CN214586557U - Autonomous cruise system - Google Patents
Autonomous cruise system Download PDFInfo
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- CN214586557U CN214586557U CN202120803050.9U CN202120803050U CN214586557U CN 214586557 U CN214586557 U CN 214586557U CN 202120803050 U CN202120803050 U CN 202120803050U CN 214586557 U CN214586557 U CN 214586557U
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Abstract
The utility model relates to an autonomous cruise system, which comprises an aircraft and a cruise trolley which is wirelessly connected with the aircraft; the cruise trolley comprises a trolley body, wherein: the wireless charging system comprises a wireless communication module, a positioning module, a driving motor, a wireless charging module, a ranging sensor and a processor, wherein the wireless communication module, the positioning module, the driving motor, the wireless charging module and the ranging sensor are respectively connected with the processor; the top of the bottom of the vehicle body is provided with an organic carrier plate for supporting an aircraft; and a plurality of driving wheels are arranged at the bottom of the vehicle body. The utility model provides a technical scheme can make dolly and aircraft realize wireless data transmission, and the route of marcing is independently judged to the dolly, realizes the cooperation of dolly and aircraft, and in addition, the dolly can avoid damaging by automated inspection the place ahead obstacle.
Description
Technical Field
The utility model belongs to the technical field of unmanned operation, concretely relates to autonomous cruise system.
Background
The intelligent vehicle is a new modern invention, is a later development direction, can automatically operate in an environment according to a preset mode, does not need artificial management, and can be applied to scientific exploration and the like. The intelligent car can display time, speed and mileage in real time, has the functions of automatic tracking, light searching and obstacle avoidance, and can realize the functions of program control of running speed, accurate positioning of parking, remote image transmission and the like. The intelligent trolley can be divided into three parts, namely a sensor part, a controller part and an actuator part. A controller section: and receiving signals transmitted by the sensor part, determining the response of the robot to external signals according to a decision-making system (software program) written in advance, and sending control signals to the actuator part. Much like the human brain. An actuator section: the robot is driven to make various behaviors including a portion that emits various signals (lights up a light emitting diode, emits a sound), and the state thereof can be adjusted according to the signal of the controller portion. The most basic for a robotic vehicle are the wheels.
In the related art, the combination of the trolley and the aircraft generally advances according to a set track, the aircraft and the trolley have no data transmission, the travelling path cannot be judged mutually, and autonomous cruise cannot be realized.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model aims at overcoming the not enough of prior art, providing an autonomic cruise system in order to solve between current aircraft and the dolly not have data transmission, can't judge the route of marcing between each other, can't realize the problem of independently cruising.
In order to realize the above purpose, the utility model adopts the following technical scheme: an autonomous cruise system, comprising: the aircraft is a cruise trolley which is wirelessly connected with the aircraft;
the cruise trolley comprises a trolley body, wherein: the wireless charging system comprises a wireless communication module, a positioning module, a driving motor, a wireless charging module, a ranging sensor and a processor, wherein the wireless communication module, the positioning module, the driving motor, the wireless charging module and the ranging sensor are respectively connected with the processor; the top of the bottom of the vehicle body is provided with an organic carrier plate for supporting an aircraft; the periphery of the airborne plate adopts a folding structure; the bottom of the vehicle body is provided with a plurality of driving wheels;
the aircraft is provided with a positioner and a charging interface;
the wireless communication module is used for the wireless communication between the aircraft and the cruise trolley;
the positioning module is used for positioning the aircraft;
the distance measuring sensor is used for detecting the distance between the cruise trolley and the aircraft;
the driving motor is used for driving the driving wheel to rotate;
the wireless charging module is used for charging the aircraft through a charging interface.
Further, the front of the vehicle body is also provided with:
the obstacle avoidance module is used for detecting an obstacle in front of the vehicle body;
the obstacle avoidance module is connected with the processor.
Further, still be equipped with on the automobile body:
the fault detection module is used for detecting a fault signal generated by the cruise trolley;
the fault detection module is connected with the processor.
Further, the fault detection module includes:
short-circuit fault indicator, ground fault circuit interrupter, overvoltage protection circuit and overcurrent protection circuit.
Further, be equipped with the track on the airborne board, the aircraft is equipped with track identification sensor for discernment track.
Further, the track recognition sensor employs:
a camera is provided.
Further, the positioning module adopts an RTK module.
