Unmanned wheeled vehicle and control method and control system thereof

Abstract

An unmanned wheeled vehicle and its control method and control system can provide active flipping power when the unmanned wheeled vehicle tips over (i.e., rolls over or overturns), allowing the unmanned wheeled vehicle to actively flip and reset itself out of trouble, thereby improving the unmanned wheeled vehicle's adaptability to complex terrain and its maneuverability. The unmanned wheeled vehicle includes: an unmanned vehicle main structure; an active flipping power system connected to the unmanned vehicle main structure and configured to drive the unmanned vehicle main structure to flip and reset itself from a tipping state, the active flipping power system including a turbojet system; an unmanned vehicle state detection system configured to detect the state of the unmanned vehicle main structure; and a control system electrically connected to the unmanned vehicle state detection system and the active flipping power system, configured to control the active flipping power system based on the detection results of the unmanned vehicle state detection system.

Description

Technical Field

[0001] This article relates to but is not limited to unmanned vehicle technology, and in particular to an unmanned wheeled vehicle and its control method and control system. Background Art

[0002] Currently, unmanned wheeled vehicles typically use active rollover avoidance to prevent them from rolling over or even completely overturning. Active rollover avoidance involves actively tracking the trajectory and monitoring the posture during travel, actively adjusting the posture of the unmanned wheeled vehicle to prevent rollover or overturning. However, due to the complexity of the terrain during actual use, if there is an impact or a sudden change in the terrain during rapid travel, rollover is difficult to avoid even with prior posture control. If the vehicle has already rolled over or even overturned, the active rollover avoidance method will not allow the vehicle to flip back and recover from the predicament. Summary of the Invention

[0003] The embodiments of the present application provide an unmanned wheeled vehicle and its control method and control system, which can provide active flipping power when the unmanned wheeled vehicle tips over (i.e., rolls over or overturns), so that the unmanned wheeled vehicle can actively flip and reset itself out of trouble, thereby helping to improve the adaptability of the unmanned wheeled vehicle to complex terrain and improving the maneuverability of the unmanned wheeled vehicle.

[0004] To this end, an embodiment of the present application provides an unmanned wheeled vehicle, comprising: an unmanned vehicle main body structure; an active flipping power system, connected to the unmanned vehicle main body structure, configured to drive the unmanned vehicle main body structure to flip and reset from a tilted state, the active flipping power system comprising a turbojet system; an unmanned vehicle status detection system, configured to detect the state of the unmanned vehicle main body structure; and a control system, electrically connected to the unmanned vehicle status detection system and the active flipping power system, configured to control the active flipping power system according to the detection results of the unmanned vehicle status detection system.

[0005] The unmanned wheeled vehicle provided in the embodiments of the present application is provided with an active rollover power system, which enables the unmanned wheeled vehicle to actively roll over and reset itself in the event of a rollover. When the unmanned vehicle status detection system detects that the unmanned wheeled vehicle has rolled over, the control system can control the active rollover power system to provide power, allowing the unmanned wheeled vehicle to actively roll over and reset itself, freeing it from the predicament and continuing its journey. This helps improve the unmanned wheeled vehicle's adaptability to complex terrain and its maneuverability.

[0006] In addition, the active rolling power system includes a turbojet system, which has both cost and volume advantages, making it easy to be carried on unmanned wheeled vehicles; and has a high energy density, taking into account both controllability and thrust, thereby improving the adaptability of unmanned wheeled vehicles to terrain.

[0007] In an exemplary embodiment, the turbojet system includes: a first turbojet engine group and a second turbojet engine group, and the first turbojet engine group and the second turbojet engine group are arranged at intervals along the width direction of the unmanned vehicle main body structure.

[0008] In an exemplary embodiment, the first turbojet engine group includes a plurality of turbojet engines spaced apart along the length direction of the unmanned vehicle main body structure; the second turbojet engine group includes a plurality of turbojet engines spaced apart along the length direction of the unmanned vehicle main body structure.

[0009] In an exemplary embodiment, the unmanned vehicle status detection system includes a posture detection device and a distance detection device provided on the main structure of the unmanned vehicle; the posture detection device is configured to detect the posture of the main structure of the unmanned vehicle; the distance detection device is configured to detect the height of the distance detection device from the ground; the control system includes an active flip control module, and the active flip control module is configured to: control the active flip power system according to the detection results of the posture detection device and the distance detection device.

[0010] In an exemplary embodiment, the posture detection device includes a gyroscope, which is arranged at the center of mass of the unmanned wheeled vehicle; the distance detection device includes a first distance sensor and a second distance sensor, and the first distance sensor and the second distance sensor are symmetrically arranged along the width direction of the unmanned vehicle main body structure.

[0011] An embodiment of the present application also provides a control method for an unmanned wheeled vehicle as described in any one of the above embodiments, the control method comprising: obtaining a status detection result of the unmanned vehicle main body structure; and controlling the active flipping power system according to the status detection result of the unmanned vehicle main body structure.

