Unmanned sightseeing mechanical horse carriage

Abstract

The application relates to an unmanned sightseeing mechanical horse cart, belonging to the technical field of mechanical equipment and unmanned vehicle tracking intersection, wherein a magnetic clutch of a front axle is pushed by a push rod motor to drive a sliding block to reciprocatingly move a magnetic disc, so that left and right half shafts are clutched; when the left and right half shafts are separated, left and right wheels are differentially turned; a pair of winding magnetic brakes generate magnetic force by electrifying coils to realize braking; by controlling the current of the coils in the left and right magnetic brakes to be different, the braking forces of the left and right wheels are different to generate differential; a gearbox system realizes three-stage speed reduction by two shafts, and outputs two shafts with the same steering direction and the same rotating speed; four sets of crank horse leg mechanisms are installed according to the initial position difference of 90 DEG; buttons on a button control panel realize manual participation in initial setting and starting and emergency parking; an intelligent control system, a camera group and a millimeter wave radar group realize unmanned driving of the vehicle.

Description

Technical Field

[0001] This invention relates to an unmanned vehicle tracking sightseeing mechanical carriage, and more particularly to a human-vehicle interactive intelligent control mechanical carriage for scenic area sightseeing, belonging to the cross-technical field of mechanical equipment and unmanned vehicle tracking. Background Technology

[0002] Electric sightseeing carriages and electric antique-style sightseeing vehicles are at a critical stage of transformation from traditional animal-powered carriages to electric ones and deep integration with cultural tourism scenarios: In China, electric antique-style sightseeing vehicles are rapidly replacing traditional horse-drawn carriages, mainly in scenic spots and theme parks; abroad, due to stricter animal welfare regulations, there is a full shift to electric carriages, which are being used on a large scale in Europe. Sightseeing carriages have moved from the traditional animal-powered era into a new stage of electrification, intelligence, and customization.

[0003] Electric sightseeing carriages and electric antique-style sightseeing vehicles will be deployed in key scenic areas in 2024, with 4,600 units available. Maintenance costs are approximately 40% lower than traditional horse-drawn carriages, and they are not limited by animal labor. They offer advantages such as low speed, zero emissions, low noise, and compatibility with scenic area themes.

[0004] Magnetic brakes are rapidly expanding from auxiliary / emergency braking in rail transit to drive-by-wire systems in new energy vehicles, auxiliary braking in commercial vehicles, and main braking in special vehicles. They represent a core technology direction for the electrification, drive-by-wire, and intelligentization of braking systems. Magnetic brakes have become crucial for the electrification and intelligentization of vehicle braking systems. Domestically, the rapid development of rail transit and new energy commercial vehicles has led to both technological and market advancements; internationally, research in EMB (Electronic Braking System) and high-end control systems for passenger vehicles has been ongoing for many years. In the future, the widespread adoption of EMB, breakthroughs in permanent magnet technology, and global market expansion will be the main themes of the industry.

[0005] Magnetic clutches are core components in vehicles that enable electronically controlled, rapid, and precise power switching. Their primary applications are in air conditioning compressors and automatic transmissions, and they are also used in four-wheel drive, hybrid / pure electric systems, and other scenarios. However, vehicle cornering is still accomplished using a mechanical gear differential.

[0006] 2026 marks the first year of large-scale deployment of autonomous driving, with breakthroughs in technology, commercialization, and policy. In the coming years, with the widespread adoption of global models and the large-scale commercialization of L3 / L4 autonomous driving, autonomous driving will truly become a part of everyday life.

[0007] Our self-driving sightseeing mechanical carriage uses a lever mechanism to simulate the walking posture of mechanical horses; it employs a two-axis, three-speed reduction gear pair for speed reduction, resulting in a compact structure; it uses a magnetic clutch and magnetic brake to replace the gear differential system for turning; and it uses a magnetic brake to replace traditional brake pads for braking, facilitating intelligent control. The intelligent control system, combined with human-vehicle dialogue, enables a safe driving mode suitable for scenic areas. Summary of the Invention

[0008] The purpose of this invention is to develop a novel mechanical horse-leg mechanism, a deceleration system with two shafts and three pairs of reduction gears, a magnetic brake, and a magnetic brake and magnetic clutch that work together to achieve differential and human-vehicle interaction in an unmanned intelligent control system, thereby solving the problems of existing sightseeing mechanical horse-drawn carriages being complex in structure, requiring manual driving, and being unsafe.

