CN116483016A - Universal kit for unmanned modification of manned control equipment and implementation method - Google Patents
Universal kit for unmanned modification of manned control equipment and implementation method Download PDFInfo
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- 238000009420 retrofitting Methods 0.000 claims description 3
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- 238000003756 stirring Methods 0.000 description 5
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- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 2
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The invention discloses a general kit for unmanned modification of manned control equipment and an implementation method thereof, and relates to the technical field of modification of the manned control equipment, wherein the general kit comprises a sensor unit, an equipment data bus, an intelligent body unit and a modification kit; the sensor unit is used for collecting environmental parameters and working state parameters of target equipment and is in communication connection with the intelligent body unit through an equipment data bus, and the equipment data bus is connected with a data interface of the target equipment; and the intelligent agent unit receives the target equipment operation data acquired by the equipment data bus and automatically generates a refitting suite operation instruction and an electric device automatic operation instruction according to the operation data. According to the invention, unmanned modification of original manned target equipment is realized, universality is strong, hardware can be adjusted by the size of some details, and software can realize modification of different target equipment by means of a mature automatic driving algorithm under different scenes.
Description
Technical Field
The invention relates to the technical field of modularized refitting of manned control equipment, in particular to a universal kit for unmanned refitting of the manned control equipment and an implementation method.
Background
Currently, there are marine manned vessels, land manned vehicles and air manned aircraft, which require unmanned implementation on the basis of the modification of unmanned operations of the equipment into unmanned operations.
Some manned boats, vehicles and aircraft are eliminated in the process of being updated, however, the mechanical parts therein still have high use value, and if left unused, even scrapped, are extremely wasteful of the asset.
Along with the rapid development of unmanned technology, unmanned control is increasingly and widely applied to various fields of production and life, and especially has irreplaceable value and effect in application scenes with high danger to people, such as tasks of fight, anti-terrorism, rescue and relief work, highland and the like. Therefore, the manned equipment still having the use value is modified into unmanned driving, is used for scenes and tasks where the manned equipment is not suitable to use, and continuously plays the residual value, so that the unmanned driving equipment is a path with relatively low cost and can further improve the economic benefit of the equipment.
In a specific modification mode, no matter a ship, a vehicle or an airplane, the automatic modification is actually completed, and the automatic operation of various control levers is realized mainly except for adding an automatic control circuit and a control computer;
for the ship, the steering of the operation is realized by rotating the steering rudder, the acceleration and the deceleration are realized by the accelerator, and the braking is realized by the reversing propeller, so that the modification of automatic control can be realized only by controlling the steering rudder, the accelerator and the propeller.
For the vehicle, the steering is realized by means of a steering wheel, acceleration and deceleration are realized by means of an accelerator, and braking is realized by means of a brake pedal, so that the automatic modification of the vehicle can be realized by controlling the steering wheel, the accelerator and an engine and automatically controlling the braking.
In practice, the modification of an aircraft is simpler, and the electrification of the aircraft is generally higher than that of a ship and a vehicle, and the automatic modification is essentially control of steering engines, throttles and engines.
Therefore, the original unmanned operation mode of the vehicles is changed into unmanned operation basically, however, the existing change mode has the defects of no system, poor universality, complex change scheme, high research and development cost, long research and development period, large change workload, no intelligence, manual remote operation mode still adopted for driving control and task control of the unmanned vehicle after change, permanent change of the internal structure of the original equipment, and incapability of being restored to a manned state after change.
There is therefore a need to develop an automated retrofit kit that can be used universally to implement modular automated retrofit for different models of manned equipment.
Disclosure of Invention
In order to solve the technical problem of the manned operation equipment in the modification process, the invention provides a universal kit for unmanned modification of the manned operation equipment and an implementation method. The following technical scheme is adopted:
the universal suite for unmanned modification of the manned control equipment comprises a sensor unit, an equipment data bus, an intelligent body unit and a modification suite;
the sensor unit is used for collecting environmental parameters and working state parameters of target equipment and is in communication connection with the intelligent body unit through an equipment data bus, and the equipment data bus is connected with a data interface of the target equipment;
the intelligent agent unit receives the operation data of the target equipment collected by the equipment data bus and automatically generates a refitting suite operation instruction and an electric device automatic operation instruction according to the operation data;
the refitting kit comprises a flexible supporting device and a six-degree-of-freedom executing device, wherein the bottom of the flexible supporting device is arranged on the floor of an operation room of target equipment, and the six-degree-of-freedom executing device is arranged on the flexible supporting device and is used for executing refitting kit operation instructions.
