the angle and position of the subsequent ejection of the support appropriate. Meanwhile, since the driving shaft 53 is located at the end of the strip-shaped sliding chute 35 in the initial state, when the driving shaft 53 moves along with the sliding box 9, the driving shaft 53 will pull the rotating link 34, and the air injection opening and closing mechanism 3 will be driven to rotate. When the slide box 9 is stopped by the cover plate 72, the arc-shaped closing plate 32 is rotated to close the air outlet 71.

When the air pressure in the passage housing 81 is sufficiently large, the slide cassette 9 has moved to the end in the passage housing 81, completing the one-side closure of the air ejection port 71. When the sliding box 9 close to the inner side of the turning moves to one end with the breakable sealing plate 82, the pressure generated by the high-pressure gas breaks the breakable sealing plate 82, the sliding box 9 moves out of the channel shell 81, the high-pressure gas enters the air chamber and is ejected out of the air ejection opening 71 at a high speed, a large amount of gas is ejected out of the air ejection opening 71 at a high speed to form an air ejection recoil effect, before the air ejection effect, the center of gravity of the vehicle body and the air ejection opening 71 of the vehicle frame 1 are moved to positions farther away from a side turning fulcrum due to the rotation of the transfer connecting rod 41, therefore, the recoil moment generated by air ejection is larger than the prior art, the power for firstly transferring the center of gravity and then ejecting air comes from the gas generating device 91, the sequence of the front and back of the action and the selection of different actions on the inner side and the outer side in the turning direction are realized by the structure of the side turning prevention execution mechanism, the power device and the control part are reduced, the control process is simplified, the difficulty of the mechanism arrangement and the control complexity are reduced, the device is suitable for the condition that the side turn is rapidly caused under the influence of obstacles.

After the position of the frame 1 is transferred and the jet-propelled recoil is carried out, the roll angle of the vehicle body is rapidly reduced, the transverse load transfer is reduced, if the roll angle is not increased any more and reaches a threshold value, the anti-rollover executing mechanism can be aligned without ejecting a support, and the vehicle can run normally. However, if the above operation still fails to prevent the vehicle body roll angle from increasing to the threshold value again, the control module immediately starts the electric ejector 631 after detecting the increase, and unlocks the fixed structure. At this time, the high-pressure gas is not present in the gas chamber after the gas injection, and the support located on the inner side in the turning direction is not ejected by the interference of the plug 623 in the guide structure 62 with respect to the support rod 61. The other side of the support is sealed by the front gas jet 71, a large amount of gas generated by the gas generating device 91 in the side air chamber shell 7 causes high pressure in the air chamber, when the fixing structure is released from fixing, the high pressure gas can immediately jet the end plate 63, the high pressure gas can generate certain recoil force by self jetting, more importantly, the jetted support is obliquely supported on the other side of the side turning fulcrum relative to the position of the vehicle body to generate continuous supporting effect, and the vehicle body is prevented from turning on the side.

Because the movement of the frame 1 leads to the movement of the gravity center of the vehicle body and the lifting of the position of the rollover prevention actuating mechanism close to the rollover direction, when the support is ejected, the ejection starting position is higher, and the support distance from the rollover fulcrum is farther than that of the prior art. Although the roll angle of the axle 2 is now greater, the actual vehicle body inclination is smaller and the ejection direction of the supports can therefore have a greater downward inclination relative to the transverse direction of the vehicle body. Like this when the automobile body returns the positive back, the support thing side that jets out is to actual extension length less, and the probability that receives side object pedestrian and hinder when later traveling is less, when reducing the probability of taking place the secondary harm, prevents also better effect of turning on one's side. Moreover, because the power for ejecting the support comes from the high-pressure gas generated before but sealed in the air chamber shell 7, the power device required by ejection is reduced, the integration level of the anti-rollover actuating mechanism is increased, and the arrangement is convenient. Meanwhile, the ejection device on one side does not need to be selected to be started during the control of the working process, and the support can be ejected before the air injection and the transfer of the frame 1 are triggered, so that the control mode is greatly simplified, the rollover can be avoided in various modes through a series of actions in a short time after the rollover occurs, and the problem that the sequence of the rollover-preventing actions is disordered due to control signal errors is solved.

