CN114104124A - Unmanned vehicle, control system and control method of unmanned vehicle - Google Patents
Unmanned vehicle, control system and control method of unmanned vehicle Download PDFInfo
- Publication number
- CN114104124A CN114104124A CN202010870765.6A CN202010870765A CN114104124A CN 114104124 A CN114104124 A CN 114104124A CN 202010870765 A CN202010870765 A CN 202010870765A CN 114104124 A CN114104124 A CN 114104124A
- Authority
- CN
- China
- Prior art keywords
- unmanned vehicle
- height
- vehicle
- pod
- unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000012544 monitoring process Methods 0.000 claims description 41
- 230000007246 mechanism Effects 0.000 claims description 12
- 238000001514 detection method Methods 0.000 claims description 7
- 238000013461 design Methods 0.000 abstract description 9
- 230000008859 change Effects 0.000 description 8
- 230000003247 decreasing effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008093 supporting effect Effects 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
- 239000002023 wood Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D35/00—Vehicle bodies characterised by streamlining
- B62D35/005—Front spoilers
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D33/00—Superstructures for load-carrying vehicles
- B62D33/04—Enclosed load compartments ; Frameworks for movable panels, tarpaulins or side curtains
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
- Y02T10/82—Elements for improving aerodynamics
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses an unmanned vehicle, a control system and a control method of the unmanned vehicle. When the wind guide cover is in no load, because the wind guide cover does not bear goods, the windward area of the wind guide cover can be reduced to the greatest extent, the wind guide cover is reduced to the lowest height, and the wind resistance is reduced to the greatest extent; when the goods are carried, the air guide sleeve can be controlled to rise, so that the air guide sleeve becomes a windward surface which shields the goods carried at the rear part along the driving direction, and the air guide appearance design of the air guide sleeve can reduce the wind resistance when the goods are carried. Therefore, under the bearing and no-load working conditions, different windage resistances can be achieved, and no requirement is imposed on the placement model of rear goods, the model of a trailer for bearing the goods, or the model design of a container for bearing the goods, so that the wind-resistant and wind-resistant integrated box can adapt to various working conditions and vehicle types.
Description
Technical Field
The invention relates to the technical field of unmanned driving, in particular to an unmanned vehicle, a control system and a control method of the unmanned vehicle.
Background
In a conventional vehicle, in order to reduce wind resistance during traveling, a windward side of a cab is generally designed to be streamlined. With the development of the automatic driving technology, the unmanned vehicle becomes the future trend, and the current unmanned truck adopts a scheme similar to the traditional vehicle when designing for reducing the wind resistance, a vertical windward blocking surface is arranged at the position of a vehicle head, and the wind resistance of no-load and cargo is basically consistent; the second scheme is that aiming at the trailer, the unmanned vehicle is used as a tractor, a cab and a vertical windward side are not arranged, but the front side surface of the carriage of the trailer is shaped into the windward side, so that when the trailer is not connected, the unmanned vehicle can move with small wind resistance, but the common trailer does not have a streamline windward side, and when the trailer is connected with the unmanned vehicle, the unmanned vehicle still has large wind resistance because the unmanned vehicle does not have the streamline vertical windward side, so that the unmanned vehicle can not be suitable for the common trailer.
Disclosure of Invention
The scheme provides an unmanned vehicle, and the unmanned vehicle is provided with a cab, the unmanned vehicle comprises a flow guide cover arranged on the head of a chassis of the unmanned vehicle, the front side surface of the flow guide cover forms the windward side of the unmanned vehicle, and the height of the flow guide cover can be adjusted.
Optionally, the pod includes multiple layers of the hood that can be expanded upward or folded downward to adjust the pod height increase or decrease.
Optionally, the air guide sleeve comprises a telescopic link mechanism, the telescopic link mechanism comprises a plurality of X-shaped telescopic link units connected in the height direction, and each layer of the cover body is connected with one telescopic link unit; the air guide sleeve further comprises a driving part, and the driving part drives one telescopic connecting rod unit to stretch so as to drive the plurality of layers of the cover body to be unfolded upwards or folded downwards.
Optionally, the telescopic link mechanism comprises two sets of telescopic link units connected along the height direction, the telescopic link units are arranged side by side along the front-rear direction, and the nodes corresponding to the telescopic link units are connected through connecting rods and are telescopic synchronously.
Optionally, the plurality of layers of the cover bodies are spliced after being unfolded to form the smooth windward side.
Optionally, the unmanned vehicle comprises a fixed cargo box, the height of which is adjustable; or the unmanned vehicle is a tractor, or a flat transport vehicle, or a car transport vehicle.
Optionally, the height adjustment device further comprises a control unit, and the control unit controls the height adjustment of the air guide sleeve according to the vehicle-mounted state of the unmanned vehicle or a received external control instruction.
