CN114312696A - Emergency braking and auxiliary gear shifting device and method for unmanned automobile - Google Patents
Emergency braking and auxiliary gear shifting device and method for unmanned automobile Download PDFInfo
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Abstract
The invention relates to an emergency braking and auxiliary gear shifting device and a method for an unmanned automobile, the device comprises a power supply, an electromagnetic relay, an emergency stop switch, a programmable logic controller and a stepping motor, the power supply is respectively connected with the positive end and the negative end of the programmable logic controller and the stepping motor in parallel, one end of the electromagnetic relay is connected with the power supply, the other end of the electromagnetic relay is connected with the emergency stop switch and then is connected with the programmable logic controller, the two ends of the unmanned vehicle controller are respectively connected with the electromagnetic relay and the programmable logic controller, the stepping motor is connected with the brake pedal through a connecting piece, the first proximity switch is over against the braking start position of the brake pedal, the second proximity switch is over against the braking stop position of the brake pedal, and the stepping motor, the first proximity switch and the second proximity switch are all in communication connection with the programmable logic controller. Compared with the prior art, the method is not influenced by the bottom-layer wire control protocol of the automobile and the unmanned control system, and has stronger transportability.
Description
Technical Field
The invention relates to the field of unmanned vehicles, in particular to an emergency braking and auxiliary gear shifting device and method for an unmanned vehicle.
Background
In recent years, the unmanned technology is rapidly developed, and many enterprises and universities at home and abroad use unmanned vehicles as platforms to explore the leading-edge technology of perception, decision, planning and control. At present, most unmanned automobiles are based on common automobiles, and devices such as sensors, controllers and the like are added to realize the unmanned function. In the prior art, how to guarantee safety in emergency stop in case of dangerous situations is a problem to be primarily considered when an unmanned platform is constructed.
An emergency stop system (hereinafter referred to as "emergency stop") of an unmanned automobile should be independent of a drive-by-wire system and an unmanned control system of the automobile and should not be affected by any system fault. Some existing unmanned vehicle emergency stop systems rely on a line control system to brake; and the other part relies on an external device to carry out emergency stop when monitoring that the industrial control computer has a fault. However, in the development stage of the unmanned vehicle platform, on one hand, the unmanned system is required to sense an emergency and then perform autonomous emergency stop, and on the other hand, when the unmanned system cannot sense the emergency, human intervention is required to perform emergency stop. Therefore, an emergency stop system suitable for the unmanned development platform needs to be provided with an interface facing to the unmanned control system and an interface facing to people. In addition, the system can be used for automobiles which cannot acquire the drive-by-wire protocol, and has strong portability.
Disclosure of Invention
The present invention aims to overcome the defects of the prior art and provide an emergency braking and auxiliary gear shifting device and method for an unmanned vehicle, which enable the stability of the system to be free from the influence of a vehicle bottom layer wire control protocol and an unmanned control system, so that the device and method can be applied to vehicles which cannot acquire the wire control protocol, and have strong portability.
The purpose of the invention can be realized by the following technical scheme:
an emergency braking and auxiliary gear shifting device for an unmanned automobile comprises a power supply, an electromagnetic relay, an emergency stop switch, a programmable logic controller, a stepping motor, a first proximity switch, a second proximity switch and an unmanned automobile controller, wherein the power supply is respectively connected in parallel with the positive end and the negative end of the programmable logic controller and the stepping motor, the common end of the electromagnetic relay is connected with the power supply, the normally closed end of the electromagnetic relay is connected with the emergency stop switch and then connected with the programmable logic controller, one end of the unmanned automobile controller is connected with the signal input end of the electromagnetic relay, and the other end of the unmanned automobile controller is connected with the programmable logic controller,
the output end of the stepping motor is connected with a brake pedal in the unmanned automobile through a connecting piece, the first proximity switch is over against the braking start position of the brake pedal, the second proximity switch is over against the braking stop position of the brake pedal, and the stepping motor, the first proximity switch and the second proximity switch are all in communication connection with the programmable logic controller.
Furthermore, the emergency stop switch is connected to a first port of the programmable logic controller and used for transmitting a first signal;
when the emergency stop switch is switched off or the unmanned vehicle controller controls the electromagnetic relay to be switched off, the programmable logic controller loses a first signal, judges that emergency stop is needed, generates a driving control signal and drives the stepping motor to rotate;
the unmanned aerial vehicle controller is accessed to a second port of the programmable logic controller and is used for transmitting a second signal;
when the unmanned vehicle controller transmits a second signal to a second port of the programmable logic controller, the programmable logic controller receives the second signal, judges that gear shifting is needed, generates a driving control signal and drives the stepping motor to rotate.
