CN113253742B - Reconfigurable unmanned vehicle system - Google Patents
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Abstract
The invention provides a reconfigurable unmanned vehicle system, which breaks through the form constraint of the traditional fixed configuration unmanned vehicle, can realize function reconfiguration and topology reconfiguration through technologies such as butt joint, combination and disintegration among unmanned vehicle units, and meets the requirements of complex driving environments and functional tasks. The reconfigurable unmanned vehicle system comprises more than two unmanned vehicle units, a functional module and a docking device; the unmanned vehicle units are in butt joint or are disassembled through a butt joint device, so that topology reconstruction is realized; the function module is a device which is arranged on the unmanned vehicle unit and is used for executing function tasks, and the unmanned vehicle unit carries out replacement of the function module according to task requirements to realize function reconstruction; the unmanned vehicle unit is provided with a power interface, and after the unmanned vehicle unit is in butt joint through the butt joint device, the power interface is in butt joint and used for power interaction between the unmanned vehicle units. The reconfigurable unmanned vehicle technology can greatly improve the application boundary of the unmanned vehicle in future intelligent transportation or land battle.
Description
Technical Field
The invention relates to an unmanned vehicle system, in particular to a reconfigurable unmanned vehicle system, and belongs to the technical field of unmanned vehicles.
Background
The unmanned vehicle can independently execute functional tasks such as logistics, transportation, distribution, patrol, public transportation, retail, cleaning, connection, rescue and the like, and is a core element for future intelligent transportation and smart city construction. It is expected that most tasks will be completed by unmanned vehicles instead of human beings in future transportation and travel and human life, and vehicles will be evolved from traditional vehicles into intelligent carriers for performing functional tasks, and have great influence on the development of human society. Compared with the traditional intelligent networked automobile, the unmanned automobile aims at executing functional tasks, does not have a human driving mechanism, subverts the basic design concept of the traditional automobile centering on human, and is innovative in configuration, flexible and changeable. Therefore, the fundamental theory and key technology of the unmanned vehicle must realize original breakthrough, is a brand new challenge brought by the era of intelligent vehicles, and is a research hotspot in the international and domestic fields.
With the continuous expansion of the connotation of intelligent transportation and smart cities in the future, the development of unmanned vehicles faces major challenges of complex and variable execution tasks, three-dimensional and multidimensional running environments, continuous expansion of functional requirements, single limitation of carrier configuration and the like. Obviously, the traditional unmanned vehicle with a fixed configuration has difficulty in meeting the challenges and cannot meet the requirements of the intelligent transportation and the smart city for a novel intelligent vehicle in the future.
Disclosure of Invention
In view of the above, the invention provides a reconfigurable unmanned vehicle system, which breaks through the form constraint of the traditional fixed configuration unmanned vehicle, can realize function reconfiguration and topology reconfiguration through autonomous combination and disassembly among unmanned vehicle units, and meets the changes of complex driving environment and function task requirements.
The reconfigurable unmanned vehicle system comprises more than two unmanned vehicle units, a functional module and a docking device;
each unmanned vehicle unit is provided with a docking device, and the unmanned vehicle units can be docked or disassembled through the docking devices to realize topology reconstruction;
the function module is a device which is arranged on the unmanned vehicle unit and is used for executing function tasks, and the unmanned vehicle unit can replace the function module according to task requirements to realize function reconstruction;
the unmanned vehicle unit is provided with a power interface, and after the unmanned vehicle unit is in butt joint through the butt joint device, the power interface is in butt joint and used for energy interaction between the unmanned vehicle units.
As a preferred mode of the invention, more than two unmanned vehicle units are automatically docked or disassembled through the docking device, and topological configuration evolution of different wheel numbers and axle numbers is carried out to form an unmanned vehicle platform module; on the premise of not influencing driving, any unmanned vehicle unit in the unmanned vehicle platform module can be separated automatically.
As a preferred mode of the present invention, the unmanned vehicle unit is an unmanned vehicle having two wheels, and an automatic driving module, a drive-by-wire executing module, a power battery module and a comprehensive control module of the unmanned vehicle are integrated therein.
As a preferred mode of the present invention, when the unmanned vehicle unit or the unmanned vehicle platform module has insufficient electric quantity, the unmanned vehicle unit or the unmanned vehicle platform module having sufficient electric quantity is used as a power supply vehicle to charge the unmanned vehicle unit or the unmanned vehicle platform module to be charged; and after charging is completed, the power supply vehicle is automatically separated.