[0009] The technical solution of this invention is implemented as follows:

[0010] An unmanned sightseeing mechanical carriage includes a rear axle system, wheels, seats, a sunshade panel, a chassis frame, a front axle system, canopy support rods, a gearbox system, a gearbox cover, horse leg mechanisms, an intelligent control system, a horse head-shaped housing, a camera assembly, a millimeter-wave radar assembly, a button control panel, and a seat base. Four wheels are respectively press-fitted to both ends of the axles of the rear and front axle systems via interference fits. The rear and front axle systems are suspended from the chassis frame by fasteners. The chassis frame is supported by the four wheels pressed against the ground via axles and bearings. A seat, four canopy support rods, and a button control panel are mounted on the seat base. The seat base and gearbox system are mounted on the chassis frame. The lower edge of the gearbox cover is fixed to the upper edge of the lower housing of the gearbox system by fasteners, and the outer cabinet of the intelligent control system is fixed to it by fasteners. A mounting bracket is fixed to the top of the outer cabinet of the intelligent control system by fasteners. The vehicle is fitted with a horse-head shaped housing; four support rods support the sunshade panel; the cranks of the four horse-leg mechanisms are evenly distributed at 90° differences in their initial installation positions on the shaft extensions at both ends of the second and fourth shafts output from the gearbox system, which operate at the same speed, torque, and direction. The initial positions of the front and rear sets of cranks differ by 180°, and the initial positions of the left and right sets of cranks differ by 90°, so that the mechanical horse's forward pulling force crankshaft applies force once every 90° rotation, and applies force evenly four times per revolution; camera groups are distributed and installed on the outer cabinet of the intelligent control system and the sunshade panel; millimeter-wave radar groups are distributed and installed on the chassis frame and seat base; the button control panel is equipped with: start power button, current scenic area location button, desired scenic area location button, vehicle start forward button, and emergency stop button; the intelligent control system receives signals from the pressed buttons on the button control panel and issues instructions for the sightseeing carriage to perform actions.

[0011] A wheel consists of a hub, spokes, and a rim. The spokes are evenly distributed, with one end connected to the hub by a fastener and the other end connected to the rim by a fastener.

[0012] The rear axle system consists of a fifth bearing housing a, a fifth through cover a, a fifth bearing a, a rear wheel axle, a fifth bearing b, a fifth through cover b, and a fifth bearing housing b. The rear wheel axle is supported by the fifth bearing a and the fifth bearing b. The fifth bearing a is installed inside the fifth bearing housing a and is pressed and sealed by the fifth through cover a, which is installed on the end face of the fifth bearing housing a with screws. The fifth bearing housing a is fastened and suspended under the chassis frame by fasteners. The fifth bearing b is installed inside the fifth bearing housing b and is pressed and sealed by the fifth through cover b, which is installed on the end face of the fifth bearing housing b with fasteners. The fifth bearing housing b is suspended under the chassis frame by fasteners.

[0013] The front axle system consists of a sixth axle, a sleeve, a wound magnetic brake, a magnetic clutch, and a seventh axle. Wound magnetic brakes are installed on both the sixth and seventh axles, each supported by a pair of bearings within the brake. At the opposite end from the wheel, the sixth axle is connected to the input end of the magnetic clutch, and the seventh axle is connected to the output end. When not turning, the magnetic clutch keeps both axles engaged. When the control module issues a braking command, the winding coil of the wound magnetic brake is energized, and the axle is braked. After braking ends, the control module issues a braking end command, de-energizing the winding coil of the wound magnetic brake, and the axle is no longer braked. When turning is required, the magnetic clutch separates the sixth and seventh axles. Different currents in the winding coils of the symmetrical wound magnetic brakes create different braking forces on the six and seven axles, resulting in a speed difference between the two wheels, thus enabling turning.

[0014] The wound magnetic brake includes a sixth shaft and a seventh shaft, and is composed of a sixth bearing a, a sixth end cover a, wound shafts, a sixth seat a, a sixth seat b, a sixth bearing b, an electrical control cabinet, an induction disk, a rotor frame, a copper disk, heat sinks, and a sixth end cover b. The sixth bearing a is installed inside the sixth seat a, and is pressed and sealed by the sixth end cover a, which is fastened to the end face of the sixth seat a. The sixth seat a is suspended under the chassis frame by fasteners. The sixth bearing b is installed inside the sixth seat b, and is pressed and sealed by the sixth end cover b, which is fastened to the end face of the sixth seat b. The sixth seat b is suspended under the chassis frame by fasteners. Six evenly distributed wound shafts are secured at one end by fasteners. The rotor is fixedly connected to the sixth seat a at one end and to the sixth seat b and the induction disk at the other end via fasteners, forming the stator. The rotor frame is fixedly connected to the copper disk at the opposite end face of the induction disk via fasteners, and heat sinks are evenly distributed on the back. The rotor frame is connected to the shaft via a key, and is connected to the sixth shaft as an input winding magnetic brake, and connected to the seventh shaft as an output winding magnetic brake. The axial sleeve and the shaft are positioned and adjusted by an elastic retaining ring to form the first magnetic gap between the induction disk and the copper disk to the design value. The electrical control cabinet is fixed to the sixth seat b via fasteners and receives control commands from the control module to energize the winding coil. The wound shaft generates an induced magnetic field, and a magnetic torque is generated between the induction disk and the copper disk to brake the shaft.