By adopting the technical scheme, the target equipment can be manned traffic equipment such as manned ships, manned vehicles, manned aircraft, manned tanks and the like, the sensor unit is used for collecting environment parameters and working state parameters of the target equipment and mainly refers to parameters of external objects, position data parameters, environment data parameters, operation data of the target equipment and the like, after the data are transmitted to the intelligent body unit through the equipment data bus, the intelligent body unit generates navigation paths according to different traffic scenes, such as a navigation algorithm of a ship, an automatic navigation algorithm of a vehicle, an automatic navigation algorithm of a flight, after navigation path data are generated according to the navigation algorithm, a modification kit operation instruction of a modification kit is generated based on engine attribute and control lever data originally possessed by the target equipment, and meanwhile, the modification kit operation instruction is output to the modification kit, a six-degree-of-freedom execution device of the modification kit completes the operation of the control lever according to the modification kit operation instruction, and the specific operation can be addition and subtraction of an accelerator, the modification kit automatic operation instruction can control the target equipment to perform matching of the engine of the target equipment, so that the original engine of the target equipment can be matched with the original engine, and the automatic navigation algorithm can realize the full-automatic navigation algorithm of the electronic equipment, and the automatic operation instruction can realize the full-automatic operation of the modification of the electronic equipment through different requirements of the unmanned equipment under different requirements through different requirements, the different requirements of the different driving scenes;
the modification scheme is simple, excessive modification to the original target equipment is basically not needed, large-scale disassembly is not needed, and the subsequent recovery is more convenient.
Optionally, the intelligent monitoring system further comprises a remote control unit, wherein the remote control unit is connected with the intelligent body unit in a wireless communication manner through a wireless transmission module and is used for transmitting operation instructions to the intelligent body unit and collecting operation parameters of the intelligent body unit.
By adopting the technical scheme, the remote control unit is deployed in the equipment remote monitoring center, so that direct remote command can be realized on the modified target equipment, the intelligent body unit data sent back through the wireless transmission module is received, information such as task scene situation information, task planning, target attribute and the like is provided for the target equipment, and the modified target equipment is supported to smoothly complete the task.
Optionally, a battery unit is further included for powering the sensor unit, the device data bus, the agent unit and the retrofit kit, respectively.
By adopting the technical scheme, for the target equipment with sufficient power supply, the power supply of the target equipment can be adopted by refitting the added electric device, and for some older target equipment without power supply, a battery unit is needed to be added for supplying power to the added electric device, and the battery unit can be a rechargeable lithium battery pack.
Optionally, the sensor unit includes a vision sensor module, an environment sensor module, a millimeter wave radar sensor module and a GPS positioning chip, where the vision sensor module is disposed inside and outside a casing of the target device and is used for collecting an external vision image and an internal vision image of the target device, the environment sensor module collects environment parameters of the inside and outside of the target device, the millimeter wave radar sensor module senses distance data between the target device and an external object, the GPS positioning chip collects positioning data of the target device, and the data collected by the vision sensor module, the environment sensor module, the millimeter wave radar sensor module and the GPS positioning chip are respectively transmitted to the intelligent unit through a device data bus;
the intelligent body unit obtains the type of an external object of the target equipment by adopting a sensor fusion target detection algorithm, combines distance data, positioning data and task target position data of the external object, generates path navigation data according to a navigation algorithm, automatically generates a refitting suite operation instruction according to the path navigation data, executes the refitting suite operation instruction by a six-degree-of-freedom executing device, operates a control rod of the target equipment, enables the target equipment to move according to the direction and the speed of the path navigation data, automatically generates a refitting suite braking instruction according to the type of the external object by combining the distance data and the positioning data of the external object, and executes braking of the refitting suite braking instruction on the target equipment by the six-degree-of-freedom executing device to realize automatic obstacle avoidance operation.
By adopting the technical scheme, the sensor unit is additionally arranged, which is equivalent to adding eyes on the target equipment, the vision sensor module is used for acquiring the internal and external vision pictures of the target equipment, the sensor module can be matched with the intelligent body unit to identify the picture, and the object outside the target equipment is subjected to motion analysis and is a key parameter of automatic driving;
the environment sensor module mainly refers to temperature, humidity and air pressure, and the monitoring of the temperature, humidity and air pressure is beneficial to judging the running environment and running condition of the target equipment by the intelligent body unit, so that the target equipment is prevented from running in a severe environment, and the risk of fault generation is reduced;
the millimeter wave radar sensor module and the GPS positioning chip are key to generating real-time navigation data, the data combination of the millimeter wave radar sensor module and the GPS positioning chip can accurately generate path navigation data according to an electronic map, a refitted suite braking instruction is generated under the support of the path navigation data, and the six-degree-of-freedom executing device executes the refitted suite braking instruction to realize automatic driving of target equipment.
Optionally, the six-degree-of-freedom executing device comprises an operating platform and a pair of six-degree-of-freedom mechanical bionic arms, wherein the bottom of the operating platform is arranged at the top of the flexible supporting device, the pair of six-degree-of-freedom mechanical bionic arms are symmetrically arranged on two sides of the operating platform respectively, so that six-degree-of-freedom operation of the bionic arms is realized, and simultaneous action execution of two operation items is realized.
