Six-wheel drive type low-speed all-weather driverless patrol car system

Abstract

A six-wheel drive type low-speed all-weather driverless patrol car system comprises a patrol car body and a control system. The patrol car body comprises two pairs of front and rear driving wheels, and each pair of the driving wheels is driven by six direct-current motors in connection with planetary reducers. Each of first front and rear environmental detection and protection systems in the control system mainly comprises a first single-line radar, a second single-line radar and a CCD camera; each of second front and rear environmental detection and protection systems mainly comprises two microwave radars. Each of front and rear blind area detection and obstacle avoidance systems comprises three ultrasonic sensors. The single-line radars, the microwave radars, a wireless communication module, the CCD cameras and an auxiliary controller are all connected with a master controller. The ultrasonic sensors and a motor driver are connected with the auxiliary controller, and the motor driveris connected with the six direct-current motors. The six-wheel drive type low-speed all-weather driverless patrol car system is high in stability, reliability, cost performance, operation processingspeed and flexibility and effective in coping with severe weather.

Description

technical field [0001] The invention belongs to the technical field of unmanned driving, and in particular relates to a six-wheel drive low-speed all-weather unmanned patrol vehicle system. Background technique [0002] With the acceleration of modernization, the number and scale of supermarkets, large docks, international airports, various exhibition centers, large logistics warehouses, high-end hotels, hospitals and other places are increasing, and various large living quarters and activity places are increasing day by day. Human activities and logistics and transportation have become more complex, requiring a lot of manpower, material resources and security resources to ensure the safe operation of this system. The current security technology is mainly based on human patrol and CCD camera positioning monitoring. These two methods can no longer meet the security needs of the existing large-scale and complex environments. The security patrol automation system that uses secu...

AI Technical Summary

Problems solved by technology

[0007] (1) Due to the influence of the characteristics of the DC motor itself, the volume and weight of the DC motor are relatively large, which is not conducive to the improvement of the dynamic performance of the unmanned patrol car

[0008] (2) The sliding contact between the brushes of the DC motor and the commutator causes mechanical wear and sparks, resulting in many faults, low reliability, short life and heavy maintenance workload of the DC motor

[0009] (3) Due to the large length of the DC motor of the patrol car, the unmanned patrol car with a traditional mechanical structure has a large width and cannot pass through some narrow spaces

[0010] (4) The DC motors of existing unmanned patrol vehicles are directly mechanically connected to the driving wheels, and the speed regulation is completed by adjusting the voltage of the DC motors through the controller. Although the requirements for walking speed are met, the entire unmanned patrol vehicle is driven The torque of the car is small, and the ability to adapt to rough outdoor conditions is poor

[0011] (5) The existing unmanned patrol vehicles all use low-level single-chip microcomputer chips, and the operating frequency is low, only tens of megahertz, which cannot satisfy the control of unmanned patrol vehicles on various complex environmental disturbances, and may easily cause unmanned driving. patrol car out of control

[0012] (6) Affected by the performance of the PC of the unmanned patrol car, the data collected by the environmental detection sensor of the unmanned patrol car cannot be quickly calculated and stored, which affects the judgment of the unmanned patrol car on the surrounding environment

[0013] (7) Affected by the performance of the PC of the unmanned patrol car, the image acquisition data of the CCD sensor of the unmanned patrol car cannot be quickly analyzed and calculated in real time, and the total station can only find problems in the patrol by analyzing the stored image data

[0018] (12) The two-wheel drive unmanned patrol car has only two power points. Although it can better complete the patrol task on a flat indoor road, once it encounters a rough outdoor road, it will often slip a power wheel. , causing the unmanned patrol car to lose control

[0019] (13) The two-wheel drive unmanned patrol car generally meets the power requirement by overloading the motor when climbing a slope, but once it encounters complex conditions and needs to run for a long time, it will damage the performance of the motor, causing the entire unmanned patrol car system to fail. The reliability of the

[0020] (14) Unmanned patrol cars need to accelerate rapidly and run at high speeds in many emergency situations. Under such conditions, the power required by the system is relatively large, and the motor power that meets normal driving cannot meet the long-term acceleration requirements of the system. As a result, the adaptability of the entire unmanned patrol car system is greatly reduced

[0021] (15) For a four-wheel-drive unmanned patrol car, there are only four contact points in the power contact area with the ground. Once a drive wheel stalls, the system changes back to two-wheel drive, and the obstacle-crossing ability is weak , sometimes even unable to cross obstacles, and ultimately unable to complete the patrol mission

[0022] (16) For the unmanned patrol car with four-wheel power drive, the power adjustment ability of the robot is improved compared with the two-wheel power drive, which can meet the acceleration of the unmanned patrol car under simple working conditions. When there is a patrol path with complex working conditions, the demand power changes greatly, which is likely to cause a significant decrease in the dynamic performance of the system

[0023] (17) For unmanned patrol cars with two-wheel drive and four-wheel drive, once they encounter wet patrol roads, the grip of the patrol car is relatively weak, and it is easy to slip when walking

[0024] (18) Existing unmanned patrol cars use forward navigation sensors to detect the environment. When encountering a dead end, they can only turn around by rotating 180 degrees on the spot. When encountering a narrow space, The unmanned patrol car will not be able to make a U-turn, resulting in the failure of the patrol mission

[0025] (19) The lidar is very sensitive to rainy and foggy weather, which absorbs the lidar very strongly. Therefore, in rainy and foggy weather, the performance of the lidar will be greatly reduced, which will cause a greater impact on the safety of the unmanned patrol car. influences

[0026] (20) The lidar is very sensitive to the environment with smog, and the smoke absorbs the lidar very badly. Therefore, under the working condition of smog, the performance of the lidar will be greatly reduced, which will cause a greater impact on the safety of the unmanned patrol car. influences

[0027] (21) The lidar is very sensitive to the dusty environment, and the dust absorbs the lidar very strongly. Therefore, under dusty working conditions, the performance of the lidar will be greatly reduced, which will cause a greater impact on the safety of the unmanned patrol car. influences

[0028] (22) The lidar is very sensitive to the weather with strong light. Sometimes the strong sunlight can greatly reduce the performance of the lidar, and sometimes there is no signal output, which has a great impact on the safety of the unmanned patrol car

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