Further, still be equipped with in the automobile body:
and the power supply module is used for supplying electric energy to the flushing device.
Further, the power module includes:
the power supply comprises a power supply conversion circuit, a transformer and a voltage stabilizing circuit;
the input end of the transformer is connected with the output end of the power supply conversion circuit, and the output end of the transformer is connected with the input end of the voltage stabilizing circuit.
Further, the interior of the vehicle body is also provided with
The power supply detection module is used for detecting the residual electric quantity of the power supply module;
the power supply detection module is connected with the processor.
The utility model adopts the above technical scheme, the beneficial effect that can reach includes:
the autonomous cruise system comprises an aircraft and a cruise trolley which is in wireless connection with the aircraft; the cruise trolley comprises a trolley body, wherein: the wireless charging system comprises a wireless communication module, a positioning module, a driving motor, a wireless charging module, a ranging sensor and a processor, wherein the wireless communication module, the positioning module, the driving motor, the wireless charging module and the ranging sensor are respectively connected with the processor; the top of the bottom of the vehicle body is provided with an organic carrier plate for supporting an aircraft; and a plurality of driving wheels are arranged at the bottom of the vehicle body. The utility model provides a technical scheme can make dolly and aircraft realize wireless data transmission, and the route of marcing is independently judged to the dolly, realizes the cooperation of dolly and aircraft, and in addition, the dolly can avoid damaging by automated inspection the place ahead obstacle.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an autonomous cruise system according to the present invention;
fig. 2 is a schematic structural view of the cruise trolley provided by the present invention;
fig. 3 is another schematic structural diagram of the cruise trolley provided by the present invention;
fig. 4 is a schematic structural diagram of the deployed state of the airborne board provided by the present invention;
fig. 5 is a schematic structural diagram of the battery panel provided by the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be described in detail below. It is to be understood that the embodiments described are only some embodiments of the invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
A specific autonomous cruise system provided in the embodiment of the present application will be described with reference to the accompanying drawings.
As shown in fig. 1, the utility model provides an autonomous cruise system, include: the aircraft 2 is a cruise trolley 1 which is wirelessly connected with the aircraft 2;
as shown in fig. 2 and 3, the cruise trolley 1 includes a trolley body 101, and the inside of the trolley body 101 is provided with: the wireless charging system comprises a wireless communication module 11, a positioning module 12, a driving motor 13, a wireless charging module 15, a ranging sensor 16 and a processor 14, wherein the wireless communication module 11, the positioning module 12, the driving motor 13, the wireless charging module 15 and the ranging sensor 16 are respectively connected with the processor 14; the top of the bottom of the vehicle body 101 is provided with an organic carrier plate 102 for supporting the aircraft 2; the periphery of the machine support plate 102 adopts a folding structure 103; a plurality of driving wheels 104 are arranged at the bottom of the vehicle body 101;
a positioner (not shown in the figure) and a charging interface (not shown in the figure) are arranged on the aircraft 2;
the wireless communication module 11 is used for the wireless communication between the aircraft 2 and the cruise trolley 1;
the positioning module 12 is used for positioning the aircraft 2;
the distance measuring sensor 16 is used for detecting the distance between the cruise trolley 1 and the aircraft 2;
the driving motor 13 is used for driving the driving wheel 104 to rotate;
the wireless charging module 15 is used for charging the aircraft 2 through a charging interface.
The working principle of the autonomous cruise system provided by the application is that in the aspect of realization, the cruise trolley 1 can be wirelessly interconnected with the unmanned aerial vehicle 2 in the air, and receives a task instruction sent by the unmanned aerial vehicle 2 through the wireless communication module 11, so that the autonomous cruise of a navigation point is realized. The cruise trolley 1 provided by the application adopts a high-precision RTK module, the relative precision is +/-5 cm, and the critical navigation function is played when the task of autonomous cruise is executed.
After the task is initiated, the cruise trolley 1 bears the aircraft 2 from the starting point to reach a first navigation point, the unmanned aerial vehicle automatically unlocks and takes off, when the aircraft 2 reaches a second navigation point, the aircraft 2 sends an instruction to the cruise trolley 1 through the wireless communication module 11, and the cruise trolley 1 can guide and move to a next task point through a route transmitted by the aircraft 2 according to a task command. When the cruise trolley 1 stops after reaching the task point, the latitude and longitude of the current parking position information can be broadcasted to the aircraft 2. After the aircraft 2 receives the small parking space, the aircraft can fly to the top of the trolley to pair coordinates and a yaw angle, the aircraft 2 can slowly descend to the recording plate of the cruise trolley 1 after the pairing is completed to perform wireless charging through the wireless charging module 15, and the aircraft is relatively static in the charging process.
