CN206231442U - Electric traction trailer - Google Patents
Electric traction trailer Download PDFInfo
- Publication number
- CN206231442U CN206231442U CN201621134172.9U CN201621134172U CN206231442U CN 206231442 U CN206231442 U CN 206231442U CN 201621134172 U CN201621134172 U CN 201621134172U CN 206231442 U CN206231442 U CN 206231442U
- Authority
- CN
- China
- Prior art keywords
- steering
- signal
- controller
- vehicle
- electric traction
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Navigation (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model discloses a kind of electric traction trailer, it includes drive mechanism, a controller and the navigation system for being used to control the electrical steering mechanism of vehicle traveling direction, one to be used to control vehicle gait of march, the navigation system is used to send a navigation signal to the controller, and the controller is used to being sent respectively after the navigation signal is received a vehicle gait of march signal to the drive mechanism and a steering signal of vehicle to the electrical steering mechanism；Also include one turn to it is vertical, one be used for for the steering is vertical steering when the steering damper of resistance and be provided be used to detecting rotation direction sensor of the steering vertical steering direction, the controller is used to receive after the rotation direction sensor transmits next steering direction signal and sends the steering signal of vehicle to the electrical steering mechanism.The utility model is fully transformed the original towing vehicle of factory, and the application of this patented technology can be greatly decreased the artificial quantity of operator on the tractor, is improved efficiency, reduce loss and is reduced cost.
Description
Technical field
The utility model is related to a kind of electric traction trailer, more particularly to a kind of to have unmanned and manned pair
The electric traction trailer of weight function.
Background technology
The electronic breakdown trailer of factory, is generally used for cargo transport, integrated mill's interval material handling inside and outside workshop.Electricity
Dynamic breakdown trailer has the advantages that energy conversion efficiency is high, noise is small, non-exhaust emission, easy to control, can meet all kinds of logistics
The need for transport delivery system, production operation efficiency is remarkably improved.
According to the characteristics of electric traction trailer, use occasion and the market demand be analyzed and predict, obtain electronic
Breakdown trailer technology development trend in the following areas：Movable motor and its controller are sent out from DC techniques to alternating-current technique direction
Exhibition；Vehicle is communicated and developed to networking direction, improves the reliability and communication speed of data communication, reduce control system into
This, substantially increases the controlled level of electrically propelled traction vehicle；Hydraulic power steering replaces mechanical steering technology, and manipulation is light comfortable,
Mobility is good；Brakes develops to hydraulic power brake direction, brakes light, response quickly；Wet multi-disc brake replaces
Dry brake, extends the life-span of brake, improves braking moment, shortens braking distance, improves the braking of vehicle
Security.
The electronic breakdown trailer of existing factory is generally pilot steering, mechanical steering gear.So integrated mill, garden,
Logistics department generally requires many dispatchers and trailer driver.It is very big one piece of cost of labor for factory, and
It is less efficient.Because the pilot steering free degree is high, it is impossible to accomplish that the driving path to vehicle, speed, efficiency are had clear presentation
Strict planning, cause plant area's traffic disturbance, also cause to increased the traffic safety hidden danger of plant area.The job placement of logistics and tune
Degree is also more original.Schedule information cannot circulate in real time online.This working method causes plant area, zone logistics system as life
Upgrading bottleneck in product system system.It is the link more fallen behind in plant information construction, Automation Construction.
Utility model content
A kind of problem and shortage that the utility model exists for prior art, there is provided new electric traction trailer.
The utility model is to solve above-mentioned technical problem by following technical proposals：
The utility model provides a kind of electric traction trailer, and its feature is that it includes one for controlling vehicle traveling side
To electrical steering mechanism, one be used to control drive mechanism, a controller and a navigation system of vehicle gait of march, the navigation
System is used to send a navigation signal to the controller, and the controller is used to send a vehicle respectively after the navigation signal is received
Gait of march signal is to the drive mechanism and a steering signal of vehicle to the electrical steering mechanism；
The electric traction trailer also include one turn to it is vertical, one be used for for the steering is vertical steering when the steering of resistance is provided
Damper and one is used to detect rotation direction sensor of the steering vertical steering direction that the controller to be used to receive steering sensing
The steering signal of vehicle to the electrical steering mechanism is sent after the steering direction signal that device transmission comes.