[0012] In an exemplary embodiment, controlling the active flipping power system according to the state detection result of the unmanned vehicle main body structure includes: judging whether the unmanned vehicle main body structure is in a tilting state according to the state detection result of the unmanned vehicle main body structure; and based on determining that the unmanned vehicle main body structure is in a tilting state, starting the active flipping power system to flip and reset the unmanned vehicle main body structure.

[0013] In an exemplary embodiment, the state detection result includes: a gyroscope roll angle, a ground clearance of a first distance sensor, and a ground clearance of a second distance sensor; judging whether the unmanned vehicle main structure is in a tipping state based on the state detection result of the unmanned vehicle main structure includes: judging that the unmanned vehicle main structure is in a tipping state based on the gyroscope roll angle being greater than a first set angle and / or the difference between the ground clearance of the first distance sensor and the ground clearance of the second distance sensor being greater than a first set height difference.

[0014] In an exemplary embodiment, starting the active flipping power system to flip and reset the main structure of the unmanned vehicle includes: determining the relative height of the positions of the first turbojet engine group and the second turbojet engine group based on the height above the ground of the first distance sensor and the height above the ground of the second distance sensor; based on the position of the first turbojet engine group being higher than the position of the second turbojet engine group, starting the first turbojet engine group to flip and reset the main structure of the unmanned vehicle; based on the position of the second turbojet engine group being higher than the position of the first turbojet engine group, starting the second turbojet engine group to flip and reset the main structure of the unmanned vehicle.

[0015] In an exemplary embodiment, controlling the active flipping power system based on the status detection result of the unmanned vehicle main body structure also includes: judging whether the unmanned vehicle main body structure is flipped and reset based on the status detection result of the unmanned vehicle main body structure; and shutting down the active flipping power system based on the flipping and resetting of the unmanned vehicle main body structure.

[0016] In an exemplary embodiment, judging whether the main structure of the unmanned vehicle is flipped and reset based on the state detection result of the main structure of the unmanned vehicle includes: judging that the main structure of the unmanned vehicle is flipped and reset based on the roll angle of the gyroscope being less than a second set angle and / or the difference between the ground clearance height of the first distance sensor and the ground clearance height of the second distance sensor being less than a second set height difference; wherein, the second set angle is less than or equal to the first set angle, and the second set height difference is less than or equal to the first set height difference.

[0017] An embodiment of the present application further provides a control system, comprising a processor and a memory storing a computer program, wherein when the processor executes the computer program, the steps of the control method as described in any one of the above embodiments are implemented.

[0018] Other features and advantages of the present application will be described in the following description, and in part will become apparent from the description, or will be understood by practicing the present application. Other advantages of the present application can be realized and obtained through the solutions described in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings are used to provide an understanding of the technical solution of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the technical solution of the present application and do not constitute a limitation on the technical solution of the present application.

[0020] Figure 1 A schematic diagram of the left side structure of an unmanned wheeled vehicle provided in one embodiment of the present application;

[0021] Figure 2 A schematic diagram of the main structure of an unmanned wheeled vehicle provided in one embodiment of the present application;

[0022] Figure 3 A flow chart of a control method provided in one embodiment of the present application;

[0023] Figure 4 A flow chart of a control method provided in one embodiment of the present application.

[0024] The accompanying drawings are described as follows:

[0025] 1 vehicle main structure, 11 unmanned vehicle main frame, 111 wheels, 12 unmanned vehicle carrying unit;

[0026] 21 first turbojet engine group, 22 second turbojet engine group, 23 turbojet engine;

[0027] 31 is a first distance sensor, 32 is a second distance sensor, and 33 is a gyroscope. DETAILED DESCRIPTION

[0028] This application describes multiple embodiments, but this description is exemplary rather than restrictive, and it will be apparent to those skilled in the art that there may be more embodiments and implementations within the scope of the embodiments described herein. Although many possible feature combinations are shown in the drawings and discussed in the detailed description, many other combinations of the disclosed features are also possible. Unless specifically limited, any feature or element of any embodiment may be used in combination with any other feature or element in any other embodiment, or may replace any other feature or element in any other embodiment.

[0029] This application includes and contemplates combinations of features and elements known to those of ordinary skill in the art. The embodiments, features, and elements disclosed in this application may also be combined with any conventional features or elements to form a unique inventive solution defined by the claims. Any features or elements of any embodiment may also be combined with features or elements from other inventive solutions to form another unique inventive solution defined by the claims. Therefore, it should be understood that any feature shown and / or discussed in this application may be implemented individually or in any appropriate combination. Therefore, except for the limitations made according to the appended claims and their equivalents, the embodiments are not subject to other limitations. In addition, various modifications and changes may be made within the scope of protection of the appended claims.