As a preferred mode of the invention, a modular battery pack is used as a functional module, when the electric quantity of the unmanned vehicle unit or the unmanned vehicle platform module is insufficient, the unmanned vehicle unit provided with the modular battery pack is butted with the unmanned vehicle unit or the unmanned vehicle platform module to be charged through a butting device, and after the butting is completed, the modular battery pack is butted with the power interface and used as a new battery; and after the installation of the modular battery pack is completed, the unmanned vehicle unit for providing the modular battery pack is automatically separated.
As a preferred mode of the invention, the parking apron is constructed by utilizing the topological reconstruction function of the reconfigurable unmanned vehicle: the unmanned vehicle units are provided with high-strength composite steel plates as functional modules, and more than four unmanned vehicle units provided with the high-strength composite steel plates are in two-dimensional butt joint through the butt joint device, so that the high-strength composite steel plates on the unmanned vehicle units are combined into the parking apron.
As a preferable mode of the present invention, two or more of the unmanned vehicle units are docked by a docking device, and a high-capacity portable power source is formed after power interfaces are docked.
As a preferred aspect of the present invention, the docking device includes: the device comprises an active capture module, a locking module, a sensing module and a control module; the reconfigurable unmanned vehicle comprises more than one unmanned vehicle unit; each unmanned vehicle unit is provided with an autonomous docking system; when two unmanned vehicle units need to be in butt joint, an active capturing module on one unmanned vehicle unit is in butt joint with a locking module on the other unmanned vehicle unit;
the active capture module adopts a six-degree-of-freedom platform, the fixed end of the six-degree-of-freedom platform is fixedly connected with the unmanned vehicle unit, and the movable end of the six-degree-of-freedom platform is provided with a locking core; the six-degree-of-freedom platform can drive the locking core to move along the transverse direction, the longitudinal direction, the vertical direction, the yaw direction, the rolling direction and the pitching direction so as to adjust the posture of the locking core;
the locking module includes: a locking mechanism and a docking guide block; the butt joint guide block is fixedly connected with the unmanned vehicle unit; the butt joint guide block is provided with a butt joint guide hole matched with the locking core and used for accommodating the locking core; the locking mechanism is used for locking the position of the butted guide block and the locking core after being butted;
the sensing module is used for sensing the position and the posture of the locking core on the active capturing module relative to the butt joint guide block on the locking module, and the control module controls the active capturing module to adjust the position and the posture of the locking core relative to the butt joint guide block according to the sensing information of the sensing module, so that the locking core is inserted into the butt joint guide hole of the butt joint guide block when two unmanned vehicle units are in butt joint.
As a preferred mode of the present invention, the sensing module comprises a vision sensor mounted at the fixed end of the six-degree-of-freedom platform and more than two laser ranging sensors mounted at the end face of the movable end of the six-degree-of-freedom platform; the vision sensor and the more than two laser ranging sensors are respectively connected with the control module and used for sending detected signals to the control module;
an image recognition positioning plate matched with the vision sensor is arranged on the butt joint guide block, and the vision sensor obtains the position of the butt joint guide block relative to the locking core through recognition of the image recognition positioning plate;
the butt joint guide block is provided with a laser sensor detection board used for being matched with the laser ranging sensors, more than two laser ranging sensors are distributed at intervals along the circumferential direction, the control module obtains an included angle between the axis of the locking core and the axis of the butt joint guide block according to distance information between the detection board of the laser sensor and the distance information detected by the more than two laser ranging sensors respectively, and the control module adjusts the posture of the locking core so that the butt joint guide block is coaxial with the locking core.
As a preferable mode of the present invention, the sensing module further includes two or more force sensors; more than two force sensors are arranged on the end face of the movable end of the six-degree-of-freedom platform and are distributed at intervals along the circumferential direction; the force sensor is connected with the control module;
when the two unmanned vehicle units are in butt joint, the force sensor is in contact with the butt joint surface of the butt joint guide block, and the stress of the butt joint surface of the butt joint guide block and the butt joint surface of the locking core is fed back to the control module.
Has the advantages that:
(1) the reconfigurable unmanned vehicle system provided by the invention can automatically carry out dynamic reconfiguration, and can realize automatic dynamic reconfiguration in the aspects of functions, topology and the like through automatic dynamic docking and disassembly of all unmanned vehicle units (namely minimum reconfiguration units) so as to meet the changes of complex driving environments and functional task requirements.
(2) Autonomous dynamic docking and disassembly among unmanned vehicle units are core elements for realizing unmanned vehicle reconstruction technology; therefore, the flexible docking device is designed, and the docking device adopts a multi-sensor sensing module based on a vision sensor, a laser ranging sensor and a force sensor, so that the accuracy and stability of the docking process can be ensured, and the high-precision docking between the unmanned vehicle units is realized; and the running stability of the reconstructed unmanned vehicle after the butt joint is finished can be ensured.