Optionally, the unmanned vehicle comprises at least one of a load monitoring unit, a trailer connection status monitoring unit, a cargo box status monitoring unit;
the on-vehicle state is acquired according to at least one of: the container state monitoring system comprises a load state monitored by the load monitoring unit, a trailer connection state monitored by the trailer connection state monitoring unit and a container state monitored by the container state monitoring unit.
Optionally, the height adjustment device further comprises a detection unit for detecting the state of the air guide sleeve, and the control unit controls the height adjustment of the air guide sleeve by combining the detected state of the air guide sleeve.
The present invention also provides a control system for an unmanned vehicle, comprising the unmanned vehicle according to any one of the fifth to ninth aspects; the unmanned vehicle monitoring system further comprises an under-vehicle remote control unit and/or a background unit for monitoring the unmanned vehicle; the background unit can transmit corresponding control instructions to the control unit according to the acquired vehicle-mounted state of the unmanned vehicle, and the off-vehicle remote control unit can transmit corresponding control instructions to the control unit according to the vehicle-mounted state of the unmanned vehicle acquired on site.
The invention also provides a control method of the unmanned vehicle, the unmanned vehicle is provided with a cab, the head of a chassis of the unmanned vehicle is provided with a flow guide cover, the front side surface of the flow guide cover forms the windward side of the unmanned vehicle, and the height of the flow guide cover is adjusted according to the vehicle-mounted state.
Optionally, the pod is controlled to be raised to the highest level or the height of the pod is controlled to be the same as the cargo level when the unmanned vehicle is loaded, and the pod is controlled to be flush with the chassis or to be lowered to the lowest level when the unmanned vehicle is unloaded.
Optionally, the unmanned vehicle is loaded with cargo via a fixed cargo box, the height of the cargo box is adjustable, and the pod is controlled to lift and lower synchronously with the cargo box to maintain the same height.
Optionally, the vehicle-mounted state is obtained by at least one of the following modes:
obtaining through a background unit of the unmanned vehicle;
obtaining through field observation;
acquiring by monitoring the load state of the unmanned vehicle;
acquiring by monitoring the connection state of the trailer;
by monitoring the status of the cargo box.
The height of kuppe can adjust in this scheme. Therefore, when the unmanned vehicle carries cargo, the air guide sleeve can be controlled to rise, and when the unmanned vehicle is in no-load, the air guide sleeve can be controlled to fall. Therefore, when the unmanned vehicle is in no load, as goods are not loaded on the chassis of the unmanned vehicle, the windward area of the air guide sleeve can be reduced as much as possible, the air guide sleeve is reduced to the lowest height, and even the air guide sleeve can be controlled to be approximately flush with the chassis, so that the wind resistance can be reduced to the maximum extent; when the goods are carried, the air guide sleeve can be controlled to rise, so that the air guide sleeve becomes a windward surface which shields the goods carried at the rear part along the driving direction, and the air guide appearance design of the air guide sleeve can reduce the wind resistance when the goods are carried. Therefore, under the bearing and no-load working conditions, different windage resistances can be achieved, and no requirement is imposed on the placement model of rear goods, the model of a trailer for bearing the goods, or the model design of a container for bearing the goods, so that the wind-resistant and wind-resistant integrated box can adapt to various working conditions and vehicle types.
Drawings
FIG. 1 is a schematic diagram of one embodiment of an unmanned vehicle provided by the present invention;
FIG. 2 is a schematic view of an embodiment of the pod of FIG. 1;
FIG. 3 is a front view of the pod of FIG. 2;
FIG. 4 is a schematic view of the pod of FIG. 2 after folding;
FIG. 5 is a front view of FIG. 4;
FIG. 6 is a left side view of FIG. 5;
FIG. 7 is a flow chart illustrating a first exemplary embodiment of a method for controlling an unmanned vehicle according to the present invention;
FIG. 8 is a flow chart illustrating a second exemplary embodiment of a method for controlling an unmanned vehicle according to the present invention;
FIG. 9 is a flowchart of a third embodiment of a method of controlling an unmanned vehicle, according to the present invention;
FIG. 10 is a flow chart illustrating a fourth exemplary embodiment of a method for controlling an unmanned vehicle according to the present invention;
fig. 11 is a flowchart of a fifth embodiment of a method for controlling an unmanned vehicle according to the present invention.
The reference numerals in fig. 1-6 are illustrated as follows:
10-a chassis;
20-a flow guide sleeve; 201-a first cover; 202-a second cover; 203-a third enclosure;
30-a telescopic linkage; 301-a telescopic rod; 302-a connecting rod; 30 a-a pantograph linkage unit;
40-a driving cylinder;
50-bottom plate.