Further, the first proximity switch is connected to a third port of the programmable logic controller and used for transmitting a third signal; the second proximity switch is connected to a fourth port of the programmable logic controller and used for transmitting a fourth signal;
and when the programmable logic controller receives the third signal or the fourth signal and the stepping motor is in the rotating process, the programmable logic controller generates a stop control signal to control the stepping motor to stop rotating.
Furthermore, the connecting piece includes pulley and wire rope, wire rope's one end is connected step motor's output, the other end is connected in brake pedal's below, the pulley is fixed in unmanned car to be located brake pedal below, wire rope still walks around the pulley.
Further, the programmable logic controller is connected with the stepping motor through a CAN line.
Furthermore, the number of the emergency stop switches is multiple, and the emergency stop switches are all connected between the electromagnetic relay and the programmable logic controller in series.
Furthermore, the emergency stop switch, the first proximity switch, the second proximity switch and the unmanned aerial vehicle controller are all connected to a signal input port of the programmable logic controller.
Further, the braking start position and the braking end position are respectively a start point and an end point of a movable range of the brake pedal.
The invention also provides a control method of the emergency braking and auxiliary gear shifting device for the unmanned automobile, which comprises an emergency stop working condition control process, wherein the emergency stop working condition control process comprises the following steps:
s101: when the emergency stop switch is turned off, or after the unmanned vehicle controller sends a relay control signal to the electromagnetic relay to control the electromagnetic relay to be turned off, the programmable logic controller loses the power supply signal, and then the step S102 is executed;
s102: the programmable logic controller generates a driving control signal and transmits the driving control signal to the stepping motor to drive the stepping motor to rotate so as to drive the brake pedal to rotate from a braking start position to a braking stop position, and step S103 is executed;
s103: when the second proximity switch generates a brake end position approaching signal, transmitting the brake end position approaching signal to the programmable logic controller, generating a stop control signal by the programmable logic controller according to the brake end position approaching signal, transmitting the stop control signal to the stepping motor, controlling the stepping motor to stop rotating, and executing the step S104;
s104: when the emergency stop switch is turned on, the unmanned aerial vehicle controller stops sending the relay control signal to the electromagnetic relay, after the electromagnetic relay is closed, the programmable logic controller obtains a power supply signal again, and then step S105 is executed;
s105: the programmable logic controller generates a driving control signal and transmits the driving control signal to the stepping motor to drive the stepping motor to rotate so as to drive the brake pedal to rotate from the brake ending position to the brake starting position, and step S106 is executed;
s106: and when the first proximity switch generates a braking start bit approaching signal, the braking start bit approaching signal is transmitted to the programmable logic controller, and the programmable logic controller generates a stopping control signal according to the braking start bit approaching signal and transmits the stopping control signal to the stepping motor to control the stepping motor to stop rotating.
Further, the method further comprises a brake assisted shift event control process, the brake assisted shift event control process comprising the steps of:
s201: the unmanned vehicle controller transmits a gear shifting signal to the programmable logic controller, the programmable logic controller generates a driving control signal after receiving the gear shifting signal, transmits the driving control signal to the stepping motor, drives the stepping motor to rotate, drives the brake pedal to rotate from a braking start position to a braking end position, and executes step S202;
s202: when the second proximity switch generates a brake end position approaching signal, transmitting the brake end position approaching signal to the programmable logic controller, generating a stop control signal by the programmable logic controller according to the brake end position approaching signal, transmitting the stop control signal to the stepping motor, controlling the stepping motor to stop rotating, and executing step S203;
s203: the unmanned vehicle controller transmits a gear shifting completion signal to the programmable logic controller, the programmable logic controller generates a driving control signal after receiving the gear shifting completion signal and transmits the driving control signal to the stepping motor, the stepping motor is driven to rotate, the brake pedal is driven to rotate from a braking termination position to a braking start position, and step S204 is executed;
s204: and when the first proximity switch generates a braking start bit approaching signal, the braking start bit approaching signal is transmitted to the programmable logic controller, and the programmable logic controller generates a stopping control signal according to the braking start bit approaching signal and transmits the stopping control signal to the stepping motor to control the stepping motor to stop rotating.
