CN208953958U - A kind of intelligent electric wheel moving platform - Google Patents
A kind of intelligent electric wheel moving platform Download PDFInfo
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- CN208953958U CN208953958U CN201820904480.8U CN201820904480U CN208953958U CN 208953958 U CN208953958 U CN 208953958U CN 201820904480 U CN201820904480 U CN 201820904480U CN 208953958 U CN208953958 U CN 208953958U
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Abstract
The utility model relates to intelligent driving technical field more particularly to a kind of intelligent electric wheel moving platforms.The mobile platform includes main platform body, power supply, mode selector, environmental perception device, positioning device, central control unit, movement executive device, communication device and traction device, can realize in certain circumstances low cost and have manned, remote driving, it is unmanned, follow traveling, traction traveling etc. operating modes, user can carry out as needed operating mode and arbitrarily convert.
Description
Technical field
The utility model relates to intelligent driving technical field more particularly to a kind of intelligent electric wheel moving platforms.
Background technique
With the continuous development of artificial intelligence technology, the intelligent family moving platform based on unmanned technology is gradually moved towards
Maturation is applied to the every aspect of people's life and work.Intelligent wheel moving platform be defined as carrying advanced sensor,
The devices such as controller, actuator, and modern communications and network technology are merged, have environment sensing, intelligent decision, Collaborative Control etc.
Function is, it can be achieved that autonomous, nobody traveling and various types of vehicles, device of movement etc..Currently, intelligent wheel moving platform is used
Chief technology include environment sensing, navigator fix, make decisions on one's own, path planning and motion control etc., middle ring
Border perception is passed dependent on the various kinds of sensors that can obtain environmental information, including laser radar, camera, millimetre-wave radar, ultrasonic wave
Sensor etc..Due to the limitation of current software and hardware technology level, the price is very expensive for operative sensor, and especially laser radar is high
Price substantially increase the cost of unmanned technology, lead to be hardly formed the consumer level products kimonos towards public demand
Business.In addition, making decisions on one's own towards complex environment is still also immature with technologies such as planning controls, high-grade, high speed is realized
Complete unmanned autonomous driving there is still a need for the accumulation of long-term scientific research and engineering field.
Therefore, in order to allow unmanned technology to be applied to certain specific industries and field as early as possible, promote the well-being of mankind society as early as possible
Meeting, urgent need invent a kind of inexpensive, intelligent electric wheel moving platform.
Utility model content
Low cost can be realized in certain circumstances the purpose of the utility model is to provide one kind and is driven with someone
It sails, remote driving, intelligent electric wheel moving platform that is unmanned, following the operating modes such as traveling, traction traveling, Yong Huke
Operating mode is carried out as needed arbitrarily to convert.
A kind of intelligent wheel moving platform described in the utility model includes main platform body, power supply, mode selector, ring
Border sensing device, positioning device, central control unit, movement executive device, communication device and traction device.
The main platform body is car body, is the matrix of the mobile platform, is used to support and connects the mobile platform
Each component makes each component keep relatively correct position, and has enough strength and stiffness to bear the mobile platform
Load and the impact transmitted from wheel.
The power supply is battery, for providing power supply for each electronics, the electric device of the mobile platform.
The mode selector includes the steering position personnel detection switch being mounted on the mobile platform, mode choosing
Select switch or knob, traction state switch, steering mechanism arrangement of clutch.
The environmental perception device includes 1 binocular camera for being mounted on the mobile platform front or middle part and several
It is mounted on the monocular camera of the mobile platform side and rear, the position of quantity and arrangement is according to the specific of the mobile platform
Application scenarios are determined.
The environmental perception device further includes several ultrasonic sensors, for detect vehicle periphery barrier and away from
From the quantity of ultrasonic sensor and the position of arrangement are determined according to the concrete application scene of the mobile platform.
The positioning device includes positioning device, can be positioned for global navigation satellite system GNSS (including GPS, Beidou
BDS, GLONASS etc.), wide area and local area Differential positioning (CORS, RTK real-time dynamic positioning), radio base station positioning etc. modes
One of or more than one combinations, and positioning method is combined according to specific environment situation, supports different positioning methods
The fusion of the location data of generation realizes outdoor, indoor positioning seamless interfacing, obtains the positioning coordinate of centimetre class precision.Institute
It states positioning device and stores the laser point cloud data of the mobile platform operation area or as desired by the communication device
The laser point cloud data for obtaining the mobile platform operation area in time, positioning coordinate for being exported with the positioning device,
The vision data of the environmental perception device output carries out fusion matching, improves positioning accuracy and positioning function stability.