(3) In the function reconfiguration process, the unmanned vehicle unit can be changed by different functional modules, so that the unmanned vehicle unit can be rapidly evolved into unmanned vehicle units with other different functions to meet the requirements of future intelligent transportation or smart cities.
(4) The front end and the rear end of each unmanned vehicle unit are provided with power interfaces, and energy interaction among the unmanned vehicle units can be realized after the unmanned vehicle units are in butt joint.
Drawings
FIG. 1 is a schematic structural diagram of an unmanned vehicle platform module formed by three unmanned vehicle units in butt joint;
FIG. 2 is a schematic diagram of an active capture module in the docking apparatus;
fig. 3 is a schematic view of the locking module structure in the docking device.
Wherein: the device comprises a vision sensor 1, an electrically driven linear actuator 2, a base 3, a laser ranging sensor 4, a force sensor 5, a locking core 6, a locking pin actuator 7, a butt joint guide block 8, an image recognition positioning plate 9, a laser sensor detection plate 10 and a locking core connecting plate 11.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
Example 1:
the embodiment provides a reconfigurable unmanned vehicle system which can realize the autonomous dynamic reconfiguration of functions and topology through autonomous dynamic docking and disassembly so as to meet the changes of complex driving environments and functional task demands and support the demands of future intelligent transportation and smart cities.
The reconfigurable unmanned vehicle system comprises a plurality of unmanned vehicle units, functional modules and docking devices; the unmanned vehicle unit is a minimum reconstruction unit of the unmanned vehicle system, each unmanned vehicle unit is provided with a docking device, and when more than two unmanned vehicle units need to work together, the more than two unmanned vehicle units are docked end to end through the docking devices according to actual use requirements to realize topology reconstruction of the unmanned vehicle, as shown in fig. 1; the unmanned vehicle unit is provided with the functional modules according to task requirements, and the functional modules can be replaced according to the task requirements, so that the function reconstruction of the unmanned vehicle is realized. Namely, the reconfigurable unmanned vehicle system can carry out topology reconfiguration and function reconfiguration according to actual use requirements.
Specifically, the method comprises the following steps: the unmanned vehicle unit is an unmanned vehicle with two wheels, and the two-wheeled unmanned vehicle has higher maneuverability and flexible operation capability; the unmanned vehicle unit is internally integrated with an automatic driving module, a wire control execution module, a power battery module, a comprehensive control module and the like of the unmanned vehicle, and is a minimum autonomous driving unit capable of reconstructing an unmanned vehicle system.
The functional module is a device arranged on the unmanned vehicle unit and used for executing functional tasks, such as a logistics module, a transportation module, a bus module, a retail module, a cleaning module, a connection module, a rescue module and the like, and is a functional mechanism necessary for the unmanned vehicle to execute specific functional tasks.
The docking device is used for autonomous dynamic docking and disassembly between the unmanned vehicle units.
The topological reconstruction of the reconfigurable unmanned vehicle system refers to: and by means of the minimum reconstruction unit and the docking device, the topology reconstruction of the reconfigurable unmanned vehicle can be realized. The topology reconstruction technology is that each unmanned vehicle unit autonomously realizes docking or disassembly by using a docking device so as to change the topological structure of the unmanned vehicle system, quickly perform topological configuration evolution such as different wheel numbers and axle numbers, and realize 2 × 2, 4 × 4, 6 × 6, 8 × 8, … and 2N × 2N platform module forms, thereby meeting the requirements of complex driving environments or tasks.
The function reconfiguration characteristics of the reconfigurable unmanned vehicle are as follows: the functional module and the unmanned vehicle unit adopt modularized and separation design, and the unmanned vehicle unit can independently replace the upper-mounted functional module according to task requirements.
Typical working conditions of the reconfigurable unmanned vehicle system are as follows: the basic working mode is illustrated by taking a certain type of typical application working condition of a reconfigurable unmanned vehicle in future intelligent transportation or smart city as an example. In future intelligent transportation or smart cities, the reconfigurable unmanned vehicle can be widely applied to executing various functional tasks. Such as: the safety patrol task of the city can be completed by a two-wheeled patrol unmanned vehicle consisting of a minimum reconstruction unit and a patrol functional module; if the intelligent transportation central dispatching system issues the transportation requirements of certain goods or personnel in the patrol process, a plurality of two-wheeled patrol unmanned vehicles can be independently combined into unmanned vehicles with four wheels, six wheels, eight wheels or more according to the requirements of the quantity, the quality, the volume and the like of the goods or personnel, the functional modules are replaced, and the logistics transportation or personnel connection module is loaded to complete the transportation requirements of the goods or personnel issued by the intelligent transportation central dispatching system. The above example is only a typical example of the future intelligent transportation system, and in summary, the remarkable advantage of the reconfigurable unmanned vehicle is that the task requirements in the future intelligent transportation system can be met through the combination and the disassembly of a plurality of unmanned vehicle reconfiguration units.
