CN217048291U - Novel unmanned trolley control system - Google Patents

Abstract

The utility model relates to a novel unmanned trolley control system, which belongs to the technical field of vehicle model control and comprises a CAN bus transceiver, a vehicle control unit, a remote control receiver, a non-contact speed measuring sensor, a power supply system, a driving system and a direction control system; the input end of the vehicle control unit is respectively connected with the remote control receiver, the non-contact speed measurement sensor and the CAN bus receiver; the output end of the vehicle control unit is respectively connected with the driving system and the direction control system; and the power supply system is used for supplying power to the novel unmanned trolley control system. The electric system of the automobile model is improved, and the requirements of a large current of an automobile model driving motor and the requirements of a stable power supply of a control decision sensor, a decision computer and the like are met. And the switching between wireless remote control and CAN bus information control is realized.

Description

Novel unmanned trolley control system

Technical Field

The utility model belongs to the technical field of the turning mold control, concretely relates to novel unmanned dolly control system.

Background

The universal automobile model in the market at present adopts single drive LiPo battery power supply, directly controls to turn to with steering wheel and control electricity accent driven brushless motor through wireless receiver, realizes going and turning to of automobile model. However, as an unmanned vehicle, a vehicle control system for controlling the autonomous driving and steering of the vehicle is lacking. As an unmanned control trolley, an integral vehicle autonomous control sensor, a decision computer and a controller for trolley operation need to be added. These bring about fundamental changes to the electrical system, and the requirements of the large current of the driving motor of the automobile model and the stable power supply of a control decision sensor, a decision computer and the like are required to be met. At present, a control system capable of meeting these requirements is not available for the time being.

Therefore, a novel unmanned trolley control system needs to be designed at the present stage to solve the above problems.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a novel unmanned dolly control system for solve the technical problem who exists among the above-mentioned prior art, general turning mold in the market adopts single drive LiPo battery powered at present, directly turns to with steering wheel and control electricity through wireless receiver control and transfers driven brushless motor, realizes going and turning to of turning mold. As an unmanned vehicle, a vehicle control system for controlling the autonomous driving and steering of the vehicle is lacked. As an unmanned control trolley, an integral vehicle autonomous control sensor, a decision computer and a controller for trolley operation need to be added. These bring about fundamental changes to the electrical system, and the requirements of the large current of the driving motor of the automobile model and the stable power supply of a control decision sensor, a decision computer and the like are required to be met. At present, a control system capable of meeting the requirements is not available for a while.

In order to achieve the above purpose, the technical scheme of the utility model is that:

a novel unmanned trolley control system comprises a CAN bus transceiver, a whole vehicle controller, a remote control receiver, a non-contact speed measurement sensor, a power supply system, a driving system and a direction control system;

the input end of the vehicle control unit is respectively connected with the remote control receiver, the non-contact speed measurement sensor and the CAN bus receiver;

the output end of the vehicle control unit is respectively connected with the driving system and the direction control system;

and the power supply system is used for supplying power to the novel unmanned trolley control system.

Furthermore, the driving system comprises an electronic speed regulator, a brushless motor, a differential mechanism and a mechanical transmission structure shafting;

the whole vehicle controller, the electronic speed regulator and the brushless motor are sequentially connected;

and the whole vehicle controller, the differential and the mechanical transmission structure shafting are sequentially connected.

Further, the direction control system comprises a direction control steering engine and a steering trapezoidal structure rod system;

the whole vehicle controller, the direction control steering engine and the steering trapezoid structure rod system are sequentially connected.

Further, the CAN bus transceiver is used for controlling the bus to transmit and receive bus information.

Further, the remote control receiver serves as an interface for manual control.

Further, the non-contact speed measuring sensor is used for measuring the running speed of the vehicle.

Further, the power supply system comprises a LiPo battery, a voltage reduction lithium battery pack and a large-current voltage reduction module;

the voltage reduction lithium battery pack supplies power independently;

the LiPo battery and the large-current voltage reduction module are matched for power supply.

Further, the LiPo battery supplies power to the driving system;

the independent voltage reduction lithium battery pack supplies power to the decision making system;

the LiPo battery and the large-current voltage reduction module are matched to supply power to the steering engine and the whole vehicle control system.