While the invention has been described in connection with the drawings, it is to be understood that the invention is not limited to the precise arrangements and instrumentalities disclosed, but is intended to cover all modifications, equivalents and alternatives falling within the spirit and scope of the invention as defined by the appended claims.

Claims (8)

1. The utility model provides an unmanned driving system with prevent function of turning on one's side, is including preventing actuating mechanism, control module, gas generation module and the sensor unit of turning on one's side, the sensor unit is used for detecting the roll angle and the lateral acceleration of automobile body, its characterized in that: the rollover prevention executing mechanism is symmetrically arranged on two sides of a frame (1) and comprises an air chamber shell (7), a sliding box (9), a gravity center transferring mechanism (4), an air injection opening and closing mechanism (3), a translation transmission mechanism (5) and a support ejection mechanism (6), wherein the air chamber shell (7) is fixedly arranged on the frame (1), the sliding box (9) is arranged in the air chamber shell (7) in a sliding way through a transverse sliding channel (8), an air injection opening (71) is arranged on the upper part of the air chamber shell (7) close to the outer side of a vehicle body, the air injection opening and closing mechanism (3) is arranged on the air chamber shell (7) and is externally used for opening and closing the air injection opening (71), the gravity center transferring mechanism (4) comprises a transferring connecting rod (41) connected between the frame (1) and a vehicle axle (2), and the gravity center transferring mechanism (4) further comprises a mounting seat (42) fixed below a cross beam of the frame (1), the upper part of the transfer connecting rod (41) is provided with a connecting rod shaft which is rotationally connected with the mounting seat (42), the sliding box (9) is connected with and drives the translation transmission mechanism (5) to translate, the translation transmission mechanism (5) is also connected with one end of the transfer connecting rod (41) and the air injection opening and closing mechanism (3), the translation transmission mechanism (5) drives the transfer connecting rod and the air injection opening and closing mechanism (3) to move together with the sliding box (9), the support ejection mechanism (6) is arranged on the air chamber shell (7), the gas generation module is arranged in the sliding box (9), electric doors are arranged at two ends of the sliding box (9), the control module judges the turning direction of the automobile according to the lateral acceleration, and controls the electric door on one side in the same direction as the inner side in turning to be in a closed state and the electric door on the other side to be in an open state.

2. The unmanned system with the function of preventing rollover according to claim 1, characterized in that: the both ends of lateral sliding passageway (8) are equipped with respectively and are close to the interior limit structure at automobile body center and keep away from the outer limit structure at automobile body center, interior limit structure with outer limit structure is used for preventing slide box (9) motion, slide box (9) are in before preventing that side tumbling actuating mechanism does not start being located apart from interior limit structure nearer position, transfer connecting rod (41) are in slide box (9) move to rotation range when outer limit structure is greater than slide box (9) move to rotation range when interior limit structure, the focus of automobile body court the oblique below motion of slide box (9) slip direction.

3. The unmanned system with the function of preventing rollover according to claim 2, characterized in that: the translation transmission mechanism (5) comprises a sliding rod (52) which is transversely arranged to penetrate through the air chamber shell (7) to enter the transverse sliding channel (8), a guide sleeve (51) fixed on the frame (1), a driving frame (54) fixed below the sliding rod (52) and a driving shaft (53) connected with the air injection opening and closing mechanism (3), the sliding rod (52) and the transverse sliding channel (8) are in the same direction and fixedly connected to the sliding box (9), and the driving frame (54) comprises a driving rod (55) which extends out of the frame (1) in the same direction and is connected with the upper end of the transfer connecting rod (41).