Compared with the prior art, the invention has the following advantages:
(1) the invention is suitable for most working conditions faced by unmanned vehicles. The design can deal with most working conditions of the unmanned automobile in the development and test stage and the application stage after the test is finished, can realize automatic scram for finding emergency under the automatic driving state, can also be initiatively scram by a safety worker, and can also assist the unmanned automobile to shift gears under the control of a program.
(2) The invention has higher independence and safety. The design is powered by an independent power supply, is not influenced by a vehicle bottom layer protocol and an unmanned vehicle control system, is used as a last defense line for the safety of the unmanned vehicle, and ensures the robustness of an emergency stop system to the maximum extent.
(3) The invention has strong portability. The vast majority of the scram systems are applicable to almost all unmanned vehicles, whether or not a by-wire protocol is available. This system simple to operate, simple structure to different motorcycle types, only need simple repacking, portability is strong, and the practicality is high.
Drawings
FIG. 1 is a schematic structural view of an emergency braking and auxiliary shifting device for an unmanned vehicle according to an embodiment of the present invention;
in the figure, a power supply of 1 and 24V, a magnetic relay of 2, a scram switch of 3, a programmable logic controller of 4, a stepping motor of 5, a first proximity switch of 601, a second proximity switch of 602, a unmanned vehicle controller of 7;
COM of the electromagnetic relay is a common end, NO is a normally open end, NC is a normally closed end, and IN is a signal input end; a, b, c and d of the programmable logic controller are signal input ports, and e and f are CAN protocol communication ports; g and h of the stepping motor are CAN protocol communication ports; and the out of the first proximity switch and the second proximity switch is a signal output port.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
It should be noted that the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
Furthermore, the terms "horizontal", "vertical" and the like do not imply that the components are required to be absolutely horizontal or pendant, but rather may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
Example 1
As shown in fig. 1, the embodiment provides an emergency braking and auxiliary gear shifting device for an unmanned vehicle, which includes a power supply 1, an electromagnetic relay 2, an emergency stop switch 3, a Programmable Logic Controller (PLC)4, a stepping motor 5, a first proximity switch 601, a second proximity switch 602, and an unmanned vehicle controller 7, wherein the power supply 1 is respectively connected in parallel with positive and negative ends of the programmable logic controller 4 and the stepping motor 5, a common end of the electromagnetic relay 2 is connected with the power supply 1, a normally closed end of the electromagnetic relay 2 is connected with the emergency stop switch 3 and then connected to the programmable logic controller 4, one end of the unmanned vehicle controller 7 is connected with a signal input end of the electromagnetic relay 2, and the other end is connected to the programmable logic controller 4,
the output end of the stepping motor 5 is connected with a brake pedal in the unmanned automobile through a connecting piece, the first proximity switch 601 is over against the braking start position of the brake pedal, the second proximity switch 602 is over against the braking stop position of the brake pedal, and the stepping motor 5, the first proximity switch 601 and the second proximity switch 602 are all in communication connection with the programmable logic controller 4.
In this embodiment, the emergency stop switch 3 is connected to a first port a of the programmable logic controller 4, and is configured to transmit a first signal;
when the emergency stop switch 3 is switched off or the unmanned vehicle controller 7 controls the electromagnetic relay 2 to be switched off, the programmable logic controller 4 loses the first signal, judges that emergency stop is needed, generates a driving control signal and drives the stepping motor 5 to rotate;
the unmanned aerial vehicle controller 7 is accessed to a second port b of the programmable logic controller 4 and is used for transmitting a second signal;
when the unmanned vehicle controller 7 transmits a second signal to the second port of the programmable logic controller 4, the programmable logic controller 4 receives the second signal, judges that gear shifting is required, generates a driving control signal, and drives the stepping motor 5 to rotate.
In this embodiment, the first proximity switch 601 is connected to a third port c of the programmable logic controller 4, and is configured to transmit a third signal; the second proximity switch 602 is connected to the fourth port d of the programmable logic controller 4, and is configured to transmit a fourth signal;
when the programmable logic controller 4 receives the third signal or the fourth signal and the stepping motor 5 is in the rotating process, the programmable logic controller 4 generates a stop control signal to control the stepping motor 5 to stop rotating.
