Intelligent regulation and control decision terminal equipment for complex scene

Abstract

The invention discloses a complex scene intelligent regulation and control decision terminal device in the technical field of unmanned vehicles, which comprises an unmanned vehicle and an acquisition device arranged on the unmanned vehicle and used for acquiring road images, and is characterized in that the unmanned vehicle comprises a vehicle body and a processing module; the two sides of the unmanned vehicle are each provided with a storage box, and each storage box is internally provided with an elastic telescopic rod, a movable supporting piece arranged at the movable end of the elastic telescopic rod and a first driving piece used for driving the elastic telescopic rod to ascend and descend. When the processing module judges that the road on the front side of the unmanned vehicle is uneven, the first driving piece is controlled to drive the movable supporting piece to move downwards to make contact with the road, the unmanned vehicle is supported from the left side and the right side of the unmanned vehicle, the contact area of the unmanned vehicle and the road is increased, the gravity center of the unmanned vehicle is lowered, the probability of rollover of the unmanned vehicle is lowered, and the service life of the unmanned vehicle is prolonged. And the driving safety of the unmanned vehicle in a complex scene is improved.

Description

Technical Field

[0001] The present invention relates to the field of unmanned vehicle technology, and specifically to an intelligent regulation and control decision-making terminal device for complex scenarios. Background Art

[0002] With the rapid development of e-commerce and the logistics industry, unmanned delivery vehicles, as an important carrier of intelligent delivery, have gradually become a key component of the modern logistics system. However, in actual operation, unmanned delivery vehicles often face complex and changeable terrain environments, especially uneven roads (such as gravel roads, slopes, potholes, etc.), which can easily cause the vehicle's center of gravity to shift, thereby causing the risk of rollover. At present, most unmanned delivery vehicles only reduce the impact of bumps by reducing their own speed when driving on uneven roads. They lack other protective facilities. In the case of large slopes or undulating roads, simply slowing down cannot completely avoid the center of gravity shift, and the vehicle still faces the risk of rollover. Summary of the Invention

[0003] The purpose of the present invention is to provide an intelligent regulation and decision-making terminal device for complex scenarios to solve the problem proposed in the above background technology that unmanned vehicles only reduce the impact of bumps by reducing their own speed and lack other protective facilities.

[0004] To achieve the above objectives, the present invention provides the following technical solutions: a complex scene intelligent regulation and control decision terminal device, comprising: an unmanned vehicle and a collection device provided on the unmanned vehicle and used to collect road images, wherein the unmanned vehicle includes a vehicle body and a processing module; A storage box is provided on both sides of the unmanned vehicle, and an elastic telescopic rod, a mobile support member provided on the movable end of the elastic telescopic rod, and a first driving member for driving the elastic telescopic rod to rise and fall are provided in the storage box. A movable support member is provided on the mobile support member. The processing module is used to process the image collected by the acquisition device and control the first driving member to drive the elastic telescopic member and the mobile support member to move downward when a situation affecting the driving of the vehicle body is detected, and to move the mobile support member out of the storage box. The movable support member moves and is misaligned with the mobile support member to contact the road together, so as to provide support for the vehicle body from both sides of the forward direction.

[0005] Preferably, a movable rack is slidably provided in the storage box, the first driving member is used to drive the movable rack to move up and down, and the elastic telescopic rod is provided on the movable rack; Wherein, the movable support member includes a fixed support plate and a roller arranged on the fixed support plate, and the fixed support plate is arranged on the movable end of the elastic telescopic rod.

[0006] Preferably, there are a plurality of rollers, and the plurality of rollers are sequentially arranged at the bottom of the fixed support plate along the moving direction of the unmanned vehicle.

[0007] Preferably, the movable support member includes a movable support plate slidably arranged on a fixed support plate, a plurality of rollers are provided at the bottom of the movable support plate, and a driving device is provided on the fixed support plate, and the driving device is used to drive the fixed support plate away from the unmanned vehicle.

[0008] Preferably, the driving device includes a moving block connected to the movable support plate and an elastic pushing member provided between the moving block and the fixed support plate; Among them, two magnetic blocks are provided in the storage box, and the two magnetic blocks are respectively located on the front and rear sides of the moving path of the moving block. One magnetic block is used to push the moving block closer to the unmanned vehicle, and the other magnetic block is used to attract the moving block closer to the unmanned vehicle.

[0009] Preferably, a support block is provided on the fixed support plate, a guide block is provided on the support block, and the guide block is slidably connected to the movable support plate.

[0010] Preferably, the elastic telescopic rod includes a kit, a moving rod slidably arranged in the kit, an elastic buffer provided on the moving rod, and a second driving member for driving the elastic buffer to extend and retract.