Through adopting above-mentioned technical scheme, six degree of freedom actuating device's main actuating mechanism is a pair of six degree of freedom mechanical bionic arm of symmetry setting, six degree of freedom mechanical bionic arm can realize imitative arm's six degree of freedom operation, and this kind of external member of installing additional can adapt to originally and adopts the application scenario of someone operation, and the improvement of automation mechanized operation can all be realized to the control lever of no matter ship, vehicle or aircraft, has improved the commonality of repacking external member greatly.
The flexible supporting device can be connected with one or more pairs of mechanical bionic arms, when the operating devices such as an operating rod, an accelerator and a brake of the equipment are separated and compared, and when one pair of mechanical arms possibly cannot operate so much equipment, a plurality of pairs of mechanical bionic arms can be arranged on the flexible supporting device for operating the equipment.
That is, the six-degree-of-freedom mechanical bionic arm can be shaped as an octopus, so that the problem that operating devices such as an operating lever, an accelerator, a brake, a clutch and the like need to be simultaneously operated and controlled is solved.
Optionally, the six-degree-of-freedom mechanical bionic arm comprises an arm rotating motor, a shoulder cam, three first electric cylinders, a big arm cam, a second electric cylinder, a third electric cylinder, a big arm, a small arm and a fourth electric cylinder;
the bottom of arm rotating electrical machines is installed in one side of operation platform, be equipped with the internal gear in the shoulder cam, the internal gear passes through the output shaft transmission of gear and arm rotating electrical machines and is connected, and the bottom of three first electric jar equipartition is on the shoulder cam respectively, and movable part connects in one side of big arm cam respectively, the bottom of second electric jar and third electric jar is rotated respectively and is connected at the opposite side of big arm cam, and the middle part on one side of big arm cam connection second electric jar and third electric jar is installed through the pivot to the one end of big arm is rotated respectively to the movable part of second electric jar and third electric jar, the one end of forearm is connected in the one end of big arm through pivot swing joint, the bottom and the movable part of fourth electric jar are rotated respectively and are connected between big arm and forearm for the activity of drive forearm, the forearm realizes pressing and stirring operation to the operation target.
Through adopting above-mentioned technical scheme, the rotation of whole bionic arm mainly relies on arm rotating electrical machines to realize, and the joint action of three first electric jar can carry out the removal of certain limit and rotate the big arm under, imitates human shoulder joint's action, and the joint action of second electric jar and third electric jar can realize drawing in and releasing the action of big arm, and the swing of forearm can be realized in the drive of fourth electric jar, just can realize stirring of forearm terminal to the control lever through the joint action of a plurality of drive electric jars, perhaps presses parts such as throttle brake, can also realize the operation of bionic arm to the touch pressing operation of start-up or lamp switch even.
Optionally, the flexible strutting arrangement is formed by connecting from top to bottom a plurality of support module, support module includes installed part, elastic component and spacing ball, be equipped with a plurality of installation bolt holes on the installed part, the bottom of elastic component is installed on the installation bolt hole on the installed part top surface, and the top is installed the installation bolt hole department on the installed part bottom surface of last support module, spacing ball sets up in the centre of elastic component for the compressive site of restriction elastic component.
Through adopting above-mentioned technical scheme, connect from top to bottom a plurality of support module can realize the bionic design to human vertebra joint, and its reaction force is softer when six degree of freedom mechanical bionic arm operates such design, and under the jolt of target equipment advancing the in-process, six degree of freedom mechanical bionic arm is also more stable.
Optionally, the system further comprises an electric appliance control unit, wherein the electric appliance control unit is in communication connection with the data interface of the target equipment and is used for executing an electric appliance automatic operation instruction and controlling the electric appliance of the target equipment to act according to the electric appliance automatic operation instruction.
Through adopting above-mentioned technical scheme, the setting of electrical control unit can dock the target equipment who has data interface originally, realizes carrying out automatic to original electrical components and controls, including the control of engine or motor, the control of light, the control of loudspeaker etc..
Optionally, the agent unit includes an agent and an agent force calculation platform, the agent being deployed on the agent force calculation platform.
By adopting the technical scheme, the intelligent body is a model algorithm software package which is trained by artificial intelligence in an intelligent body training environment, is deployed on special intelligent body computing platform hardware, and has the main functions of being responsible for receiving operation data of a sensor unit acquired by a device data bus and a target device self-charging device, comprehensively judging and generating a refitted suite operation instruction and an electric device automatic operation instruction by integrating information such as a current driving scene, a device gesture, a task target and the like, wherein the instruction comprises driving control, task load action, communication with a superior control center or a level intelligent body and the like.