After the charging task is completed, the aircraft 2 can take off autonomously to continue to execute the task, the cruise trolley 1 can also take the place of the task according to the driving route of the trolley, the driving wheel 104 of the trolley is driven by the driving motor 13 to rotate to the terminal point to wait for the aircraft 2 and send the current parking position to the aircraft 2, and after the aircraft 2 completes the flight task, the aircraft 2 lands on the platform of the cruise trolley 1 to transport the aircraft 2 to the starting point of the task. It should be noted that the mission route may be preset in the controller.
In some embodiments, the vehicle body 101 further has disposed in front thereof:
the obstacle avoidance module 17 is used for detecting an obstacle in front of the vehicle body 101;
the obstacle avoidance module 17 is connected with the processor 14.
When the cruise trolley 1 is in accordance with a task command issued by the aircraft 2, the cruise trolley advances in accordance with the task command, and when an obstacle is detected to exist in front, the driving wheel 104 is controlled to rotate, so as to avoid direct collision with the obstacle, and the cruise trolley continues to advance in accordance with the task command after bypassing the obstacle.
In some embodiments, the vehicle body 101 further includes:
a fault detection module (not shown in the figure) for detecting a fault signal generated by the cruise trolley 1;
the failure detection module is connected to the processor 14.
Preferably, the fault detection module includes:
short-circuit fault indicator, ground fault circuit interrupter, overvoltage protection circuit and overcurrent protection circuit.
Specifically, above-mentioned fault detection module can detect faults such as short circuit, open circuit excessive pressure, and it is to explain, this is only the utility model discloses an embodiment, the utility model discloses a fault detection module's function is not limited to this, also can include other detection circuitry or protection circuit.
In some embodiments, the aircraft carrier 102 is provided with a track, and the aircraft 2 is provided with a track identification sensor for identifying the track.
It can be understood that, as shown in fig. 4, the whole body of the cruise trolley 1 provided by the present application is formed by adopting a high-strength carbon fiber foldable design, the plate thickness of the machine support plate 102 is 4mm, the note support plate is an unmanned aerial vehicle take-off and landing platform, and the periphery of the note support plate is formed by folding plate structures of 100 mm; the middle parts are connected by a customized high-strength aviation aluminum structure; the driving motor 13 is installed on the bottom plate of the machine support plate 102, the driving motor 13 comprises four independent large-torque brush motors, the universal wheels are matched to form an independent transmission mechanism, and the front, back, left and right and translational motion are realized by changing the directions of the motors. Specifically, the deployment size of the cruise trolley 1 is as follows: length × width × height: 800mm × 700mm × 200 mm; the folding size is: length × width × height: 600 mm. times.500 mm. times.200 mm.
The track recognition sensor employs:
a camera is provided.
Specifically, the aircraft 2 collects the track through the camera, so that the track is identified, and the aircraft 2 can conveniently land on the recording plate of the cruise trolley 1.
Preferably, the positioning module 12 is an RTK module.
It should be noted that the RTK module is a multi-system high-precision navigation positioning module 12, can support two frequency points of BDS B1 and GPS L1 at the same time, is embedded with an RTK algorithm, and has the characteristics of high sensitivity, interference resistance, high performance and the like. The high-precision position can serve the fields of fine agriculture, intelligent driving test, unmanned aerial vehicles, general aviation, internet of vehicles, automatic driving and the like.
The embodiment of the application provides a self-service cruise system, still be equipped with in the automobile body 101:
and the power supply module is used for supplying electric energy to the cruise trolley 1.
It will be appreciated that as shown in figure 5, the power module employs a battery panel, which is a rechargeable battery panel.
Preferably, the power supply module includes:
the power supply comprises a power supply conversion circuit, a transformer and a voltage stabilizing circuit;
the input end of the transformer is connected with the output end of the power supply conversion circuit, and the output end of the transformer is connected with the input end of the voltage stabilizing circuit.
Specifically, the power conversion circuit can convert a suitable power; the transformer is used for transforming the mains supply, and the voltage stabilizing circuit is used for stabilizing the voltage.