The central control unit is connect with mode selector, environmental perception device, positioning device.Central control unit
According to the signal that mode selector exports, the operating mode of mobile platform is judged, according to selected scheme control mobile platform row
It sails.
The movement executive device includes wheel drive motors and its controller, automatically controlled steering actuator, electric control braking
Device.Wheel drive motors controller receives the control signal issued from central control unit, controls turning for wheel drive motors
Speed, to realize the control to mobile platform travel speed.Automatically controlled steering actuator executes the dynamic of central control unit sending
Make parameter, to control the steering direction of mobile platform, steering angle and steering angular velocity.Electric clipper control brake executes center control
The action parameter that device issues controls the severity of braking of mobile platform, cooperates vehicle traction electric machine controller, realizes to mobile flat
The control of platform travel speed.
The communication device includes one of modes such as communication, medium or short range communication, wide-area communication or one between mobile platform
Kind combination of the above.The communication device is connected to the central control unit, realizes that data transmission, the movement between mobile platform are flat
Data transmission between platform and internet.
The traction device includes traction connector, traction mode trigger switch, signal connecting line.When mobile platform with lead
Draw platform traction connector, signal connecting line connection after, traction mode trigger switch connect, automatically controlled steering actuator with turn
It is separated to mechanism by arrangement of clutch, the deflecting roller of mobile platform becomes follow-up steering wheel, and mobile platform work is travelled in traction
Mode.In the case where drawing driving mode, more mobile platforms can be travelled together by traction connector string, draw the center of platform
Controller can control respectively each braking by traction platform by communicating between mobile platform, prevent generation jack knifing when braking from showing
As influencing driving safety.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of intelligent electric wheel moving platform.
Specific embodiment
To make those skilled in the art more fully understand the technical solution of the utility model, with reference to the accompanying drawing and specifically
Embodiment is described in further detail the intelligent electric wheel moving platform of the utility model.
A kind of intelligent wheel moving platform described in the utility model includes main platform body, power supply, mode selector, ring
Border sensing device, positioning device, central control unit, movement executive device, communication device and traction device.
The main platform body is car body, is the matrix of the mobile platform, is used to support and connects the mobile platform
Each component makes each component keep relatively correct position, and has enough strength and stiffness to bear the mobile platform
Load and the impact transmitted from wheel.
The power supply is battery, for providing power supply for each electronics, the electric device of the mobile platform.
The mode selector includes the steering position personnel detection switch being mounted on the mobile platform, mode choosing
Select switch or knob, traction state switch, steering mechanism arrangement of clutch.User can select work in someone by above-mentioned switch
It drives, is unmanned, follow traveling, drawing any one mode in traveling.Mode selector can also be according to communication device
Transmission come mode select signal, determine mobile platform work remote driving, it is unmanned, follow it is any in driving mode
One mode.
When the mobile platform work manned mode and traction driving mode when, automatically controlled steering actuator with turn
It is separated to mechanism by arrangement of clutch, under manned mode, driver can be by steering wheel or steering the operation movement
Platform turns to, and draws under driving mode, guides the trailed mobile platform to be servo-actuated by traction device when tractor is turned to
It turns to.
When the mobile platform work in unmanned, remote driving, follow driving mode under, automatically controlled steering actuator
With steering mechanism by arrangement of clutch in conjunction with, according to central control unit issue instruction control mobile platform turn to.
The environmental perception device includes 1 binocular camera for being mounted on the mobile platform front or middle part and several
It is mounted on the monocular camera of the mobile platform side and rear.
Binocular and monocular camera can be used as automobile data recorder in manned mode and use；In remote driving mode for adopting
Collection mobile platform local environment image information simultaneously passes to remote driving personnel by communication device real time remote with control platform
Traveling；In unmanned mode for detecting travel edge, located lateral of the mobile platform on road is realized, and be used for
Detect the barrier on mobile platform driving path and its distance between mobile platform；Driving mode binocular camera is being followed to use
It is travelled in detecting and tracking the mobile platform that front is followed, it can be achieved that forming into columns, for detecting front personnel, it can be achieved that people exists
Before, mobile platform is travelled followed by people；Monocular camera is used to detect the personnel that rear or side are followed, it can be achieved that mobile flat
Platform is preceding, and people is travelling or people is in mobile platform side followed by people, and mobile platform is travelled with people.