It is preferred that the electric traction trailer also includes a plus-minus speed pedal, one is provided with the plus-minus speed pedal for detecting
The first sensor of acceleration/deceleration signal, transmission should after the controller is used to receive the acceleration/deceleration signal that first sensor transmission comes
Vehicle gait of march signal is to the drive mechanism.
It is preferred that the electric traction trailer also include a brake pedal, be provided with the brake pedal one for detect brake
The second sensor of signal, the controller is used to send a brake signal after receiving the brake signal that second sensor transmission comes
To the drive mechanism.
It is preferred that the steering damper and the rotation direction sensor are integrated in the steering in standing.
It is preferred that the navigation system includes an inertial navigation system and a vision navigation system.
Wherein, inertial navigation system (INS, Inertial Navigation System) is also referred to as inertial reference system,
Be one kind do not rely on external information, also not to the autonomic navigation system of outside emittance (as radionavigation).
Its working environment not only includes aerial, ground, can also be under water.The basic functional principle of inertial navigation is fixed with Newtonian mechanics
Based on rule, by measuring acceleration of the carrier in inertial reference system, it is integrated to the time, and it is transformed to navigation
In coordinate system, it becomes possible to obtain the information such as speed in navigational coordinate system, yaw angle and position.
As the supplement of inertial navigation system, can be by the way of vision guided navigation：Vision guided navigation is clapped using CCD camera
Road surface is taken the photograph, with machine vision correlation alignment algorithm identification path, a kind of emerging air navigation aid of self-service navigation is realized.Vision is led
Boat is a kind of passive working method, and equipment is simple, and low cost has a wide range of application, and major technique is the flexibility of algorithm.Vision
Navigation is during vehicle high-ball, by vision system, to shoot road surface leading line, is compared, course corrections, and
And can be in remote (6-8 meters) discovery obstacle, avoidance of slowing down in time.
On the basis of common sense in the field is met, above-mentioned each optimum condition can be combined, obtain final product the utility model it is each compared with
Good example.
Positive effect of the present utility model is：
The utility model on the basis of existing vehicle is made full use of, by setting up direction sensor, electrical steering mechanism
Deng part, machinery, electric, automatic improving are carried out to the manned electrically propelled traction vehicle of original mechanical steering, realize the nothing of vehicle
People drives function.With the function of reducing cost of labor, improve logistic efficiency, improve logistics management level.
The utility model can together upgrade original plant area's trailer/logistics work of tractor, management system, accomplish thing
Intelligent, the information-based upgrading of stream transit link is built.Enable the management of the information flow seamless access enterprise of logistics system
Platform.The task of realization is issued, automatic distribution, scheduling, can accomplish that state is uploaded, monitor in real time.
Brief description of the drawings
Fig. 1 is the structural representation of the electric traction trailer of the utility model preferred embodiment.
Fig. 2 is the electrical connection diagram of the electric traction trailer of the utility model preferred embodiment.
Specific embodiment
It is new below in conjunction with this practicality to make the purpose, technical scheme and advantage of the utility model embodiment clearer
Accompanying drawing in type embodiment, is clearly and completely described, it is clear that retouched to the technical scheme in the utility model embodiment
The embodiment stated is a part of embodiment of the utility model, rather than whole embodiments.Based on the implementation in the utility model
Example, the every other embodiment that those of ordinary skill in the art are obtained on the premise of creative work is not made all belongs to
In the scope of the utility model protection.
As illustrated in fig. 1 and 2, the present embodiment provides a kind of electric traction trailer, with unmanned function.Specifically include：
One is used to controlling the electrical steering mechanism 1, of vehicle traveling direction be used to control drive mechanism 2, a control of vehicle gait of march
The navigation system 4 of device processed 3 and, the electrical steering mechanism 1, the drive mechanism 2 and the navigation system 4 are electrically connected with the controller 3
Connect.
The navigation system 4 is used to send a navigation signal to the controller 3, and the controller 3 is used to receive navigation letter
A vehicle gait of march signal is sent after number respectively to the steering signal of vehicle of drive mechanism 2 and to the electrical steering mechanism 1.