Preferably, the vehicle body 101 is further provided with
The power supply detection module is used for detecting the residual electric quantity of the power supply module;
the power detection module is connected to the processor 14.
The power detection module detects the remaining power of the power module, for example, an alarm indicator is arranged on the vehicle body 101, and when the remaining power of the power module is lower than a preset value, the processor 14 controls the alarm indicator to flash for prompting.
To sum up, the autonomous cruise system provided by the utility model comprises an aircraft and a cruise trolley which is wirelessly connected with the aircraft; the cruise trolley comprises a trolley body, wherein: the wireless charging system comprises a wireless communication module, a positioning module, a driving motor, a wireless charging module, a ranging sensor and a processor, wherein the wireless communication module, the positioning module, the driving motor, the wireless charging module and the ranging sensor are respectively connected with the processor; the top of the bottom of the vehicle body is provided with an organic carrier plate for supporting an aircraft; and a plurality of driving wheels are arranged at the bottom of the vehicle body. The utility model provides a technical scheme can make dolly and aircraft realize wireless data transmission, and the route of marcing is independently judged to the dolly, realizes the cooperation of dolly and aircraft, and in addition, the dolly can avoid damaging by automated inspection the place ahead obstacle.
The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and all should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. An autonomous cruise system, comprising: the aircraft is a cruise trolley which is wirelessly connected with the aircraft;
the cruise trolley comprises a trolley body, wherein: the wireless charging system comprises a wireless communication module, a positioning module, a driving motor, a wireless charging module, a ranging sensor and a processor, wherein the wireless communication module, the positioning module, the driving motor, the wireless charging module and the ranging sensor are respectively connected with the processor; the top of the bottom of the vehicle body is provided with an organic carrier plate for supporting an aircraft; the periphery of the airborne plate adopts a folding structure; the bottom of the vehicle body is provided with a plurality of driving wheels;
the aircraft is provided with a positioner and a charging interface;
the wireless communication module is used for the wireless communication between the aircraft and the cruise trolley;
the positioning module is used for positioning the aircraft;
the distance measuring sensor is used for detecting the distance between the cruise trolley and the aircraft;
the driving motor is used for driving the driving wheel to rotate;
the wireless charging module is used for charging the aircraft through a charging interface.
2. The autonomous cruise system according to claim 1, characterized in that in front of said vehicle body there are further provided:
the obstacle avoidance module is used for detecting an obstacle in front of the vehicle body;
the obstacle avoidance module is connected with the processor.
3. The autonomous cruise system according to claim 1, characterized in that said vehicle body is further provided with:
the fault detection module is used for detecting a fault signal generated by the cruise trolley;
the fault detection module is connected with the processor.
4. The autonomous cruise system according to claim 3, characterized in that said fault detection module comprises:
short-circuit fault indicator, ground fault circuit interrupter, overvoltage protection circuit and overcurrent protection circuit.
5. The autonomous cruise system according to claim 1, characterized in that said onboard plate is provided with a track, said aircraft being provided with a track identification sensor for identifying the track.
6. The autonomous cruise system according to claim 5, characterized in that said track identification sensor employs:
a camera is provided.
7. The autonomous cruise system according to claim 1,
the positioning module adopts an RTK module.
8. The autonomous cruise system according to any one of claims 1 to 7, characterized in that inside said body there are further provided:
and the power supply module is used for supplying electric energy to the cruise trolley.
9. The autonomous cruise system according to claim 8, characterized in that said power supply module comprises:
the power supply comprises a power supply conversion circuit, a transformer and a voltage stabilizing circuit;
the input end of the transformer is connected with the output end of the power supply conversion circuit, and the output end of the transformer is connected with the input end of the voltage stabilizing circuit.
10. The autonomous cruise system according to claim 8, wherein said body further comprises
The power supply detection module is used for detecting the residual electric quantity of the power supply module;
the power supply detection module is connected with the processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120803050.9U CN214586557U (en) | 2021-04-19 | 2021-04-19 | Autonomous cruise system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120803050.9U CN214586557U (en) | 2021-04-19 | 2021-04-19 | Autonomous cruise system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214586557U true CN214586557U (en) | 2021-11-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120803050.9U Active CN214586557U (en) | 2021-04-19 | 2021-04-19 | Autonomous cruise system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214586557U (en) |
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2021
- 2021-04-19 CN CN202120803050.9U patent/CN214586557U/en active Active
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