Compared with the prior art, the utility model discloses the beneficial effect who has does:

one of the beneficial effects of the scheme is that the automobile model electrical system is improved, and the requirements of a large current of an automobile model driving motor and the requirements of a stable power supply used as a control decision sensor, a decision computer and the like are met. And the switching between wireless remote control and CAN bus information control is realized.

Drawings

Fig. 1 is a schematic diagram of a vehicle system according to an embodiment of the present application.

Fig. 2 is a schematic diagram of a power supply system according to an embodiment of the present application.

Fig. 3 is a signal diagram of a system according to an embodiment of the present application.

Fig. 4 is a schematic diagram of switching control signals according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to fig. 1-4 of the present invention, and it should be apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Example (b):

as shown in fig. 1, a novel unmanned trolley control system is provided, which comprises a CAN bus transceiver, a vehicle control unit, a remote control receiver, a non-contact speed measurement sensor, a power supply system, a driving system and a direction control system;

the input end of the whole vehicle controller is respectively connected with the remote control receiver, the non-contact speed measurement sensor and the CAN bus receiver;

the output end of the vehicle control unit is respectively connected with the driving system and the direction control system;

and the power supply system is used for supplying power to the novel unmanned trolley control system.

Wherein, vehicle control unit: and the brushless motor controller is used as a main controller for controlling the chassis and is responsible for controlling the steering engine and controlling the driving system. The input of the system comprises a remote control receiver, a non-contact speed measurement sensor and a CAN bus receiver; the output of the controller comprises a PWM synthesizer for controlling the steering engine and a PWM synthesizer for controlling and driving the brushless motor controller.

CAN bus transceiver: the device for transmitting and receiving bus information as a control bus receives a control command output from the decision computer and state information of the vehicle transmitted to the decision computer.

The remote control receiver: the control state of the vehicle model can be switched as an interface for manual control, and when the vehicle model needs automatic control, the control state is switched to be controlled by a decision computer, and when the vehicle model needs manual control, the control state can be directly controlled by a remote controller.

Non-contact speed measurement sensor: as the device for measuring the running speed of the vehicle, pulse information related to the vehicle speed can be obtained under the condition that the original mechanical structure is not changed, and the speed is calculated through the vehicle control unit.

Furthermore, the driving system comprises an electronic speed regulator, a brushless motor, a differential mechanism and a mechanical transmission structure shafting;

the whole vehicle controller, the electronic speed regulator and the brushless motor are sequentially connected;

and the vehicle control unit, the differential and the mechanical transmission structure shafting are sequentially connected.

Wherein, the actuating system is specific: electronic governor, brushless motor, differential mechanism, mechanical drive structure shafting. The original driving electronic speed regulator and the brushless motor of the original turning mold are adopted. The vehicle control unit can synthesize a PWM sequence waveform meeting a 'two-way' electronic speed regulator through a PWM synthesizer, realize the forward rotation, the reverse rotation and the braking of a driving system, and further realize the forward movement, the backward movement and the braking of a vehicle model.

Further, the direction control system comprises a direction control steering engine and a steering ladder-shaped structure rod system;

the whole vehicle controller, the direction control steering engine and the steering trapezoid structure rod system are sequentially connected.

The direction control system includes: a direction control steering engine and a steering ladder-shaped structure rod system. The steering control steering engine is used as a controller of a turning system of the turning mold, and the turning of the turning mold is controlled through a connecting rod mechanism.

Further, the power supply system comprises a LiPo battery, a voltage reduction lithium battery pack and a large-current voltage reduction module;

the voltage reduction lithium battery pack supplies power independently;

the LiPo battery and the large-current voltage reduction module are matched for power supply.

Further, the LiPo battery supplies power to the driving system;

an independent voltage reduction lithium battery pack supplies power to the decision making system;

the LiPo battery and the large-current voltage reduction module are matched to supply power to the steering engine and the whole vehicle control system.

Wherein, power supply system includes: the lithium ion battery comprises a LiPo battery, a voltage reduction lithium battery pack and a high-current voltage reduction module. A double-battery power supply system is adopted, and a LiPo battery supplies power to a large-current and large-power driving motor subsystem; an independent lithium battery module with a voltage reduction module supplies power for an autonomous control sensor, a decision computer and the like; a voltage reduction module with high current and low voltage is adopted to supply power to a steering engine and a whole vehicle control system. As shown in fig. 2.