The connecting piece is the adapting unit who has flexible function under step motor's drive, can be rope assembly, telescopic link subassembly etc. as an preferred embodiment, and the connecting piece includes pulley and wire rope, and step motor 5's output is connected to wire rope's one end, the other end is connected in the below of brake pedal, and the pulley is fixed in unmanned car to be located the brake pedal below, wire rope still walks around the pulley.
In a preferred embodiment, the number of the emergency stop switches 3 is multiple, and the multiple emergency stop switches 3 are connected in series between the electromagnetic relay 2 and the programmable logic controller 4, so that multiple emergency stop controls can be realized.
In this embodiment, the fifth port e and the sixth port f of the programmable logic controller 4 are connected to the first motor port g and the second motor port h of the stepping motor 5 through CAN lines.
The emergency stop switch 3, the first proximity switch 601, the second proximity switch 602 and the unmanned aerial vehicle controller 7 are all connected to a signal input port of the programmable logic controller 4.
The braking start position and the braking end position are respectively the start point and the end point of the movable range of the brake pedal.
The working principle is as follows:
and the 24V independent power supply supplies power to the whole emergency stop system. The anode of the 24V independent power supply is connected with a plurality of emergency stop switches (the switches are normally closed) in series, and is connected with an electromagnetic relay in series and is connected to an analog input port of the PLC. The common terminal (COM) and the normally closed terminal (NC) of the electromagnetic relay are connected into the loop, and the input terminal of the electromagnetic relay is connected to the digital signal output terminal of the unmanned vehicle controller and receives a control signal of the unmanned vehicle controller. When the emergency situation is observed by the safety personnel of the unmanned vehicle, the emergency stop switch is pressed down, the emergency stop switch is disconnected, and the loop from the 24V power supply to the PLC analog input port is disconnected. When the PLC can not detect the 24V signal on the port, the emergency stop is needed. Similarly, when the unmanned vehicle senses an emergency, a control signal is output to the signal input end of the electromagnetic relay through a digital signal output port of the unmanned vehicle controller, the electromagnetic relay is disconnected at the moment, and a loop from the 24V power supply to the PLC analog input port is disconnected. Likewise, the PLC may now determine that an emergency stop is required.
Another signal output port of unmanned vehicle controller directly links to another input port of PLC, when PLC reads the output signal of unmanned vehicle controller from this input port, PLC can judge that unmanned vehicle is about to shift gears this moment, need to pull brake pedal.
The PLC is connected with the stepping motor through a CAN line, and signals are transmitted through a CAN protocol. A steel wire rope is fixed on the motor rotating shaft, is guided to the lower part of the brake pedal through a guide pipe, bypasses a pulley fixed below the brake pedal, and is fixed at the bottom of the brake pedal. When the stepping motor rotates, the steel wire rope can be pulled, the pulling direction of the steel wire rope is changed through the pulley, the brake pedal is pulled downwards, and the braking action is realized. The start position and the stop position of the steel wire rope after the rotation of the step motor are calibrated, two proximity switches are fixed at the start position and the stop position, and signal output lines of the proximity switches are connected to two different input ports of the PLC. When PLC control step motor pulling brake, the motor shaft begins the rotation from the initiating position, and when rotatory to the end position, the proximity switch output signal to PLC of end position, PLC judge that step motor should stop rotating this moment. The process that the PLC controls the stepping motor to release the brake is opposite to the process.