The method for realizing unmanned modification of the manned control equipment specifically comprises the following steps:
step 1, installing a refitting kit, arranging an installation threaded hole at an idle part of a floor of a target equipment operation room, which is close to a control rod part, installing an installation part on the floor through a fastener, selecting the number of support modules for matching according to the height of the control rod of target equipment, and installing an operation platform on the upper surface of the topmost support module;
step 2, installing a sensor unit, namely installing a visual sensor module, an environment sensor module, a millimeter wave radar sensor module and a GPS positioning chip in the interior and the exterior of target equipment through a bracket respectively;
step 3, the sensor unit is abutted against the equipment data bus, the electric appliance control unit is abutted against the data interface of the target equipment, and the intelligent body unit is abutted against the equipment data bus;
and 4, communicating the intelligent body unit with the wireless transmission module, and realizing wireless communication with the remote control unit through the wireless transmission module.
In summary, the present invention includes at least one of the following beneficial technical effects: the unmanned modification of the original manned target equipment is realized, the universality is strong, the hardware can be adjusted by the size of some details, and the software can realize the modification of different target equipment by using a mature automatic driving algorithm under different scenes;
the modification scheme is simple, excessive modification to the original target equipment is basically not needed, large-scale disassembly is not needed, and the subsequent recovery is more convenient;
the flexible supporting device realizes bionic design of human vertebra joints, the reaction force of the six-degree-of-freedom mechanical bionic arm is softer when the six-degree-of-freedom mechanical bionic arm operates, and the six-degree-of-freedom mechanical bionic arm is more stable under jolt in the advancing process of target equipment;
the arrangement of the pair of six-degree-of-freedom mechanical bionic arms realizes the simulation operation of human arms and can realize the automatic operation of operating levers with different specifications.
Drawings
FIG. 1 is a schematic diagram of the connection principle of the universal suite electrical device for unmanned modification of the manned control device of the present invention;
FIG. 2 is a schematic diagram of a retrofit kit for an unmanned retrofit universal kit for a manned control device of the present invention;
FIG. 3 is a schematic perspective view of a retrofit kit;
FIG. 4 is a schematic view of the flexible support device structure of the retrofit kit;
fig. 5 is a schematic view of a shoulder cam configuration of a retrofit kit six-degree-of-freedom actuator.
Reference numerals illustrate: 1. a sensor unit; 11. a vision sensor module; 12. an environmental sensor module; 13. a millimeter wave radar sensor module; 14. a GPS positioning chip; 2. a device data bus; 3. an agent unit; 31. an intelligent agent; 32. an agent force calculation platform; 4. modifying the external member; 41. a flexible support device; 411. a mounting member; 412. an elastic member; 413. a limit ball; 42. a six degree of freedom actuator; 421. an operating platform; 422. a six-degree-of-freedom mechanical bionic arm; 423. an arm rotating motor; 424. a shoulder cam; 4241. an internal gear; 425. a first electric cylinder; 426. a large arm cam; 427. a second electric cylinder; 428. a third electric cylinder; 429. a large arm; 430. a forearm; 431. a fourth electric cylinder; 5. an electric appliance control unit; 6. a remote control unit; 7. a wireless transmission module; 100. a target device.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The embodiment of the invention discloses a universal kit for unmanned modification of a manned control device and an implementation method.
Referring to fig. 1-5, a universal kit for unmanned retrofit of a manned control device, comprising a sensor unit 1, a device data bus 2, an agent unit 3 and a retrofit kit 4;
the sensor unit 1 is used for collecting environmental parameters and working state parameters of the target equipment 100, and is in communication connection with the intelligent agent unit 3 through the equipment data bus 2, and the equipment data bus 2 is connected with a data interface of the target equipment 100;
the intelligent agent unit 3 receives the operation data of the target equipment 100 collected by the equipment data bus 2 and automatically generates a refitting suite operation instruction and an electric device automatic operation instruction according to the operation data;
the retrofit kit 4 comprises a flexible support device 41 and a six degree of freedom actuator 42, the bottom of the flexible support device 41 being arranged on the floor of the operating room of the target device 100, the six degree of freedom actuator 42 being arranged on the flexible support device 41 for executing retrofit kit operating instructions.
The target device 100 may be manned traffic devices such as manned ships, manned vehicles, manned airplanes, manned tanks and the like, the sensor unit 1 is used for collecting environment parameters and working state parameters of the target device 100, mainly refers to parameters of external objects, the position data parameters, the environment data parameters, operation data of the target device 100 and the like, after the data are transmitted to the intelligent body unit 3 through the device data bus 2, the intelligent body unit 3 generates a navigation path according to different traffic scenes, such as a navigation algorithm of a ship, an automatic navigation algorithm of a vehicle, an automatic navigation algorithm of a flight, after navigation path data are generated according to the navigation algorithm, a modification kit operation instruction of a modification kit 4 is generated based on engine attribute and control lever data originally provided by the target device 100, and meanwhile, the modification kit operation instruction is output to the modification kit 4, the six-degree-of-freedom execution device 42 of the modification kit 4 completes the operation of the control lever according to the modification kit operation instruction, specifically the original operations such as acceleration and steering, the device operation instruction can control the engine device 100 to realize the modification of the target device 100, so that the driver can realize the complete the modification of the target device 100 with different general purpose through different hardware, and the different size of the device can realize the complete the full-automatic adjustment of the target device 100 without the different size of the driver through the different types;
the modification scheme is simple, excessive modification to the original target equipment 100 is basically not needed, large-scale disassembly is not needed, and subsequent recovery is more convenient.