The following is presented in further detail for the application of the reconfigurable unmanned vehicle:
according to different city operation requirements, the reconfigurable unmanned vehicle system has the following applications:
1. when the current carried functional modules of the unmanned vehicle queue formed by butting the unmanned vehicle units or more than two unmanned vehicle units cannot meet the operation instruction, the functional modules are automatically replaced, and the evolution of each functional unmanned vehicle is realized.
2. Each unmanned vehicle unit (minimum reconstruction unit) in the reconfigurable unmanned vehicle can be independently butted and disassembled: the reconfigurable unmanned vehicle can be provided with no more than the functional modules of which the number of the unmanned vehicle units is not more than that of the platform modules. On the premise of not influencing the running of the vehicle, any unmanned vehicle unit in the reconfigurable unmanned vehicle can be automatically separated for other operations; when a certain functional module is loaded on more than two unmanned vehicle units, the local platform corresponding to the functional module can realize the separation of the unmanned vehicle units at non-key positions on the premise of not influencing the vehicle running, and the separated unmanned vehicle units can be used for other operations. Meanwhile, a plurality of unmanned vehicle units form a queue through butt joint, queue driving (such as driving on an expressway) is carried out, and a single vehicle does not need to have automatic driving capability.
3. The front end and the rear end of each unmanned vehicle unit are provided with power interfaces, and energy interaction among the unmanned vehicle units can be realized after the unmanned vehicle units are in butt joint. Such as: when the remote monitoring platform receives the situation that a certain unmanned vehicle unit or a reconfigurable unmanned vehicle queue has insufficient electric quantity and requests for electric quantity replenishment, the unmanned vehicle unit or the reconfigurable unmanned vehicle queue with relatively abundant electric quantity nearby is assigned as a power supply vehicle, after the power supply vehicle is in butt joint with the unmanned vehicle unit or the reconfigurable unmanned vehicle queue to be charged through the butt joint device, the power interfaces of the power supply vehicle are in butt joint simultaneously, and therefore the power supply vehicle charges the unmanned vehicle unit or the reconfigurable unmanned vehicle queue to be charged. After charging is completed, the power supply vehicle can be automatically separated, and corresponding operation is continuously executed.
4. The remote monitoring platform is used for receiving the condition that the electric quantity of a certain unmanned vehicle unit or a reconfigurable unmanned vehicle queue is insufficient and requesting for electric quantity replenishment, assigning the unmanned vehicle unit provided with the modular battery pack to be in butt joint with the unmanned vehicle unit to be charged or the reconfigurable unmanned vehicle queue, and after the butt joint is completed, installing the modular battery pack at the rear end of the unmanned vehicle unit to be charged or the reconfigurable unmanned vehicle queue to be used as a new battery. After the installation of the modular battery pack is completed, the unmanned vehicle unit for providing the modular battery pack can be automatically separated, and corresponding operation is continuously executed.
According to different terrains, the reconfigurable unmanned vehicle system has the following applications:
when facing complex terrains such as swamps, fields, ditches, potholes and the like, additional devices are generally needed or special suspensions and action mechanisms are adopted to improve the trafficability of the combat vehicle; and for the reconfigurable unmanned vehicle system, when the battle terrain is faced, the trafficability condition can be improved directly through topology reconfiguration. The concrete expression is as follows: when the remote monitoring platform identifies that the terrain exists in the front, three or four unmanned vehicle units are controlled to form a group, and longitudinal butt joint is carried out in the group in pairs to form a multi-wheel reconfigurable unmanned vehicle, so that the trafficability of a ditch and a hollow land of the unmanned vehicle is improved by utilizing the characteristics of a long vehicle body of the unmanned vehicle; the multi-wheel reconfigurable unmanned vehicle can realize a special advancing mode by controlling the posture movement of the docking mechanism, and the trafficability of swamps and fields is improved.
Furthermore, the unmanned vehicle unit may act as a large equipment reconfiguration unit:
1. rapidly constructing an apron by utilizing a reconfigurable unmanned vehicle two-dimensional docking technology: before the airplane is close to landing, after the unmanned vehicle units at a short distance from the emergency receive an instruction of a far-end supervision platform for building an air park, the corresponding number of unmanned vehicle units firstly replace the functional modules with high-strength composite steel plates, then two-dimensional butt joint is carried out after the unmanned vehicle units approach a destination, and each high-strength composite steel plate carried on the unmanned vehicle units is combined into a two-dimensional plane to play the role of the air park.
