CN113830175A - Four-wheel cross-country unmanned line control vehicle - Google Patents

Abstract

Translated fromChinese

本发明公开了一种四轮越野无人线控车辆，包括底盘系统和电器部件安装箱，所述底盘系统包括前轴系统和后轴系统，所述前轴系统和后轴系统分别位于电器部件安装箱的前后两侧，所述前轴系统包括车架、悬架系统、转向系统和轮边系统，所述悬架系统和转向系统均装于车架上，所述轮边系统连接悬架系统和转向系统，所述车架可拆卸的连接于电器部件安装箱上，所述后轴系统与前轴系统结构相同，本发明能够实现四轮转向，提高在各种路面行驶时的通过性，并且为组合式的，在拆装及维修时较为方便。

The invention discloses a four-wheel off-road unmanned wire-controlled vehicle, comprising a chassis system and an electrical component installation box. The chassis system includes a front axle system and a rear axle system, and the front axle system and the rear axle system are respectively located in the electrical components The front and rear sides of the installation box, the front axle system includes a frame, a suspension system, a steering system and a wheel side system, the suspension system and the steering system are both mounted on the frame, and the wheel side system is connected to the suspension System and steering system, the frame is detachably connected to the electrical component installation box, the rear axle system has the same structure as the front axle system, the present invention can realize four-wheel steering and improve the passability when driving on various roads , and it is a combined type, which is more convenient for disassembly and maintenance.

Description

Four-wheel cross-country unmanned line control vehicle

Technical Field

The invention belongs to the technical field of unmanned vehicles, and particularly relates to a four-wheel cross-country unmanned drive-by-wire vehicle.

Background

In recent years, with the development of the automotive industry, automobiles are gradually transitioned from being completely controlled by drivers to assisted driving. In recent years, the automobile industry is rapidly developed, and unmanned driving is gradually brought forward. The steer-by-wire system of the automobile generally comprises three main parts, namely a steering wheel assembly, a steering execution assembly and a main controller (ECU), and auxiliary systems, such as an automatic failure prevention system and a power supply. In a general steer-by-wire system, a sensor is used for detecting steering data of a driver, signals are transmitted to an ECU through a data bus, and corresponding feedback instructions are obtained. Thereby controlling the steering of the steered wheels. Brake systems used on automobiles are generally hydraulic-type brake systems, and hydraulic-by-wire brake systems have been developed from conventional hydraulic brakes in which some mechanical components are replaced with electronic components; generally, the hydraulic brake-by-wire consists of an electronic pedal, an Electronic Control Unit (ECU) and a hydraulic actuating mechanism, wherein a pedal sensor acquires a pedal stroke and transmits a signal to the ECU to realize regulation and control of the pedal stroke and braking force.

However, the current unmanned vehicle has the following problems: 1. the conventional intelligent vehicle has small wheel jumping stroke, and can not smoothly pass through the conditions such as chassis collision and the like when running on bad roads such as uneven roads and the like;

2. the existing intelligent vehicle is difficult to realize omnibearing running;

3. the existing intelligent vehicle has a single steering mode and is difficult to turn around on a narrow road surface;

4. the existing vehicle has single working environment and function and cannot be well adapted to various working environments;

5. most of the existing vehicle arrangement structures are integrated, and the installation and maintenance processes are relatively complex.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides the combined type four-wheel steering vehicle which can realize four-wheel steering, improves trafficability when driving on various roads and is convenient to disassemble, assemble and maintain.

In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a cross-country unmanned drive-by-wire vehicle of four-wheel, includes chassis system and electrical components install bin, chassis system includes front axle system and rear axle system, front axle system and rear axle system are located the front and back both sides of electrical components install bin respectively, the front axle system includes frame, suspension system, a steering system and wheel limit system, suspension system and steering system all adorn on the frame, wheel limit system connection suspension system and a steering system, frame detachable connects on the electrical components install bin, the rear axle system is the same with front axle system structure.

Further be provided with the goat's horn between suspension system and the wheel limit system, suspension system is including the swing arm that is located the frame both sides, and frame is connected to swing arm one end, and the goat's horn is connected to the other end, and frame and goat's horn are connected respectively to a steering system's both ends, the wheel limit system includes in-wheel motor, and in-wheel motor adorns on the goat's horn, and is provided with brake caliper on the goat's horn.

Further the swing arm includes swing arm and lower swing arm, be provided with first bumper shock absorber down between swing arm and the frame, be provided with the second bumper shock absorber between the lower swing arm of frame both sides.

The system further comprises the following control systems: the remote control device, the electronic parking braking system, the battery management system, the electric power steering system, the brake controller and the hub motor are all connected with the whole vehicle controller.

Further, the remote control device comprises a remote controller and/or an upper computer.