[0015] The magnetic clutch includes a sixth shaft and a seventh shaft, and is composed of a conductor yoke frame, conductor yoke, magnet blocks, magnet block holder, push rod motor, release retaining ring, through cover, ball bearing, bearing seat, slider, and engagement retaining ring. One end of the conductor yoke frame is fixedly connected to the sixth shaft by fasteners, and the other end is fixedly connected to the conductor yoke by fasteners. The other end of the seventh shaft, where the wheel is mounted, is equipped with a slider that is splined. The engagement and release retaining rings mounted on the seventh shaft limit the space between the conductor yoke and the magnet blocks to form a reserved second magnetic gap, and allow the slider to retract a certain distance from the release retaining ring. The magnet block holder has a designed number of magnet blocks evenly distributed around its circumference. The middle flange of the slider is fixedly connected to the magnet block holder by fasteners, and the middle shoulder is pressed against the inner ring of the ball bearing mounted on it. The outer ring of the ball bearing is installed in the bearing seat and is pressed by the through cover fixed to the end face of the bearing seat by fasteners. The bearing is sealed; the push rod motor is fixed to the back of the sixth end cover a of the wound magnetic brake on the seventh axis by fasteners. The push rod and the through cover are connected by an interference fit; after receiving the closing command from the control module, the push rod motor pushes the bearing seat and the outer ring of the ball bearing to drive the inner ring, thereby pushing the slider and the conductor yoke frame to slide along the seventh axis until the left end face of the slider touches the closing retaining ring. The push rod motor touches the limit switch to stop and maintains the pushing force. The conductor yoke and the magnet block form a second magnetic gap that reaches the design value, and the sixth and seventh axes close; after receiving the separation command from the control module, the push rod motor pulls the bearing seat and the outer ring of the ball bearing in the opposite direction to drive the inner ring, thereby pulling the slider and the conductor yoke frame to slide back along the seventh axis until the right end face of the slider touches the disengagement retaining ring. The push rod motor touches the limit switch to stop and maintains the pulling force. The slider's backward distance reaches the design value and is limited by the disengagement retaining ring, and the sixth and seventh axes separate.

[0016] The gearbox system consists of a first shaft cover, a first gear, a first shaft end cover, a first shaft bearing a, a first shaft empty gear set, a lower housing, a second shaft cover a, a second shaft, a second shaft bearing a, a second gear, a third shaft bearing a, a third shaft end cover a, a third gear, a fourth shaft bearing a, a fourth shaft, a fourth shaft cover a, a fifth gear, a fifth shaft cover b, a fifth shaft bearing b, a fourth gear, a third shaft end cover b, a third shaft bearing b, a second empty gear, a second empty gear set bearing a, a second empty gear set bearing b, a second shaft bearing b, a second shaft cover b, a first empty gear set bearing a, a first empty gear set bearing b, a first shaft bearing b, a coupling, a drive motor, a first shaft, a motor controller, and an electric... The system consists of a battery and a third shaft. The battery outputs high-voltage DC power to the motor controller, which receives commands from the control module to control the speed, torque, forward rotation, reverse rotation, and stop of the drive motor. The first shaft is connected to the drive motor via a coupling and is supported by first shaft bearings a and b installed in the housing flange seat. The closed end is sealed by the first shaft end cover, and the open end is sealed by the first shaft through cover. The first shaft is equipped with a first gear, a first empty gear set bearing a supporting the first shaft empty gear set, and a first empty gear set bearing b supporting the first shaft empty gear set, allowing the first shaft empty gear set to rotate freely on the first shaft. The second shaft is supported by second shaft bearings a and b installed in the housing flange seat. The bearings are pressed and sealed by the second shaft through cover a and the second shaft through cover b; the second shaft is equipped with a second gear, and the second empty gear set bearings a and b support the second empty gear set, allowing the second empty gear set to rotate freely on the second shaft; the first gear meshes with the large gear of the second empty gear set to form a first-order speed reduction gear pair, the small gear of the second empty gear set meshes with the large gear of the first shaft empty gear set to form a second-order speed reduction gear pair, and the small gear of the first shaft empty gear set meshes with the second gear to form a third-order speed reduction gear pair, transmitting the speed and torque of the first shaft to the second shaft through three speed reductions; cranks are symmetrically interference-fitted at the two protruding ends of the second shaft; the third shaft is mounted against the housing flange. The third shaft is supported by bearings a and b inside the housing, and is pressed and sealed by end caps a and b, respectively. A third gear and a fourth gear are mounted on the third shaft. The fourth shaft is supported by bearings a and b installed in the housing flange seat, and is pressed and sealed by end caps a and b, respectively. A fifth gear is mounted on the fourth shaft. The second and third gears mesh with the same number of teeth, causing the second and third shafts to rotate at the same speed and torque but in opposite directions. The fourth and fifth gears mesh with the same number of teeth, causing the third and fourth shafts to rotate at the same speed and torque but in opposite directions, and causing the second and fourth shafts to rotate at the same speed, torque, and direction. Cranks are symmetrically fitted to the two protruding ends of the fourth shaft with interference fits.