Detailed Description
In order to make the technical solutions of the present invention better understood by those skilled in the art, the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1, fig. 1 is a schematic diagram of an embodiment of the unmanned vehicle according to the present invention, wherein a dashed line indicates a height position of the pod after the pod is raised a certain distance.
The unmanned vehicle in this embodiment has no cab, that is, a cab for a driver to ride is not required to be provided, but related power equipment and other mechanisms for maintaining normal running of the vehicle are still required to be provided, and the unmanned vehicle belongs to the prior art and is not described again.
As shown in fig. 1, the unmanned vehicle includes a chassis 10, the chassis 10 is equipped with a running mechanism such as wheels, and a wind deflector 20 is provided on a head portion of the chassis 10, where the head portion is a head portion at an end facing a traveling direction with respect to the traveling direction, and theoretically, both ends of the chassis 10 can be traction ends, both of which may be the head portions described in the present embodiment. The front side surface of the pod 20 forms the windward side of the unmanned vehicle, and the front side surface is also a side surface facing the traveling direction and naturally becomes the windward side due to the traveling direction, and the pod 20 is required to be capable of becoming the windward side of the unmanned vehicle, that is, when the vehicle carries cargo, the pod 20 can shield the equipment above the chassis 10 and behind the pod 20 in the front-rear direction so that the pod 20 serves as the windward side of the unmanned vehicle.
Of particular concern is the ability to adjust the height of the pod 20 in this embodiment, with the arrows in fig. 1 showing the direction of the height adjustment up and down. Thus, the pod 20 may be controlled to be raised when the drone vehicle is loaded and to be lowered when empty. Therefore, when the unmanned vehicle is unloaded, as no goods are loaded on the chassis 10, the windward area of the air guide sleeve 20 can be reduced as much as possible, the air guide sleeve 20 is reduced to the lowest height, and even the air guide sleeve 20 can be controlled to be approximately flush with the chassis 10, so that the wind resistance can be reduced to the maximum extent; when the goods are loaded, the air guide sleeve 20 can be controlled to rise, so that the air guide sleeve becomes a windward surface which shields the goods loaded at the rear along the driving direction, and the air guide appearance design of the air guide sleeve 20 can reduce the wind resistance during the goods loading as much as possible. Therefore, under the bearing and no-load working conditions, different windage resistances can be achieved, and no requirement is imposed on the placement model of rear goods, the model of a trailer for bearing the goods, or the model design of a container for bearing the goods, so that the wind-resistant and wind-resistant integrated box can adapt to various working conditions and vehicle types.
The unmanned vehicle can be a tractor and can be connected with a trailer; or a bottom plate on the chassis 10 can be used for carrying goods, but the two ends of the transport vehicle without end plates, such as a vehicle which is provided with upright posts on two sides on the chassis 10 and used for transporting wood; alternatively, the cargo is carried directly on the floor of the chassis 10, such as a flat bed transport vehicle, tractor, car transport vehicle, etc.; alternatively, a cargo box may be provided on the chassis 10, and side panels and end panels of the cargo box may be detachable or foldable.
The height adjustment of the pod 20 is not particularly limited, and the pod 20 may have only two positions, i.e., raised to a maximum height corresponding to a loaded condition, or lowered to a minimum height corresponding to an unloaded condition. Of course, the height adjustment of the pod 20 may also be more flexible, such as stepless or segmented adjustment according to the cargo height to be the same as the cargo height, thereby reducing the wind resistance as much as possible, the cargo height, i.e., the height of the cargo when the cargo is exposed, the cargo height, i.e., the height of the cargo when the cargo is carried in a compartment, such as a container, a carriage, a trailer, etc., and the cargo height, i.e., the height of the compartment. When the unmanned vehicle is unloaded, the air guide sleeve 20 can be even controlled to be flush with the chassis 10, for example, the air guide sleeve 20 is controlled to rotate around a horizontal axis to be overlapped on the top of the chassis 10, or the air guide sleeve 20 is controlled to descend to the space below the top of the chassis 10 under the condition that the thickness space of the chassis 10 allows, for example, part or all of the air guide sleeve 20 descends to the front part of the chassis 10, or all or part of the air guide sleeve 20 can be inserted into the chassis 10 to reduce the wind resistance when the unmanned vehicle is unloaded as much as possible.
The specific structure of the pod 20 may be understood with reference to fig. 2-6, where fig. 2 is a schematic structural view of one specific embodiment of the pod 20 of fig. 1; FIG. 3 is a front view of the pod 20 of FIG. 2; FIG. 4 is a schematic view of the pod 20 of FIG. 2 shown folded down; FIG. 5 is a front view of FIG. 4; fig. 6 is a left side view of fig. 5.
