Manned pedal control system and method for unmanned vehicle

Abstract

The present invention discloses a manned pedal control system and method for an unmanned vehicle. The system comprises: a body of the unmanned vehicle and a control device, the body comprising a pedal, a side panel, a roller composite shaft, a guide rail, and a load-bearing plate, the control device being arranged inside the body, and comprising a signal receiving unit, a state sensing unit, an operation processing unit, and a control unit. The present invention senses the state of the unmanned vehicle and determines the working conditions for the unfolding / folding of the pedal, thereby enabling an unmanned vehicle without a driving cabin to flexibly carry people and goods in manned scenes without affecting its use in unmanned scenes.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned vehicle control, and in particular relates to a manned pedal control system and method for an unmanned vehicle. Background Art

[0002] Unmanned vehicles, especially those without a cockpit, are mainly used in unmanned scenarios such as security patrols. However, in some specific scenarios where actual human participation is required and unmanned vehicles need to be used, unmanned vehicles lack effective means of carrying people.

[0003] How to enable unmanned vehicles without a cockpit to flexibly carry people and goods in manned scenarios without affecting their use in unmanned scenarios, thereby broadening the use scenarios of unmanned vehicles, is a technical problem that needs to be urgently solved in this field. Summary of the invention

[0004] The present invention provides a manned pedal control system for an unmanned vehicle, the system comprising: a body of the unmanned vehicle and a control device, the body comprising a pedal, a side panel, a roller composite shaft, a guide rail, and a bearing plate, the control device being arranged inside the body and comprising a signal receiving unit, a state sensing unit, a calculation processing unit, and a control unit;

[0005] The carrying plate is located on the top of the unmanned vehicle, and a plurality of guide rails are symmetrically arranged on the top surface of the carrying plate on both sides of the unmanned vehicle, each of which extends in a direction perpendicular to the traveling direction of the unmanned vehicle and includes two racks arranged opposite to each other up and down, and the teeth of the two racks are arranged opposite to each other. The guide rails on each side are arranged in pairs;

[0006] The roller composite rotating shaft comprises two gear drive motors installed at both ends of the axis thereof, and a rotating shaft drive motor installed at the center of the axis thereof, a driving gear is installed on the output shaft of the gear drive motor, the two driving gears of the roller composite rotating shaft are respectively meshed with the racks of each pair of the guide rails, a connecting piece is fixedly installed on the output shaft of the rotating shaft drive motor, and the connecting piece is fixedly connected to the upper end of the side plate;

[0007] The lower end of the side plate is pivotally connected to one end of the pedal, and the pivot shaft is fixedly connected to the output shaft of a rotating motor, and the rotating motor is installed at one end of the pivot shaft;

[0008] The signal receiving unit is used to receive an external control signal and send the control signal to the operation processing unit;

[0009] The state sensing unit is used to sense the state of the unmanned vehicle and send the acquired state information of the unmanned vehicle to the operation processing unit;

[0010] The processing unit determines whether to send a pedal deployment instruction or a pedal retraction instruction to the control unit according to the external control signal and the state information of the unmanned vehicle;

[0011] The control unit controls the gear drive motor, the shaft drive motor, and the rotary motor according to the pedal deployment instruction or the pedal folding instruction, and further controls the pedal and the side panel to move to the deployment state or the folding state.

[0012] Furthermore, the external control signal received by the signal receiving unit is a pedal deployment signal or a pedal retraction signal sent by the operator's mobile control terminal through wired or wireless communication, or a pedal deployment signal or a pedal retraction signal sent by a remote control center through wired or wireless communication.

[0013] Furthermore, the state sensing unit includes a speed sensor for detecting the speed of the unmanned vehicle, an angular velocity sensor for detecting the angular velocity of the wheel, a tire pressure sensor for detecting the tire pressure of the collection vehicle, and a pressure sensor for detecting the pressure on the pedal;

[0014] The state information of the unmanned vehicle acquired by the state sensing unit includes the driving speed of the unmanned vehicle, the angular velocity of all wheels, the tire pressure values ​​of all tires, and the pressure values ​​of the pedals on both sides.