2. Because the front end and the rear end of the unmanned vehicle unit are both provided with the power interfaces, energy interaction between the unmanned vehicle units can be realized after the power interfaces are butted, and based on the energy interaction, a plurality of unmanned vehicle units can be butted, so that the energy of all the unmanned vehicle units is comprehensively utilized to operate, and a mobile power supply is formed. Such as: when a disaster happens and large power supply equipment cannot be put in a disaster area for rescue, the unmanned vehicle unit can be put in, and the unmanned vehicle unit can automatically go to a power utilization place to form a large-capacity power supply by utilizing the high maneuverability of the unmanned vehicle unit.
Example 2:
on the basis of the above embodiment 1, a specific structure of the docking device is further given.
The docking device includes: the device comprises an active capture module, a locking module, a sensing module and a control module;
as shown in fig. 2, the active capture module includes: an electrically driven linear actuator 2, a base 3 and a lock core 6; the active capture module adopts a six-degree-of-freedom platform, the base 3 is used as a fixed end of the six-degree-of-freedom platform, and the base 3 is fixedly connected with a vehicle body of the unmanned vehicle unit; the locking core 6 is fixed in the middle of the locking core connecting plate 11, and three groups of pin holes are uniformly distributed on the outer circumferential surface of the locking core 6 at intervals along the circumferential direction.
Every two six electric-driven linear actuators 2 form a group, three groups of electric-driven linear actuators 2 are uniformly distributed on the base 3 at intervals along the circumferential direction, and the other ends of the two electric-driven linear actuators 2 in each group are respectively hinged with the locking core connecting plate 11; namely, the fixed end of the electric drive linear actuator 2 is hinged with the base 3, and the actuating end is hinged with the locking core connecting plate 11. And a locking core connecting plate 11 connected with a locking core 6 is used as a movable end of the six-degree-of-freedom platform. By controlling the extension and retraction of the six electric-driven linear actuators 2, the postures of the active capture module in the transverse, longitudinal, vertical, yaw, roll and pitch directions can be adjusted.
When the autonomous docking systems of the two unmanned vehicle units are docked, the control module on the active docking vehicle controls the six electrically-driven linear actuators 2 to move according to the expected positions, so that the motion of the movable end of the platform in six freedom directions (transverse, longitudinal, vertical, yaw, roll and pitch) in a Cartesian coordinate system is realized, and finally the locking core 6 on the movable end of the platform is dynamically controlled to be aligned with the docking guide block 8 on the locking module of the passive docking vehicle in a high-precision manner, so that the docking action is completed.
The sensing module is arranged on the active capture module and comprises a vision sensor 1 arranged on a base 3, three laser ranging sensors 4 and three force sensors 5 arranged on a locking core connecting plate 11; wherein the vision sensor 1 is positioned right above the base 3, and the image acquisition direction of the vision sensor 1 faces to the movable end of the six-degree-of-freedom platform; the three laser ranging sensors 4 are uniformly distributed at intervals along the circumferential direction of the locking core connecting plate 11; the three force sensors 5 are arranged on the end face of the end of the locking core connecting plate 11 where the locking core 6 is located and are uniformly distributed at intervals along the circumferential direction; preferably, the three force sensors 5 and the three laser distance measuring sensors 4 are offset with respect to one another. And each sensor in the sensing module is respectively connected with the control module and used for sending the detected signal to the control module.
As shown in fig. 3, the locking module includes: the device comprises a locking mechanism, an image recognition positioning plate 9, a butt joint guide block 8 and a laser sensor detection plate 10; wherein the butt joint guide block 8 is fixedly connected with the vehicle body of the unmanned vehicle unit through a bracket; the docking guide block 8 is centrally provided with a docking guide hole for cooperating with the locking core 6 for accommodating the locking core 6. The laser sensor detection plate 10 is arranged on the outer circumference of the middle part of the butt joint guide block 8, and divides the butt joint guide block 8 into two parts along the axial direction, wherein one part is used for butt joint with the active capture module, and the other part is used for installing a locking mechanism.
The locking mechanism is used for realizing the position locking after the butt joint of the butt joint guide block 8 and the locking core 6, and adopts a locking pin and a locking pin actuator 7. Specifically, three locking pin actuators 7 are uniformly distributed on the outer circumference of the butt joint guide block 8 at intervals along the circumferential direction, the actuating end of each locking pin actuator 7 is provided with locking pins which are in one-to-one correspondence with pin holes on the locking core 6, and in order to ensure that the locking pins can be smoothly inserted into the corresponding pin holes, a spring is arranged inside each locking pin; initially, the locking pin actuator 7 pulls the locking pin to compress the spring, so that the spring is in a compressed state and the locking pin is not pushed out; after the locking core 6 enters the butt joint guide hole in the butt joint guide block 8, the locking pin actuator 7 releases force, the locking core 6 is rotated through the six-degree-of-freedom platform, when the locking core 6 rotates to the pin hole and corresponds to the locking pin in position, the locking pin automatically extends out under the action of the restoring force of the spring and enters the pin hole, and therefore locking between the butt joint guide block 8 and the locking core 6 is achieved. An image recognition positioning plate 9 is connected to one of the locking pin actuators 7; preferably, the image recognition positioning plate 9 is located at a position right above the docking guide block 8, and corresponds to the position of the vision sensor 1 on the base 3.