The embodiment also provides a control method of any one of the emergency braking and auxiliary gear shifting devices for the unmanned automobile, which comprises an emergency stop working condition control process and a brake auxiliary gear shifting working condition control process, wherein the emergency stop working condition control process comprises the following steps:
s101: when the emergency stop switch 3 is turned off, or after the unmanned aerial vehicle controller 7 sends a relay control signal to the electromagnetic relay 2 to control the electromagnetic relay 2 to be turned off, the programmable logic controller 4 loses a power supply 1 signal, and then step S102 is executed;
s102: the programmable logic controller 4 generates a driving control signal, transmits the driving control signal to the stepping motor 5, drives the stepping motor 5 to rotate, drives the brake pedal to rotate from a braking start position to a braking end position, and executes step S103;
s103: when the second proximity switch 602 generates a brake end position proximity signal, transmitting the brake end position proximity signal to the programmable logic controller 4, generating a stop control signal by the programmable logic controller 4 according to the brake end position proximity signal, transmitting the stop control signal to the stepping motor 5, controlling the stepping motor 5 to stop rotating, and executing step S104;
s104: when the emergency stop switch 3 is turned on, and the unmanned aerial vehicle controller 7 stops sending the relay control signal to the electromagnetic relay 2, after the electromagnetic relay 2 is closed, the programmable logic controller 4 obtains the signal of the power supply 1 again, and then step S105 is executed;
s105: the programmable logic controller 4 generates a driving control signal, transmits the driving control signal to the stepping motor 5, drives the stepping motor 5 to rotate, drives the brake pedal to rotate from the brake ending position to the brake starting position, and executes step S106;
s106: when the first proximity switch 601 generates a braking start bit proximity signal, the braking start bit proximity signal is transmitted to the programmable logic controller 4, and the programmable logic controller 4 generates a stop control signal according to the braking start bit proximity signal and transmits the stop control signal to the stepping motor 5 to control the stepping motor 5 to stop rotating.
The brake assisted shift condition control process includes the steps of:
s201: the unmanned vehicle controller 7 transmits a gear shifting signal to the programmable logic controller 4, the programmable logic controller 4 generates a driving control signal after receiving the gear shifting signal, transmits the driving control signal to the stepping motor 5, drives the stepping motor 5 to rotate, drives the brake pedal to rotate from a braking start position to a braking end position, and executes step S202;
s202: when the second proximity switch 602 generates a brake end position proximity signal, transmitting the brake end position proximity signal to the programmable logic controller 4, generating a stop control signal by the programmable logic controller 4 according to the brake end position proximity signal, transmitting the stop control signal to the stepping motor 5, controlling the stepping motor 5 to stop rotating, and executing step S203;
s203: the unmanned vehicle controller 7 transmits a gear shifting completion signal to the programmable logic controller 4, the programmable logic controller 4 generates a driving control signal after receiving the gear shifting completion signal, transmits the driving control signal to the stepping motor 5, drives the stepping motor 5 to rotate, drives the brake pedal to rotate from a braking end position to a braking start position, and executes step S204;
s204: when the first proximity switch 601 generates a braking start bit proximity signal, the braking start bit proximity signal is transmitted to the programmable logic controller 4, and the programmable logic controller 4 generates a stop control signal according to the braking start bit proximity signal and transmits the stop control signal to the stepping motor 5 to control the stepping motor 5 to stop rotating.
In specific implementation, the control process for the scram working condition comprises the following steps:
step 11: calibrating the starting position and the ending position of the rotation of the motor according to the movable distance of the brake pedal, fixing a proximity switch at the starting point and the ending point, and executing the step 12;
step 12: when the emergency stop switch 3 is pressed by the security personnel, the emergency stop switch 3 is switched off, and step 14 is executed; if the unmanned vehicle controller 7 sends an emergency stop signal, executing step 13;
step 13: the unmanned vehicle controller 7 sends a high level control signal to the IN port of the electromagnetic relay 2, so that the electromagnetic relay COM and the NC are disconnected, and step 14 is executed;
step 14: the port a of the PLC4 can not receive the 24V signal, and step 15 is executed;
step 15: the PLC4 communicates with the g and h CAN ports of the motor 5 through the e and f CAN ports to enable the motor to rotate clockwise from the start position to the end position, and step 16 is executed;
step 16: when the motor rotates to the end position, the proximity switch 6 of the end position outputs a signal to a d port of the PLC4, and step 17 is executed;
and step 17: the PLC4 communicates with the g and h CAN ports of the motor 5 through the e and f CAN ports to stop the motor from rotating, and step 18 is executed;
step 18: the emergency stop switch 3 is lifted by the security officer, and the unmanned aerial vehicle controller 7 stops sending the high-level control signal to the IN port of the electromagnetic relay 2, and step 19 is executed;
step 19: the PLC4 communicates with the g and h CAN ports of the motor 5 through the e and f CAN ports to enable the motor to rotate anticlockwise from the termination position to the start position, and step 110 is executed;
step 110: when the motor rotates to the start position, the proximity switch of the start position outputs a signal to a port c of the PLC4, and step 111 is executed;
step 111: the PLC4 communicates with the g and h CAN ports of the motor 5 through the e and f CAN ports to stop the motor from rotating, thereby completing the whole emergency stop process.