The intelligent remote control system further comprises a remote control unit 6, wherein the remote control unit 6 is in wireless communication connection with the intelligent body unit 3 through a wireless transmission module 7 and is used for transmitting operation instructions to the intelligent body unit 3 and collecting operation parameters of the intelligent body unit 3.
The remote control unit 6 is deployed in a device remote monitoring center, can realize direct remote command on the modified target device 100, receives the data of the intelligent agent unit 3 sent back through the wireless transmission module 7, provides information such as task scene situation information, task planning, target attribute and the like for the target device 100, and supports the modified target device 100 to smoothly complete tasks.
And a battery unit for supplying power to the sensor unit 1, the device data bus 2, the intelligent agent unit 3 and the retrofit kit 4, respectively.
For target devices 100 with sufficient power, retrofitting the attached electrical device may use the power of the target device 100 itself, and for some older unpowered target devices 100, it may be desirable to add a battery unit, which may be a rechargeable lithium battery pack, to power the added electrical device.
The sensor unit 1 comprises a vision sensor module 11, an environment sensor module 12, a millimeter wave radar sensor module 13 and a GPS positioning chip 14, wherein the vision sensor module 11 is arranged on the inner side and the outer side of the shell of the target equipment 100 and is respectively used for collecting an external vision picture and an internal vision picture of the target equipment 100, the environment sensor module 12 is used for collecting environment parameters of the inner side and the outer side of the target equipment 100, the millimeter wave radar sensor module 13 is used for sensing distance data between the target equipment 100 and an external object, the GPS positioning chip 14 is used for collecting positioning data of the target equipment 100, and the data collected by the vision sensor module 11, the environment sensor module 12, the millimeter wave radar sensor module 13 and the GPS positioning chip 14 are respectively transmitted to the intelligent body unit 3 through the equipment data bus 2;
the intelligent body unit 3 obtains the type of an external object of the target equipment 100 by adopting a sensor fusion target detection algorithm, combines the distance data, the positioning data and the task target position data of the external object, generates path navigation data according to a navigation algorithm, automatically generates a refitting suite operation instruction according to the path navigation data, the six-degree-of-freedom executing device 42 executes the refitting suite operation instruction to operate a control rod of the target equipment 100, so that the target equipment 100 moves according to the direction and the speed of the path navigation data, the intelligent body unit 3 automatically generates a refitting suite braking instruction according to the type of the external object and combines the distance data and the positioning data of the external object, and the six-degree-of-freedom executing device 42 executes the braking of the refitting suite braking instruction on the target equipment 100 to realize automatic obstacle avoidance operation.
The addition of the sensor unit 1 is equivalent to adding eyes on the target equipment 100, the vision sensor module 11 is used for acquiring internal and external vision pictures of the target equipment 100, the sensor module 11 can be matched with the intelligent body unit 3 to perform target recognition on the pictures, and the motion analysis of objects outside the target equipment 100 is a key parameter of automatic driving;
the environment sensor module 12 mainly refers to temperature, humidity and air pressure, and the monitoring of the temperature, humidity and air pressure is helpful for the intelligent body unit 3 to judge the operation environment and the operation condition of the target equipment 100, so that the target equipment 100 is prevented from operating in a severe environment, and the risk of fault generation is reduced;
for the fact that the millimeter wave radar sensor module 13 and the GPS positioning chip 14 are key to generating the real-time navigation data, the data combination of the millimeter wave radar sensor module 13 and the GPS positioning chip 14 can accurately generate path navigation data according to an electronic map, under the support of the path navigation data, a refitting suite braking instruction is generated, and the six-degree-of-freedom executing device 42 executes the refitting suite braking instruction to realize automatic driving on the target equipment 100.
The six-degree-of-freedom executing device 42 comprises an operating platform 421 and a pair of six-degree-of-freedom mechanical bionic arms 422, wherein the bottom of the operating platform 421 is arranged at the top of the flexible supporting device 41, the pair of six-degree-of-freedom mechanical bionic arms 422 are symmetrically arranged on two sides of the operating platform 421 respectively, so that six-degree-of-freedom operation of the bionic arms is realized, and simultaneous action execution of two operation items is realized.
