RU221624U1 - Unmanned vehicle - Google Patents

Abstract

The utility model relates to the field of vehicles. An unmanned vehicle containing a body mounted on a frame is described. Video cameras are mounted on the upper side parts of the body, two on each side. The cameras are directed at each other and located in the same horizontal plane symmetrically relative to the longitudinal plane of the body. One video camera is mounted on the front and rear upper parts of the body, directed forward and backward, respectively. Ultrasonic sensors are installed in the front and rear lower parts of the body, four on each side. The technical result is to ensure the possibility of safe movement of an unmanned vehicle through the simultaneous use of information received from video cameras and ultrasonic sensors mounted on the body of an unmanned vehicle. 2 ill.

Description

The utility model relates to the field of vehicles, namely to an unmanned vehicle and can be used to transport passengers or goods in closed areas, at airports, at exhibitions, enterprises, parks, etc.

A technical solution is known from the prior art, which provides a control system for an automated guided vehicle. The system includes a guidance path, a controlled vehicle, an image capture device and an operating unit. The guidance path guides the vehicle. The controlled vehicle moves along the navigation route and is oriented along it, moving within the guidance visibility zone after deviating from the guidance route. The image capturing device captures an image associated with the view control area. The image associated with the view control area at least includes an image of the view control area. The operation unit determines whether the controlled vehicle deviates from the guidance path and calculates information about the location of the controlled vehicle in the viewing guidance area. When the controlled vehicle deviates from the guidance route, the operation unit guides the controlled vehicle in accordance with the image associated with the guidance area (US 9207676 B2, 12/08/2015).

The disadvantage of this technical solution is the inability to detect obstacles in the blind zone of the image capture device, which can lead to the creation of an emergency when the controlled vehicle is moving. The installation of image capture devices is usually carried out at the highest point of the vehicle to ensure maximum viewing angle.

A robotic cargo vehicle is known from the prior art, containing a frame made with a vertically rising part, on which a service equipment module housing made of radio-transparent material is fixedly mounted, two ultrasonic sensors are fixed in the front lower part of the housing, and two ultrasonic sensors are fixed in the upper part of the housing on the frame a block of optical stereo cameras directed in the direction of travel, and two cleaning pneumatic nozzles, and two cleaning hydraulic nozzles directed to the block of optical stereo cameras, while on each side upper part of the body there is attached an optical rear-view camera directed at an angle from the longitudinal axis of the robotic cargo vehicle, and in each side lower part of the body one ultrasonic sensor is fixed, on the rear lower part of the frame there is a block of optical stereo cameras and two ultrasonic sensors, and on the rear upper part of the frame there is a protective protrusion to protect the block of optical stereo cameras from contamination and damage (RU 210916 U1, 13.05 .2022).

The robotic vehicle provides the ability to safely move the robotic cargo platform through the simultaneous use of information received from the vision unit, excluding incorrect information received from the vision unit due to its contamination, and ultrasonic sensors. However, the narrow operating range of the air nozzle - a change in the water or air supply pressure by 30-50% can lead either to blocking of the liquid - the liquid will not flow through the nozzle, or to a lack of atomization - the liquid from the nozzle will flow out in a stream without breaking up into drops, except In addition, there is a possibility that the hardness of the injector nozzle will become overgrown with salts, which will lead to incorrect information received from the technical vision unit and will not ensure the safe movement of the vehicle.

The closest analogue of the claimed utility model is an unmanned minibus (shuttle) for transporting passengers. The minibus contains a body mounted on a frame. There are two video cameras installed on the windshield and rear windows, as well as an additional Mobileye stereo camera, which is capable of assessing the distance to objects. Sixteen sonars are installed along the perimeter of the body, which probe the space around the unmanned minibus (Znaemsky S., article “US will develop an unmanned Shuttle”, published on August 24, 2016, electronic Internet resource at the link - https://autoreview.ru/news/nami-razrabotaet -bespilotnyy-shatl).

The disadvantage of this driverless minibus is the use of sonars (parking sensors), which have many blind spots at the bottom and miss objects such as thin posts or metal rods. Sonars can be very selective and do not detect objects such as stretched chains or cables, as well as small objects below a meter. Also, if there is an object nearby that reflects or absorbs sound, the device may not respond to it. In addition, the absence of video cameras on the side panels of the body does not eliminate blind spots, which does not ensure the safe movement of an unmanned vehicle.

The task to be solved by the proposed utility model is to expand the arsenal of technical means of unmanned vehicles.

The technical result to be achieved by the claimed utility model is to ensure the possibility of safe movement of an unmanned vehicle through the simultaneous use of information received from video cameras and ultrasonic sensors mounted on the body of an unmanned vehicle.

The technical result is achieved due to the fact that the unmanned vehicle contains a body mounted on a frame on which video cameras are mounted, while the video cameras are mounted on the upper side parts of the body - two at a time, directed towards each other and located in the same horizontal plane symmetrically relative to the longitudinal plane of the body, on the front and rear upper parts of the body - one video camera directed forward and backward, respectively, as well as ultrasonic sensors installed in four in the front and rear lower parts of the body.