[0030] In addition, when describing representative embodiments, the specification may have presented the method and / or process as a specific sequence of steps. However, to the extent that the method or process does not rely on the specific order of the steps described herein, the method or process should not be limited to the steps in the specific order described. As will be understood by those skilled in the art, other orders of steps are also possible. Therefore, the specific order of the steps set forth in the specification should not be interpreted as a limitation to the claims. In addition, the claims for the method and / or process should not be limited to performing their steps in the order written, and those skilled in the art can readily understand that these orders can be changed and still remain within the spirit and scope of the embodiments of the present application.

[0031] Unmanned wheeled vehicles are autonomous, highly intelligent, and ground-based mobile platforms designed to perform missions in areas inhospitable to humans. Conventional unmanned wheeled vehicles are prone to rollover or capsize when faced with rapid steering, changes in the terrain, or unexpected impacts, requiring detection failure.

[0032] The embodiment of the present application is mainly aimed at military unmanned vehicles. Turbojet engine groups are added on both sides of the unmanned wheeled vehicle to adjust the vehicle posture, which can enable a vehicle weighing about 1 ton to quickly flip and reset when it overturns.

[0033] like Figure 1 and Figure 2 As shown, an embodiment of the present application provides an unmanned wheeled vehicle, including: an unmanned vehicle main structure 1, an active flipping power system, an unmanned vehicle state detection system and a control system.

[0034] The active flipping power system is connected to the unmanned vehicle main structure 1 and is configured to drive the unmanned vehicle main structure 1 to flip and reset from a tilting state. The active flipping power system includes a turbojet system.

[0035] The unmanned vehicle state detection system is configured to detect the state of the unmanned vehicle main structure 1 .

[0036] The control system is electrically connected to the unmanned vehicle state detection system and the active flipping power system, and is configured to control the active flipping power system according to a detection result of the unmanned vehicle state detection system.

[0037] The unmanned wheeled vehicle provided in the embodiments of the present application is provided with an active rollover power system, which enables the unmanned wheeled vehicle to actively roll over and reset itself in the event of a rollover. When the unmanned vehicle status detection system detects that the unmanned wheeled vehicle has rolled over, the control system can control the active rollover power system to provide power, allowing the unmanned wheeled vehicle to actively roll over and reset itself, freeing it from the predicament and continuing its journey. This helps improve the unmanned wheeled vehicle's adaptability to complex terrain and its maneuverability.

[0038] In addition, the active rolling power system includes a turbojet system, which has both cost and volume advantages, making it easy to be carried on unmanned wheeled vehicles; and has a high energy density, taking into account both controllability and thrust, thereby improving the adaptability of unmanned wheeled vehicles to terrain.

[0039] This solution does not conflict with the active rollover avoidance solution, so it can be applied to unmanned wheeled vehicles with active rollover avoidance design, so that the unmanned wheeled vehicle has both an active rollover avoidance function to minimize the risk of the unmanned wheeled vehicle rolling over or overturning; it also has an active flip and reset function, so that the unmanned wheeled vehicle can flexibly flip and reset when it rolls over or overturns, thereby greatly improving the adaptability of the unmanned wheeled vehicle to complex terrain and greatly improving the maneuverability of the unmanned wheeled vehicle.

[0040] In the embodiments of the present application, unmanned wheeled vehicles mainly refer to unmanned vehicles, such as medium-sized unmanned vehicles carrying combat components and reconnaissance components, which are mainly used for accompanying, reconnaissance and transportation of heavy equipment.

[0041] The turbojet system refers to the turbojet engine 23 system. The turbojet engine 23 consists of an air intake, a compressor, a combustion chamber, a turbine, and a tail nozzle. Its four stages of intake, pressurization, combustion, and exhaust are carried out continuously.

[0042] Tilting states include sideways and overturned states. A sideways state occurs when one wheel (the left wheel 111 or the right wheel 111) in the width direction of the unmanned vehicle's main structure 1 is lifted off the ground, with a rollover angle of approximately 70° or greater. A rollover state occurs when the unmanned vehicle's main structure 1 is completely flipped over, with both wheels (the left wheel 111 and the right wheel 111) lifted off the ground, with a rollover angle of approximately 180°±30°.

[0043] In an exemplary embodiment, Figure 1 and Figure 2As shown, the unmanned vehicle main structure 1 includes an unmanned vehicle main frame 11, an unmanned vehicle power system, and an unmanned vehicle carrying unit 12. The unmanned vehicle main frame 11 includes a vehicle body frame and wheels 111 on the left and right sides (such as three sets of wheels 111, three wheels 111 on each side). The unmanned vehicle power system can be electrically driven or extended-range driven by liquefied petroleum gas (the same fuel as the turbojet system can be used). The unmanned vehicle carrying unit 12 is a unit that realizes the functionality of the unmanned vehicle, such as unmanned area transportation, mine sweeping, and electronic warfare functional units (the carrying unit is illustrated in the drawings of this application specification).

[0044] In an exemplary embodiment, Figure 2 As shown, the turbojet system includes: a first turbojet engine group 21 and a second turbojet engine group 22. The first turbojet engine group 21 and the second turbojet engine group 22 are arranged at intervals along the width direction of the unmanned vehicle main structure 1.