The air guide sleeve 20 may include multiple layers of cover bodies, where the multiple layers refer to two or more layers, specifically three layers in fig. 2, and are a first cover body 201, a second cover body 202, and a third cover body 203 from top to bottom after being unfolded, and the multiple layers of cover bodies may be unfolded upwards or folded downwards, and may be unfolded upwards or raised and folded downwards, so as to achieve the purpose of adjusting the height of the air guide sleeve 20.
As shown in fig. 2 to 6, the unmanned vehicle further includes a telescopic link mechanism 30 for driving the pod 20 to ascend and descend, the telescopic link mechanism 30 includes a plurality of X-shaped telescopic link units 30a connected in the height direction, as shown in fig. 3, each X-shaped telescopic link unit 30a is formed by two telescopic rods 301 hinged in the middle, the plurality of telescopic link units 30a are sequentially hinged from top to bottom, and each layer of cover body is connected with one telescopic link unit 30a in a hinged manner. A base plate 50 may be provided, the pod 20 is mounted to the base plate 50, and both end portions of the lowermost telescopic link unit 30a of the telescopic link mechanism 30 are hinged to the base plate 50. The hinge axes are all arranged in parallel and horizontally. The base plate 50 provides a mounting position for the pod 20, the telescopic link mechanism 30, and a driving part described below, and then may be mounted to the chassis 10 for easy mounting and dismounting as a whole, and obviously, it is also possible to mount directly to the chassis 10 without providing the base plate 50.
In order to achieve the further supporting and strengthening effect, as shown in fig. 2, the telescopic link mechanism 30 comprises two sets of telescopic link units 30a, the two sets of telescopic link units 30a are parallel and are arranged side by side along the front and back, each node of the two sets of telescopic link units 30a (namely, the middle node and the four end nodes of the telescopic link unit 30a) is connected through a connecting rod 302, the two sets of telescopic link units 30a are synchronously telescopic, after the three layers of cover bodies rise in fig. 2, the two sets of telescopic link units 30a are all accommodated and supported in the air guide sleeve 20 and serve as a framework of the air guide sleeve 20, and when the air guide sleeve 20 is driven to rise and fall, the air guide sleeve still has a good supporting effect. The air guide sleeve 20 mainly plays a role in guiding air and reducing wind resistance, so the air guide sleeve 20 can be in a structural design of a half housing in fig. 2, the front side is a streamline housing, the rear side is an open structure, the structure is simple and compact, materials are saved, and the telescopic connecting rod mechanism 30 is convenient to overhaul and replace.
The pod 20 further includes a driving portion, which drives one telescopic link unit 30a to extend and retract so as to drive the multi-layer pod to expand upward or fold downward, as shown in fig. 2, the driving portion is a driving cylinder 40 in this embodiment, which may be an oil cylinder or an air cylinder, or may be other structures, such as a motor. In fig. 2, the extension rod of the driving cylinder 40 is connected to a connecting rod 302, so that the two sets of telescopic link units 30a can be driven to extend and retract simultaneously.
As can be seen from fig. 4, the first cover body 201, the second cover body 202 and the third cover body 203 of the air guide sleeve 20 are all arranged in an arc shape, the three cover bodies are nested in sequence after being folded, the radial size of the cover bodies increases gradually from the innermost side to the outermost side, the cover body at the innermost side is also provided with a top, the three cover bodies are subjected to radian matching design, the three cover bodies are spliced in the height direction after rising to the highest side, and a relatively smooth windward side can be formed.
It is understood that the pod 20 is not limited to be elevated by the telescopic linkage 30, for example, the plurality of pods may be directly connected to the corresponding screws respectively to be separately driven to be elevated; the shape of the air guide sleeve 20 is not limited to the above shape, and a corresponding cover structure may be provided according to different windward flow line designs, and the plurality of covers may be lifted, unfolded, and lowered to realize height change, or may be realized by other movements, for example, the number and the combination mode of the covers are changed by rotation to realize height change, for example, taking fig. 2 as an example, when carrying goods, the first cover 201 and the second cover 203 may be turned downward to reduce the height. It should be understood that the multi-layer covering, regardless of the means for achieving the height variation adjustment, is preferably splittable to provide a smooth windward surface to minimize wind resistance.
The air guide sleeve 20 comprises a plurality of cover bodies, and the height change of the whole air guide sleeve 20 is realized through the position change of the cover bodies, so that the occupied height of the air guide sleeve 20 is reduced, and the height adjustment range of the air guide sleeve 20 is increased.