When two unmanned vehicle units need to be in butt joint, an active capturing module on one unmanned vehicle unit is in butt joint with a locking module on the other unmanned vehicle unit; for convenience of description, one of the two unmanned vehicle units is used for providing an active capture module, and the other unmanned vehicle unit is used for providing a locking module and is used for providing a passive docking vehicle.
The image recognition positioning plate 9 on the passive docking car is used for being matched with the vision sensor 1 on the active docking car, and the vision sensor 1 can obtain the relative position information of the image recognition positioning plate 9 on the passive docking car locking module based on a position area recognition algorithm and an edge line recognition algorithm and send the relative position information to the control module; the control module adjusts the position of the locking core 6 on the six-degree-of-freedom platform according to the position, so that the locking core 6 and the butt joint guide block 8 reach an expected relative position, and the accurate butt joint requirement is met.
The laser sensor detection board 10 on the passive docking car is used for being matched with the three laser ranging sensors 4 on the active docking car; when an active capture module on an active butt joint vehicle is in butt joint with a locking module on a passive butt joint vehicle, a control module on the active butt joint vehicle establishes a two-plane parallel mathematical model according to distance information between a laser sensor detection plate 10 on the locking module of the passive butt joint vehicle and the distance information respectively detected by three laser ranging sensors 4, an included angle between the axis of a locking core 6 on the active butt joint vehicle and the axis of a guide block 8 on the passive butt joint vehicle is calculated, then the locking core 6 on a six-degree-of-freedom platform is controlled to move to eliminate the included angle, so that the butt joint guide block 8 is coaxial with the locking core 6, and the locking core 6 can be accurately inserted into the butt joint guide block 8 during butt joint.
In addition, during butt joint, the force sensor 5 on the active butt joint vehicle is in contact with the plane where the guide block 8 in the locking module of the passive butt joint vehicle is located, and the control module judges whether the plane where the guide block 8 is located is parallel to the plane where the locking core connecting plate 11 is located or not according to the stress fed back by the three force sensors 5 (if the two planes are parallel, the stress of the positions where the three force sensors 5 are located are the same). Meanwhile, a threshold value of the stress detected by the force sensors is preset in the control module, and the threshold value indicates that the locking core 6 and the butt joint guide block 8 are in butt joint in place, namely when the stress fed back by the three force sensors reaches the preset threshold value, the locking core 6 is inserted to reach a specified position. In addition, force sensor 5 still is used for detecting the stress sudden change that leads to because the unequally disturbance of ground when the butt joint, and when the sudden change appears in stress, control module in time controls the locking core 6 of six degrees of freedom platforms and adjusts, and the rocking that the unequally disturbance of ground arouses when avoiding the butt joint leads to the mechanism to damage.
The multi-sensor sensing module based on the vision sensor, the laser ranging sensor and the force sensor can ensure the accuracy and stability of the butt joint process. When the butt joint is started, the vision sensor 1 acquires the position information of the image recognition positioning plate 9 and feeds the position information back to the control module, and the relative positions of the butt joint devices of the two unmanned vehicle units to be butt jointed are adjusted to initially meet the requirement required by flexible butt joint; then, the laser ranging sensor 4 acquires distance information of the active capture module and the locking module of the two unmanned vehicle units to be butted, so that the movable end (the active capture module) and the fixed end (the locking module) of the butting device of the two unmanned vehicle units are kept parallel; when the movable end and the fixed end are aligned, the locking core 6 on the active capture module is slowly inserted into the butt joint guide block 8 of the locking module, and the force sensor 5 acquires stress information between the active capture module and the locking module during butt joint in the process, so that the two unmanned vehicle units are in butt joint in place, and deviation and collision caused by road jolt can be avoided during flexible butt joint.