The main actuating mechanism of the six-degree-of-freedom actuating device 42 is a pair of six-degree-of-freedom mechanical bionic arms 422 which are symmetrically arranged, the six-degree-of-freedom mechanical bionic arms 422 can realize six-degree-of-freedom operation of the human-simulated arms, the additionally installed suite can adapt to the application scene which is originally operated by people, the operating lever of the ship, the vehicle or the airplane can realize the refitting of automatic operation, and the universality of the refitted suite is greatly improved.
The six-degree-of-freedom mechanical bionic arm 422 includes an arm rotating motor 423, a shoulder cam 424, three first electric cylinders 425, a large arm cam 426, a second electric cylinder 427, a third electric cylinder 428, a large arm 429, a small arm 430, and a fourth electric cylinder 431;
the bottom of arm rotating electrical machines 423 is installed in one side of operating platform 421, be equipped with internal gear 4241 in the shoulder cam 424, internal gear 4241 passes through the output shaft transmission of gear and arm rotating electrical machines 423 and is connected, the bottom of three first electric jar 425 equipartition respectively is on shoulder cam 424, movable part connects respectively in one side of big arm cam 426, the bottom of second electric jar 427 and third electric jar 428 is the rotation respectively and is connected in the opposite side of big arm cam 426, the middle part on one side of big arm cam 426 connection second electric jar 427 and third electric jar 428 is installed through the pivot to one end of big arm 427, the movable part of second electric jar 427 and third electric jar 428 is the rotation respectively and is connected the other end of big arm 429, the one end of forearm 430 passes through pivot swing joint in the one end of big arm 429, the bottom and the movable part of fourth electric jar 431 are the rotation respectively is connected between big arm 429 and forearm 430 for the activity of drive forearm 430, the arm 430 realizes pressing and stirring operation to the operation target.
The rotation of the whole bionic arm is mainly realized by virtue of an arm rotating motor 423, the large arm 429 can be moved and rotated in a certain range under the combined action of three first electric cylinders 425, the actions of shoulder joints of a human body are simulated, the folding and unfolding actions of the large arm 429 can be realized by the combined action of the second electric cylinder 427 and the third electric cylinder 428, the swinging of the small arm 430 can be realized by the driving of the fourth electric cylinder 431, the stirring of the tail end of the small arm 430 to an operating lever can be realized by the combined action of a plurality of driving electric cylinders, or the parts such as an accelerator brake and the like can be pressed, and even the touch pressing operation of a starting or lamp switch can be realized, so that the operation of the bionic arm is realized.
The flexible supporting device 41 is formed by connecting a plurality of supporting modules from top to bottom, and the supporting modules comprise a mounting piece 411, an elastic piece 412 and a limiting ball 413, wherein a plurality of mounting bolt holes are formed in the mounting piece 411, the bottom of the elastic piece 412 is mounted on the mounting bolt holes in the top surface of the mounting piece 411, the top of the elastic piece is mounted at the mounting bolt holes in the bottom surface of the mounting piece 411 of the last supporting module, and the limiting ball 413 is arranged in the middle of the elastic piece 412 and used for limiting the compression position of the elastic piece 412.
The bionic design of the human vertebra joints can be achieved through the up-down connection of the plurality of support modules, the reaction force of the six-degree-of-freedom mechanical bionic arm 422 is softer when the six-degree-of-freedom mechanical bionic arm 422 operates, and the six-degree-of-freedom mechanical bionic arm 422 is more stable under jolt in the advancing process of the target equipment 100.
The electric appliance control unit 5 is in communication connection through a data interface of the target device 100, and is used for executing an electric appliance automatic operation instruction and controlling the electric appliance of the target device 100 to act according to the electric appliance automatic operation instruction.
The electric control unit 5 is arranged to be capable of docking the target equipment 100 originally provided with the data interface, so that automatic control of the original electric device is realized, and the automatic control comprises control of an engine or a motor, control of an illuminating lamp, control of a loudspeaker and the like.
The agent unit 3 includes an agent 31 and an agent force calculation platform 32, the agent 31 being disposed on the agent force calculation platform 32.
The intelligent agent 31 is a model algorithm software package trained by artificial intelligence in an intelligent agent training environment, is deployed on the hardware of a special intelligent agent computing platform 32, and has the main functions of being responsible for receiving the operation data of the sensor unit 1 and the self-powered device of the target equipment 100 acquired by the equipment data bus 2, and comprehensively judging and generating a refitted suite operation instruction and an electric device automatic operation instruction by integrating the information of the current driving scene, the equipment posture, the task target and the like, wherein the instruction comprises driving control, task load action, communication with an upper control center or a level intelligent agent and the like.