As described above, the unmanned vehicle can carry a variety of loads, including direct loading, trailer loading, and removable container type cargo box loading, and in these modes, when the chassis 10 is empty at no load, the height of the cowling 20 is lowered to allow the vehicle to travel with the lowest wind resistance, and in the case where the cargo is loaded by a fixed cargo box structure, the height of the cargo box can be lowered synchronously to achieve the lowest wind resistance in order to reduce the wind resistance since the cargo box is a compartment fixed above the chassis 10. At this time, the height of the cargo box can be adjusted in various ways, which can be understood by referring to the aforementioned air guide sleeve 20, for example, the side plates and the end plates of the cargo box can be arranged in a multi-layer plate structure capable of being lifted, unfolded or lowered, and the height can be adjusted in multiple stages, and the height can be flexibly adjusted according to the height of the cargo. When the cargo box has a roof, the roof may be connected to the innermost panel structure. Or the side plates, the end plates and the chassis 10 of the carriage, the roof and the side plates or the end plates can be hinged with each other, the adjacent side plates and the end plates can be detachably connected, and after the side plates, the end plates and the roof plate can be turned over, so that all parts of the carriage can be turned over and folded onto the chassis 10 when the carriage is unloaded. Can know, the mode that realizes the high lift adjustment of packing box has the multiple, and this scheme is no longer repeated.
For the above embodiments, the unmanned vehicle of the present disclosure is further provided with a control unit, and the control unit may control the height adjustment of the pod 20 according to the obtained vehicle-mounted state of the unmanned vehicle or by receiving an external control command, specifically, output the control command to the driving portion for controlling the pod 20 to ascend and descend, and in the embodiment of fig. 2, output the control command to the ascending and descending controller for driving the cylinder 40. The control unit may be an integrated module, i.e., a module for acquiring the vehicle-mounted state signal and receiving the external control command, and is integrated with a module for analyzing and outputting the control command to the driving portion, or may be a separate module.
Referring to fig. 7, fig. 7 is a flowchart illustrating a control method for an unmanned vehicle according to a first embodiment of the present invention.
The unmanned vehicle may further comprise a load monitoring unit. The load monitoring unit can monitor the load state of the unmanned vehicle and transmit the load state signal to the control unit, and then the control unit can acquire the vehicle-mounted state according to the load state, namely, the current unmanned vehicle can be judged to be a load-carrying working condition or an idle working condition according to the load state, when the load changes, the load is generally loaded or unloaded, namely, the idle working condition is changed into the load-carrying working condition, or the load working condition is changed into the idle working condition. Thereby outputting a corresponding height control command to the driving part and starting a lifting control program to perform the lifting of the pod 20. Further detailed analysis can be performed, the change of the load can be increased or partial goods can be unloaded under the loading working condition, and the current change of the loading height can be further judged according to the loading type and the change of the load, so that the specific height of the air guide sleeve 20 in lifting is controlled.
Meanwhile, a detection unit for detecting the height of the air guide sleeve 20 is arranged, the detected height of the air guide sleeve 20 can be transmitted to the control unit, before the lifting program is started, whether the current height meets the height matched with the current load is judged, if not, the lifting control is carried out, and therefore closed-loop control is carried out until the air guide sleeve 20 is lifted to the expected height position.
Referring to fig. 8, fig. 8 is a flowchart illustrating a control method for an unmanned vehicle according to a second embodiment of the present invention.
The unmanned vehicle may further comprise a trailer connection status monitoring unit. The trailer connection state monitoring unit can monitor the hanging connection state of the trailer, the trailer connection state is that the trailer is hung to the unmanned vehicle and not hung to the unmanned vehicle, the control unit can acquire the vehicle-mounted state according to the hanging signal, the unmanned vehicle is in the cargo-carrying working condition after being hung generally, and is in the no-load working condition after not being hung, the control unit can output a corresponding height control instruction to the driving part according to the signal detected by the trailer connection state monitoring unit, and a lifting control program is started to execute the lifting of the air guide sleeve 20. Meanwhile, a detection unit for detecting the height of the air guide sleeve 20 is arranged, and the detected height of the air guide sleeve 20 can be transmitted to the control unit, so that closed-loop control is performed until the air guide sleeve 20 is lifted to a desired height position.
Referring to fig. 9, fig. 9 is a flowchart illustrating a control method for an unmanned vehicle according to a third embodiment of the present invention.
The unmanned vehicle may further comprise a cargo box monitoring unit. For a cargo box which can be loaded and unloaded, the cargo box monitoring unit can monitor the quantity change of the cargo box and also can be the height of the cargo box, for a fixed cargo box with adjustable height, the height of the cargo box can be monitored, the control unit can acquire the vehicle-mounted state according to the state of the cargo box, the quantity of the cargo box is increased or decreased, the cargo carrying quantity is increased or decreased, the control unit can output a corresponding height control instruction to the driving part according to a signal detected by the cargo box state monitoring unit, and a lifting control program is started to execute the lifting of the air guide sleeve 20.
For a fixed cargo box with adjustable height, the cargo box monitoring unit can also monitor the cargo state in the cargo box, such as monitoring the cargo height, and then the cargo box and the air guide sleeve 20 can be synchronously controlled to lift according to the monitored height.