The environmental perception device further includes several ultrasonic sensors, for detect vehicle periphery barrier and away from
From the quantity of ultrasonic sensor and the position of arrangement are determined according to the concrete application scene of the mobile platform.Such as
The mobile platform installs 8 ultrasonic sensors, and 2 are arranged symmetrically in the front of car body, and 2 are arranged symmetrically in car body
In front of side, for detecting the barrier and distance of vehicle front；2 are arranged symmetrically in the rear portion of car body, after detecting vehicle
The barrier and distance of side, 2 are arranged symmetrically in the side of car body, for detecting the barrier and distance of rear of vehicle.
The positioning device includes positioning device, can be positioned for global navigation satellite system GNSS (including GPS, Beidou
BDS, GLONASS etc.), wide area and local area Differential positioning (CORS, RTK real-time dynamic positioning), radio base station positioning etc. modes
One of or more than one combinations, and positioning method is combined according to specific environment situation, supports different positioning methods
The fusion of the location data of generation realizes outdoor, indoor positioning seamless interfacing, obtains the positioning coordinate of centimetre class precision.
Low-power consumption bluetooth BLE positioning, WiFi positioning, iBeacon positioning, ultra wide band can be used in radio base station positioning
(UWB) one of modes such as wireless location, radio frequency identification (RFID) positioning, ZigBee positioning or more than one combinations, can lead to
It crosses and lays wireless locating base station in the specific environment of mobile platform operation, corresponding wireless location is installed on a mobile platform and is set
It is standby to be positioned.
Stored in the positioning device mobile platform operation area laser point cloud data or can be as desired by
Communication device obtains the laser point cloud data of mobile platform operation area in time, positioning coordinate for being exported with positioning device,
The vision data of environmental perception device output carries out fusion matching, to improve positioning accuracy and positioning function stability.
The central control unit is connect with mode selector, environmental perception device, positioning device.Central control unit
According to the signal that mode selector exports, the operating mode of mobile platform is judged, according to selected scheme control mobile platform row
It sails.
When mobile platform work is under manned and remote driving mode, central control unit is operated according to driver to be believed
Number or remote control signal, to movement executive device issue it is corresponding execute action parameter, including steering direction, steering angle,
Travel speed, severity of braking etc., control mobile platform traveling.
When mobile platform work is under unmanned mode, central control unit merges mobile platform and travels planning path number
According to, the travel marginal information of environmental perception device output, obstacle information, positioning device output position coordinate information, with
And the signals such as speed, acceleration, current steering angle of mobile platform ontology, after analytical calculation, to movement executive device hair
Execute action parameter, including steering direction, steering angle, steering angular velocity, travel speed, severity of braking etc., control accordingly out
Mobile platform traveling processed.
When mobile platform work is in the case where following driving mode, central control unit merges the output of itself environmental perception device
It follows target identification information, the location coordinate information of self poisoning device output and follows target by what communication device obtained
Location information, after analytical calculation, to movement executive device issue it is corresponding execute action parameter, including steering direction, turn
To angle, steering angular velocity, travel speed, severity of braking etc., controls mobile platform and follow target travel.
When mobile platform work is in the case where drawing driving mode, according to traveling road conditions, the central control unit for drawing platform can
Severity of braking parameter implementation active brake is sent to platform is led by communication device, the mechanical connection of traction device can also be passed through
It realizes passive inertia braking, with control by the traction platform speed of service, realizes safety traffic.
The movement executive device includes wheel drive motors and its controller, automatically controlled steering actuator, electric control braking
Device.Wheel drive motors controller receives the control signal issued from central control unit, controls turning for wheel drive motors
Speed, to realize the control to mobile platform travel speed.Automatically controlled steering actuator executes the dynamic of central control unit sending
Make parameter, to control the steering direction of mobile platform, steering angle and steering angular velocity.Electric clipper control brake executes center control
The action parameter that device issues controls the severity of braking of mobile platform, cooperates vehicle traction electric machine controller, realizes to mobile flat
The control of platform travel speed.
The communication device includes one of modes such as communication, medium or short range communication, wide-area communication or one between mobile platform
Kind combination of the above.The communication device is connected to the central control unit, realizes that data transmission, the movement between mobile platform are flat
Data transmission between platform and internet.
When mobile platform work under manned mode, position locating for the mobile platform that communication device acquires positioning device
Confidence breath is transferred on internet, and mobile platform dispatching management information system can realize control mobile platform specified by communication device
Geographic range in operation.