[0017] The horse-leg mechanism consists of a crank, crank-connecting rod pin, first connecting rod, second connecting rod, second horseshoe-shaped rocker pin, horseshoe-shaped rod, second connecting rod and second rocker pin, second rocker, fixed pin, horseshoe-shaped rod parallel pin, a three-pin hole forming an equilateral triangle plate, a rod of equal length and parallel to the second rocker, a parallel rod triangle plate pin, and a first connecting rod triangle plate pin. The crank-connecting rod pin passes through the crank, first connecting rod, and second connecting rod holes to form a hinge. One end of the fixed pin is interference-fitted into a hole in the lower housing, and the other end passes through the three-pin hole forming one hole of the equilateral triangle plate and one end hole of the second rocker to form a hinge. The first connecting rod triangle plate pin passes through the three-pin hole forming another hole of the equilateral triangle plate and another hole of the first connecting rod to form a hinge. The second connecting rod and second rocker pin pass through the other hole of the second connecting rod and the middle hole of the second rocker. The crank, the first connecting rod, and the three pin holes are connected to form an equilateral triangle plate to form a crank-rocker mechanism. The crank, the second connecting rod, and the second rocker form another crank-rocker mechanism. The horseshoe rod and the second rocker pin pass through another hole in the second rocker and the middle hole in the horseshoe rod to form a hinge. The horseshoe rod and the parallel rod pin pass through another hole in the horseshoe rod and the rod hole that is the same length as and parallel to the second rocker to form a hinge. The parallel rod and the triangular plate pin pass through another hole in the rod that is the same length as and parallel to the second rocker and the three pin holes to form an equilateral triangle plate with the remaining hole to form a hinge. The second rocker, the horseshoe rod, the rod that is the same length as and parallel to the second rocker, and the three pin holes are connected to form an equilateral triangle plate to form a parallelogram mechanism. All pins are equipped with shaft elastic retaining rings, which are used to limit the axial movement of the pins. The crank of the horse-leg mechanism rotates counterclockwise.

[0018] The intelligent control system consists of a control cabinet and control modules. The control modules include a sightseeing mechanical carriage control module and an L2++ intelligent driving kit, which are placed inside the control cabinet.

[0019] The camera assembly consists of a front low-angle wide-angle camera, a rear-view camera, a rear-view camera mounting plate, a right-side camera, a right-side camera mounting plate, a front main camera, a front main camera mounting plate, a left-side camera, and a left-side camera mounting plate. The front low-angle wide-angle camera is mounted at the front of the control cabinet. The rear-view camera is mounted on the rear-view camera mounting plate, which is fastened to the rear end of the sun visor. The right-side camera is mounted on the right-side camera mounting plate, which is fastened to the front end of the sun visor. The front main camera is mounted on the front main camera mounting plate, which is fastened to the middle of the front end of the sun visor. The left-side camera is mounted on the left-side camera mounting plate, which is fastened to the front end of the sun visor. It identifies lane lines, traffic lights, pedestrians, and signs.

[0020] The millimeter-wave radar assembly consists of a radar front mounting plate, a right front corner radar, a front main long-range radar, a left front corner radar, a right rear corner radar mounting plate, a right rear corner radar, a left rear corner radar, and a left rear corner radar mounting plate. The right front corner radar, the front main long-range radar, and the left front corner radar are respectively mounted on the right, center, and left sides of the radar front mounting plate, which is fastened to the front of the vehicle chassis frame with fasteners. The right rear corner radar is mounted on the right rear corner radar mounting plate, which is fastened to the rear end of the seat floor with fasteners. The left rear corner radar is mounted on the left rear corner radar mounting plate, which is fastened to the rear end of the seat floor with fasteners. It accurately measures distance and contours.

[0021] A control method for an unmanned sightseeing mechanical carriage, applied to an unmanned sightseeing mechanical carriage, includes the following steps:

[0022] S1. When a person presses the start power button on the button control panel, the de-energized equipment is powered on.

[0023] S2. The control module sends a command to the electrical control cabinet of the wound magnetic brake to cut off the power and stop the braking.

[0024] S3. Manually press the button on the control panel to select the current scenic area location, the desired scenic area location, or the vehicle start moving forward.

[0025] S4. The control module extracts camera images and millimeter-wave radar data.

[0026] S5. The control module loads the scenic area road map, performs map matching, plans the route from the starting point to the end point, and generates driving control commands.

[0027] S6. The control module periodically and synchronously collects intersection traffic signals, braking demand signals, driving intention signals, turning signals, and signals of manual pressing of the emergency stop button.