Similarly, a detection unit for detecting the height of the pod 20 may be provided, the detected height of the pod 20 may be transmitted to the control unit, before the lifting program is started, it is further determined whether the current height matches a height matching the current container state, and if not, lifting control is performed, so that closed-loop control is performed until the pod 20 is lifted to an expected height position.
Referring to fig. 10, fig. 10 is a flowchart illustrating a control method for an unmanned vehicle according to a fourth embodiment of the present invention.
The unmanned vehicle is generally provided with a background unit for remotely monitoring the unmanned vehicle, the background unit can call video information to observe the vehicle-mounted state, in addition, when loading or unloading is carried out, a loading and unloading robot or an operator can upload the loading and unloading information, so that the background unit can acquire the vehicle-mounted state of the unmanned vehicle, and data detected by a load monitoring unit, a trailer connection state monitoring unit and a container monitoring unit of the unmanned vehicle can be remotely transmitted to the background unit. The background unit can obtain the current vehicle-mounted state according to the data query, judge whether a control instruction needs to be output to the control unit according to the vehicle-mounted state, and output a corresponding height control instruction to the driving part of the air guide sleeve 20 by the control unit. The background unit can directly and automatically generate a corresponding control instruction to the control unit, and an operator can also determine whether to output the control instruction to the control unit through the background unit according to the acquired vehicle-mounted state data.
When the background unit controls the height of the pod 20 according to the data detected by the load monitoring unit, the trailer connection state monitoring unit, and the cargo box monitoring unit, the control unit does not directly control the height of the pod 20 according to the detected data. The two control modes can be set alternatively or simultaneously, and are selected by a user, and when one mode is started, the other mode is closed. The background unit and the control unit can also perform analysis simultaneously, and the control unit outputs a height control instruction to the driving part when the output control instructions are consistent. Namely, the background unit and the control unit can be mutually verified and redundant.
Similarly, a detection unit for detecting the height of the air guide sleeve 20 can be configured, the detected height of the air guide sleeve 20 can be transmitted to the control unit, before the lifting program is started, whether the current height is matched with the height required by the background unit or not is judged, and if the current height is not matched with the height required by the background unit, lifting control is performed, so that closed-loop control is performed until the air guide sleeve 20 is lifted to the expected height position.
Referring to fig. 11, fig. 11 is a flowchart illustrating a fifth embodiment of a method for controlling an unmanned vehicle according to the present invention.
The remote control unit under the vehicle can be matched with the unmanned vehicle, a worker can observe the unmanned vehicle on site, corresponding control instructions are output to the control unit through the remote control unit under the vehicle according to the vehicle-mounted state, and the control unit outputs height control instructions to the driving part.
When the working personnel are on site, the vehicle-mounted state can be observed more intuitively, for example, the unmanned vehicle is on a loading and unloading site, sometimes the working personnel are on site, and no person generally follows the unmanned vehicle in the transportation process, but when the unmanned vehicle has faults and temporarily stops or temporarily transfers goods in the middle, the working personnel can also carry out on-site observation, and the working personnel can directly output corresponding control instructions to the control unit by the vehicle-mounted remote control unit according to the vehicle-mounted state observed on site and then control the driving part. Similarly, the field observation mode and the multiple control modes can be mutually verified and mutually redundant, so that multiple control options are provided for users, and the height adjustment control of the air guide sleeve 20 can be more accurately adapted to the current vehicle-mounted working condition. Similarly, a detection unit for detecting the height of the air guide sleeve 20 can be arranged, the detected height of the air guide sleeve 20 can be transmitted to the control unit, before the lifting program is started, whether the current height is matched with the height required by the remote control unit under the vehicle is judged, if not, the lifting control is carried out, and therefore closed-loop control is carried out until the air guide sleeve 20 is lifted to the expected height position.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that it is obvious to those skilled in the art that various modifications and improvements can be made without departing from the principle of the present invention, and these modifications and improvements should also be considered as the protection scope of the present invention.
Claims (14)
1. Unmanned vehicle, unmanned cab, characterized in that, unmanned vehicle includes locating kuppe (20) of its chassis (10) head, the front side surface of kuppe (20) forms unmanned vehicle's windward side, the height of kuppe (20) can be adjusted.
2. The unmanned vehicle of claim 1, wherein the pod (20) comprises a multi-layered cover that can be expanded upward or folded downward to adjust the pod (20) height increase or decrease.
3. The unmanned vehicle of claim 2, wherein the pod (20) includes a pantograph linkage (30), the pantograph linkage (30) including a plurality of X-shaped pantograph linkage units (30a) connected in a height direction, one pantograph linkage unit (30a) being connected to each of the pods; the air guide sleeve (20) further comprises a driving part, and the driving part drives one telescopic connecting rod unit (30a) to stretch and retract so as to drive the plurality of layers of the cover bodies to be unfolded upwards or folded downwards.