[0045] The width direction of the unmanned vehicle main structure 1 refers to the left-right direction. The first turbojet engine group 21 can be a turbojet engine group located to the left of the central axis of the unmanned vehicle main structure 1 in the direction of travel (forward and backward direction), and the second turbojet engine group 22 can be a turbojet engine group located to the right of the central axis of the unmanned vehicle main structure 1 in the direction of travel (forward and backward direction).

[0046] In this way, when the unmanned vehicle main body structure 1 overturns and the left side is leaning upward, the first turbojet engine group 21 can spray jets roughly along the direction in which the left side of the unmanned vehicle main body structure 1 flips over, providing power for the left side of the unmanned vehicle main body structure 1 to flip and restore in the reverse direction. Then, the unmanned vehicle main body structure 1 can use the right side as a fulcrum and the left side rotates in the reverse direction, so that the unmanned vehicle main body structure 1 flips and restores.

[0047] When the unmanned vehicle main body structure 1 overturns and the right side is leaning upwards, the second turbojet engine group 22 can spray jets roughly along the direction in which the right side of the unmanned vehicle main body structure 1 flips over, providing power for the right side of the unmanned vehicle main body structure 1 to flip and restore in the reverse direction. Then, the unmanned vehicle main body structure 1 can use the left side as a fulcrum and the right side rotates in the reverse direction, causing the unmanned vehicle main body structure 1 to flip and restore.

[0048] Therefore, according to the posture of the unmanned wheeled vehicle when it rolls over, the first turbojet engine group 21 or the second turbojet engine group 22 can be reasonably controlled to provide power, so that the unmanned vehicle main structure 1 can be flipped and reset, which is conducive to the unmanned wheeled vehicle getting out of trouble.

[0049] In an exemplary embodiment, Figure 1As shown, the first turbojet engine group 21 includes a plurality of turbojet engines 23 spaced apart along the length direction of the unmanned vehicle main body structure 1. The second turbojet engine group 22 includes a plurality of turbojet engines 23 spaced apart along the length direction of the unmanned vehicle main body structure 1.

[0050] The length direction of the unmanned vehicle main structure 1 is the front-to-back direction. The turbojet engine 23 is a micro turbojet engine.

[0051] The first turbojet engine group 21 includes a plurality of turbojet engines 23 spaced apart in the front-to-rear direction, which is beneficial to increasing the power of the unmanned vehicle main body structure 1 to flip and reset to the left, and is beneficial to the left side of the unmanned vehicle main body structure 1 to be subjected to balanced force and rotate synchronously, thereby enabling the unmanned vehicle main body structure 1 to flip and reset quickly.

[0052] The second turbojet engine group 22 includes a plurality of turbojet engines 23 spaced apart in the front-to-rear direction, which is beneficial to increasing the power for the unmanned vehicle main body structure 1 to flip and reset to the right, and is beneficial to the right side of the unmanned vehicle main body structure 1 to be subjected to balanced force and rotate synchronously, thereby enabling the unmanned vehicle main body structure 1 to flip and reset quickly.

[0053] In an exemplary embodiment, the turbojet system further includes a fuel storage system and a fuel supply system (not shown). The fuel supply system includes fuel delivery pipelines, a fuel delivery pump, a fuel shutoff valve, a fuel flow control valve, and other structures. The fuel storage system is connected to the two turbojet engine groups through the fuel supply system to provide fuel to the two turbojet engine groups. The fuel can be aviation kerosene.

[0054] In an exemplary embodiment, Figure 1 and Figure 2 As shown, the first turbojet engine group 21 is symmetrically arranged with the second turbojet engine group 22. The multiple turbojet engines 23 of the first turbojet engine group 21 are located between the left front wheel and the left rear wheel. The multiple turbojet engines 23 of the second turbojet engine group 22 are located between the right front wheel and the right rear wheel.

[0055] For example, the unmanned vehicle main structure 1 includes six wheels 111: three on the left and three on the right. A first turbojet engine assembly 21 includes two turbojet engines 23, each located between two adjacent left wheels 111. A second turbojet engine assembly 22 includes two turbojet engines 23, each located between two adjacent right wheels 111.

[0056] In an exemplary embodiment, the unmanned vehicle state detection system includes a posture detection device and a distance detection device provided on the unmanned vehicle main structure 1 .

[0057] The posture detection device is configured to detect the posture of the unmanned vehicle main structure 1. The distance detection device is configured to detect the height of the distance detection device from the ground.

[0058] The control system includes an active flip control module, which is configured to control the active flip power system according to detection results of the posture detection device and the distance detection device.

[0059] In an exemplary embodiment, the attitude detection device includes a gyroscope 33 , which is located at the center of mass of the unmanned wheeled vehicle.

[0060] like Figure 2 As shown, the distance detection device includes a first distance sensor 31 and a second distance sensor 32. The first distance sensor 31 and the second distance sensor 32 are symmetrically arranged along the width direction of the unmanned vehicle main structure 1.