The method further comprises a vehicle driving method, automatic driving or remote control driving, wherein when any system reports errors or breaks down during automatic driving, the vehicle enters a zero-torque mode and is braked simultaneously until the vehicle stops; when a remote control device of the vehicle is not connected or any system reports errors or fails during remote control driving, the vehicle enters a zero-torque mode and is braked simultaneously until the vehicle stops.

Compared with the prior art, the invention has the beneficial effects that: the problem of passing on an uneven road surface is solved, and the conditions of chassis collision and the like are avoided in the driving process; the four-wheel steering is realized, the maximum possibility reaches a multi-azimuth situation, and the trafficability of the vehicle running on various roads is improved; the front wheels and the rear wheels are used together, and the front wheels are changed into the rear wheels and the rear wheels are changed into the front wheels under the condition of need, so that the trafficability characteristic is improved when the vehicle runs on a narrow road surface; the invention can be well applied to multi-purpose working environment, and can be provided with a cargo carriage to become an automatic driving cargo vehicle; the device can also be provided with a seat and the like and used as a passenger carrying automobile in places such as an airport and the like; the vehicle has quite large jumping amount, so that the vehicle can be applied to special road surfaces and working conditions such as exploration terrain; the vehicle is combined, and is convenient to disassemble, assemble and maintain.

Drawings

FIG. 1 is a perspective view of a four-wheeled off-road unmanned by wire vehicle of the present invention;

FIG. 2 is a top view of the four-wheeled off-road unmanned by wire vehicle of the present invention;

FIG. 3 is a perspective view of the front axle system of the present invention;

FIG. 4 is a perspective view of the front axle system of the present invention (without the frame);

FIG. 5 is a first schematic structural diagram of a steering system;

FIG. 6 is a second schematic structural view of a steering system;

FIG. 7 is a schematic diagram of a control system;

FIG. 8 is a schematic view of a driving mode;

fig. 9 is a schematic view of the steering mode.

Reference numerals: 1. a front axle system; 11. a frame; 12. a suspension system; 121. an upper swing arm; 122. a lower swing arm; 123. a first shock absorber; 124. a second shock absorber; 13. a steering system; 131. a steering motor; 132. a tie rod; 133. a rigid connection; 134. a universal joint; 135. a rack and pinion steering gear; 14. a wheel-side system; 141. a hub motor; 142. a brake disc; 15. sheep horn; 151. a caliper; 2. an electrical component mounting box; 3. a rear axle system.

Detailed Description

Embodiments of the four-wheeled off-road unmanned by-wire vehicle of the present invention will be further explained with reference to fig. 1 to 9.

In the description of the present invention, it should be noted that, for the terms of orientation, such as "central", "lateral (X)", "longitudinal (Y)", "vertical (Z)", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate that the orientation and positional relationship are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and should not be construed as limiting the specific scope of the present invention.

Furthermore, if the terms "first" and "second" are used for descriptive purposes only, they are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features. Thus, a definition of "a first" or "a second" feature may explicitly or implicitly include one or more of the features, and in the description of the invention, "a number" or "a number" means two or more unless explicitly specified otherwise.

The utility model provides a cross-country unmanned drive-by-wire vehicle of four-wheel, includes chassis system and electrical components installbin 2, chassis system includesfront axle system 1 andrear axle system 3,front axle system 1 andrear axle system 3 are located electrical components installbin 2's front and back both sides respectively,front axle system 1 includesframe 11,suspension system 12, asteering system 13 andwheel limit system 14,suspension system 12 andsteering system 13 all adorn onframe 11,wheel limit system 14 connectssuspension system 12 andsteering system 13,frame 11 detachable connects on electrical components installbin 2,rear axle system 3 is the same withfront axle system 1 structure.

In this embodiment, when in use, thefront axle system 1 and therear axle system 3 can be replaced with each other, and can realize the common use of front and rear wheels and the rapid turning driving, wherein thefront axle system 1 and therear axle system 3 can be connected and detached with the electricalcomponent mounting box 2 through mounting pieces, for example, a plurality of bolts are arranged on the outer side surface of the electricalcomponent mounting box 2 by adopting bolt and nuts with simple structures, and through holes are arranged on theframe 11 of thefront axle system 1 and therear axle system 3, so that the bolts are locked by nuts after passing through the through holes; of course, other quick release configurations may be used.

When maintaining and dismantling, only need with corresponding module part pull down can, becausefront axle system 1 andrear axle system 3 are identical and can dismantle alone, the kind of accessory that must reduces greatly, provides convenience for installation and maintenance.