[0011] Preferably, the movable rod is hinged to the fixed support plate via a torsion spring shaft.

[0012] Compared with the prior art, the present invention has the following beneficial effects: 1. When the processing module determines that the road in front of the unmanned vehicle is uneven, it controls the first driving member to drive the mobile support member downward to contact the road, supporting the unmanned vehicle from both sides. This increases the contact area between the unmanned vehicle and the road, while lowering the center of gravity of the unmanned vehicle, reducing the probability of the unmanned vehicle rolling over and improving the safety of the unmanned vehicle in complex driving scenarios. 2. When the unmanned vehicle tilts, the processing module controls the extension and contraction of the second driving members on both sides, so that the support force provided by the movable support members on the left and right sides to the unmanned vehicle is dynamically adjusted to prevent the unmanned vehicle from tilting further and reduce the chance of the unmanned vehicle rolling over when driving on uneven roads. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a schematic diagram of the structure of the intelligent regulation and control decision terminal device for complex scenarios of the present invention; Figure 2 This is a schematic cross-sectional view of the connection between the storage box and the mobile rack of the present invention; Figure 3 For the present invention Figure 2 A schematic diagram of the structure at center A; Figure 4 This is a schematic cross-sectional view of the elastic telescopic rod of the present invention; Figure 5 It is a schematic diagram of the connection structure of the fixed support plate and the movable support plate of the present invention.

[0014] In the figure: 1, unmanned vehicle; 2, acquisition device; 3, storage box; 4, moving frame; 5, first driving part; 6, elastic telescopic rod; 601, sleeve set; 602, moving rod; 603, elastic buffer; 604, second driving part; 7, fixed support plate; 8, roller; 9, movable support plate; 10, moving block; 11, elastic pushing part; 12, magnetic block; 13, supporting block; 14, guide block; 15, torsional spring shaft. DETAILED DESCRIPTION

[0015] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0016] Embodiment 1 Please refer to Figure 1 A complex scene intelligent regulation and control decision terminal device, comprising: an unmanned vehicle 1, the unmanned vehicle 1 is provided with an acquisition device 2, the acquisition device 2 comprises a laser radar, a millimeter wave radar, an ultrasonic sensor, a camera and other devices for collecting road condition information around the unmanned vehicle 1, the unmanned vehicle 1 comprises a vehicle body and a processing module, the processing module is a vehicle-mounted computer, high-performance computing hardware, responsible for running complex algorithms for data processing, fusion and decision making, usually including GPU (graphics processing unit), FPGA (field programmable gate array) or specially designed AI chip; the unmanned vehicle 1 and the acquisition device 2 form an unmanned delivery vehicle.

[0017] Please refer to Figure 1 and Figure 2 The left and right side walls of the unmanned vehicle 1 are provided with storage boxes 3, the inner cavities of the storage boxes 3 are slidably provided with moving frames 4, the inner cavities of the storage boxes 3 are provided with first driving parts 5 (such as electric telescopic rods), the first driving parts 5 are used for moving the moving frames 4 upward or downward; the moving frames 4 are provided with elastic telescopic rods 6, the elastic telescopic rods 6 comprise sleeve sets 601, moving rods 602 slidably inserted into the inner cavities of the sleeve sets 601 and elastic buffers 603 (springs) arranged between the sleeve sets 601 and the moving rods 602, the sleeve sets 601 are installed on the moving frames 4, the bottom ends of the moving rods 602 are provided with moving support parts, the moving support parts comprise fixed support plates 7 and rollers 8 arranged at the bottom of the fixed support plates 7, the fixed support plates 7 are installed on the bottom ends of the moving rods 602, and the fixed support plates 7 are provided with movable support parts.

[0018] It should be noted that the plurality of rollers 8 are arranged in sequence on the bottom of the fixed support plate 7 along the moving direction of the unmanned vehicle 1; the contact area of the moving support member with the road is increased, so that the moving support member can provide a larger supporting force for the unmanned vehicle 1, thereby reducing the probability of overturning of the unmanned vehicle 1.

[0019] Working principle: when the unmanned vehicle 1 drives on the road, the collection device 2 collects information (such as road conditions, traffic signal lights, etc.) around the unmanned vehicle 1, and transmits the collected information to the processing module of the unmanned vehicle 1; the processing module processes and analyzes the collected information, obtains the current running decision of the unmanned vehicle 1, and issues an instruction to the unmanned vehicle 1 (the above process is the driving mode of the unmanned delivery vehicle, which belongs to the prior art and will not be described in detail); when the processing module detects that the road in front of the unmanned vehicle 1 is uneven (the processing module processes the image collected by the collection device 2, and detects the situation affecting the driving of the unmanned vehicle 1, including obstacles on the road and uneven road), the first driving member 5 is controlled to work, the moving frame 4 is driven to move downward, the roller 8 is in contact with the road, and the left and right sides of the unmanned vehicle 1 are supported, thereby providing assistance for the unmanned vehicle 1 to drive on the uneven road; when it is detected that the unmanned vehicle 1 drives out of the uneven road, the processing module controls the first driving member 5 to drive the moving frame 4 to move upward, so that the fixed support plate 7 and the roller 8 enter the inner cavity of the storage box 3.