[0061] The first distance sensor 31 may be, but is not limited to, an ultrasonic sensor, and the second distance sensor 32 may be, but is not limited to, an ultrasonic sensor.

[0062] The attitude detection device may be, but is not limited to, a gyroscope 33, such as Figure 2 The gyroscope 33 may be a three-axis gyroscope 33 or a six-axis gyroscope 33. The gyroscope 33 is located at the center of mass of the unmanned wheeled vehicle.

[0063] In an exemplary embodiment, the control system further includes an unmanned vehicle system control module, which is configured to control the unmanned vehicle main structure 1 .

[0064] Among them, the unmanned vehicle system control module and the active rollover power control module can be integrated together or set separately.

[0065] like Figure 3 As shown, the embodiment of the present application further provides a control method for the unmanned wheeled vehicle as in any one of the above embodiments, the control method comprising:

[0066] Step S102: Obtaining the status detection result of the main structure of the unmanned vehicle;

[0067] Step S104: controlling the active flipping power system according to the status detection result of the main structure of the unmanned vehicle.

[0068] The control method provided in the embodiment of the present application can obtain the status detection results of the unmanned vehicle main structure 1, and reasonably control the active flipping power system according to the status detection results, so that the unmanned wheeled vehicle in a tilted state can flip and reset to escape from the predicament and continue to move forward, which is beneficial to improving the adaptability of the unmanned wheeled vehicle to complex terrain and the maneuverability of the unmanned wheeled vehicle.

[0069] Furthermore, since the control method is applied to any of the unmanned wheeled vehicles in the above embodiments, it has all the above-mentioned beneficial effects, which will not be described in detail here.

[0070] In an exemplary embodiment, controlling the active rollover power system according to the state detection result of the unmanned vehicle main structure 1 includes:

[0071] Determine whether the unmanned vehicle main structure 1 is in a tipping state according to the state detection result of the unmanned vehicle main structure 1;

[0072] Based on determining that the unmanned vehicle main body structure 1 is in a tilted state, the active flipping power system is started to flip and reset the unmanned vehicle main body structure 1.

[0073] When the unmanned vehicle main structure 1 is determined to be in a tilted state according to the state detection result, it indicates that the unmanned vehicle main structure 1 is trapped and unable to move forward. Therefore, the active flip power system is activated to provide flipping and restoring power to flip the unmanned vehicle main structure 1 back to its original position and escape from the predicament.

[0074] In an exemplary embodiment, the state detection result includes: the roll angle of the gyroscope 33 and / or the height above the ground of the first distance sensor 31 and the height above the ground of the second distance sensor 32 .

[0075] Alternatively, the status detection result may include the roll angle of the gyroscope 33. Alternatively, the status detection result may include the ground clearance of the first distance sensor 31 and the ground clearance of the second distance sensor 32. Alternatively, the status detection result may include the roll angle of the gyroscope 33, the ground clearance of the first distance sensor 31, and the ground clearance of the second distance sensor 32.

[0076] Determining whether the unmanned vehicle main body structure 1 is in a tipping state according to the state detection result of the unmanned vehicle main body structure 1 includes:

[0077] Determining whether the roll angle of the gyroscope 33 is greater than a first set angle and / or whether the difference between the ground clearance of the first distance sensor 31 and the ground clearance of the second distance sensor 32 is greater than a first set height difference;

[0078] Based on the roll angle of the gyroscope 33 being greater than a first set angle and / or the difference between the ground clearance of the first distance sensor 31 and the ground clearance of the second distance sensor 32 being greater than a first set height difference, it is determined that the unmanned vehicle main structure 1 is in a tipping state;

[0079] Based on the roll angle of the gyroscope 33 being less than or equal to the first set angle and / or the difference between the ground clearance of the first distance sensor 31 and the ground clearance of the second distance sensor 32 being less than or equal to the first set height difference, it is determined that the unmanned vehicle main structure 1 is not in a tipping state.

[0080] In a normal, pre-rollover state, the roll angle of the gyroscope 33 is generally within ±30°. In a rollover, the roll angle is generally greater than 70°. In a tipping state, the roll angle is generally within the range of 180° ±30°. Therefore, the roll angle of the gyroscope 33 can be used to effectively determine the posture of the unmanned vehicle's main structure 1.

[0081] In a normal, pre-rollover state, the ground clearance height of the first distance sensor 31 and the ground clearance height of the second distance sensor 32 should be roughly equal. In the event of a rollover or overturn, there will be a significant difference in the ground clearance heights of the first distance sensor 31 and the second distance sensor 32. Therefore, based on the difference in the ground clearance heights of the first distance sensor 31 and the second distance sensor 32, it is also possible to determine whether the unmanned vehicle main structure 1 is in a rollover state.

[0082] Therefore, whether the unmanned vehicle main structure 1 is in a tilting state can be judged only based on the roll angle of the gyroscope 33; whether the unmanned vehicle main structure 1 is in a tilting state can also be judged only based on the difference in ground height between the first distance sensor 31 and the second distance sensor 32; or the two can be combined to jointly judge whether the unmanned vehicle main structure 1 is in a tilting state, which has a higher judgment accuracy.