4. The unmanned vehicle according to claim 3, wherein the telescopic link mechanism (30) comprises two sets of a plurality of telescopic link units (30a) connected in a height direction, the two sets of telescopic link units (30a) are arranged side by side in a front-rear direction, and corresponding nodes of the two sets of telescopic link units (30a) are connected by a connecting rod (302), and the two sets of telescopic link units (30a) are synchronously telescopic.
5. The unmanned vehicle of claim 2, wherein the plurality of layers of the covering are all deployed and then spliced together to form the smooth windward side.
6. The unmanned vehicle of claim 1, comprising a stationary cargo box, the cargo box being adjustable in height; or the unmanned vehicle is a tractor, or a flat transport vehicle, or a car transport vehicle.
7. The unmanned vehicle of any of claims 1-6, further comprising a control unit that controls height adjustment of the pod (20) based on an onboard state of the unmanned vehicle or received external control commands.
8. The unmanned vehicle of claim 7, comprising at least one of a load monitoring unit, a trailer connection status monitoring unit, a cargo box status monitoring unit;
the on-vehicle state is acquired according to at least one of: the container state monitoring system comprises a load state monitored by the load monitoring unit, a trailer connection state monitored by the trailer connection state monitoring unit and a container state monitored by the container state monitoring unit.
9. The unmanned vehicle of claim 7, further comprising a detection unit that detects a state of the pod (20), the control unit controlling the height adjustment of the pod (20) in conjunction with the detected state of the pod (20).
10. A control system for an unmanned vehicle, comprising the unmanned vehicle of any one of claims 7-9; the unmanned vehicle monitoring system further comprises an under-vehicle remote control unit and/or a background unit for monitoring the unmanned vehicle; the background unit can transmit corresponding control instructions to the control unit according to the acquired vehicle-mounted state of the unmanned vehicle, and the off-vehicle remote control unit can transmit corresponding control instructions to the control unit according to the vehicle-mounted state of the unmanned vehicle acquired on site.
11. Method for controlling an unmanned vehicle, the unmanned vehicle having no cab, characterized in that a pod (20) is provided at a head of a chassis of the unmanned vehicle, a front side surface of the pod (20) forms a windward side of the unmanned vehicle, and a height of the pod (20) is adjusted according to a vehicle-mounted state.
12. The method of controlling an unmanned vehicle according to claim 11, wherein the pod (20) is controlled to be raised to a maximum height or the pod (20) is controlled to have the same height as a cargo height when the unmanned vehicle is cargo, and the pod (20) is controlled to be flush with a chassis or to be lowered to a minimum when the unmanned vehicle is empty.
13. The method of controlling an unmanned vehicle as claimed in claim 11, wherein the unmanned vehicle is loaded by a fixed cargo box, the height of the cargo box is adjustable, and the pod (20) is controlled to be raised and lowered in synchronization with the cargo box to be maintained at the same height.
14. The control method of the unmanned vehicle according to any one of claims 11 to 13, wherein the on-vehicle state is acquired by at least one of:
obtaining through a background unit of the unmanned vehicle;
obtaining through field observation;
acquiring by monitoring the load state of the unmanned vehicle;
acquiring by monitoring the connection state of the trailer;
by monitoring the status of the cargo box.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010870765.6A CN114104124A (en) | 2020-08-26 | 2020-08-26 | Unmanned vehicle, control system and control method of unmanned vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010870765.6A CN114104124A (en) | 2020-08-26 | 2020-08-26 | Unmanned vehicle, control system and control method of unmanned vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114104124A true CN114104124A (en) | 2022-03-01 |
Family
ID=80374186
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010870765.6A Pending CN114104124A (en) | 2020-08-26 | 2020-08-26 | Unmanned vehicle, control system and control method of unmanned vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114104124A (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20020047964A (en) * | 2000-12-14 | 2002-06-22 | 류정열 | Wind deflector having function of controlling the height thereof for vehicles |