[0020] It should be noted that please refer to Figure 5 , the moving rod 602 is hinged to the fixed support plate 7 through the torsion spring shaft 15; the fixed support plate 7 can swing left and right at the bottom of the moving rod 602 within a small range, so as to ensure that the roller 8 can fully contact with the road when driving on the uneven road, and increase the stability of the moving support member when supporting.

[0021] In this embodiment, as a further optimized scheme, please refer to Figure 2 and Figure 3The movable support part comprises a movable support plate 9 which is slidingly installed at the bottom of the fixed support plate 7, and a plurality of rollers 8 are installed at the bottom of the movable support plate 9, and the moving direction of the movable support plate 9 is perpendicular to the moving direction of the unmanned vehicle 1; the fixed support plate 7 is provided with a driving device, the driving device comprises a moving block 10 connected with the movable support plate 9 and an elastic pushing piece 11 (spring) arranged between the moving block 10 and the fixed support plate 7; two magnetic blocks 12 are installed in the inner cavity of the storage box 3, and the two magnetic blocks 12 are respectively located on the front and back sides of the moving path of the moving block 10 (i.e., the two magnetic blocks 12 are respectively located on the left and right sides of the moving block 10), a magnet is installed on the side of the moving block 10 away from the unmanned vehicle 1, the magnetic pole of the magnetic block 12 away from the unmanned vehicle 1 and the side of the magnet close to each other is the same (the two close to each other will generate repulsion), and a metal piece is arranged on the side of the moving block 10 close to the unmanned vehicle 1, and the metal piece can be magnetically attracted; after the fixed support plate 7 and the rollers 8 are moved out of the inner cavity of the storage box 3, the moving block 10 disappears under the action of the magnetic block 12, and under the action of the elastic pushing piece 11, the moving block 10 moves away from the unmanned vehicle 1 together with the movable support plate 9, so that the width of the moving support part in contact with the ground is increased, and the probability of the unmanned vehicle 1 being rolled over is further reduced; when the fixed support plate 7 and the rollers 8 are reset, the moving block 10 enters the inner cavity of the storage box 3 first, at this time, the moving block 10 is in contact with the magnetic block 12 on the outside, and due to the repulsion between the magnet and the magnetic block 12, the moving block 10 is pushed to the unmanned vehicle 1, so that the distance between the moving block 10 and the magnetic block 12 on the inside is reduced, until the magnetic block 12 on the inside attracts the moving block 10 to the unmanned vehicle 1 again, so as to move the movable support plate 9 to the unmanned vehicle 1, so that the movable support plate 9 is reset.

[0022] It should be noted that the driving device can be an electric telescopic rod and a moving block 10, the moving block 10 is connected with the movable support plate 9, and the moving end of the electric telescopic rod is connected with the moving block 10, and the electric telescopic rod is used to move the moving block 10; at this time, the inner part of the storage box 3 is not provided with the magnetic block 12.

[0023] In this embodiment, as a further optimized scheme, please refer to Figure 5 , a support block 13 is installed at the bottom of the fixed support plate 7, a guide block 14 is arranged on the side wall of the support block 13 facing the movable support plate 9, the guide block 14 extends along the moving direction of the movable support plate 9, and the guide block 14 is slidingly connected with the movable support plate 9; when the movable support plate 9 moves away from the unmanned vehicle 1, due to the arrangement of the support block 13 and the guide block 14, the space below the fixed support plate 7 will not lose the supporting effect due to being suspended, and the stability of the moving support part is increased.