The method for realizing unmanned modification of the manned control equipment specifically comprises the following steps:
step 1, installing a refitting suite 4, arranging an installation threaded hole on an idle floor of an operating room of target equipment 100, which is close to a control rod, installing an installation piece 411 on the floor through a fastener, selecting the number of support modules to match according to the height of the control rod of the target equipment 100, and installing an operation platform 421 on the upper surface of the topmost support module;
step 2, installing a sensor unit 1, namely installing a visual sensor module 11, an environment sensor module 12, a millimeter wave radar sensor module 13 and a GPS positioning chip 14 on the inner part and the outer part of a target device 100 through brackets respectively;
step 3, the sensor unit 1 is abutted against the equipment data bus 2, the electric appliance control unit 5 is abutted against the data interface of the target equipment 100, and the intelligent body unit 3 is abutted against the equipment data bus 2;
and 4, communicating the intelligent body unit 3 with the wireless transmission module 7, and realizing wireless communication with the remote control unit 6 through the wireless transmission module 7.
The implementation principle of the universal suite and the implementation method for unmanned modification of the manned control equipment provided by the embodiment of the invention is as follows:
under a specific unmanned operation refitting application scene of a manned military vehicle, a mounting threaded hole is formed in a mounting position on a floor of a cab of the military vehicle, a mounting piece 411 is mounted on the floor through a fastener, the number of supporting modules is selected to be matched according to the height of a stop lever of the military vehicle, an operation platform 421 is mounted on the upper surface of the topmost supporting module, a pair of six-degree-of-freedom mechanical bionic arms 422 can realize automatic stirring of the stop lever, and also can realize pressing operation of throttle braking and clutch;
the visual sensor module 11, the environment sensor module 12, the millimeter wave radar sensor module 13 and the GPS positioning chip 14 are respectively arranged on the inner part and the outer part of the target equipment 100 through brackets;
the sensor unit 1 is abutted against the equipment data bus 2, the electric appliance control unit 5 is abutted against the data interface of the target equipment 100, the intelligent body unit 3 is abutted against the equipment data bus 2, and the intelligent body unit 3 can be arranged at any fixed position in the cab;
the intelligent body unit 3 is communicated with the wireless transmission module 7, and the wireless communication is realized through the wireless transmission module 7 and the remote control unit 6, so that the modification of the automatic control of the uniform vehicle is completed.
The above embodiments are not intended to limit the scope of the present invention, and therefore: all equivalent changes in structure, shape and principle of the invention should be covered in the scope of protection of the invention.
Claims (10)
1. A general external member that is used for unmanned repacking of people to control equipment, its characterized in that: comprises a sensor unit (1), a device data bus (2), an intelligent body unit (3) and a refitting kit (4);
the sensor unit (1) is used for collecting environmental parameters and working state parameters of the target equipment (100) and is in communication connection with the intelligent agent unit (3) through the equipment data bus (2), and the equipment data bus (2) is connected with a data interface of the target equipment (100);
the intelligent agent unit (3) receives the operation data of the target equipment (100) collected by the equipment data bus (2), and automatically generates a refitting suite operation instruction and an electric device automatic operation instruction according to the operation data;
the retrofit kit (4) comprises a flexible support device (41) and a six-degree-of-freedom execution device (42), wherein the bottom of the flexible support device (41) is arranged on the floor of an operation room of the target equipment (100), and the six-degree-of-freedom execution device (42) is arranged on the flexible support device (41) and is used for executing retrofit kit operation instructions.
2. The universal kit for unmanned adaptation of a manned control device of claim 1 wherein: the intelligent remote control system further comprises a remote control unit (6), wherein the remote control unit (6) is connected with the intelligent body unit (3) through a wireless transmission module (7) in a wireless communication mode, is used for transmitting operation instructions to the intelligent body unit (3) and collecting operation parameters of the intelligent body unit (3).
3. The universal kit for unmanned aerial vehicle (mano) retrofit according to claim 2, wherein: the intelligent electronic device further comprises a battery unit, wherein the battery unit is used for respectively supplying power to the sensor unit (1), the equipment data bus (2), the intelligent body unit (3) and the refitting kit (4).
4. A universal kit for unmanned retrofitting of a manned equipment according to claim 3 wherein: the sensor unit (1) comprises a visual sensor module (11), an environment sensor module (12), a millimeter wave radar sensor module (13) and a GPS positioning chip (14), wherein the visual sensor module (11) is arranged on the inner side and the outer side of a shell of the target equipment (100) and is used for collecting an external visual picture and an internal visual picture of the target equipment (100) respectively, the environment sensor module (12) collects environment parameters of the inner side and the outer side of the target equipment (100), the millimeter wave radar sensor module (13) senses distance data between the target equipment (100) and an external object, the GPS positioning chip (14) collects positioning data of the target equipment (100), and the data collected by the visual sensor module (11), the environment sensor module (12), the millimeter wave radar sensor module (13) and the GPS positioning chip (14) are transmitted to the intelligent body unit (3) through an equipment data bus (2) respectively;
the intelligent body unit (3) adopts a sensor fusion target detection algorithm to obtain the type of an external object of the target equipment (100), combines the distance data, the positioning data and the task target position data of the external object, generates path navigation data according to the navigation algorithm, automatically generates a refitting suite operation instruction according to the path navigation data, the six-degree-of-freedom execution device (42) executes the refitting suite operation instruction to operate a control rod of the target equipment (100), so that the target equipment (100) moves according to the direction and the speed of the path navigation data, the intelligent body unit (3) automatically generates a refitting suite braking instruction according to the type of the external object and combines the distance data and the positioning data of the external object, and the six-degree-of-freedom execution device (42) executes the braking of the refitting suite braking instruction on the target equipment (100) to realize automatic obstacle avoidance operation.