The control process for the brake assisted shift condition includes the steps of:
step 21: calibrating the starting position and the ending position of the rotation of the motor according to the movable distance of the brake pedal, fixing the proximity switch 6 at the starting point and the ending point, and executing step 22;
step 22: the unmanned aerial vehicle controller 7 sends a high level control signal to the port b of the PLC4, and executes step 23
Step 23: the PLC4 communicates with the g and h CAN ports of the motor 5 through the e and f CAN ports to enable the motor to rotate clockwise from the start position to the end position, and step 24 is executed;
step 24: when the motor rotates to the end position, the proximity switch 6 of the end position outputs a signal to a d port of the PLC4, and step 25 is executed;
step 25: the PLC4 communicates with the g and h CAN ports of the motor 5 through the e and f CAN ports to stop the motor from rotating, and step 26 is executed;
step 26: after the gear shifting of the unmanned vehicle is finished, executing step 27;
step 27: the unmanned aerial vehicle controller 7 stops sending the high-level control signal to the port b of the PLC4, and executes step 28;
step 28: the PLC4 communicates with the g and h CAN ports of the motor 5 through the e and f CAN ports to enable the motor to rotate anticlockwise from the termination position to the start position, and step 29 is executed;
step 29: when the motor rotates to the start position, the proximity switch 6 of the start position outputs a signal to the port c of the PLC4, and step 210 is executed;
step 210: the PLC4 communicates with the g and h CAN ports of the motor 5 through the e and f CAN ports to stop the motor from rotating, and the whole auxiliary gear shifting process is completed.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (10)
1. The emergency braking and auxiliary gear shifting device for the unmanned automobile is characterized by comprising a power supply (1), an electromagnetic relay (2), an emergency stop switch (3), a programmable logic controller (4), a stepping motor (5), a first proximity switch (601), a second proximity switch (602) and an unmanned automobile controller (7), wherein the power supply (1) is respectively connected in parallel with the positive end and the negative end of the programmable logic controller (4) and the stepping motor (5), the public end of the electromagnetic relay (2) is connected with the power supply (1), the normally closed end of the electromagnetic relay (2) is connected with the emergency stop switch (3) and then connected with the programmable logic controller (4), one end of the unmanned automobile controller (7) is connected with the signal input end of the electromagnetic relay (2), and the other end of the unmanned automobile controller is connected with the programmable logic controller (4),
the output end of the stepping motor (5) is connected with a brake pedal in the unmanned automobile through a connecting piece, the first proximity switch (601) is over against the braking start position of the brake pedal, the second proximity switch (602) is over against the braking stop position of the brake pedal, and the stepping motor (5), the first proximity switch (601) and the second proximity switch (602) are all in communication connection with the programmable logic controller (4).
2. Emergency braking and assisted gear shifting device for unmanned vehicles according to claim 1, characterized in that the emergency stop switch (3) is connected to a first port of the programmable logic controller (4) for transmitting a first signal;
when the emergency stop switch (3) is switched off or the unmanned vehicle controller (7) controls the electromagnetic relay (2) to be switched off, the programmable logic controller (4) loses the first signal, judges that emergency stop is needed, generates a driving control signal and drives the stepping motor (5) to rotate;
the unmanned aerial vehicle controller (7) is accessed to a second port of the programmable logic controller (4) and is used for transmitting a second signal;
when the unmanned vehicle controller (7) transmits a second signal to a second port of the programmable logic controller (4), the programmable logic controller (4) receives the second signal, judges that gear shifting is needed, generates a driving control signal, and drives the stepping motor (5) to rotate.
3. Emergency braking and assisted gear shifting device for unmanned vehicles according to claim 2, characterized in that said first proximity switch (601) is connected to a third port of said programmable logic controller (4) for transmitting a third signal; the second proximity switch (602) is connected to a fourth port of the programmable logic controller (4) and is used for transmitting a fourth signal;
when the programmable logic controller (4) receives the third signal or the fourth signal and the stepping motor (5) is in the rotating process, the programmable logic controller (4) generates a stop control signal to control the stepping motor (5) to stop rotating.
4. An emergency brake and auxiliary gear shift device for unmanned vehicles according to claim 1, wherein the connecting member comprises a pulley and a wire rope, one end of the wire rope is connected to the output end of the stepping motor (5), the other end of the wire rope is connected below the brake pedal, the pulley is fixed in the unmanned vehicle and located below the brake pedal, and the wire rope is further wound around the pulley.