In the present embodiment, a cleat 15 is disposed between the suspension system 12 and the wheel-side system 14, the suspension system 12 includes swing arms located at two sides of the frame 11, one end of each swing arm is connected to the frame 11, the other end of each swing arm is connected to the cleat 15, two ends of the steering system 13 are respectively connected to the frame 11 and the cleat 15, the wheel-side system 14 includes a hub motor 141, the hub motor 141 is mounted on the cleat 15, and a brake caliper 151 is disposed on the cleat 15, according to the present invention, a brake disc 142 matched with the brake caliper 151 is mounted on a shaft of the hub motor 141, and a rim with a tire is mounted on an outer side of the hub motor 141; in the present embodiment, the steering system 13 preferably adopts a structure of a steering mechanism with a small space arrangement, which is previously filed by the applicant, application No. 2021215402686, and is named as a structure of a steering mechanism with a small space arrangement, and includes a steering universal joint 134, a rack-and-pinion steering gear 135 and a tie rod 132, wherein one end of the steering universal joint 134 is connected with an input end of the rack-and-pinion steering gear 135, an output end of the rack-and-pinion steering gear 135 is provided with a rigid connecting member 133, the rigid connecting member 133 is located above the output end, the rigid connecting member 133 is rotatably connected with the tie rod 132, the tie rod 132 rotates up and down relative to the rigid connecting member 133, one end of the tie rod 132, which is far away from the rigid connecting member 133, is rotatably connected with a knuckle 15 lifting lug, and the knuckle 15 lifting lug rotates inward and outward relative to the tie rod 132; in the embodiment, the input end of the rack and pinion steering gear 135 is connected to the steering motor 131, that is, the whole steering system 13 is the electric power steering system 13, which can meet the arrangement requirement of a vehicle with a small space arrangement conversion system, avoid the interference of the steering system 13 with other parts of the vehicle, and can also meet the large-amplitude wheel jumping of the wheels.

The swing arm of the present embodiment preferably includes anupper swing arm 121 and alower swing arm 122, afirst shock absorber 123 is disposed between thelower swing arm 122 and theframe 11, and asecond shock absorber 124 is disposed between thelower swing arms 122 on both sides of theframe 11.

The present embodiment preferably further includes the following control system: the remote control device, the whole vehicle controller, the electronic parking braking system, the battery management system, the electricpower steering system 13 and the brake controller are all connected with the whole vehicle controller.

Except the remote control device, the other parts of the control system are uniformly distributed in the electric appliancepart installation box 2.

The remote control device comprises a remote controller and/or an upper computer.

When the remote controller is used for control, a person sends an instruction through the remote controller, the instruction is transmitted to the vehicle control unit, the vehicle control unit processes the obtained instruction and transmits the processed instruction to the electronic parking brake system, the fourhub motors 141, the battery management system, the steeringmotors 131 and the brake controller of the two electric power-assistedsteering systems 13 of thefront axle system 1 and therear axle system 3 respectively, and the vehicle moves correspondingly, and the electronic parking brake system, the fourhub motors 141, the battery management system, thesteering motor 131 of the electricpower steering system 13 and the brake controller feed back the motion state to the vehicle control unit, and adjust the error between the actual working condition and the instruction by using the PID control, meanwhile, the motion working condition of the vehicle is transmitted to a remote controller control person, and the control person can repeatedly regulate and control the remote controller to achieve the vehicle running working condition according with the will of the control person.

When the upper computer is used for controlling, the upper computer transmits a motion signal to the whole vehicle controller, the whole vehicle controller processes the obtained signal and transmits the processed signal to the electronic parking braking system, the fourhub motors 141, the battery management system, the steeringmotors 131 and the brake controller of the two electric power-assistedsteering systems 13 of thefront axle system 1 and therear axle system 3, the vehicle performs corresponding motion, the motion states of the electronic parking braking system, the fourhub motors 141, the battery management system and thesteering motors 131 and the brake controller of the electric power-assistedsteering systems 13 are fed back and transmitted to the whole vehicle controller, errors between actual working conditions and instructions are adjusted by using PID control, and a stable running state is realized by relatively short regulation.

The steering modes of the vehicle in the present invention are mainly 5, a parallel steering mode, a wedge steering mode, a rear wheel steering mode, a front wheel steering mode, and a differential steering mode.

In the parallel steering mode, the front and rear electricpower steering motors 131 receive steering signals with the same magnitude and direction, the wheels at the fourhub motors 141 rotate by the same angle, and the front and rear axle wheels keep running in parallel; in the wedge-shaped steering mode, the front electricpower steering motor 131 and the rear electricpower steering motor 131 receive steering signals with the same size and opposite directions to realize steering driving of the vehicle, and the steering radius can be greatly reduced in the steering mode; in the rear wheel steering mode, the electricpower steering motor 131 in therear axle system 3 receives a steering signal, and the electricpower steering motor 131 in thefront axle system 1 receives a non-steering signal; in the front wheel steering mode, the electricpower steering motor 131 in thefront axle system 1 receives a steering signal, and the electricpower steering motor 131 in therear axle system 3 receives a non-steering signal; in the differential steering mode, the electricpower steering motor 131 does not receive a steering signal, and the vehicle controller controls the four in-wheel motors 141 to realize different speeds of the left and right wheels of the vehicle, so as to complete the steering operation.