The vehicle system signal includes: both input signals and control signals. The input signal includes: the CAN bus transceiver transmits control instructions and state information of the vehicle model, the remote control receiver receives the control instructions, and the speed information transmitted by the non-contact speed measuring sensor. The control signals include: the PWM signal of the electric speed regulator and the PWM signal of the steering engine are controlled. As shown in fig. 3.

And (4) transmission selection of input signals. Because the model car has the characteristic of remote control, two modes of manual operation and automatic operation can be realized. The automatic mode operation control signal comes from the decision-making system. And the decision system makes a decision according to the information of the sensor and transmits the information of the accelerator, the gear and the direction to the vehicle control unit through the CAN bus. The manual mode is to receive information from the controller in one direction through the remote control receiver. The switching method of manual and automatic modes comprises the following steps: an independent wireless channel is arranged on the remote control receiver, software switching is realized in the vehicle controller, signals of an accelerator, gears and directions are directly transmitted to a vehicle control strategy for operation, and finally, the signals are output to the electronic speed regulator and the steering engine to realize vehicle control. As shown in fig. 4.

It is worth noting that: the CAN bus transceiver, the vehicle control unit, the remote control receiver, the non-contact speed measurement sensor and the like in the scheme are all circuits or devices in the prior art, and the innovation of the scheme is not on a single circuit, but the aim of the invention is achieved by matching a plurality of circuits or devices.

In the description of this patent, it is to be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the figures, which are based on the orientations and positional relationships shown in the figures, and are used for convenience in describing the patent and for simplicity in description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore should not be construed as limiting the patent.

The foregoing is merely a preferred embodiment of the invention, and it is to be understood that the invention is not limited to the form disclosed herein, but is not intended to be foreclosed in other embodiments and is capable of use in various other combinations, modifications, and environments and is capable of changes within the scope of the invention as expressed in the above teachings or as known in the relevant art. But that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention, which is to be limited only by the claims appended hereto.

Above is the utility model discloses a preferred embodiment, all rely on the utility model discloses the change that technical scheme made, produced functional action does not surpass the utility model discloses during technical scheme's scope, all belong to the utility model discloses a protection scope.

Claims (8)

1. The novel unmanned trolley control system is characterized by comprising a CAN bus transceiver, a whole vehicle controller, a remote control receiver, a non-contact speed measuring sensor, a power supply system, a driving system and a direction control system;

the input end of the vehicle control unit is respectively connected with the remote control receiver, the non-contact speed measurement sensor and the CAN bus receiver;

the output end of the vehicle control unit is respectively connected with the driving system and the direction control system;

and the power supply system is used for supplying power to the novel unmanned trolley control system.

2. The novel unmanned vehicle control system of claim 1, wherein the drive system comprises an electronic governor, a brushless motor, a differential, a mechanical drive train;

the whole vehicle controller, the electronic speed regulator and the brushless motor are sequentially connected;

and the vehicle control unit, the differential and the mechanical transmission structure shafting are sequentially connected.

3. The novel unmanned trolley control system of claim 1, wherein the directional control system comprises a directional control steering engine, a steering ladder structure linkage;

the whole vehicle controller, the direction control steering engine and the steering trapezoid structure rod system are sequentially connected.

4. The novel unmanned vehicle control system as claimed in claim 1, wherein the CAN bus transceiver is configured to control bus information transmission and reception.

5. The novel unmanned vehicle control system as claimed in claim 1, wherein the remote control receiver interfaces to a manual control.

6. The novel unmanned aerial vehicle control system of claim 1, wherein the non-contact tacho sensor is configured to measure the operating speed of the vehicle.

7. The novel unmanned aerial vehicle control system of claim 1, wherein the power supply system comprises a LiPo battery, a step-down lithium battery pack, and a high current step-down module;

the voltage reduction lithium battery pack is independently powered;

the LiPo battery is matched with the high-current voltage reduction module for power supply.

8. The novel unmanned vehicle control system of claim 7, wherein a LiPo battery provides power to the drive system;

an independent voltage reduction lithium battery pack supplies power to the decision making system;

the LiPo battery and the large-current voltage reduction module are matched to supply power to the steering engine and the whole vehicle control system.

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