[0015] Further, the processing unit determines whether the external control signal is received and determines the type of the external control signal. If the type of the external control signal is a deployment control signal, the processing unit processes the acquired unmanned vehicle state information as follows:

[0016] Calculate wheel slip:

[0017] ,

[0018] in, For the The slip rate of each wheel, For the The angular velocity of the wheels, is the driving speed of the driverless vehicle, is the radius of the wheel, is the number of wheels;

[0019] Determine whether all of the following conditions are met:

[0020]

[0021] in, Indicates taking the minimum value, represents the slip rate of the 1st, 2nd, ..., nth wheels, Indicates the tire pressure values ​​of the 1st, 2nd, ..., nth wheels, Indicates the preset tire pressure threshold;

[0022] If the above conditions I and II are all met, the processing unit sends a pedal deployment instruction to the control unit; otherwise, a rejection instruction is returned to the signal receiving unit.

[0023] Further, the processing unit determines whether the external control signal is received and determines the type of the external control signal. If the type of the external control signal is a retracting control signal, the processing unit determines whether all of the following conditions are met:

[0024]

[0025] in, Indicates taking the maximum value, Indicates the pressure value on the left pedal. Indicates the pressure value on the right pedal. Indicates the preset pedal pressure threshold, represents the speed of the driverless vehicle, Indicates a preset driving speed threshold;

[0026] If the above conditions III and IV are all met, the processing unit sends a pedal retracting instruction to the control unit; otherwise, a rejection instruction is returned to the signal receiving unit.

[0027] Further, after receiving the pedal deployment instruction, the control unit performs the following control operations:

[0028] a. Control the rotary motors on the left and right sides to work, so that the pedals on the left and right sides rotate around the pivot axis until they are perpendicular to the side plates connected thereto.

[0029] b. controlling the two gear drive motors of the roller composite shaft to work, so that the gears move along the guide rail, driving the side plate to move to the outside of the unmanned vehicle until it moves to the outer end point of the guide rail;

[0030] c. Control the shaft drive motor of the roller composite shaft to work, and drive the side plate to rotate around the shaft of the shaft drive motor until the side plate is perpendicular to the bearing plate.

[0031] Further, after receiving the pedal retracting instruction, the control unit performs the following control operations:

[0032] d. Control the rotation motors on the left and right sides to work, so that the pedals on the left and right sides rotate around the pivot axis until they are folded parallel to the side panels connected thereto;

[0033] e. Controlling the shaft drive motor of the roller composite shaft to work, driving the side plate to rotate around the shaft of the shaft drive motor until the side plate is parallel to the bearing plate;

[0034] f. Control the two gear drive motors of the roller composite shaft to work, so that the gears move along the guide rail, driving the side plate to move toward the inside of the unmanned vehicle until it moves to the inner end point of the guide rail.

[0035] The present invention also relates to a manned pedal control method for an unmanned vehicle, the method being applied to the manned pedal control system of the unmanned vehicle mentioned above, the method comprising the following steps:

[0036] S1. The state sensing unit obtains the state information of the unmanned vehicle, including the driving speed of the unmanned vehicle, the angular velocity of all wheels, the tire pressure values ​​of all tires, and the pressure values ​​of the pedals on both sides;

[0037] S2. The external control signal received by the signal receiving unit includes a pedal deployment signal or a pedal retraction signal sent by the operator's mobile control terminal through wired or wireless communication, or a pedal deployment signal or a pedal retraction signal sent by a remote control center through wired or wireless communication;

[0038] S3. The processing unit determines whether an external control signal is received and determines the type of the external control signal. If the type of the external control signal is an expansion control signal, step S4 is executed; if the type of the external control signal is a folding control signal, step S5 is executed;

[0039] S4. The processing unit processes the acquired driverless vehicle status information as follows:

[0040] Calculate wheel slip:

[0041] ,

[0042] in, For the The slip rate of each wheel, For the The angular velocity of the wheels, is the driving speed of the driverless vehicle, is the radius of the wheel, is the number of wheels;

[0043] Determine whether all of the following conditions are met:

[0044]

[0045] in, Indicates taking the minimum value, represents the slip rate of the 1st, 2nd, ..., nth wheels, Indicates the tire pressure values ​​of the 1st, 2nd, ..., nth wheels, Indicates the preset tire pressure threshold;

[0046] If both the above conditions I and II are met, the processing unit sends a pedal deployment instruction to the control unit and executes step S7; otherwise, it returns a rejection instruction to the signal receiving unit and executes step S6;

[0047] S5. The processing unit determines whether all the following conditions are met:

[0048]

[0049] in, Indicates taking the maximum value, Indicates the pressure value on the left pedal. Indicates the pressure value on the right pedal. Indicates the preset pedal pressure threshold, represents the speed of the driverless vehicle, Indicates a preset driving speed threshold;

[0050] If the above conditions III and IV are all met, the processing unit sends a pedal retracting instruction to the control unit and executes step S8; otherwise, a rejection instruction is returned to the signal receiving unit and step S6 is executed;

[0051] S6. After receiving the rejection instruction, the signal receiving unit sends a rejection prompt message to the operator's mobile control terminal or remote control center, indicating that the operation cannot be performed;

[0052] S7. After receiving the pedal deployment instruction, the control unit performs the following control operations:

[0053] a. Control the rotation motor on the left and right sides to work, so that the pedals on the left and right sides rotate around the pivot axis until they are perpendicular to the side panels connected thereto;

[0054] b. controlling the two gear drive motors of the roller composite shaft to work, so that the gears move along the guide rail, driving the side plate to move to the outside of the unmanned vehicle until it moves to the outer end point of the guide rail;

[0055] c. controlling the shaft drive motor of the roller composite shaft to work, driving the side plate to rotate around the shaft of the shaft drive motor until the side plate is perpendicular to the bearing plate;

[0056] S8. After receiving the pedal retracting instruction, the control unit performs the following control operations:

[0057] d. Control the rotation motors on the left and right sides to work, so that the pedals on the left and right sides rotate around the pivot axis until they are folded parallel to the side panels connected thereto;

[0058] e. Controlling the shaft drive motor of the roller composite shaft to work, driving the side plate to rotate around the shaft of the shaft drive motor until the side plate is parallel to the bearing plate;

[0059] f. Control the two gear drive motors of the roller composite shaft to work, so that the gears move along the guide rail, driving the side plate to move toward the inside of the unmanned vehicle until it moves to the inner end point of the guide rail.

[0060] The present invention also relates to a computer program product, which includes a computer program, and the computer program is executed by a processor to execute the above-mentioned manned pedal control method of an unmanned vehicle.

[0061] The present invention also relates to a computer-readable storage medium, wherein the computer-readable storage medium is used to store a computer program, and the computer program is executed by a processor to execute the above-mentioned manned pedal control method of an unmanned vehicle.

[0062] The technical solution of the present invention sets a pedal device on an unmanned vehicle, and judges the working conditions of pedal deployment / folding by sensing the state of the unmanned vehicle, so that the pedal deployment operation can be performed only when the slip rate and tire pressure of each wheel of the unmanned vehicle meet the preset conditions, and there is no serious slippage and serious lack of tire pressure, to avoid deploying the pedal when the conditions for carrying people and goods are not met, resulting in the unmanned vehicle being unable to drive normally, and the pedal folding operation can be performed only when the pedal pressure and driving speed of the unmanned vehicle meet the preset conditions, and it is not in a state of carrying people and goods or driving at high speed, to avoid damage to the load, thereby enabling an unmanned vehicle without a driving cabin to flexibly carry people and goods in a manned scene without affecting its use in an unmanned scene. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 This is a schematic diagram of the unmanned vehicle manned pedal in the unfolded state of the present invention.

[0064] Figure 2This is a schematic diagram of the unmanned vehicle's manned pedal in a retracted state according to the present invention.

[0065] Figure 3 It is a structural block diagram of the control device in the manned pedal control system of the present invention. DETAILED DESCRIPTION

[0066] The present invention will be further described below in conjunction with the accompanying drawings. The following examples are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the scope of protection of the present invention. It should be pointed out that the following detailed description is exemplary and is intended to provide further explanation of the present invention.

[0067] Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those generally understood by those of ordinary skill in the art to which the present invention belongs. It should be noted that the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0068] Embodiment 1 of the present invention relates to a manned pedal control system for an unmanned vehicle, as shown in the attached Figure 1 , 3 As shown, the system includes: a body of an unmanned vehicle and a control device, the body includes a pedal 1, a side panel 2, a roller composite shaft 3, a guide rail 4, and a load-bearing plate 5, and the control device is arranged inside the body, including a signal receiving unit 6, a state sensing unit 7, an operation processing unit 8, and a control unit 9.

[0069] The carrying plate 5 is located on the top of the unmanned vehicle. On the top surface of the carrying plate 5, a plurality of guide rails 4 are symmetrically arranged on both sides of the unmanned vehicle. Each guide rail 4 extends in a direction perpendicular to the traveling direction of the unmanned vehicle and includes two racks arranged opposite to each other up and down. The teeth of the two racks are arranged opposite to each other. The guide rails 4 on each side are arranged in pairs.

[0070] As attached Figure 1 As shown, each side includes two pairs of guide rails 4.

[0071] The roller composite rotating shaft 3 includes two gear drive motors installed at both ends of its axis and a rotating shaft drive motor installed at the center of its axis. A driving gear is installed on the output shaft of the gear drive motor. The two driving gears of the roller composite rotating shaft 3 are respectively meshed with the racks of each pair of the guide rails 4. A connecting piece is fixedly installed on the output shaft of the rotating shaft drive motor, and the connecting piece is fixedly connected to the upper end of the side plate 2.

[0072] The lower end of the side plate 2 is pivotally connected to one end of the pedal 1, and the pivot shaft is fixedly connected to the output shaft of a rotating motor, and the rotating motor is installed at one end of the pivot shaft.

[0073] The signal receiving unit 6 is used to receive an external control signal and send the control signal to the operation processing unit 8 .

[0074] The state sensing unit 7 is used to sense the state of the unmanned vehicle and send the acquired state information of the unmanned vehicle to the operation processing unit 8 .

[0075] The processing unit 8 determines whether to send a pedal deployment instruction or a pedal folding instruction to the control unit 9 according to the external control signal and the state information of the unmanned vehicle.

[0076] The control unit 9 controls the gear drive motor, the shaft drive motor, and the rotary motor according to the pedal deployment instruction or the pedal folding instruction, and further controls the pedal 1 and the side panel 2 to move to the deployment state or the folding state.

[0077] The external control signal received by the signal receiving unit 6 may be a pedal deployment signal or a pedal retraction signal sent by an operator's mobile control terminal through wired or wireless communication, or a pedal deployment signal or a pedal retraction signal sent by a remote control center through wired or wireless communication.

[0078] The state sensing unit 7 includes a speed sensor for detecting the speed of the unmanned vehicle, an angular velocity sensor for detecting the angular velocity of the wheels, a tire pressure sensor for detecting the tire pressure of the vehicle, and a pressure sensor for detecting the pressure on the pedals. The state information of the unmanned vehicle acquired by the state sensing unit 7 includes the driving speed of the unmanned vehicle, the angular velocity of all wheels, the tire pressure values ​​of all tires, and the pressure values ​​of the pedals on both sides.

[0079] The processing unit 8 determines whether the external control signal is received and determines the type of the external control signal.

[0080] If the type of the external control signal is an expansion control signal, the processing unit 8 processes the acquired driverless vehicle state information as follows:

[0081] Calculate wheel slip:

[0082] ,

[0083] in, For the The slip rate of each wheel, For the The angular velocity of the wheels, is the driving speed of the driverless vehicle, is the radius of the wheel, is the number of wheels.

[0084] Determine whether all of the following conditions are met:

[0085]

[0086] in, Indicates taking the minimum value, represents the slip rate of the 1st, 2nd, ..., nth wheels, Indicates the tire pressure values ​​of the 1st, 2nd, ..., nth wheels, Indicates the preset tire pressure threshold.

[0087] If the above conditions I and II are all met, the processing unit 8 sends a pedal deployment instruction to the control unit 9 , otherwise, it returns a rejection instruction to the signal receiving unit 6 .

[0088] Through the above judgment process, the pedal deployment operation can only be allowed when the slip rate and tire pressure of each wheel of the unmanned vehicle meet the preset conditions and there is no serious slippage and serious lack of tire pressure, so as to avoid deploying the pedal when the conditions for carrying people and goods are not met, causing the unmanned vehicle to be unable to drive normally.

[0089] If the type of the external control signal is a stowing control signal, the processing unit 8 determines whether all of the following conditions are met:

[0090]

[0091] in, Indicates taking the maximum value, Indicates the pressure value on the left pedal. Indicates the pressure value on the right pedal. Indicates the preset pedal pressure threshold, represents the speed of the driverless vehicle, Indicates the preset driving speed threshold.

[0092] If the above conditions III and IV are all met, the processing unit 8 sends a pedal retracting instruction to the control unit 9 , otherwise, it returns a rejection instruction to the signal receiving unit 6 .

[0093] Through the above judgment process, the pedal retraction operation is allowed only when the pedal pressure and driving speed of the unmanned vehicle meet the preset conditions and are not in a state of carrying people or goods or driving at high speed, so as to avoid damage to the load.

[0094] After receiving the rejection instruction, the signal receiving unit 6 sends a rejection prompt message to the operator's mobile control terminal or the remote control center, prompting that the operation cannot be performed.

[0095] After receiving the pedal deployment instruction, the control unit 9 performs the following control operations:

[0096] a. Control the rotary motors on the left and right sides to work, so that the pedals 1 on the left and right sides rotate around the pivot axis until they are perpendicular to the side plates 2 connected thereto.

[0097] b. Control the two gear drive motors of the roller composite shaft 3 to work, so that the gears move along the guide rail 4, driving the side plate 2 to move to the outside of the unmanned vehicle until it moves to the outer end point position of the guide rail 4.

[0098] c. Control the shaft drive motor of the roller composite shaft 3 to work, and drive the side plate 2 to rotate around the shaft of the shaft drive motor until the side plate 2 is perpendicular to the supporting plate 5.

[0099] The pedal is unfolded as shown in the attached figure. Figure 1 shown.

[0100] The above operations are performed in the order of a, b, and c, or the operations a and b are started at the same time, and when the operations a and b are completed, the operation c is started.

[0101] After receiving the pedal retracting instruction, the control unit 9 performs the following control operations:

[0102] d. Control the rotary motors on the left and right sides to operate, so that the pedals 1 on the left and right sides rotate around the pivot axis until they are folded and parallel to the side panels 2 connected thereto.

[0103] e. Control the shaft drive motor of the roller composite shaft 3 to work, and drive the side plate 2 to rotate around the shaft of the shaft drive motor until the side plate 2 is parallel to the bearing plate 5.

[0104] f. Control the two gear drive motors of the roller composite shaft 3 to work, so that the gears move along the guide rail 4, driving the side plate 2 to move toward the inside of the unmanned vehicle until it moves to the inner end position of the guide rail 4.

[0105] The pedal is folded up as shown in the attached figure. Figure 2 shown.

[0106] The above operations are executed in the order of d, e, and f, or the operations d and e are executed simultaneously. When the operations d and e are completed, the operation f is executed.

[0107] Embodiment 2 of the present invention relates to a method for controlling a manned pedal of an unmanned vehicle, the method being implemented by the system of embodiment 1 and comprising the following steps:

[0108] S1. The state sensing unit 7 obtains the state information of the unmanned vehicle, including the driving speed of the unmanned vehicle, the angular velocity of all wheels, the tire pressure values ​​of all tires, and the pressure values ​​of the pedals on both sides.

[0109] S2. The external control signal received by the signal receiving unit 6 includes a pedal deployment signal or a pedal retraction signal sent by the operator's mobile control terminal via wired or wireless communication, or a pedal deployment signal or a pedal retraction signal sent by a remote control center via wired or wireless communication.

[0110] S3. The processing unit 8 determines whether an external control signal is received and determines the type of the external control signal. If the type of the external control signal is an expansion control signal, step S4 is executed; if the type of the external control signal is a folding control signal, step S5 is executed.

[0111] S4. The processing unit 8 processes the acquired driverless vehicle status information as follows:

[0112] Calculate wheel slip:

[0113] ,

[0114] in, For the The slip rate of each wheel, For the The angular velocity of the wheels, is the driving speed of the driverless vehicle, is the radius of the wheel, is the number of wheels.

[0115] Determine whether all of the following conditions are met:

[0116]

[0117] in, Indicates taking the minimum value, represents the slip rate of the 1st, 2nd, ..., nth wheels, Indicates the tire pressure values ​​of the 1st, 2nd, ..., nth wheels, Indicates the preset tire pressure threshold.

[0118] If the above conditions I and II are all met, the processing unit 8 sends a pedal deployment instruction to the control unit 9 and executes step S7; otherwise, it returns a rejection instruction to the signal receiving unit 6 and executes step S6.

[0119] S5. The processing unit 8 determines whether all the following conditions are met:

[0120]

[0121] in, Indicates taking the maximum value, Indicates the pressure value on the left pedal. Indicates the pressure value on the right pedal. Indicates the preset pedal pressure threshold, represents the speed of the driverless vehicle, Indicates the preset driving speed threshold.

[0122] If the above conditions III and IV are all met, the processing unit 8 sends a pedal retracting instruction to the control unit 9 and executes step S8; otherwise, it returns a rejection instruction to the signal receiving unit 6 and executes step S6.

[0123] S6. After receiving the rejection instruction, the signal receiving unit 6 sends a rejection prompt message to the operator's mobile control terminal or the remote control center, prompting that the operation cannot be performed.

[0124] S7. After receiving the pedal deployment instruction, the control unit 9 performs the following control operations:

[0125] a. Control the rotary motors on the left and right sides to work, so that the pedals 1 on the left and right sides rotate around the pivot axis until they are perpendicular to the side plates 2 connected thereto.

[0126] b. Control the two gear drive motors of the roller composite shaft 3 to work, so that the gears move along the guide rail 4, driving the side plate 2 to move to the outside of the unmanned vehicle until it moves to the outer end point position of the guide rail 4.

[0127] c. Control the shaft drive motor of the roller composite shaft 3 to work, and drive the side plate 2 to rotate around the shaft of the shaft drive motor until the side plate 2 is perpendicular to the supporting plate 5.

[0128] The above operations are performed in the order of a, b, and c, or the operations a and b are started at the same time, and when the operations a and b are completed, the operation c is started.

[0129] S8. After receiving the pedal retracting instruction, the control unit 9 performs the following control operations:

[0130] d. Control the rotary motors on the left and right sides to operate, so that the pedals 1 on the left and right sides rotate around the pivot axis until they are folded and parallel to the side panels 2 connected thereto.

[0131] e. Control the shaft drive motor of the roller composite shaft 3 to work, and drive the side plate 2 to rotate around the shaft of the shaft drive motor until the side plate 2 is parallel to the bearing plate 5.

[0132] f. Control the two gear drive motors of the roller composite shaft 3 to work, so that the gears move along the guide rail 4, driving the side plate 2 to move toward the inside of the unmanned vehicle until it moves to the inner end position of the guide rail 4.

[0133] The above operations are executed in the order of d, e, and f, or the operations d and e are executed simultaneously. When the operations d and e are completed, the operation f is executed.

[0134] Embodiment 3 of the present invention relates to a computer program product, which includes a computer program. The computer program is executed by a processor to execute a manned pedal control method for an unmanned vehicle according to embodiment 2.

[0135] Embodiment 4 of the present invention relates to a computer-readable storage medium, which is used to store a computer program. The computer program is executed by a processor to execute a manned pedal control method for an unmanned vehicle according to embodiment 2.

[0136] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A manned pedal control system for an unmanned vehicle, characterized in that: The system comprises: a body of an unmanned vehicle and a control device, the body comprising a pedal (1), a side panel (2), a roller composite shaft (3), a guide rail (4), and a bearing plate (5), the control device being arranged inside the body and comprising a signal receiving unit (6), a state sensing unit (7), an operation processing unit (8), and a control unit (9); The carrying plate (5) is located on the top of the unmanned vehicle, and a plurality of guide rails (4) are symmetrically arranged on the top surface of the carrying plate (5) on both sides of the unmanned vehicle, each of the guide rails (4) extending in a direction perpendicular to the traveling direction of the unmanned vehicle, and comprising two racks arranged opposite to each other up and down, the teeth of the two racks being arranged opposite to each other, and the guide rails (4) on each side are arranged in pairs; The roller composite rotating shaft (3) comprises two gear drive motors mounted at both ends of its axis, and a rotating shaft drive motor mounted at the center of its axis, a drive gear being mounted on the output shaft of the gear drive motor, the two drive gears of the roller composite rotating shaft (3) being respectively meshed with the racks of each pair of the guide rails (4), a connecting piece being fixedly mounted on the output shaft of the rotating shaft drive motor, and the connecting piece being fixedly connected to the upper end of the side plate (2); The lower end of the side plate (2) is pivotally connected to one end of the pedal (1), and the pivot axis is fixedly connected to the output shaft of a rotating motor, and the rotating motor is mounted on one end of the pivot axis; The signal receiving unit (6) is used to receive an external control signal and send the control signal to the operation processing unit (8); The state sensing unit (7) is used to sense the state of the unmanned vehicle and send the acquired state information of the unmanned vehicle to the operation processing unit (8); The processing unit (8) determines whether to send a pedal deployment instruction or a pedal folding instruction to the control unit (9) according to the external control signal and the state information of the unmanned vehicle; The control unit (9) controls the gear drive motor, the shaft drive motor, and the rotary motor according to the pedal deployment instruction or the pedal retracting instruction, thereby controlling the pedal (1) and the side panel (2) to move to the deployment state or the retracted state.

2. The manned pedal control system of an unmanned vehicle according to claim 1, characterized in that: The external control signal received by the signal receiving unit (6) is a pedal deployment signal or a pedal retraction signal sent by an operator's mobile control terminal via wired or wireless communication, or a pedal deployment signal or a pedal retraction signal sent by a remote control center via wired or wireless communication.

3. The manned pedal control system of an unmanned vehicle according to claim 1, characterized in that: The state sensing unit (7) comprises a speed sensor for detecting the speed of the unmanned vehicle, an angular velocity sensor for detecting the angular velocity of the wheels, a tire pressure sensor for detecting the tire pressure of the vehicle, and a pressure sensor for detecting the pressure of the pedal; The unmanned vehicle state information acquired by the state sensing unit (7) includes the driving speed of the unmanned vehicle, the angular velocity of all wheels, the tire pressure values ​​of all tires, and the pressure values ​​of the pedals on both sides.

4. The manned pedal control system for an unmanned vehicle according to claim 3, characterized in that: The processing unit (8) determines whether the external control signal is received and determines the type of the external control signal. If the type of the external control signal is a deployment control signal, the processing unit (8) processes the acquired unmanned vehicle state information as follows: Calculate wheel slip: ， ； in, For the The slip rate of each wheel, For the The angular velocity of the wheels, is the driving speed of the driverless vehicle, is the radius of the wheel, is the number of wheels; Determine whether all of the following conditions are met: ； in, Indicates taking the minimum value, represents the slip rate of the 1st, 2nd, ..., nth wheels, Indicates the tire pressure values ​​of the 1st, 2nd, ..., nth wheels, Indicates the preset tire pressure threshold; If both the above conditions I and II are met, the arithmetic processing unit (8) sends a pedal deployment instruction to the control unit (9); otherwise, a rejection instruction is returned to the signal receiving unit (6).

5. The manned pedal control system for an unmanned vehicle according to claim 3, characterized in that: The processing unit (8) determines whether the external control signal is received and determines the type of the external control signal. If the type of the external control signal is a retracting control signal, the processing unit (8) determines whether all of the following conditions are met: ； in, Indicates taking the maximum value, Indicates the pressure value on the left pedal. Indicates the pressure value on the right pedal. Indicates the preset pedal pressure threshold, represents the speed of the driverless vehicle, Indicates a preset driving speed threshold; If both conditions III and IV are met, the arithmetic processing unit (8) sends a pedal retracting instruction to the control unit (9); otherwise, a rejection instruction is returned to the signal receiving unit (6).

6. The manned pedal control system for an unmanned vehicle according to claim 4, characterized in that: After receiving the pedal deployment instruction, the control unit (9) performs the following control operations: a. Controlling the rotation motors on the left and right sides to work, so that the pedals (1) on the left and right sides rotate around the pivot axis until they are perpendicular to the side plates (2) connected thereto; b. controlling the two gear drive motors of the roller composite rotating shaft (3) to operate, so that the gears move along the guide rail (4), driving the side plate (2) to move toward the outside of the unmanned vehicle until it moves to the outer end point of the guide rail (4); c. Controlling the shaft drive motor of the roller composite shaft (3) to work, driving the side plate (2) to rotate around the shaft of the shaft drive motor until the side plate (2) is perpendicular to the supporting plate (5).

7. The manned pedal control system for an unmanned vehicle according to claim 5, characterized in that: After receiving the pedal retracting instruction, the control unit (9) performs the following control operations: d. Control the rotation motors on the left and right sides to operate, so that the pedals (1) on the left and right sides rotate around the pivot axis until they are folded and parallel to the side panels (2) connected thereto; e. controlling the shaft drive motor of the roller composite shaft (3) to work, driving the side plate (2) to rotate around the shaft of the shaft drive motor until the side plate (2) is parallel to the bearing plate (5); f. Controlling the two gear drive motors of the roller composite rotating shaft (3) to work, so that the gears move along the guide rail (4), driving the side plate (2) to move toward the inner side of the unmanned vehicle until it moves to the inner end point position of the guide rail (4).

8. A manned pedal control method for an unmanned vehicle, the method being applied to a manned pedal control system for an unmanned vehicle according to any one of claims 1 to 7, characterized in that: The method comprises the following steps: S1. The state sensing unit (7) obtains the state information of the unmanned vehicle, including the driving speed of the unmanned vehicle, the angular velocity of all wheels, the tire pressure values ​​of all tires, and the pressure values ​​of the pedals on both sides; S2. The external control signal received by the signal receiving unit (6) includes a pedal deployment signal or a pedal retraction signal sent by the operator's mobile control terminal via wired or wireless communication, or a pedal deployment signal or a pedal retraction signal sent by a remote control center via wired or wireless communication; S3. The processing unit (8) determines whether an external control signal is received and determines the type of the external control signal. If the type of the external control signal is an expansion control signal, step S4 is executed; if the type of the external control signal is a folding control signal, step S5 is executed; S4. The processing unit (8) processes the acquired driverless vehicle status information as follows: Calculate wheel slip: ， ； in, For the The slip rate of each wheel, For the The angular velocity of the wheels, is the driving speed of the driverless vehicle, is the radius of the wheel, is the number of wheels; Determine whether all of the following conditions are met: ； in, Indicates taking the minimum value, represents the slip rate of the 1st, 2nd, ..., nth wheels, Indicates the tire pressure values ​​of the 1st, 2nd, ..., nth wheels, Indicates the preset tire pressure threshold; If both the above conditions I and II are met, the processing unit (8) sends a pedal deployment instruction to the control unit (9) and executes step S7; otherwise, a rejection instruction is returned to the signal receiving unit (6) and step S6 is executed; S5. The processing unit (8) determines whether all of the following conditions are met: ； in, Indicates taking the maximum value, Indicates the pressure value on the left pedal. Indicates the pressure value on the right pedal. Indicates the preset pedal pressure threshold, represents the speed of the driverless vehicle, Indicates a preset driving speed threshold; If both conditions III and IV are met, the processing unit (8) sends a pedal retracting instruction to the control unit (9) and executes step S8; otherwise, a rejection instruction is returned to the signal receiving unit (6) and step S6 is executed; S6. After receiving the rejection instruction, the signal receiving unit (6) sends a rejection prompt message to the operator's mobile control terminal or remote control center, indicating that the operation cannot be performed; S7. After receiving the pedal deployment instruction, the control unit (9) performs the following control operations: a. Controlling the rotation motors on the left and right sides to work, so that the pedals (1) on the left and right sides rotate around the pivot axis until they are perpendicular to the side plates (2) connected thereto; b. controlling the two gear drive motors of the roller composite rotating shaft (3) to operate, so that the gears move along the guide rail (4), driving the side plate (2) to move toward the outside of the unmanned vehicle until it moves to the outer end point of the guide rail (4); c. controlling the shaft drive motor of the roller composite shaft (3) to operate, driving the side plate (2) to rotate around the shaft of the shaft drive motor until the side plate (2) is perpendicular to the bearing plate (5); S8. After receiving the pedal retracting instruction, the control unit (9) performs the following control operations: d. Control the rotation motors on the left and right sides to operate, so that the pedals (1) on the left and right sides rotate around the pivot axis until they are folded and parallel to the side panels (2) connected thereto; e. controlling the shaft drive motor of the roller composite shaft (3) to work, driving the side plate (2) to rotate around the shaft of the shaft drive motor until the side plate (2) is parallel to the bearing plate (5); f. Controlling the two gear drive motors of the roller composite rotating shaft (3) to work, so that the gears move along the guide rail (4), driving the side plate (2) to move toward the inner side of the unmanned vehicle until it moves to the inner end point position of the guide rail (4).

9. A computer program product, characterized in that The computer program product comprises a computer program, which is executed by a processor and is used to execute the manned pedal control method for an unmanned vehicle according to claim 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium is used to store a computer program, and the computer program is executed by a processor to execute the manned pedal control method for an unmanned vehicle as described in claim 8.

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