[0028] S7. The control module performs condition verification on the five types of acquired signals in parallel and synchronously issues control commands based on the verification results of each group:

[0029] S71. Intersection Traffic Signal: When the light is red, a command is sent to the motor controller to stop the drive motor from turning. At the same time, a command is sent to the electrical control cabinet to energize the inner winding shaft coil to generate magnetic force, braking the sixth and seventh shafts, stopping the vehicle at the red light. When the light is green, a command is sent to the electrical control cabinet to de-energize the inner winding shaft coil, ceasing to brake the sixth and seventh shafts. At the same time, a command is sent to the motor controller to control the drive motor to turn, smoothly increasing the output speed to achieve straight-ahead movement according to the road regulations, or following the vehicle in front according to its speed.

[0030] S72, Braking Request Signal: When the verification indicates that braking is required for deceleration or stopping, a command is sent to the electrical control cabinet to energize the wound shaft coil to generate magnetic force, thus braking the sixth and seventh shafts; when the verification indicates that braking is complete and braking is no longer needed, a command is sent to the electrical control cabinet to de-energize the wound shaft coil, thus stopping braking the sixth and seventh shafts.

[0031] S73. Driving Intent Signal: When the signal is verified to be either going straight, following, overtaking, or stopping, a command is sent to the motor controller to control the speed of the drive motor. The drive motor is controlled to achieve straight driving at the speed specified by the road, or to follow the vehicle in front at the speed of the vehicle in front, or to accelerate to overtake the vehicle in front, or to stop the drive motor to stop.

[0032] S74, Reversing and Turning Signal: When verification indicates a reversing and turning is required, a command is sent to the motor controller to control the drive motor to slow down. At the same time, a command is sent to the push rod motor to stop the push rod after retracting a distance of the design value, causing the sixth and seventh shafts to separate. Simultaneously, a command is sent to the left and right electrical control cabinets to generate different braking forces by applying different currents to the wound shaft coils, creating a speed difference between the left and right wheels of the front axle for left and right turns. When verification indicates that the turn is complete and no further turns are needed, a command is sent to the electrical control cabinet to de-energize the wound shaft coils, ceasing braking of the sixth and seventh shafts. Then, a command is sent to the push rod motor to stop the push rod after advancing to the limited design reserved magnetic gap value, causing the sixth and seventh shafts to engage and rotate at the same speed.

[0033] S75. When the emergency stop button is manually pressed, if the signal is verified, a command is first sent to the motor controller to control the drive motor to stop.

[0034] S8. Verify arrival signal: If the verification indicates that the destination has not been reached, return to S4 for cyclic acquisition and execution; if the verification indicates that the destination has been reached, the control module sends a command to the motor controller to control the drive motor to stop rotating; at the same time, it sends a command to the electrical control cabinet to energize the wound shaft coil to generate magnetic force, braking the sixth and seventh shafts, putting them in a parking braking state; then, except for the electrical control cabinet, all other equipment is powered off.

[0035] Compared with existing technologies, the advantages of this invention—an unmanned sightseeing motorized carriage—are obvious, mainly manifested in:

[0036] 1. The magnetic clutch on the front axle drives the slider through the push rod motor to move the disk back and forth, thereby disengaging the left and right half axles. When the left and right half axles are separated, the left and right wheels can turn differentially.

[0037] 2. A pair of wound magnetic brakes achieve braking by generating magnetic force through energizing the coils. They also generate differential braking by controlling the different currents in the coils of the left and right magnetic brakes to make the braking forces of the left and right wheels different.

[0038] 3. The gearbox system uses two cables to achieve three-stage speed reduction;

[0039] 4. Using a transition shaft and two pairs of transition gears to mesh, two output shafts with the same direction and speed are realized. Four sets of cranks are installed in a horse leg mechanism with a 90° difference in the starting position, so that the mechanical horse pulls the force evenly four times in one revolution.

[0040] 5. Buttons on the control panel enable human-computer interaction, allowing users to participate in initial settings, start-up, and emergency stop.

[0041] 6. The intelligent control system, camera group and millimeter-wave radar group enable unmanned driving of the vehicle. Attached Figure Description

[0042] Figure 1 This is a schematic front view of the structure of the present invention;

[0043] Figure 2 yes Figure 1 AA section view;

[0044] Figure 3 yes Figure 1 Partial sectional view of BB;

[0045] Figure 4 yes Figure 1 CC partial sectional view;

[0046] Figure 5 yes Figure 1 DD partial sectional view;

[0047] Figure 6 yes Figure 1 J-direction view;

[0048] Figure 7 yes Figure 1 K-direction view;

[0049] Figure 8 yes Figure 1 EE sectional view;

[0050] Figure 9 This is a schematic diagram showing the collinear positions of the crank and connecting rod of the two sets of crank-rocker mechanisms when the crank rotates counterclockwise one revolution.

[0051] Figure 10 This is a flowchart of the control process for an unmanned sightseeing horse-drawn carriage.