Continue to see Fig. 1 and 2, the electric traction trailer not only has unmanned function, also possesses manned function.
Specifically include：One turn to vertical 5, one be used for for the steering is turned to vertical 5 when provide steering damper, one of resistance for detecting
The rotation direction sensor 6, one of vertical 5 steering direction is added and subtracted speed pedal and a brake pedal by the steering, the steering damper and should
Rotation direction sensor 6 is integrated in the steering in vertical 5.And, one is provided with the plus-minus speed pedal for detecting acceleration/deceleration signal
First sensor, one is provided with the brake pedal for detecting the second sensor of brake signal.
Specifically signal transmission relation is：
The controller 3 is used to send Vehicular turn letter after receiving the steering direction signal that the rotation direction sensor 6 transmission comes
Number to the electrical steering mechanism 1.
The controller 3 is used to send vehicle gait of march letter after receiving the acceleration/deceleration signal that first sensor transmission comes
Number to the drive mechanism 2.
The controller 3 is used to send a brake signal to the driving after receiving the brake signal that second sensor transmission comes
Mechanism 2.
Additionally, the navigation system includes an inertial navigation system and a vision navigation system.
Inertial navigation system has the following advantages：
1st, because it is not dependent on any external information, also not to the self-contained system of outside emittance, thus it is hidden
Property is good, is not also influenceed by outside electromagnetic interference；
2nd, aerial, earth surface or even under water round-the-clock, complete can temporally be worked in；
3rd, position, speed, course and attitude angle data can be provided, produced navigation information continuity is good and noise
It is low；
4th, data updating rate is high, short-term accuracy and good stability.
But inertial navigation system also has a disadvantage that：
1st, because navigation information is produced by integration, position error increases with the time, and long-term accuracy is poor；
2nd, the initial alignment time more long is needed before each use；
3rd, the price of equipment is costly；
4th, temporal information can not be given.
Inertial navigation system has fixed drift rate, can so cause the error of object of which movement, thus far firing range weapon
Amendment would generally be timed to inertial navigation using instruction, GPS etc., accurate location parameter is continued to obtain.Inertial navigation system
The various ways such as flexible inertial navigation, optical fiber inertial navigation, laser inertial, micro- solid-state inertia type instrument are had been developed that at present.Gyroscope is by passing
The coiling gyro of system develops into electrostatic gyroscope, laser gyro, optical fibre gyro, micromechanical gyro etc..The dynamic model of laser gyro measurement
Width is enclosed, the linearity is good, stable performance, with good temperature stability and repeatability, in high-precision application field always
In occupation of leading position.Due to scientific and technological progress, lower-cost optical fibre gyro (FOG) and micromechanical gyro (MEMS) precision are more next
It is higher, it is the direction of following gyroscope technology development.
Can build up error this shortcoming for inertial navigation system, we by the way of laying magnetic nail, per 6-8 meters
Laying one magnetic nail, vehicle goes to magnetic and nails on to do the error that inertial navigation system is calculated and once corrects.
Although the foregoing describing specific embodiment of the present utility model, it will be appreciated by those of skill in the art that
These are merely illustrative of, and protection domain of the present utility model is defined by the appended claims.Those skilled in the art
Member can make numerous variations or repair to these implementation methods on the premise of without departing substantially from principle of the present utility model and essence
Change, but these changes and modification each fall within protection domain of the present utility model.
Claims (5)
1. a kind of electric traction trailer, it is characterised in that it include one for control vehicle traveling direction electrical steering mechanism,
One drive mechanism, a controller and the navigation system for being used to control vehicle gait of march, the navigation system is used for transmission one and leads
Boat signal to the controller, for sending a vehicle gait of march signal respectively after the navigation signal is received extremely should by the controller
Drive mechanism and a steering signal of vehicle are to the electrical steering mechanism；
The electric traction trailer also include one turn to it is vertical, one be used for for the steering is vertical steering when the steering of resistance be provided damp
Device and one is used to detect rotation direction sensor of the steering vertical steering direction that the controller to be used to receive rotation direction sensor biography
The steering signal of vehicle to the electrical steering mechanism is sent after defeated next steering direction signal.