4. The unmanned system with the function of preventing rollover according to claim 3, wherein: the air chamber shell (7) is provided with a semicircular arc surface (73) by one side outside the vehicle body, the air injection opening and closing mechanism (3) comprises an arc guide rail (31), an arc sealing plate (32) which is connected on the arc guide rail (31) in a sliding way and can seal the air injection port (71) after rotation, a rotating part (33) which is connected on the front end surface and the rear end surface of the air chamber shell (7) in a rotating way and a rotating connecting rod (34), the arc guide rail (31) is fixed on the outer side of the upper part of the semi-arc surface (73), one end of the rotating connecting rod (34) is rotatably connected with the rotating part (33) and the other end is provided with a strip-shaped sliding groove (35) extending along the length direction of the rotating connecting rod, the driving shaft (53) is connected with the strip-shaped sliding groove (35) in a sliding way and can rotate relatively, the arc-shaped sealing plate (32) is fixedly connected with the rotating piece (33), in the initial state, the driving shaft (53) is positioned at one end of the strip-shaped sliding chute (35) close to the center of the vehicle body.

5. The unmanned system with the function of preventing rollover according to claim 4, wherein: slide channel includes passageway guide rail (83) and passageway casing (81), interior limit structure does lean on in air chamber casing (7) apron (72) inboard of automobile body, be equipped with on apron (72) with sliding rod (52) sliding fit establishes the sliding sleeve of sealing washer in with, outer limit structure is for locating the tip bulge (84) of automobile body center one end is kept away from in passageway guide rail (83), passageway casing (81) one end contact apron (72) and the other end are sealed through destructible shrouding (82) that can be washed away by high-pressure gas.

6. The unmanned system with the function of preventing rollover according to claim 5, wherein: air chamber casing (7) are equipped with out mouth (74) by the lower part in the automobile body outside, the support jets out mechanism (6) and includes support, the fixed knot that can unblock constructs and prevents support reverse gliding guide structure (62), the support includes bracing piece (61) and fixes end plate (63) of bracing piece (61) tip, it passes through to go out mouth (74) fixed knot constructs and connects end plate (63), guide structure (62) are fixed on air chamber casing (7) and with bracing piece (61) are connected.

7. The unmanned system with the function of preventing rollover according to claim 6, wherein: the guide structure (62) comprises a sleeve (621) fixed on the air chamber shell (7) and a non-return structure arranged on the side surface of the sleeve (621), the supporting rod (61) is inserted with the sleeve (621) in a sliding way, a plurality of non-return bulges (611) are distributed on the side surface of the supporting rod (61) along the length direction, the lower portion of the non-return protrusion (611) is an inclined surface and the upper portion is a plane perpendicular to the length direction, the non-return structure comprises a non-return shell (622) fixed on the side surface of the sleeve (621), a plug connector (623) connected in the non-return shell (622) in a sliding way and a pressure spring (624), the non-return shell (622) is vertical to the sleeve (621), the pressure spring (624) is connected between the bottom of the non-return shell (622) and the plug connector (623), the extended end of the plug connector (623) is inserted into the sleeve (621) and has a combining part matched with the non-return bulge (611).

8. The unmanned system with the function of preventing rollover according to claim 7, wherein: the sliding box (9) is provided with two driving devices for driving the electric door, each driving device comprises a door control motor (93), a gear mechanism (94) and a lifting door plate (92), the lifting door plate (92) is connected to the two ends of the sliding box (9) in a sliding mode, vertically arranged racks are fixed on the lifting door plate (92), each gear mechanism (94) comprises a driving gear installed on the door control motor (93), a turning gear and a pair of transmission gears, the turning gears are meshed with the driving gear and the driving gear are equal in size, the transmission gears are respectively meshed with the driving gear and the turning gear, and the racks on the two sides are respectively meshed with the transmission gears on the corresponding sides.

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