The docking action between the active capture module and the locking module operates under the control of the control module. The control module realizes the control of the six electrically-driven linear actuators 2 according to the information detected by the sensing module. The control module adopts a full-digital servo control system and comprises a microcontroller, a programmable logic controller, a servo driver and a motor. The microcontroller carries out the attitude calculation of the active capture module according to the information transmitted by the sensing module, the programmable logic controller calculates the elongation of six electric-driven linear actuators 2 in the active capture module through position inverse solution, transmits the elongation to the servo driver, and drives the servo motor to rotate by the servo driver, so that the positions of the electric-driven linear actuators 2 are changed, namely the electric-driven linear actuators 2 are controlled to stretch out and draw back, and the motion of the motion platform in six degrees of freedom in a Cartesian coordinate system is realized. The encoder installed on the servo motor detects the speed and the position information of the servo motor in real time and sends the speed and the position information to the servo driver to form a closed-loop control system, so that the elongation of each electrically-driven linear actuator 2 is accurately controlled in real time, meanwhile, the servo driver transmits the speed and the position information to the microcontroller, and the microcontroller ensures the coordinated action and the control accuracy of the six actuators.
The working principle of the butt joint device is as follows:
after the control modules of the two unmanned vehicle units receive the docking command, the relative positions of the two unmanned vehicle units are close to meet the docking requirement through the intersection of trajectory planning and trajectory tracking. Then, the vision sensor 1 on the active capture module of the active butt joint vehicle detects the image recognition positioning plate 9 on the locking module of the passive butt joint vehicle, and controls the locking core 6 on the active capture module to perform initial posture adjustment according to the position information transmitted by the vision sensor 1. After preliminary adjustment, the control module on the active butt joint vehicle controls the active capture module to eliminate the included angle between the axis of the locking core 6 and the axis of the butt joint guide block 8, which are calculated by the three laser sensors 1, so that the axes of the locking core and the axis of the butt joint guide block coincide to meet the requirement of accurate butt joint. After the locking core 6 on the active docking vehicle aligns to the docking guide block 8 on the passive docking vehicle, the control module on the active docking vehicle controls the active capture module to insert the locking core 6 into the docking guide block 8; meanwhile, the force sensor 5 is in contact with the plane where the butt joint guide block 8 on the locking module is located, and the control module on the active butt joint vehicle adjusts the position relation between the butt joint guide block 8 and the locking core 6 according to the feedback stress so as to enable the butt joint guide block and the locking core to be in place. And finally, the locking pin on the butt joint guide block 8 on the passive butt joint vehicle is pushed into the pin hole on the locking core 6 under the action of the locking pin actuator 7, so that the locking of the active capture module and the locking module is completed, and the butt joint of the two unmanned vehicle units is completed.
When the control modules of two butted unmanned vehicle units receive a disassembly command, the control module on the passive butted vehicle firstly controls the locking pin actuator 7 to act, and the locking pin is pulled back to separate the locking pin from the pin hole on the locking core 6 of the active butted vehicle, so that the active capture module on the active butted vehicle and the locking module on the passive butted vehicle are unlocked; then the active butt joint vehicle and/or the passive butt joint vehicle move backwards to separate the locking core 6 from the butt joint guide block 8, and the disassembly of the two unmanned vehicle units is completed.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. The reconfigurable unmanned vehicle system is characterized by comprising more than two unmanned vehicle units, a functional module and a docking device;
each unmanned vehicle unit is provided with a docking device, and the unmanned vehicle units can be docked or disassembled through the docking devices to realize topology reconstruction;
the function module is a device which is arranged on the unmanned vehicle unit and is used for executing function tasks, and the unmanned vehicle unit can replace the function module according to task requirements to realize function reconstruction;
the unmanned vehicle units are provided with power interfaces, and after the unmanned vehicle units are butted through the butting device, the power interfaces are butted for energy interaction among the unmanned vehicle units;
the docking device includes: the device comprises an active capture module, a locking module, a sensing module and a control module; each unmanned vehicle unit is provided with the docking device; when two unmanned vehicle units need to be in butt joint, an active capturing module on one unmanned vehicle unit is in butt joint with a locking module on the other unmanned vehicle unit;
the active capture module adopts a six-degree-of-freedom platform, the fixed end of the six-degree-of-freedom platform is fixedly connected with the unmanned vehicle unit, and the movable end of the six-degree-of-freedom platform is provided with a locking core (6); the six-degree-of-freedom platform can drive the locking core (6) to move along the transverse direction, the longitudinal direction, the vertical direction, the yaw direction, the rolling direction and the pitching direction so as to adjust the posture of the locking core (6);
the locking module includes: a locking mechanism and a docking guide block (8); the butt joint guide block (8) is fixedly connected with the unmanned vehicle unit; the butt joint guide block (8) is provided with a butt joint guide hole matched with the locking core (6) and used for accommodating the locking core (6); the locking mechanism is used for locking the position of the butted docking guide block (8) and the locking core (6);