[0052] In the diagram, 1. Rear axle system; 1.1 Fifth bearing housing a; 1.2 Fifth through cover a; 1.3 Fifth bearing a; 1.4 Rear wheel axle; 1.5 Fifth bearing b; 1.6 Fifth through cover b; 1.7 Fifth bearing housing b; 2. Wheel; 2.1 Hub; 2.2 Spoke; 2.3 Rim; 3. Seat. 4. Sunshade panel; 5. Chassis frame; 6. Front axle system; 6.1. Sixth axle; 6.2. Sleeve; 6.3. Winded magnetic brake; 6.3.1. Sixth bearing a; 6.3.2. Sixth end cover a; 6.3.3. Winded shaft; 6.3.4. Sixth seat a; 6.3.5. Sixth seat b; 6.3.6. Sixth bearing b; 6.3.7. Electrical control cabinet; 6.3.8. Induction disk; 6.3.9. Rotor frame; 6.3.10. Copper disk; 6.3.11. Heat sink; 6.3.12. Sixth end cover b 6.4 Magnetic Clutch; 6.4.1 Conductor Yoke Frame; 6.4.2 Conductor Yoke; 6.4.3 Magnetic Block; 6.4.4 Magnetic Block Frame; 6.4.5 Push Rod Motor; 6.4.6 Disengagement Retaining Ring; 6.4.7 Through Cover; 6.4.8 Ball Bearing; 6.4.9 Bearing Housing; 6.4.10 Slider; 6.4.11 Engagement Retaining Ring; 6.5 Seventh Shaft; 7. Support Rod; 8. Gearbox System; 8.1 First Shaft Through Cover; 8.2 First Gear; 8.3 First Shaft End Cover; 8.4 First Shaft 8.5 Bearing a, 8.6 First shaft empty gear set, 8.7 Lower housing, 8.8 Second shaft through cover a, 8.9 Second shaft bearing a, 8.10 Second gear, 8.11 Third shaft bearing a, 8.12 Third shaft end cover a, 8.13 Third gear, 8.14 Fourth shaft bearing a, 8.15 Fourth shaft, 8.16 Fourth shaft through cover a, 8.17 Fifth gear, 8.18 Fourth shaft through cover b, 8.19 Fourth shaft bearing b, 8.20 Fourth gear, 8.21 Third shaft 8.22. End cover b, 8.23. Third shaft bearing b, 8.24. Second empty gear set, 8.25. Second empty gear set bearing a, 8.26. Second shaft bearing b, 8.27. Second shaft through cover b, 8.28. First empty gear set bearing a, 8.29. First empty gear set bearing b, 8.30. First shaft bearing b, 8.31. Coupling, 8.32. Drive motor, 8.33. First shaft, 8.34. Motor controller, 8.35. Battery, 8.36. Third shaft. 9. Gearbox cover; 10. Horse-leg mechanism; 10.1. Crank; 10.2. Crank connecting rod pin; 10.3. First connecting rod; 10.4. Second connecting rod; 10.5. Horseshoe rod second rocker pin; 10.6. Horseshoe rod; 10.7. Second connecting rod second rocker pin; 10.8. Second rocker; 10.9. Fixed pin; 10.10. Horseshoe rod parallel rod pin; 10.11. Three pin holes forming an equilateral triangle plate; 10.12. A rod of the same length and parallel to the second rocker arm; 10.13. Parallel rod triangular plate pin; 10.14. First connecting rod triangular plate pin; 11. Intelligent control system; 11.1. Control cabinet; 11.2. Control module; 11.2.1. Sightseeing mechanical carriage control module; 11.2.2. L2++ intelligent driving kit; 12. Horse head-shaped housing; 13. Camera group; 13.1. Front low-angle wide-angle camera; 13.2. Rearview camera; 13.3. Rearview camera mounting plate. 13.4 Right-side view camera; 13.5 Right-side view camera mounting plate; 13.6 Front-view main camera; 13.7 Front-view main camera mounting plate; 13.8 Left-side view camera; 13.9 Left-side view camera mounting plate; 14 Millimeter-wave radar assembly; 14.1 Radar front mounting plate; 14.2 Right front corner radar; 14.3 Front long-range radar; 14.4 Left front corner radar; 14.5 Right rear corner radar mounting plate; 14.6 Right rear corner radar; 14.7 Left rear corner radar; 14.8 Left rear corner radar mounting plate; 15 Button control panel; 16 Seat floor plate. Detailed Implementation