[0024] Embodiment 2 As a further optimized scheme of embodiment 1, please refer to Figure 2 and Figure 4The second driving member 604 (an electric telescopic rod) is installed on the kit 601, and an installation block is installed on the moving end of the second driving member 604, and the installation block is connected with the elastic buffer 603 away from the moving rod 602; in the process that the unmanned vehicle 1 runs on the uneven road, when the processing module obtains that the unmanned vehicle 1 is inclined (taking that the unmanned vehicle is inclined to the left as an example), the processing module controls the second driving member 604 on the left to be elongated, so that the installation block pushes the elastic buffer 603 to be compressed, the difficulty of the elastic buffer 603 to continue to be compressed is increased, the support force provided by the left moving support member to the unmanned vehicle 1 is increased, the unmanned vehicle 1 is prevented from continuing to be inclined to the left, at the same time, the second driving member 604 on the right is controlled to be shortened, so that the installation block pulls the elastic buffer 603 at this place to be stretched, the elastic buffer 603 at this place can be compressed in a larger range, so that the unmanned vehicle 1 is more inclined to the right, and the unmanned vehicle 1 is assisted to be straightened, so that the unmanned vehicle 1 will not continue to be inclined to the left; when the unmanned vehicle 1 is inclined to the right, the processing module controls the second driving member 604 in the opposite way.

[0025] It should be noted that the processing module judges whether the unmanned vehicle 1 is inclined according to the information transmitted by the suspension system sensor and the vision system installed on the unmanned express vehicle; and the adjustment process is adjusted in real time according to the detected information, and the moving range of the second driving member 604 is proportional to the inclination range of the unmanned vehicle 1 (the greater the inclination of the unmanned vehicle 1, the greater the elongation and shortening range of the two second driving members 604).

[0026] Although the embodiments of the present application have been shown and described, it should be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirits of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A terminal device for intelligent regulation and control decision-making in complex scenarios, comprising: An unmanned vehicle (1) and a collection device (2) provided on the unmanned vehicle (1) and used for collecting road images, characterized in that: the unmanned vehicle (1) comprises a vehicle body and a processing module; Both sides of the unmanned vehicle (1) are provided with a storage box (3), and an elastic telescopic rod (6), a mobile support member provided on the mobile end of the elastic telescopic rod (6), and a first driving member (5) for driving the elastic telescopic rod (6) to rise and fall are provided in the storage box (3), and a movable support member is provided on the mobile support member. The processing module is used to process the image collected by the collection device (2) and control the first driving member (5) to drive the elastic telescopic member (6) and the mobile support member to move downward when a situation affecting the driving of the vehicle body is detected, so as to move the mobile support member out of the storage box (3). The movable support member moves and contacts the road together with the mobile support member after being dislocated, so as to provide support for the vehicle body from both sides of the forward direction.

2. The complex scenario intelligent regulation and control decision terminal device according to claim 1, characterized in that: A movable frame (4) is slidably provided in the storage box (3); the first driving member (5) is used to drive the movable frame (4) to rise and fall; and the elastic telescopic rod (6) is provided on the movable frame (4); The movable support member comprises a fixed support plate (7) and a roller (8) provided on the fixed support plate (7), and the fixed support plate (7) is provided on the movable end of the elastic telescopic rod (6).

3. The complex scenario intelligent regulation and control decision terminal device according to claim 2, characterized in that: There are a plurality of rollers (8), and the plurality of rollers (8) are sequentially arranged at the bottom of the fixed support plate (7) along the moving direction of the unmanned vehicle (1).

4. The complex scenario intelligent regulation and control decision terminal device according to claim 2, characterized in that: The movable support member comprises a movable support plate (9) slidably arranged on the fixed support plate (7), a plurality of rollers (8) are provided at the bottom of the movable support plate (9), and a driving device is provided on the fixed support plate (7), and the driving device is used to drive the fixed support plate (7) away from the unmanned vehicle (1).

5. The complex scenario intelligent regulation and control decision terminal device according to claim 4, characterized in that: The driving device comprises a moving block (10) connected to the movable support plate (9) and an elastic pushing member (11) provided between the moving block (10) and the fixed support plate (7); Two magnetic blocks (12) are provided in the storage box (3), and the two magnetic blocks (12) are respectively located at the front and rear sides of the moving path of the moving block (10). One magnetic block (12) is used to push the moving block (10) toward the unmanned vehicle (1), and the other magnetic block (12) is used to attract the moving block (10) toward the unmanned vehicle (1).

6. The complex scenario intelligent regulation and control decision terminal device according to claim 4, characterized in that: A support block (13) is provided on the fixed support plate (7), a guide block (14) is provided on the support block (13), and the guide block (14) is slidably connected to the movable support plate (9).

7. The complex scenario intelligent regulation and control decision terminal device according to claim 2, characterized in that: The elastic telescopic rod (6) comprises a kit (601), a moving rod (602) slidably arranged in the kit (601), an elastic buffer (603) arranged on the moving rod (602), and a second driving member (604) for driving the elastic buffer (603) to extend and retract.

8. The complex scenario intelligent regulation and control decision terminal device according to claim 7, characterized in that: The movable rod (602) is hinged to the fixed support plate (7) via a torsion spring shaft (15).

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