When the mobile platform institute that mobile platform work is under remote driving mode, and communication device acquires environmental perception device
Place's ambient image information real-time delivery gives remote driving personnel, and driver issues control to mobile platform by communication device and refers to
It enables, to realize that remote-controlled movement platform travels.
When mobile platform work is under unmanned mode, mobile platform obtains mobile platform by communication module when needing
The laser point cloud data of operation area；The mobile platform present position information that positioning device acquires can be also transferred to by communication device
On internet, mobile platform dispatching management information system can realize the Automatic dispatching to mobile platform by communication device.
When mobile platform work is in the case where following traveling, communication device will be followed the location information of target and the speed of itself
The information such as degree, acceleration, current steering angle are transferred to the central control unit of mobile platform, control movement after being computed analysis
Platform follows target travel.
When mobile platform work is in the case where drawing driving mode, the information between the achievable mobile platform of communication device is communicated, in
After centre control device is computed analysis, severity of braking parameter implementation active brake is sent to by traction platform by communication device.
The traction device includes traction connector, traction mode trigger switch, signal connecting line.When mobile platform with lead
Draw platform traction connector, signal connecting line connection after, traction mode trigger switch connect, automatically controlled steering actuator with turn
It is separated to mechanism by arrangement of clutch, the deflecting roller of mobile platform becomes follow-up steering wheel, and mobile platform work is travelled in traction
Mode.In the case where drawing driving mode, more mobile platforms can be travelled together by traction connector string, draw the center of platform
Controller can control respectively each braking by traction platform by communicating between mobile platform, prevent generation jack knifing when braking from showing
As influencing driving safety.
It is understood that embodiment of above is merely to illustrate that the principles of the present invention and uses exemplary
Embodiment, however the utility model is not limited thereto.For those skilled in the art, this is not being departed from
In the case where the spirit and essence of utility model, various changes and modifications can be made therein, these variations and modifications are also considered as this reality
With novel protection scope.
Claims (6)
1. a kind of intelligent electric wheel moving platform, which is characterized in that the mobile platform includes main platform body, power supply, mode
Selection device, environmental perception device, positioning device, central control unit, movement executive device, communication device and traction device,
The mobile platform have manned, remote driving, it is unmanned, follow traveling, traction traveling multiple-working mode, user
Operating mode can be carried out as needed arbitrarily to convert；The main platform body is car body, is the matrix of the mobile platform, is used for
Each component for supporting and connecting the mobile platform makes each component keep relatively correct position；The power supply is battery, is used
In providing power supply for each electronics, the electric device of the mobile platform；The mode selector includes being mounted on the movement
The clutch dress of steering position personnel detection switch, mode selection switch or knob, traction state switch, steering mechanism on platform
It sets；The environmental perception device includes 1 binocular camera for being mounted on the mobile platform front or middle part and several installations
Monocular camera in the mobile platform side and rear.
2. a kind of intelligent electric wheel moving platform as described in claim 1, which is characterized in that the positioning device is the whole world
One or more of navigational satellite system GNSS positioning, the positioning of wide area and local area Differential positioning, radio base station.
3. a kind of intelligent electric wheel moving platform as described in claim 1, which is characterized in that the central control unit with
The mode selector, environmental perception device, positioning device connection.
4. a kind of intelligent electric wheel moving platform as described in claim 1, which is characterized in that the movement executive device packet
Include wheel drive motors and its controller, automatically controlled steering actuator and electric clipper control brake.
5. a kind of intelligent electric wheel moving platform as described in claim 1, which is characterized in that the communication device includes institute
State one or more of communication between mobile platform, medium or short range communication, wide-area communication mode；The communication device is connected in described
Control device is entreated, realizes that the data between data transmission, mobile platform and internet between the mobile platform are transmitted.
6. a kind of intelligent electric wheel moving platform as described in claim 1, which is characterized in that the traction device includes leading
Guiding connector, traction mode trigger switch and signal connecting line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820904480.8U CN208953958U (en) | 2018-06-12 | 2018-06-12 | A kind of intelligent electric wheel moving platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820904480.8U CN208953958U (en) | 2018-06-12 | 2018-06-12 | A kind of intelligent electric wheel moving platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208953958U true CN208953958U (en) | 2019-06-07 |
Family
ID=66731055
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820904480.8U Active CN208953958U (en) | 2018-06-12 | 2018-06-12 | A kind of intelligent electric wheel moving platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208953958U (en) |
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2018
- 2018-06-12 CN CN201820904480.8U patent/CN208953958U/en active Active
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