5. Emergency braking and assisted gear shifting device for unmanned vehicles according to claim 1, characterized in that the programmable logic controller (4) is connected to the stepper motor (5) by a CAN line.
6. Emergency braking and assisted gear shifting device for unmanned vehicles according to claim 1, characterized in that the number of said emergency stop switches (3) is plural, and plural emergency stop switches (3) are connected in series between the electromagnetic relay (2) and the programmable logic controller (4).
7. Emergency braking and auxiliary gear shifting device for unmanned vehicles according to claim 1, characterized in that the emergency stop switch (3), the first proximity switch (601), the second proximity switch (602) and the unmanned vehicle controller (7) are all connected to the signal input port of the programmable logic controller (4).
8. An emergency braking and auxiliary shifting apparatus for an unmanned vehicle according to claim 1, wherein the braking start position and the braking end position are a start point and an end point of a movable range of the brake pedal, respectively.
9. A control method for an emergency brake and assisted gearshift for unmanned vehicles according to any one of claims 1-8, comprising an emergency stop condition control procedure comprising the steps of:
s101: when the emergency stop switch (3) is turned off, or after the unmanned vehicle controller (7) sends a relay control signal to the electromagnetic relay (2) to control the electromagnetic relay (2) to be turned off, the programmable logic controller (4) loses a power supply (1) signal, and then step S102 is executed;
s102: the programmable logic controller (4) generates a driving control signal and transmits the driving control signal to the stepping motor (5), the stepping motor (5) is driven to rotate, the brake pedal is driven to rotate from a braking start position to a braking stop position, and the step S103 is executed;
s103: when the second proximity switch (602) generates a brake end position proximity signal, transmitting the brake end position proximity signal to the programmable logic controller (4), generating a stop control signal by the programmable logic controller (4) according to the brake end position proximity signal, transmitting the stop control signal to the stepping motor (5), controlling the stepping motor (5) to stop rotating, and executing the step S104;
s104: when the emergency stop switch (3) is switched on, the unmanned vehicle controller (7) stops sending a relay control signal to the electromagnetic relay (2), and after the electromagnetic relay (2) is switched off, the programmable logic controller (4) obtains a power supply (1) signal again, and then step S105 is executed;
s105: the programmable logic controller (4) generates a driving control signal and transmits the driving control signal to the stepping motor (5), the stepping motor (5) is driven to rotate, the brake pedal is driven to rotate from the brake ending position to the brake starting position, and step S106 is executed;
s106: when the first proximity switch (601) generates a braking start position proximity signal, the braking start position proximity signal is transmitted to the programmable logic controller (4), the programmable logic controller (4) generates a stop control signal according to the braking start position proximity signal, and transmits the stop control signal to the stepping motor (5) to control the stepping motor (5) to stop rotating.
10. The method of claim 9, further comprising a brake assisted shift event control procedure comprising the steps of:
s201: the unmanned vehicle controller (7) transmits a gear shifting signal to the programmable logic controller (4), the programmable logic controller (4) generates a driving control signal after receiving the gear shifting signal, and transmits the driving control signal to the stepping motor (5), the stepping motor (5) is driven to rotate, the brake pedal is driven to rotate from a braking start position to a braking stop position, and the step S202 is executed;
s202: when the second proximity switch (602) generates a brake end position proximity signal, transmitting the brake end position proximity signal to the programmable logic controller (4), generating a stop control signal by the programmable logic controller (4) according to the brake end position proximity signal, transmitting the stop control signal to the stepping motor (5), controlling the stepping motor (5) to stop rotating, and executing step S203;
s203: the unmanned vehicle controller (7) transmits a gear shifting completion signal to the programmable logic controller (4), the programmable logic controller (4) generates a driving control signal after receiving the gear shifting completion signal and transmits the driving control signal to the stepping motor (5), the stepping motor (5) is driven to rotate to drive the brake pedal to rotate from a braking termination position to a braking start position, and the step S204 is executed;
s204: when the first proximity switch (601) generates a braking start position proximity signal, the braking start position proximity signal is transmitted to the programmable logic controller (4), the programmable logic controller (4) generates a stop control signal according to the braking start position proximity signal, and transmits the stop control signal to the stepping motor (5) to control the stepping motor (5) to stop rotating.
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