[0083] The first set angle may be, but is not limited to, 70°. The first set height difference may be, but is not limited to, 1 / 3 of the vehicle body width.

[0084] In an exemplary embodiment, the state detection result includes: the ground clearance of the first distance sensor 31 and the ground clearance of the second distance sensor 32. Starting the active flipping power system to flip and reset the unmanned vehicle main structure 1 includes:

[0085] Determine the relative height of the first turbojet engine group 21 and the second turbojet engine group 22 according to the height above the ground of the first distance sensor 31 and the height above the ground of the second distance sensor 32;

[0086] Based on the position of the first turbojet engine group 21 being higher than the position of the second turbojet engine group 22, the first turbojet engine group 21 is started to flip and reset the unmanned vehicle main structure 1;

[0087] Since the position of the second turbojet engine group 22 is higher than that of the first turbojet engine group 21 , the second turbojet engine group 22 is started to flip and reset the unmanned vehicle main structure 1 .

[0088] In other words, when the unmanned vehicle main structure 1 is determined to be in a tipping state, the ground clearance of the first distance sensor 31 and the ground clearance of the second distance sensor 32 can be used to determine whether the left or right side of the unmanned vehicle main structure 1 is higher, and the turbojet engine unit on the higher side can be activated. In this way, the unmanned vehicle main structure 1 can use the lower side as a fulcrum, and the higher side can generate the turning force. This generates a greater turning torque, which is more conducive to the rapid turning and reset of the unmanned vehicle main structure 1.

[0089] In an exemplary embodiment, controlling the active rollover power system according to the state detection result of the unmanned vehicle main structure 1 further includes:

[0090] Determine whether the unmanned vehicle main body structure 1 is flipped and reset according to the state detection result of the unmanned vehicle main body structure 1;

[0091] Based on the flipping and resetting of the main structure 1 of the unmanned vehicle, the active flipping power system is turned off.

[0092] When it is determined that the unmanned vehicle main body structure 1 is flipped and reset, the active flipping power system is turned off, which can prevent the active flipping power system from affecting the normal movement of the unmanned wheeled vehicle and is conducive to saving energy.

[0093] In an exemplary embodiment, determining whether the unmanned vehicle main structure 1 is flipped and reset according to the state detection result of the unmanned vehicle main structure 1 includes:

[0094] Determining whether the roll angle of the gyroscope 33 is less than a second set angle and / or whether the difference between the ground clearance of the first distance sensor 31 and the ground clearance of the second distance sensor 32 is less than a second set height difference;

[0095] Based on the roll angle of the gyroscope 33 being less than the second set angle and / or the difference between the ground clearance of the first distance sensor 31 and the ground clearance of the second distance sensor 32 being less than the second set height difference, it is determined that the unmanned vehicle main structure 1 has flipped and reset;

[0096] Based on the roll angle of the gyroscope 33 being greater than or equal to the second set angle and / or the difference between the ground clearance of the first distance sensor 31 and the ground clearance of the second distance sensor 32 being greater than or equal to the second set height difference, it is determined that the unmanned vehicle main structure 1 is flipped and reset.

[0097] The second set angle is smaller than or equal to the first set angle, and the second set height difference is smaller than or equal to the first set height difference.

[0098] In other words, whether the unmanned vehicle main body structure 1 is flipped and reset can be determined only based on the roll angle of the gyroscope 33; whether the unmanned vehicle main body structure 1 is flipped and reset can also be determined only based on whether the difference between the ground clearance height of the first distance sensor 31 and the ground clearance height of the second distance sensor 32 is less than the second set height difference; or the two can be combined to determine whether the unmanned vehicle main body structure 1 is flipped and reset, which can increase the accuracy of the judgment.

[0099] Of course, other methods can also be used to determine whether the unmanned vehicle main structure 1 is flipped and reset. For example, whether the photo taken by the camera is in the normal orientation can be used to determine whether the unmanned vehicle main structure 1 is flipped and reset.

[0100] In one embodiment, Figure 4 As shown, the control method includes:

[0101] Step S202: Obtaining the gyroscope roll angle;

[0102] Step S204: Determine whether the gyroscope roll angle is greater than a first set angle. If so, execute step S206; if not, return to step S204.

[0103] Step S206: Acquire the ground clearance of the first distance sensor and the ground clearance of the second distance sensor;

[0104] Step S208: Determine whether the height above the ground of the first distance sensor is greater than the height above the ground of the second distance sensor. If so, execute step S210; if not, execute step S212.

[0105] Step S210: starting the first turbojet engine group 21;

[0106] Step S212: starting the second turbojet engine group 22;

[0107] Step S214: Determine whether the gyroscope roll angle is less than a second set angle. If so, execute step S216; if not, return to step S214.

[0108] Step S216: Turn off the turbojet system.