2. electric traction trailer as claimed in claim 1, it is characterised in that the electric traction trailer is also stepped on including an acceleration and deceleration
Plate, is provided with one for detecting the first sensor of acceleration/deceleration signal in the plus-minus speed pedal, the controller be used to receiving this first
The vehicle gait of march signal to the drive mechanism is sent after the acceleration/deceleration signal that sensor transmissions are come.
3. electric traction trailer as claimed in claim 1, it is characterised in that the electric traction trailer also includes that a brake is stepped on
Plate, one is provided with the brake pedal is used to detect the second sensor of brake signal, and the controller is used to receive second sensing
A brake signal to the drive mechanism is sent after the brake signal that device transmission comes.
4. electric traction trailer as claimed in claim 1, it is characterised in that the steering damper and the rotation direction sensor collect
Into in steering handle is vertical.
5. electric traction trailer as claimed in claim 1, it is characterised in that the navigation system include an inertial navigation system and
One vision navigation system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621134172.9U CN206231442U (en) | 2016-10-18 | 2016-10-18 | Electric traction trailer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621134172.9U CN206231442U (en) | 2016-10-18 | 2016-10-18 | Electric traction trailer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206231442U true CN206231442U (en) | 2017-06-09 |
Family
ID=58982545
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621134172.9U Active CN206231442U (en) | 2016-10-18 | 2016-10-18 | Electric traction trailer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206231442U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113791619A (en) * | 2021-09-14 | 2021-12-14 | 北京航空航天大学 | Dispatching navigation system and method for airport automatic driving tractor |
-
2016
- 2016-10-18 CN CN201621134172.9U patent/CN206231442U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113791619A (en) * | 2021-09-14 | 2021-12-14 | 北京航空航天大学 | Dispatching navigation system and method for airport automatic driving tractor |
| CN113791619B (en) * | 2021-09-14 | 2024-04-12 | 北京航空航天大学 | Airport automatic driving tractor dispatching navigation system and method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111033176B (en) | Map information providing system | |
| CN107246868B (en) | Collaborative navigation positioning system and navigation positioning method | |
| Urmson et al. | A robust approach to high‐speed navigation for unrehearsed desert terrain | |
| Montemerlo et al. | Junior: The stanford entry in the urban challenge | |
| CN107792163B (en) | Method and system for determining and displaying an autonomous driving lane | |
| US8565958B1 (en) | Removing extraneous objects from maps | |
| CN110928286B (en) | Method, apparatus, medium and system for controlling automatic driving of vehicle | |
| Roberts et al. | Autonomous control of underground mining vehicles using reactive navigation | |
| CN110716558A (en) | Automatic driving system for non-public road based on digital twin technology | |
| CN109403690A (en) | Automotive vehicle carries method, system and the application with transfer | |
| US20220155415A1 (en) | Detecting Spurious Objects For Autonomous Vehicles | |
| CN104133473A (en) | Control method of autonomously driven vehicle | |
| CN205121338U (en) | AGV navigation based on image recognition and wireless network | |
| US11975725B2 (en) | Systems and methods for updating the parameters of a model predictive controller with learned external parameters generated using simulations and machine learning | |
| US10871777B2 (en) | Autonomous vehicle sensor compensation by monitoring acceleration | |
| CN112684791A (en) | Unmanned logistics vehicle based on 5G | |
| CN103608217A (en) | Retrofit parking assistance kit | |
| Mei et al. | Development of ‘Intelligent Pioneer’unmanned vehicle | |
| CN107499410A (en) | Express delivery transfer cart and intelligent logistics system can be combined | |
| CN115129050A (en) | Unmanned transportation short-falling system and method for port tractor | |
| CN206231442U (en) | Electric traction trailer | |
| CN206242071U (en) | A kind of Omni-mobile platform vision navigation system | |
| CN111785027B (en) | Automatic driving closed-loop information system | |
| CN112611374A (en) | Path planning and obstacle avoidance method and system based on laser radar and depth camera | |
| US20230242158A1 (en) | Incorporating position estimation degradation into trajectory planning for autonomous vehicles in certain situations |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |