Leading guiding type self-tracking motor home and self-tracking control method thereof

Abstract

The invention discloses a leading guide type self-tracking motor home and a self-tracking control method thereof, and belongs to the technical field of motor home, the motor home comprises a leading guide vehicle and a self-tracking motor home, the leading guide vehicle and the self-tracking motor home are not towed, the leading guide vehicle is provided with a leading guide signal sending module, and the self-tracking motor home is provided with a self-tracking signal receiving module. The self-tracking motor home is provided with a leading guide signal receiving module and a master controller, the leading guide signal receiving module receives a signal of the leading guide signal sending module and transmits the signal to the master controller, and the master controller starts the self-tracking motor home to synchronously follow the leading guide vehicle. The third-generation motor home model of the pull-free leading guide type self-tracking motor home is provided for upgrading of an existing motor home, when the leading guide vehicle runs, the self-tracking motor home can automatically follow, additional manual control is not needed, the safety and convenience of travel are improved, after parking, the leading guide vehicle can freely move, and the safety and convenience of travel are improved. Particularly, the driving difficulty is greatly reduced, and the problems that the requirement for the driving technology is high, and turning, reversing and other operations are complex are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of recreational vehicles, and in particular to a recreational vehicle and a control method thereof. Background Art

[0002] RV, also known as motorhome, "RV" (Recreational Vehicle), can be parked at any beach, lakeshore, grassland, hillside, forest far away from the city, while enjoying the urban lifestyle. RVs generally have bedrooms, toilets with toilets, washstands, and bathtubs, living rooms, open kitchens, and are equipped with air conditioners, LCD TVs, refrigerators, microwave ovens, gas stoves, water heaters and other electrical appliances. Therefore, you can cook delicious meals, take a hot bath, sleep on a soft and comfortable bed, watch TV, and listen to music in the RV. RVs can give people a taste of home and provide great convenience for travel.

[0003] At present, with the rise of self-driving tours and camping culture, the RV market has developed rapidly. There are currently two types of RVs: one is a self-propelled RV; the other is a trailer RV. Both types of vehicles have the following shortcomings: First, there is a problem of difficulty in parking due to their large size, especially the trailer RV needs to be towed by the front vehicle, which requires high driving skills, and operations such as turning and reversing are relatively complicated; second, when viewing scenic spots, the flexibility is poor, especially the self-propelled RV, due to its large size, the car can only be parked in the parking lot, and it is not possible to drive to view the scenery. Although the trailer RV can separate the body of the house from the body of the car, the trailer separation operation is very troublesome, and the trailer RV also has the problem of RV trailer qualifications.

[0004] In order to meet the needs of self-driving tours, RVs need to be updated to address the above-mentioned shortcomings. Summary of the invention

[0005] The purpose of the present invention is to provide a leading guidance type self-tracking RV and a self-tracking control method thereof. The RV is an upgrade of the existing RVs, and a third-generation RV model of a leading guidance type self-tracking RV without a trailer is proposed to improve the safety and convenience of travel. After parking, the leading guidance vehicle can move freely, which increases the travel comfort and adaptability and greatly reduces the driving difficulty.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0007] A leading guidance type self-tracking RV comprises a leading guidance vehicle and a self-tracking RV, wherein there is no towing between the leading guidance vehicle and the self-tracking RV, the leading guidance vehicle is provided with a leading guidance signal sending module, the self-tracking RV is provided with a leading guidance signal receiving module and a main controller, the leading guidance signal receiving module receives a signal from the leading guidance signal sending module and transmits the signal to the main controller, and the main controller starts the self-tracking RV to synchronously follow the leading guidance vehicle.

[0008] Furthermore, the self-tracking RV includes a body and a frame, the body is arranged on the frame, and the leading guidance signal receiving module and the main controller are arranged on the frame.

[0009] Furthermore, a guidance vehicle satellite positioning module is provided on the leading guidance vehicle, and a RV satellite positioning module is provided on the frame of the self-tracking RV. The main controller determines the relative positions of the leading guidance vehicle and the self-tracking RV based on the information received from the guidance vehicle satellite positioning module and the RV satellite positioning module.

[0010] Furthermore, a radar is provided on the frame of the self-tracking RV, and the radar is used to enable the self-tracking RV to avoid obstacles.

[0011] Furthermore, the self-tracking RV does not have a cab, a steering wheel, or a steering mechanism connected to the steering wheel. The frame of the self-tracking RV is provided with two driving wheels and two driving motors, and the two driving motors are used to drive the two driving wheels to rotate respectively. The two driving wheels are arranged at the front part of the frame, and the rear wheels are arranged at the rear part of the frame; the main controller controls the forward, turning and backward movement of the self-tracking RV by adjusting the speed and forward and reverse rotation of the two driving motors.

[0012] Furthermore, an energy storage battery is provided on the frame of the self-tracking RV, and the energy storage battery provides power for the driving motor.

[0013] Furthermore, an electric brake system is provided on the frame of the self-tracking RV.

[0014] Furthermore, the electric brake system includes a PID controller, an electric push rod, a brake master cylinder and a hydraulic brake. The hydraulic brake is installed on the driving wheels and the rear wheels. The main controller transmits instructions to the PID controller. The PID controller starts the electric push rod. The electric push rod pushes the piston rod of the brake master cylinder to generate oil pressure in the brake master cylinder. The oil pressure in the brake master cylinder is transmitted to the hydraulic brake through the oil conduit. The hydraulic brake brakes the driving wheels and the rear wheels. The hydraulic brake adopts drum brakes or disc brakes.

[0015] Furthermore, the leading guiding vehicle is a passenger car, a truck, a tricycle, a two-wheeled vehicle, or a family car.

[0016] Furthermore, it also includes a remote controller. When the leading guidance self-tracking working mode between the leading guidance vehicle and the self-tracking RV is canceled, the remote controller interacts with the main controller of the self-tracking RV to perform parking operations on the self-tracking RV.

[0017] A self-tracking control method for a leading guidance type self-tracking RV comprises the following steps:

[0018] Step S1. Turn on the power switch of the self-tracking RV, move the leading guide vehicle to the front of the self-tracking RV, and keep an appropriate distance;

[0019] Step S2. The leading guide vehicle obtains the current position information of the leading guide vehicle through the guide vehicle satellite positioning module; the self-tracking RV obtains the current position information of the self-tracking RV through the RV satellite positioning module;

[0020] Step S3. The leading guidance vehicle sends a tracking instruction and the real-time position information of the leading guidance vehicle to the self-tracking RV through the leading guidance signal sending module;

[0021] Step S4. After the leading guidance signal receiving module on the self-tracking RV receives the tracking instruction and the location information of the leading guidance vehicle, the information data is transmitted to the main controller of the self-tracking RV;

[0022] Step S5. The main controller of the self-tracking RV determines the relative position of the leading guide vehicle and the self-tracking RV through the current position information of the leading guide vehicle and the current position information of the self-tracking RV, and turns on the self-tracking function of the radar and the self-tracking RV;

[0023] Step S6. After the self-tracking function of the self-tracking RV is turned on, the leading guide vehicle starts to move;

[0024] Step S7. The main controller of the self-tracking RV uses a customized algorithm to dynamically plan the path, starts the drive motor of the self-tracking RV, and the self-tracking RV starts to move. During the movement, the relative position of the leading guide vehicle and the self-tracking RV is obtained in real time. By adjusting the drive motor, the following distance of the self-tracking RV is adjusted in real time to ensure that the two vehicles maintain a safe distance and move synchronously; at the same time, the radar is used to detect obstacles in front in real time, and obstacles are avoided in time when they are found;

[0025] Step S8. After arriving at the destination, the leading guide vehicle stops moving. At this time, the main controller of the self-tracking RV turns off the drive motor and activates the electric brake system, and also stops moving;

[0026] Step S9. The leading guidance vehicle turns off the leading guidance signal sending module. When the self-tracking RV cannot receive the real-time position information of the leading guidance vehicle, the main controller of the self-tracking RV turns off the self-tracking function;

[0027] Step S10: Move the leading guide car away, interact with the main controller of the self-tracking RV through the remote control, park the self-tracking RV, and turn off the power of the self-tracking RV after parking is completed.

[0028] The beneficial effects of the present invention are:

[0029] The present application aims to update and upgrade the existing RVs, and proposes a third-generation RV model of a trailer-free leading-guided self-tracking RV. When the leading-guided RV is driving, the self-tracking RV can automatically follow without additional human control, so as to improve the safety and convenience of travel. After parking, the leading-guided RV can move freely, which increases the comfort and adaptability of travel. In particular, the present invention greatly reduces the difficulty of driving, solves the problem of high driving skills requirements and complex operations such as turning and reversing, and also effectively solves the towing qualification problem of trailer-type RVs.

[0030] The leading guidance type self-tracking RV of the present invention can be controlled to move by a remote controller outside the RV when parking, which greatly reduces the difficulty of parking. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The present invention is further described with the aid of the accompanying drawings, but the embodiments in the accompanying drawings do not constitute any limitation to the present invention. A person skilled in the art can obtain other accompanying drawings according to the following drawings without creative work:

[0032] Figure 1 It is a structural schematic diagram of the present invention;

[0033] Figure 2 for Figure 1 A schematic diagram of the structure of the frame shown;

[0034] Figure 3 for Figure 1 A schematic diagram of an electric brake system is shown;

[0035] Figure 4 The present invention is a flow chart of the self-tracking control method of the leading guidance type self-tracking RV.

[0036] In the figure: 1. Leading guidance vehicle; 2. Self-tracking RV; 3. Leading guidance signal sending module; 4. Leading guidance signal receiving module; 5. Main controller; 6. Remote control; 7. Vehicle body; 8. Vehicle frame; 9. Satellite positioning module of the guiding vehicle; 10. Satellite positioning module of the RV; 11. Radar; 12. Driving wheels; 13. Driving motor; 14. Rear wheels; 15. Energy storage battery; 16. Electric braking system; 17. Oil pipe; 18. PID controller; 19. Electric push rod; 20. Brake master cylinder; 21. Hydraulic brake. DETAILED DESCRIPTION

[0037] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features therein can be combined with each other without conflict.

[0038] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper surface", "lower surface", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "forward", "reverse", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships 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 referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0039] like Figure 1 , 2 As shown, a leading guidance type self-tracking RV includes a leading guidance vehicle 1 and a self-tracking RV 2. There is no trailer between the leading guidance vehicle 1 and the self-tracking RV 2. The leading guidance vehicle 1 is provided with a leading guidance signal sending module 3, and the self-tracking RV 2 is provided with a leading guidance signal receiving module 4 and a main controller 5. When the leading guidance signal receiving module 4 receives the signal of the leading guidance signal sending module 3, it transmits the signal to the main controller 5, and the main controller 5 starts the self-tracking RV 2 to synchronously follow the leading guidance vehicle.

[0040] The self-tracking RV 2 includes a vehicle body 7 and a frame 8 , wherein the vehicle body 7 is disposed on the frame 8 , and the leading guidance signal receiving module 4 and the main controller 5 are disposed on the frame 8 .

[0041] The leading guide vehicle 1 is provided with a guide vehicle satellite positioning module 9, and the frame 8 of the self-tracking RV 2 is provided with a RV satellite positioning module 10. The main controller 5 determines the relative position of the leading guide vehicle 1 and the self-tracking RV 2 according to the information received from the guide vehicle satellite positioning module 9 and the RV satellite positioning module 10, so that a certain distance between the leading guide vehicle 1 and the self-tracking RV 2 is maintained. A radar 11 is provided on the frame 8 of the self-tracking RV, and the radar 11 is used to make the self-tracking RV avoid obstacles and has the function of avoiding obstacles.

[0042] The self-tracking RV 2 does not have a cab, a steering wheel, or a steering mechanism connected to the steering wheel. The frame 8 of the self-tracking RV 2 is provided with two driving wheels 12 and two driving motors 13. The two driving motors 13 are used to drive the two driving wheels 12 to rotate respectively. The two driving wheels 12 are arranged at the front of the frame 8, and the rear wheels 14 are arranged at the rear of the frame 8. The main controller 5 controls the forward, turning, and backward movement of the self-tracking RV 2 by adjusting the speed and forward and reverse rotation of the two driving motors 13. The present invention eliminates the traditional steering wheel and steering mechanism, and realizes the forward, turning, and U-turning movement of the following RV by the differential speed of the two driving wheels 12.

[0043] An energy storage battery 15 is provided on the frame 8 of the self-tracking RV 2 , and the energy storage battery 15 provides power for the driving motor 13 .

[0044] In addition, the present invention further comprises a remote controller 6. When the destination is reached, the leading guidance self-tracking working mode between the leading guidance vehicle 1 and the self-tracking RV 2 is canceled, the self-tracking RV 2 stops following, and then the remote controller 6 interacts with the main controller of the self-tracking RV to park the self-tracking RV 2. The remote controller 6 may be a mobile phone.

[0045] An electric brake system 16 is provided on the frame 8 of the self-tracking RV 2 .

[0046] like Figure 3 As shown, the electric brake system 16 includes a PID controller 18, an electric push rod 19, a brake master cylinder 20 and a hydraulic brake 21. The hydraulic brake 21 is arranged on the driving wheel 12 and the rear wheel 14. The main controller 5 transmits instructions to the PID controller 18. The PID controller 18 starts the electric push rod 19. The electric push rod 19 pushes the piston rod of the brake master cylinder 20 to generate oil pressure in the brake master cylinder 20. The oil pressure in the brake master cylinder is transmitted to the hydraulic brake 21 through the oil conduit 17. The hydraulic brake 21 brakes the driving wheel 12 and the rear wheel 14. The hydraulic brake 21 adopts a drum brake or a disc brake.

[0047] The leading guiding vehicle 1 is a passenger car, a truck, a tricycle, a two-wheeled vehicle, or a family car, wherein a family car is preferred.

[0048] like Figure 4 As shown, a self-tracking control method for a leading guidance type self-tracking RV includes the following steps:

[0049] Step S1. Turn on the power switch of the self-tracking RV 2, move the leading guide vehicle 1 to the front of the self-tracking RV 2, and keep a proper distance.

[0050] Step S2. The leading guidance vehicle 1 obtains the current position information of the leading guidance vehicle 1 through the guidance vehicle satellite positioning module 9; the self-tracking RV 2 obtains the current position information of the self-tracking RV 2 through the RV satellite positioning module 10.

[0051] Step S3. The leading guidance vehicle 1 sends a tracking instruction and the real-time position information of the leading guidance vehicle 1 to the self-tracking RV 2 through the leading guidance signal sending module 3.

[0052] Step S4. After receiving the tracking instruction and the position information of the leading guiding vehicle 1, the leading guiding signal receiving module 4 on the self-tracking RV 2 transmits the information data to the main controller 5 of the self-tracking RV 2.

[0053] Step S5. The main controller 5 of the self-tracking RV 2 determines the relative positions of the leading guide vehicle 1 and the self-tracking RV 2 through the current position information of the leading guide vehicle 1 and the current position information of the self-tracking RV 2, and turns on the radar and the self-tracking function of the self-tracking RV 2.

[0054] Step S6. After the self-tracking function of the self-tracking RV 2 is turned on, the leading guidance vehicle 1 starts to move.

[0055] Step S7. The main controller 5 of the self-tracking RV 2 uses a customized algorithm to dynamically plan the path, starts the drive motor 13 of the self-tracking RV 2, and the self-tracking RV 2 starts to move. During the movement, the relative positions of the leading guide vehicle 1 and the self-tracking RV 2 are obtained in real time. By adjusting the drive motor 13, the following distance of the self-tracking RV 2 is adjusted in real time to ensure that the two vehicles maintain a safe distance and move synchronously; at the same time, the radar is used to detect obstacles in front in real time, and obstacles are avoided in time when they are found.

[0056] Step S8. After arriving at the destination, the leading guide vehicle 1 stops moving. At this time, the main controller 5 of the self-tracking RV 2 turns off the drive motor 13 and starts the electric brake system 16, and also stops moving.

[0057] Step S9. When the leading guidance vehicle 1 turns off the leading guidance signal sending module 3 and the self-tracking RV 2 cannot receive the real-time position information of the leading guidance vehicle 1, the main controller 5 of the self-tracking RV 2 turns off the self-tracking function.

[0058] Step S10. Move the leading guide vehicle 1 away, interact with the main controller 5 of the self-tracking RV 2 through the remote controller 6, perform parking operations on the self-tracking RV 2, and turn off the power of the self-tracking RV 2 after parking is completed.

[0059] This application aims to update the existing RVs and proposes a third-generation RV model of a trailer-free leading-guided self-tracking RV, which has the following characteristics:

[0060] A. When the guide car is driving, the self-tracking RV can automatically follow without additional human control, so as to improve the safety and convenience of travel;

[0061] B. After parking, the leading guide car can move freely, increasing travel comfort and adaptability;

[0062] C. Reduces the difficulty of driving, solves the problem of high driving skills requirements and complex operations such as turning and reversing;

[0063] D. Effectively solved the towing qualification problem of trailer RVs;

[0064] E. The self-tracking RV can be controlled by remote control, which greatly reduces the difficulty of parking;

[0065] F. The leading guidance signal sending module and the guidance vehicle satellite positioning module are integrated into an independent unit. The unit has a direct power supply and can be directly moved to a passenger car, truck, tricycle, two-wheeled vehicle, or family car. The leading guidance vehicle can be replaced at any time.

[0066] In addition, those skilled in the art may combine and combine the different embodiments or examples and the features of the different embodiments or examples described in this specification without contradiction. Although the embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and cannot be understood as limiting the present invention. Those skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A leading guidance type self-tracking RV, characterized in that: It includes a leading guidance vehicle and a self-tracking RV. There is no towing between the leading guidance vehicle and the self-tracking RV. The leading guidance vehicle is provided with a leading guidance signal sending module. The self-tracking RV is provided with a leading guidance signal receiving module and a main controller. When the leading guidance signal receiving module receives the signal of the leading guidance signal sending module, it transmits the signal to the main controller. The main controller starts the self-tracking RV to synchronously follow the leading guidance vehicle.

2. The leading guidance type self-tracking RV according to claim 1, characterized in that: The self-tracking RV comprises a body and a frame, wherein the body is arranged on the frame, and the leading guidance signal receiving module and the main controller are arranged on the frame.

3. The leading guidance type self-tracking RV according to claim 2, characterized in that: The leading guidance vehicle is provided with a guidance vehicle satellite positioning module, and the frame of the self-tracking RV is provided with a RV satellite positioning module. The main controller determines the relative positions of the leading guidance vehicle and the self-tracking RV based on the information received from the guidance vehicle satellite positioning module and the RV satellite positioning module.

4. The leading guidance type self-tracking RV according to claim 3, characterized in that: A radar is arranged on the frame of the self-tracking RV, and the radar is used to enable the self-tracking RV to avoid obstacles.

5. The leading guidance type self-tracking RV according to claim 4, characterized in that: The self-tracking RV does not have a cab, a steering wheel, or a steering mechanism connected to the steering wheel. The frame of the self-tracking RV is provided with two driving wheels and two driving motors. The two driving motors are used to drive the two driving wheels to rotate respectively. The two driving wheels are arranged at the front part of the frame, and the rear wheels are arranged at the rear part of the frame. The main controller controls the forward movement, steering, and backward movement of the self-tracking RV by adjusting the rotation speed and forward and reverse rotation of the two driving motors.

6. The leading guidance type self-tracking RV according to claim 1, characterized in that: An energy storage battery is arranged on the frame of the self-tracking RV, and the energy storage battery provides power for the driving motor.

7. The leading guidance type self-tracking RV according to claim 1, characterized in that: The frame of the self-tracking RV is provided with an electric brake system; the electric brake system includes a PID controller, an electric push rod, a brake master cylinder and a hydraulic brake. The hydraulic brake is arranged on the driving wheels and the rear wheels. The main controller transmits instructions to the PID controller, and the PID controller starts the electric push rod. The electric push rod pushes the piston rod of the brake master cylinder to generate oil pressure in the brake master cylinder. The oil pressure in the brake master cylinder is transmitted to the hydraulic brake through the oil conduit, and the hydraulic brake brakes the driving wheels and the rear wheels. The hydraulic brake adopts a drum brake or a disc brake.

8. The leading guidance type self-tracking RV according to claim 1, characterized in that: The leading guiding vehicle is a passenger car, a truck, a tricycle, a two-wheeled vehicle, or a family car.

9. The leading guidance type self-tracking RV according to claim 5, characterized in that: It also includes a remote controller. When the leading guidance self-tracking working mode between the leading guidance vehicle and the self-tracking RV is canceled, the remote controller interacts with the main controller of the self-tracking RV to perform parking operations on the self-tracking RV.

10. The self-tracking control method of the leading guidance type self-tracking RV according to claim 9, characterized in that: The following steps are involved: Step S1. Turn on the power switch of the self-tracking RV, move the leading guide vehicle to the front of the self-tracking RV, and keep an appropriate distance; Step S2. The leading guide vehicle obtains the current position information of the leading guide vehicle through the guide vehicle satellite positioning module; the self-tracking RV obtains the current position information of the self-tracking RV through the RV satellite positioning module; Step S3. The leading guidance vehicle sends a tracking instruction and the real-time position information of the leading guidance vehicle to the self-tracking RV through the leading guidance signal sending module; Step S4. After the leading guidance signal receiving module on the self-tracking RV receives the tracking instruction and the location information of the leading guidance vehicle, the information data is transmitted to the main controller of the self-tracking RV; Step S5. The main controller of the self-tracking RV determines the relative position of the leading guide vehicle and the self-tracking RV through the current position information of the leading guide vehicle and the current position information of the self-tracking RV, and turns on the self-tracking function of the radar and the self-tracking RV; Step S6. After the self-tracking function of the self-tracking RV is turned on, the leading guide vehicle starts to move; Step S7. The main controller of the self-tracking RV uses a customized algorithm to dynamically plan the path, starts the drive motor of the self-tracking RV, and the self-tracking RV starts to move. During the movement, the relative position of the leading guide vehicle and the self-tracking RV is obtained in real time. By adjusting the drive motor, the following distance of the self-tracking RV is adjusted in real time to ensure that the two vehicles maintain a safe distance and move synchronously; at the same time, the radar is used to detect obstacles in front in real time, and obstacles are avoided in time when they are found; Step S8. After arriving at the destination, the leading guide vehicle stops moving. At this time, the main controller of the self-tracking RV turns off the drive motor and activates the electric brake system, and also stops moving; Step S9. The leading guidance vehicle turns off the leading guidance signal sending module. When the self-tracking RV cannot receive the real-time position information of the leading guidance vehicle, the main controller of the self-tracking RV turns off the self-tracking function; Step S10: Move the leading guide car away, interact with the main controller of the self-tracking RV through the remote control, park the self-tracking RV, and turn off the power of the self-tracking RV after parking is completed.

Images