[0109] An embodiment of the present application also provides a control system, including a processor and a memory storing a computer program. When the processor executes the computer program, it implements the steps of any control method in the above embodiments, thereby having all the above-mentioned beneficial effects, which will not be repeated here.

[0110] The processor may be an integrated circuit chip with signal processing capabilities. The above-mentioned processor may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component. It can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present invention. The general-purpose processor may be a microprocessor or any conventional processor.

[0111] In summary, the embodiments of this application provide a technical solution for actively righting an unmanned wheeled vehicle after a rollover or overturn. This allows for the recovery of system equipment to a certain extent, avoiding the losses caused by the equipment's self-destruction. This solution is not exclusive to active rollover avoidance solutions, but rather complements them. It also represents a development of the low-cost, high-thrust-to-weight ratio of micro-turbojets.

[0112] In other embodiments, a hydraulic mechanical structure may be used to replace the turbojet system as an active flipping power system to assist in flipping and resetting the main structure of the unmanned vehicle.

[0113] In any one or more of the above exemplary embodiments, the functions described may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software, the functions may be stored as one or more instructions or codes on or transmitted via a computer-readable medium and executed by a hardware-based processing unit. The computer-readable medium may include a computer-readable storage medium corresponding to a tangible medium such as a data storage medium, or a communication medium that facilitates the transfer of a computer program from one place to another, such as according to a communication protocol. In this manner, a computer-readable medium may generally correspond to a non-transitory tangible computer-readable storage medium or a communication medium such as a signal or carrier wave. The data storage medium may be any available medium that can be accessed by one or more computers or one or more processors to retrieve instructions, codes, and / or data structures for implementing the techniques described in this disclosure. A computer program product may include a computer-readable medium.

[0114] By way of example and not limitation, such computer-readable storage media may include RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage, flash memory, or any other medium that can be used to store desired program code in the form of instructions or data structures and that can be accessed by a computer. Furthermore, any connection may also be referred to as a computer-readable medium. For example, if instructions are transmitted from a website, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwaves, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwaves are included in the definition of medium. However, it should be understood that computer-readable storage media and data storage media do not include connections, carrier waves, signals, or other transient (transient) media, but rather refer to non-transient tangible storage media. As used herein, disk and optical disk include compact disc (CD), laser disc, optical disc, digital versatile disc (DVD), floppy disk, or Blu-ray disc, among others, where disks typically reproduce data magnetically, while optical discs use lasers to reproduce data optically. Combinations of the above should also be included within the scope of computer-readable media.

[0115] For example, instructions may be executed by one or more processors, such as one or more digital signal processors (DSPs), general-purpose microprocessors, application-specific integrated circuits (ASICs), field-programmable logic arrays (FPGAs), or other equivalent integrated or discrete logic circuits. Thus, the term "processor," as used herein, may refer to any of the aforementioned structures or any other structure suitable for implementing the techniques described herein. Additionally, in some aspects, the functionality described herein may be provided within dedicated hardware and / or software modules configured for encoding and decoding, or incorporated into a combined codec. Furthermore, the techniques may be fully implemented in one or more circuits or logic elements.

[0116] The technical solutions of the embodiments of the present disclosure can be implemented in a wide variety of devices or equipment, including wireless mobile phones, integrated circuits (ICs), or a group of ICs (e.g., chipsets). Various components, modules, or units are described in the embodiments of the present disclosure to emphasize the functional aspects of the devices configured to perform the described techniques, but they do not necessarily need to be implemented by different hardware units. Instead, as described above, the various units can be combined in a codec hardware unit or provided by a collection of interoperable hardware units (including one or more processors as described above) in combination with appropriate software and / or firmware.

[0117] In the description of the present invention, it should be noted that the terms "upper", "lower", "one side", "the other side", "one end", "the other end", "side", "relative", "four corners", "periphery", ""mouth"-shaped structure", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the structure referred to has a specific orientation, is constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0118] In the description of the embodiments of the present invention, unless otherwise expressly specified or limited, the terms "connection," "direct connection," "indirect connection," "fixed connection," "installation," and "assembly" should be understood in a broad sense. For example, they may refer to a fixed connection, a detachable connection, or an integral connection. The terms "installation," "connection," and "fixed connection" may refer to a direct connection, an indirect connection through an intermediate medium, or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0119] Although the embodiments disclosed herein are as described above, the contents described herein are merely embodiments for facilitating understanding of the present invention and are not intended to limit the present invention. Any person skilled in the art may make any modifications and variations in the form and details of the embodiments without departing from the spirit and scope of the present invention. However, the scope of patent protection of the present invention shall still be defined by the appended claims.