[0053] like Figure 1The diagram shows an unmanned sightseeing carriage, comprising a rear axle system 1, wheels 2, seats 3, a sunshade 4, a chassis frame 5, a front axle system 6, canopy support rods 7, a gearbox system 8, a gearbox cover 9, a horse leg mechanism 10, an intelligent control system 11, a horse head-shaped housing 12, a camera assembly 13, a millimeter-wave radar assembly 14, a button control panel 15, and a seat base 16. The four wheels 2 are respectively press-fitted to both ends of the axles of the rear axle system 1 and the front axle system 6 via interference fits. The rear axle system 1 and the front axle system 6 are connected via... Fasteners are suspended below the chassis frame 5; the chassis frame 5 is supported by four wheels 2 pressed against the ground via axles and bearings; the seat 3, four canopy support rods 7, and button control panel 15 are installed on the seat base 16; the seat base 16 and transmission system 8 are installed on the chassis frame 5; the lower edge of the transmission cover 9 is fixed to the upper edge of the lower housing 8.6 of the transmission system 8 by fasteners, and the outer cabinet of the intelligent control system 11 is fixed on top by fasteners; a horse-head shaped... The housing 12 gives the vehicle a shape resembling a horse-drawn carriage; four canopy supports 7 support the sunshade panel 4, providing shade and shelter from rain for tourists; the cranks 10.1 of the four sets of horse-leg mechanisms 10 are evenly distributed at 90° differences in their initial installation positions on the shaft extensions at both ends of the second shaft 8.8 and the fourth shaft 8.15, which operate at the same speed, torque, and direction as the output shaft of the gearbox system 8. The initial positions of the front and rear sets of cranks 10.1 differ by 180°, and the initial positions of the left and right sets of cranks 10.1 differ by 90°, so that the mechanical horse's forward pulling force is generated by the crankshaft every revolution. A 90° rotation is applied once, followed by four even rotations around the center. Camera group 13 is distributed and installed on the outer cabinet of the intelligent control system 11 and the sunshade panel 4. Millimeter-wave radar group 14 is distributed and installed on the chassis frame 5 and the seat base 16. The button control panel 15 is equipped with: start power button, current scenic area location button, desired scenic area location button, vehicle start forward button, and emergency stop button. The intelligent control system 11 receives signals from pressing each button on the button control panel 15 and issues instructions for the sightseeing carriage to perform actions.

[0054] like Figure 1 The wheel 2 shown consists of a hub 2.1, spokes 2.2, and rim 2.3. The evenly distributed spokes 2.2 are connected to the hub 2.1 at one end with fasteners and to the rim 2.3 at the other end with fasteners.

[0055] For example, 2. Figure 5The rear axle system 1 shown consists of a fifth bearing housing a1.1, a fifth through cover a1.2, a fifth bearing a1.3, a rear wheel axle 1.4, a fifth bearing b1.5, a fifth through cover b1.6, and a fifth bearing housing b1.7. The rear wheel axle 1.4 is supported by the fifth bearings a1.3 and b1.5. The fifth bearing a1.3 is installed inside the fifth bearing housing a1.1 and is pressed and sealed by the fifth through cover a1.2, which is installed on the end face of the fifth bearing housing a1.1 with fasteners. The fifth bearing housing a1.1 is suspended under the chassis frame 5 by fasteners. The fifth bearing b1.5 is installed inside the fifth bearing housing b1.7 and is pressed and sealed by the fifth through cover b1.6, which is installed on the end face of the fifth bearing housing b1.7 with fasteners. The fifth bearing housing b1.7 is suspended under the chassis frame 5 by fasteners.

[0056] like Figure 2 , Figure 4 The front axle system 6 shown consists of a sixth axle 6.1, a sleeve 6.2, a wound magnetic brake 6.3, a magnetic clutch 6.4, and a seventh axle 6.5. Wound magnetic brakes 6.3 are mounted on the sixth axle 6.1 and the seventh axle 6.5, respectively, and are supported by a pair of bearings within each brake. At the other end away from the wheel 2, the sixth axle 6.1 is connected to the input end of the magnetic clutch 6.4, and the seventh axle 6.5 is connected to the output end of the magnetic clutch 6.4. When not turning, the magnetic clutch 6.4 engages both the sixth axle 6.1 and the seventh axle 6.5. After the control module 11.2 issues a braking command, the winding coil of the wound magnetic brake 6.3 is energized, and the shaft is braked. After braking ends, the control module 11.2 issues a braking end command, the winding coil of the wound magnetic brake 6.3 is de-energized, and the shaft is no longer braked. When it is necessary to change direction and turn, the magnetic clutch 6.4 separates the sixth shaft 6.1 and the seventh shaft 6.5. The different currents in the winding coils of the symmetrical wound magnetic brake 6.3 cause the braking forces generated by the sixth shaft 6.1 and the seventh shaft 6.5 to be different, so that the two wheels 2 can change direction and turn.