5. The universal kit for unmanned aerial vehicle (unmanned aerial vehicle) refitting of claim 4, wherein: the six-degree-of-freedom executing device (42) comprises an operating platform (421) and a pair of six-degree-of-freedom mechanical bionic arms (422), wherein the bottom of the operating platform (421) is arranged at the top of the flexible supporting device (41), the pair of six-degree-of-freedom mechanical bionic arms (422) are symmetrically arranged on two sides of the operating platform (421) respectively, so that six-degree-of-freedom operation of the bionic arms is realized, and simultaneous action execution of two operation items is realized.
6. The universal kit for unmanned aerial vehicle (unmanned aerial vehicle) refitting of claim 5, wherein: the six-degree-of-freedom mechanical bionic arm (422) comprises an arm rotating motor (423), a shoulder cam (424), three first electric cylinders (425), a big arm cam (426), a second electric cylinder (427), a third electric cylinder (428), a big arm (429), a small arm (430) and a fourth electric cylinder (431);
the bottom of arm rotating electrical machines (423) is installed in one side of operation platform (421), be equipped with internal gear (4241) in shoulder cam (424), internal gear (4241) pass through the output shaft transmission of gear and arm rotating electrical machines (423) and are connected, and the bottom of three first electric jar (425) equipartition is on shoulder cam (424) respectively, and movable part connects in one side of big arm cam (426) respectively, the bottom of second electric jar (427) and third electric jar (428) rotates the opposite side of connecting in big arm cam (426) respectively, and the middle part in big arm cam (426) connection second electric jar (427) and third electric jar (428) one side is installed through the pivot to the one end of big arm (429) is rotated respectively to the movable part of second electric jar (427) and third electric jar (428), the one end of forearm (430) is connected in the one end of big arm (429) through pivot swing joint respectively, the bottom and the movable part of fourth electric jar (431) are connected in the opposite directions between big arm (429) and forearm (430), and forearm (430) are used for realizing operation, and forearm (430) are pressed.
7. The universal kit for unmanned aerial vehicle (unmanned aerial vehicle) refitting of claim 6, wherein: the flexible supporting device (41) is formed by connecting a plurality of supporting modules from top to bottom, the supporting modules comprise a mounting piece (411), an elastic piece (412) and a limiting ball (413), a plurality of mounting bolt holes are formed in the mounting piece (411), the bottom of the elastic piece (412) is mounted on the mounting bolt holes in the top surface of the mounting piece (411), the top is mounted at the mounting bolt holes in the bottom surface of the mounting piece (411) of the last supporting module, and the limiting ball (413) is arranged in the middle of the elastic piece (412) and used for limiting the compression position of the elastic piece (412).
8. The universal kit for unmanned adaptation of a manned control device of claim 7 wherein: the electric appliance control device further comprises an electric appliance control unit (5), wherein the electric appliance control unit (5) is in communication connection through a data interface of the target device (100) and is used for executing an electric appliance automatic operation instruction and controlling an electric appliance of the target device (100) to act according to the electric appliance automatic operation instruction.
9. The universal kit for unmanned aerial vehicle refitting of claim 8, wherein: the agent unit (3) comprises an agent (31) and an agent force calculation platform (32), wherein the agent (31) is deployed on the agent force calculation platform (32).
10. The method for realizing unmanned modification of the manned control equipment is characterized by comprising the following steps of: the use of the universal kit of claim 8 for the unmanned retrofitting of a target device (100), comprising in particular the steps of:
step 1, installing a refitting kit (4), arranging a mounting threaded hole at an idle position of a floor of an operating room of target equipment (100) close to a control rod, mounting a mounting piece (411) on the floor through a fastener, selecting the number of support modules to match according to the height of the control rod of the target equipment (100), and mounting an operating platform (421) on the upper surface of the topmost support module;
step 2), installing a sensor unit (1), and installing a visual sensor module (11), an environment sensor module (12), a millimeter wave radar sensor module (13) and a GPS positioning chip (14) in the inside and the outside of a target device (100) through a bracket respectively;
step 3), the sensor unit (1) is abutted against the equipment data bus (2), the electric appliance control unit (5) is abutted against the data interface of the target equipment (100), and the intelligent body unit (3) is abutted against the equipment data bus (2);
and 4) communicating the intelligent body unit (3) with the wireless transmission module (7), and realizing wireless communication with the remote control unit (6) through the wireless transmission module (7).
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