The embodiment preferably further comprises a vehicle driving method, which is automatic driving or remote control driving, wherein when any system reports errors or fails during automatic driving, the vehicle enters a zero-torque mode, and braking is carried out at the same time until the vehicle stops; when a remote control device of the vehicle is not connected or any system reports errors or fails during remote control driving, the vehicle enters a zero-torque mode and is braked simultaneously until the vehicle stops.

Specifically, no matter automatic driving or remote driving is performed, three control modes of vehicle speed control, distributed torque control and distributed rotating speed control of the whole vehicle to the in-wheel motor 141 can be adopted.

The vehicle speed control is to control the vehicle speed of the vehicle to meet the required running speed; the distributed torque control mode is to control the output torque of the four in-wheel motors 141 respectively according to the requirement; the distributed rotation speed control method is to control the output rotation speeds of the four in-wheel motors 141, respectively, as needed.

When the vehicle is in an automatic driving state, after the iECU, the emergency stop switch and the fourhub motors 141 of the vehicle report errors or break down, the vehicle enters a zero-torque mode, meanwhile, a braking system generates 1.5Mpa of braking oil pressure to decelerate the vehicle until the vehicle stops, and when no error occurs, the vehicle enters a driving mode through judgment statements.

When the vehicle is in a remote control rotating speed driving state, the vehicle enters a zero torque mode when a remote controller of the vehicle is not connected or fails, an emergency stop switch and fourhub motors 141 report errors or fail, a braking system generates 1.5Mpa braking oil pressure to decelerate the vehicle until the vehicle stops, and when no error occurs, the vehicle enters a rotating speed driving mode to drive through judgment sentences.

When the vehicle is in a remote control torque driving mode, at the moment, the remote controller of the vehicle is not connected or fails, an emergency stop switch and fourhub motors 141 report errors or fail, the vehicle enters a zero torque mode, meanwhile, a braking system generates 1.5Mpa of braking oil pressure to decelerate the vehicle until the vehicle stops, and when no error occurs, the vehicle enters the torque driving mode to drive through judgment statements.

The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.

Claims (6)

1. The utility model provides a cross-country unmanned drive-by-wire vehicle of four-wheel, includes chassis system and electrical components install bin, its characterized in that: the chassis system comprises a front shaft system and a rear shaft system, the front shaft system and the rear shaft system are respectively located on the front side and the rear side of the electrical component installation box, the front shaft system comprises a frame, a suspension system, a steering system and a wheel edge system, the suspension system and the steering system are both mounted on the frame, the wheel edge system is connected with the suspension system and the steering system, the frame is detachably connected onto the electrical component installation box, and the rear shaft system is identical to the front shaft system in structure.

2. A four-wheeled off-road unmanned by-wire vehicle as defined in claim 1, wherein: the steering system is characterized in that a claw is arranged between the suspension system and the wheel edge system, the suspension system comprises swing arms located on two sides of the frame, one ends of the swing arms are connected with the frame, the other ends of the swing arms are connected with the claw, two ends of the steering system are respectively connected with the frame and the claw, the wheel edge system comprises a hub motor, the hub motor is arranged on the claw, and a brake caliper is arranged on the claw.

3. A four-wheeled off-road unmanned by-wire vehicle according to claim 2, characterized in that: the swing arm comprises an upper swing arm and a lower swing arm, a first shock absorber is arranged between the lower swing arm and the frame, and a second shock absorber is arranged between the lower swing arms on the two sides of the frame.

4. A four-wheeled off-road unmanned by-wire vehicle according to claim 3, characterized in that: the system also comprises the following control system: the remote control device, the electronic parking braking system, the battery management system, the electric power steering system, the brake controller and the hub motor are all connected with the whole vehicle controller.

5. A four-wheeled off-road unmanned by-wire vehicle according to claim 4, characterized in that: the remote control device comprises a remote controller and/or an upper computer.

6. A four-wheeled off-road unmanned by-wire vehicle according to claim 5, characterized in that: the method also comprises a vehicle driving method, automatic driving or remote control driving, wherein when any system reports errors or breaks down during automatic driving, the vehicle enters a zero-torque mode, and braking is carried out simultaneously until the vehicle stops; when a remote control device of the vehicle is not connected or any system reports errors or fails during remote control driving, the vehicle enters a zero-torque mode and is braked simultaneously until the vehicle stops.

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