In addition, the cameras on the upper side parts of the body, directed towards each other, are fixed at an angle selected from the range of 10-50° relative to the side surface of the body.

In addition, the cameras on the upper front, upper rear and upper side parts of the body are located in the same horizontal plane.

In addition, the cameras in the front and rear upper parts of the body are fixed in the same horizontal plane, centered relative to the sides of the body.

The angle of the cameras on the upper side parts of the body (the angle of deflection of the cameras relative to the side surface of the body, the angle of inclination of the cameras relative to the horizontal plane) is selected and adjusted by testing and calibrating video cameras and ultrasonic sensors, while the angle of the cameras depends on the height of the cameras relative to the ground, the distance between cameras, as well as the functionality of the camera itself. The angle of location of the cameras on the upper side parts of the body relative to the side surface of the body, selected from the range of 10-50°, provides maximum visibility of the environment from the sides of the body, partially capturing areas of visibility in the front and rear parts of the body of an unmanned vehicle.

Cameras mounted in the front and rear upper parts of the body, directed forward and backward, respectively, located centrally relative to the sides of the body in the same horizontal plane, provide maximum visibility of the environment in front of the front and rear, respectively, of the driverless vehicle.

The installation height of the cameras relative to the ground, as well as the distance between the cameras on the upper side parts of the body, are selected depending on the size and external shape of the body of the unmanned vehicle, as well as the functionality of the camera itself.

The use of ultrasonic sensors in the device, installed in fours in the front and rear lower parts of the body, can significantly increase the safety of movement of an unmanned vehicle, since they provide detection of objects in the immediate vicinity of the unmanned vehicle, where the blind spots of video cameras are located, and as they move away from vehicle information comes from video cameras mounted in the upper part of the body, where the coverage area of ultrasonic sensors is not significant.

The body of an unmanned vehicle is attached to a frame made in the form of a structure made of metal pipes of round and/or square and/or rectangular profiles welded together.

The body of an unmanned vehicle is made of radio-transparent material (for example, fiberglass, etc.), which makes it possible to install a software and hardware system inside the body with wireless information transmission and allows for remote control, as well as dispatching for controlling an unmanned vehicle.

A software and hardware complex, including an on-board control computer, a switch and a controller, allows for the collection and analysis of data received from video cameras and ultrasonic sensors as part of an unmanned vehicle in order to monitor the environment and its own position, by detecting and recognizing obstacles and elements of road infrastructure (signs, pedestrian crossings, road blocks, etc.), segmentation of the roadway, deduction of road markings, which allows for unmanned control of a vehicle.

The essence of the claimed utility model is further illustrated by drawings:

figure 1 - left view;

Fig.2 - front view.

The right view and rear view (not shown) of the autonomous vehicle are symmetrical to the left view and front view, respectively.

The following designations are used in the drawings:

1 - body;

2 - ultrasonic sensor;

3 - video camera mounted on the upper side of the body;

4 - video camera mounted on the front upper part of the body;

5 - video camera mounted on the rear upper part of the body;

6 - front lower part of the body;

7 - rear lower part of the body;

8 - front upper part of the body;

9 - rear upper part of the body;

10 - upper side part of the body.

In the preferred embodiment of this technical solution, the relative arrangement of the nodes of an unmanned vehicle is implemented as follows.

The body 1 of an unmanned vehicle is mounted on a frame (not shown) (see Fig. 1, Fig. 2). Eight ultrasonic sensors 2 are installed in the front and rear lower parts 6,7 of the body, four on each side. On the upper side parts 10 of the body, two video cameras 3 are mounted, located in the same horizontal plane symmetrically relative to the longitudinal plane of the body, directed at each other at an angle of 25° relative to the side surface of the body. In the front upper part 8 of the body and the rear upper part 9 of the body, one video camera 4 and 5 is fixed, directed forward and backward, respectively, located centrally relative to the sides of the body and in the same horizontal plane with the video cameras on the side upper parts 3 of the body.

Thus, the design of an unmanned vehicle ensures the safe movement of an unmanned vehicle through the simultaneous use of information received from video cameras and ultrasonic sensors mounted on the body, both in closed (airports, exhibitions, enterprises, etc.) areas and open areas (parks, etc.) territories.

Claims (1)

An unmanned vehicle containing a body on which video cameras are mounted, characterized in that it additionally contains ultrasonic sensors installed in fours in the front and rear lower parts of the body, and the video cameras, mounted in twos on the upper side parts of the body, are directed at each other at an angle , selected from the interval 10-50°, relative to the side surface of the body and located symmetrically relative to the longitudinal plane of the body, video cameras, mounted one at a time on the front and rear upper parts of the body in the center relative to the sides of the body, are directed forward and backward, respectively, while the video cameras in the upper front, upper rear and upper side parts of the body are located in the same horizontal plane.