the sensing module is used for sensing the position and the posture of the locking core on the active capture module relative to the butt joint guide block on the locking module and sending the position and the posture to the control module; the control module controls the active capture module to adjust the position and the posture of the locking core relative to the butt joint guide block according to the sensing information of the sensing module, so that the locking core is inserted into the butt joint guide hole of the butt joint guide block when two unmanned vehicle units are in butt joint;
the sensing module comprises a vision sensor (1) arranged at the fixed end of the six-degree-of-freedom platform and more than two laser ranging sensors (4) arranged at the end face of the movable end of the six-degree-of-freedom platform; the vision sensor (1) and the more than two laser ranging sensors (4) are respectively connected with the control module and used for sending detected signals to the control module;
an image recognition positioning plate (9) matched with the vision sensor (1) is arranged on the butt joint guide block (8), and the vision sensor (1) obtains the position of the butt joint guide block (8) relative to the locking core (6) through recognizing the image recognition positioning plate (9); the control module adjusts the position of the locking core (6) on the six-degree-of-freedom platform according to the position, so that the locking core (6) and the butt joint guide block (8) reach a desired relative position;
the butt joint guide block (8) is provided with laser sensor detection plates (10) used for being matched with the laser ranging sensors (4), more than two laser ranging sensors (4) are distributed at intervals along the circumferential direction, the control module obtains an included angle between the axis of the locking core (6) and the axis of the butt joint guide block (8) according to distance information between the control module and the laser sensor detection plates (10) respectively detected by the more than two laser ranging sensors (4), and the control module adjusts the posture of the locking core (6) to enable the butt joint guide block (8) to be coaxial with the locking core (6);
the sensing module also comprises more than two force sensors (5); more than two force sensors (5) are arranged on the end face of the movable end of the six-degree-of-freedom platform and are distributed at intervals along the circumferential direction; the force sensor (5) is connected with the control module;
when two unmanned vehicle units are in butt joint, the force sensor (5) is in contact with the butt joint surface of the butt joint guide block (8), and the stress of the butt joint surface of the butt joint guide block (8) and the butt joint surface of the locking core (6) is fed back to the control module;
the stress threshold of the force sensor (5) is preset in the control module and used for indicating the locking core (6) and the butt joint guide block (8) to be in butt joint, and when the stress fed back by the force sensor (5) reaches the preset threshold, the locking core (6) is inserted to reach a specified position; when the stress fed back by the force sensor (5) changes suddenly, the control module controls the locking core (6) of the six-freedom-degree platform to adjust.
2. The reconfigurable unmanned aerial vehicle system of claim 1, wherein more than two unmanned aerial vehicle units are autonomously docked or undocked by the docking device, and topological configuration evolution of different wheel numbers and axle numbers is performed to form an unmanned aerial vehicle platform module; on the premise of not influencing driving, any unmanned vehicle unit in the unmanned vehicle platform module can be separated automatically.
3. The reconfigurable unmanned aerial vehicle system of claim 1 or 2, wherein the unmanned aerial vehicle unit is an unmanned aerial vehicle with two wheels, and an automatic driving module, a drive-by-wire execution module, a power battery module and a comprehensive control module of the unmanned aerial vehicle are integrated in the unmanned aerial vehicle unit.
4. The reconfigurable unmanned aerial vehicle system of claim 2, wherein when the unmanned aerial vehicle unit or unmanned aerial vehicle platform module is low in power, the unmanned aerial vehicle unit or unmanned aerial vehicle platform module with sufficient power is used as a power supply vehicle to charge the unmanned aerial vehicle unit or unmanned aerial vehicle platform module to be charged; and after charging is completed, the power supply vehicle is automatically separated.
5. The reconfigurable unmanned aerial vehicle system of claim 2, wherein a modular battery pack is used as a functional module, when the unmanned aerial vehicle unit or the unmanned aerial vehicle platform module is low in electric quantity, the unmanned aerial vehicle unit provided with the modular battery pack is in butt joint with the unmanned aerial vehicle unit or the unmanned aerial vehicle platform module to be charged through a butt joint device, and after the butt joint is completed, the modular battery pack is in butt joint with the power supply interface and is used as a new battery;
and after the installation of the modular battery pack is completed, the unmanned vehicle unit for providing the modular battery pack is automatically separated.
6. The reconfigurable unmanned vehicle system of claim 1, wherein the tarmac is constructed using topology reconfiguration functionality of the reconfigurable unmanned vehicle: the unmanned vehicle units are provided with high-strength composite steel plates as functional modules, and more than four unmanned vehicle units provided with the high-strength composite steel plates are in two-dimensional butt joint through the butt joint device, so that the high-strength composite steel plates on the unmanned vehicle units are combined into the parking apron.
7. The reconfigurable unmanned aerial vehicle system of claim 1, wherein more than two unmanned aerial vehicle units are docked by a docking device, and a large-capacity mobile power supply is formed after power interfaces are docked.
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