| WO2013117539A1 (en) * | 2012-02-09 | 2013-08-15 | Scania Cv Ab | An air guiding device and a method of reducing the air resistance of a ground vehicle |
| CN104386146A (en) * | 2014-09-30 | 2015-03-04 | 武汉理工大学 | Vehicle air deflector characterized by automatic adjustment of height |
| CN205524530U (en) * | 2016-05-05 | 2016-08-31 | 栾晓亮 | A kuppe that is used for outer top surface of trailer driver's cabin |
| CN206374846U (en) * | 2016-12-09 | 2017-08-04 | 北汽福田汽车股份有限公司 | A kind of water conservancy diversion closure assembly and vehicle |
| CN206485409U (en) * | 2017-03-03 | 2017-09-12 | 吉林大学 | Windage device detachably drops in a kind of motor wagon suitable for windy section |
| CN206826779U (en) * | 2017-06-28 | 2018-01-02 | 长城汽车股份有限公司 | vehicle air dam and vehicle |
| CN110194095A (en) * | 2019-06-28 | 2019-09-03 | 北京机械设备研究所 | A kind of the automatic Pilot lorry and automatic Pilot control method of no driver's cabin |
| CN209553333U (en) * | 2019-02-01 | 2019-10-29 | 陕西重型汽车有限公司 | A kind of pod intelligent regulating system and be self-regulated pod and vehicle |
| CN110949549A (en) * | 2019-12-10 | 2020-04-03 | 广州小鹏汽车科技有限公司 | Variable-height guide plate device and vehicle |
| FR3089942A1 (en) * | 2018-12-17 | 2020-06-19 | Valeo Systemes Thermiques | Deflector device for motor vehicle wheel |
-
2020
- 2020-08-26 CN CN202010870765.6A patent/CN114104124A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20020047964A (en) * | 2000-12-14 | 2002-06-22 | 류정열 | Wind deflector having function of controlling the height thereof for vehicles |
| WO2013117539A1 (en) * | 2012-02-09 | 2013-08-15 | Scania Cv Ab | An air guiding device and a method of reducing the air resistance of a ground vehicle |
| CN104386146A (en) * | 2014-09-30 | 2015-03-04 | 武汉理工大学 | Vehicle air deflector characterized by automatic adjustment of height |
| CN205524530U (en) * | 2016-05-05 | 2016-08-31 | 栾晓亮 | A kuppe that is used for outer top surface of trailer driver's cabin |
| CN206374846U (en) * | 2016-12-09 | 2017-08-04 | 北汽福田汽车股份有限公司 | A kind of water conservancy diversion closure assembly and vehicle |
| CN206485409U (en) * | 2017-03-03 | 2017-09-12 | 吉林大学 | Windage device detachably drops in a kind of motor wagon suitable for windy section |
| CN206826779U (en) * | 2017-06-28 | 2018-01-02 | 长城汽车股份有限公司 | vehicle air dam and vehicle |
| FR3089942A1 (en) * | 2018-12-17 | 2020-06-19 | Valeo Systemes Thermiques | Deflector device for motor vehicle wheel |
| CN209553333U (en) * | 2019-02-01 | 2019-10-29 | 陕西重型汽车有限公司 | A kind of pod intelligent regulating system and be self-regulated pod and vehicle |
| CN110194095A (en) * | 2019-06-28 | 2019-09-03 | 北京机械设备研究所 | A kind of the automatic Pilot lorry and automatic Pilot control method of no driver's cabin |
| CN110949549A (en) * | 2019-12-10 | 2020-04-03 | 广州小鹏汽车科技有限公司 | Variable-height guide plate device and vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8651547B2 (en) | System for reducing the air resistance of a truck | |
| JPH09302628A (en) | Movable landing facility for small-sized aircraft | |
| CN112248909A (en) | Automatic homing device of on-vehicle unmanned aerial vehicle | |
| CN110963421A (en) | Multifunctional rocket transport erecting vehicle | |
| US20230041082A1 (en) | Storage unit having adjustable volume | |
| CN206086485U (en) | Fire control commander synthesizes operation car | |
| CN114104124A (en) | Unmanned vehicle, control system and control method of unmanned vehicle | |
| CN212447269U (en) | Modularized unmanned aerial vehicle material transport vehicle | |
| CN210653684U (en) | Unmanned aerial vehicle receive and releases system | |
| CN110028020B (en) | Picking vehicle | |
| CN208345719U (en) | A kind of intelligence airport loading/unloading platform vehicle | |
| CN214492673U (en) | Comprehensive logging truck | |
| JP3801511B2 (en) | Electric drive work vehicle | |
| CN107963229A (en) | A kind of unmanned plane toter | |
| CN210719727U (en) | Motorcycle movement detection line | |
| CN210363527U (en) | A guarantee car for unmanned aerial vehicle transportation operation | |
| US20110057474A1 (en) | Accommodation unit | |
| CN109235980B (en) | Efficient three-dimensional parking device | |
| CN109720263A (en) | Service truck for unmanned plane hauling operation | |
| CN207595291U (en) | A kind of unmanned plane toter | |
| CN218607815U (en) | Unmanned aerial vehicle fire engine | |
| CN220199149U (en) | Dumper supporting device | |
| CN219217376U (en) | Integrated test derrick car for test well | |
| CN101397074B (en) | Motor transportation trays | |
| CN112389309B (en) | Unmanned aerial vehicle transport vechicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20220301 |