Claims

1. An unmanned wheeled vehicle, characterized in that: include: The main structure of the unmanned vehicle; An active flipping power system connected to the unmanned vehicle main structure and configured to drive the unmanned vehicle main structure to flip and reset from a tilting state, the active flipping power system comprising a turbojet system; An unmanned vehicle status detection system configured to detect the status of the unmanned vehicle main structure; and a control system electrically connected to the unmanned vehicle state detection system and the active flipping power system, and configured to control the active flipping power system according to a detection result of the unmanned vehicle state detection system; Among them, the tipping state includes a rollover state and an overturning state; based on the unmanned vehicle main body structure being in the rollover state, the wheels on one side of the width direction of the unmanned vehicle main body structure are lifted off the ground, and the flipping angle of the unmanned vehicle main body structure is above 70°; based on the unmanned vehicle main body structure being in the overturning state, the unmanned vehicle main body structure is completely flipped over, the wheels on both sides of the unmanned vehicle main body structure are lifted off the ground, and the flipping angle of the unmanned vehicle main body structure is in the range of 150° to 210°.

2. The unmanned wheeled vehicle according to claim 1, characterized in that: The turbojet system includes a first turbojet engine group and a second turbojet engine group, wherein the first turbojet engine group and the second turbojet engine group are spaced apart along the width direction of the unmanned vehicle main body structure.

3. The unmanned wheeled vehicle according to claim 2, characterized in that: The first turbojet engine group includes a plurality of turbojet engines spaced apart along the length direction of the unmanned vehicle main structure; The second turbojet engine group includes a plurality of turbojet engines spaced apart along the length direction of the unmanned vehicle main body structure.

4. The unmanned wheeled vehicle according to any one of claims 1 to 3, characterized in that: The unmanned vehicle state detection system includes a posture detection device and a distance detection device provided on the main structure of the unmanned vehicle; The posture detection device is configured to detect the posture of the main structure of the unmanned vehicle; the distance detection device is configured to detect the height of the distance detection device from the ground; The control system includes an active flip control module, which is configured to control the active flip power system according to detection results of the posture detection device and the distance detection device.

5. The unmanned wheeled vehicle according to claim 4, characterized in that: The posture detection device includes a gyroscope, and the gyroscope is arranged at the center of mass of the unmanned wheeled vehicle; The distance detection device includes a first distance sensor and a second distance sensor, and the first distance sensor and the second distance sensor are symmetrically arranged along the width direction of the unmanned vehicle main body structure.

6. A control method for the unmanned wheeled vehicle according to any one of claims 1 to 5, characterized in that: The control method includes: Obtaining a status detection result of the main structure of the unmanned vehicle; The active flipping power system is controlled according to the state detection result of the unmanned vehicle main body structure.

7. The control method according to claim 6, characterized in that: The controlling of the active flipping power system according to the state detection result of the main structure of the unmanned vehicle includes: Determining whether the main structure of the unmanned vehicle is in a tilting state according to a state detection result of the main structure of the unmanned vehicle; Based on determining that the main structure of the unmanned vehicle is in a tilted state, the active flipping power system is started to flip and reset the main structure of the unmanned vehicle.

8. The control method according to claim 7, characterized in that: The state detection result includes: a gyroscope roll angle, a ground clearance of a first distance sensor, and a ground clearance of a second distance sensor; The determining, based on the state detection result of the main structure of the unmanned vehicle, whether the main structure of the unmanned vehicle is in a tipping state includes: Based on the roll angle of the gyroscope being greater than a first set angle and / or the difference between the ground clearance of the first distance sensor and the ground clearance of the second distance sensor being greater than a first set height difference, it is determined that the unmanned vehicle main structure is in a tipping state.

9. The control method according to claim 8, characterized in that: The step of activating the active flipping power system to flip and reset the main structure of the unmanned vehicle includes: determining the relative heights of the first turbojet engine group and the second turbojet engine group according to the heights above the ground measured by the first distance sensor and the heights above the ground measured by the second distance sensor; Based on the position of the first turbojet engine group being higher than the position of the second turbojet engine group, starting the first turbojet engine group to flip and reset the main structure of the unmanned vehicle; Based on the fact that the position of the second turbojet engine group is higher than that of the first turbojet engine group, the second turbojet engine group is started to flip and reset the main structure of the unmanned vehicle.

10. The control method according to any one of claims 7 to 9, characterized in that: The active flipping power system is controlled according to the state detection result of the main structure of the unmanned vehicle, and further includes: Determining whether the main structure of the unmanned vehicle is flipped and reset according to a state detection result of the main structure of the unmanned vehicle; Based on the flipping and resetting of the main structure of the unmanned vehicle, the active flipping power system is turned off.

11. The control method according to claim 10, characterized in that: The determining, based on the state detection result of the unmanned vehicle main body structure, whether the unmanned vehicle main body structure is flipped and reset includes: Determining that the unmanned vehicle main structure has flipped and reset based on a roll angle of the gyroscope being less than a second set angle and / or a difference between the ground clearance of the first distance sensor and the ground clearance of the second distance sensor being less than a second set height difference; The second set angle is smaller than or equal to the first set angle, and the second set height difference is smaller than or equal to the first set height difference.

12. A control system, characterized in that: The system comprises a processor and a memory storing a computer program, wherein when the processor executes the computer program, the steps of the control method according to any one of claims 6 to 11 are implemented.

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