[0057] like Figure 2 , Figure 4The wound magnetic brake 6.3 shown includes a sixth shaft 6.1 and a seventh shaft 6.5, and is composed of a sixth bearing a6.3.1, a sixth end cover a6.3.2, a wound shaft 6.3.3, a sixth seat a6.3.4, a sixth seat b6.3.5, a sixth bearing b6.3.6, an electrical control cabinet 6.3.7, an induction disk 6.3.8, a rotor frame 6.3.9, a copper disk 6.3.10, a heat sink 6.3.11, and a sixth end cover b6.3.12. The sixth bearing a6.3.1 is mounted on... Inside the sixth seat a6.3.4, the bearing is pressed and sealed by the sixth end cover a6.3.2, which is fastened to the end face of the sixth seat a6.3.4 by fasteners. The sixth seat a6.3.4 is suspended under the chassis frame 5 by fasteners. The sixth bearing b6.3.6 is installed inside the sixth seat b6.3.5, and the bearing is pressed and sealed by the sixth end cover b6.3.12, which is fastened to the end face of the sixth seat b6.3.5 by fasteners. The sixth seat b6.3.5 is suspended under the chassis frame 5 by fasteners. Six evenly distributed bearings... One end of the wound shaft 6.3.3 is fixedly connected to the sixth seat a6.3.4 by fasteners, and the other end is fixedly connected to the sixth seat b6.3.5 and the induction disk 6.3.8 by fasteners, forming the stator; the rotor frame 6.3.9 and the opposite end face of the induction disk 6.3.8 are fixedly connected to the copper disk 6.3.10 by fasteners, and evenly distributed heat sinks 6.3.11 are welded to the back; the rotor frame 6.3.9 is connected to the shaft key, and connected to the sixth shaft 6.1 to form the input winding magnetic brake 6.3, and connected to the seventh... Shaft 6.5 is connected to the output end wound magnetic brake 6.3; the axial sleeve 6.2 and the shaft are positioned and adjusted by the elastic retaining ring to form the first magnetic gap between the induction disk 6.3.8 and the copper disk 6.3.10 to the design value; the electrical control cabinet 6.3.7 is fixed on the sixth seat b6.3.5 by fasteners, and receives control commands from the control module 11.2 to energize the winding coil. The wound shaft 6.3.3 generates an induced magnetic field, and a magnetic torque is generated between the induction disk 6.3.8 and the copper disk 6.3.10 to brake the shaft.

[0058] like Figure 2 , Figure 4The magnetic clutch 6.4 shown includes a sixth shaft 6.1 and a seventh shaft 6.5, and is composed of a conductor yoke frame 6.4.1, a conductor yoke 6.4.2, a magnet block 6.4.3, a magnet block holder 6.4.4, a push rod motor 6.4.5, a disengagement retaining ring 6.4.6, a through cover 6.4.7, a ball bearing 6.4.8, a bearing seat 6.4.9, a slider 6.4.10, and a engagement retaining ring 6.4.11. One end of the conductor yoke frame 6.4.1 is fixedly connected to the sixth shaft 6.1 by fasteners, and the other end is fixedly connected to the conductor yoke 6.4.2 by fasteners. The seventh shaft 6.5 has a slider 6.4.10 mounted on the other end of the wheel 2, which is splined. The engagement retaining ring 6.4.11 and the disengagement retaining ring 6.4.6 on the seventh axis 6.5 define a pre-designed second magnetic gap between the conductor yoke 6.4.2 and the magnet block 6.4.3, and the slider 6.4.10 is designed to retract backward from the disengagement retaining ring 6.4.6 at the end near the disengagement retaining ring 6.4.6; the magnet block holder 6.4.4 is inlaid with a designed number of magnet blocks 6.4.3 evenly distributed along its circumference; the middle flange of the slider 6.4.10 is fixedly connected to the magnet block holder 6.4.4 by fasteners, and the middle shoulder is pressed against the inner ring of the ball bearing 6.4.8 mounted thereon; the outer ring of the ball bearing 6.4.8 is installed in the bearing seat 6.4.9 and fixed to the bearing seat 6.4 by fasteners. The through cover 6.4.7 on end face 9 presses and seals the bearing; the push rod motor 6.4.5 is fixed to the back of the sixth end cover a6.3.2 of the wound magnetic brake 6.3 on the seventh axis 6.5 by fasteners, and the push rod is interference-fitted with the through cover 6.4.7; after receiving the closing command from the control module 11.2, the push rod motor 6.4.5 pushes the bearing seat 6.4.9 and the outer ring of the ball bearing 6.4.8, thereby driving the inner ring and pushing the slider 6.4.10, carrying the conductor yoke frame 6.4.1, to slide along the seventh axis 6.5 until the left end face of the slider 6.4.10 touches the engagement retaining ring 6.4.11, the push rod motor 6.4.5 touches the limit switch to stop and maintain the pushing force, conductor yoke 6.4 A second magnetic gap is formed between 6.2 and the magnet block 6.4.3, reaching the design value, and the sixth axis 6.1 and the seventh axis 6.5 close. After receiving the separation command from the control module 11.2, the push rod motor 6.4.5 pulls the bearing seat 6.4.9 and the outer ring of the ball bearing 6.4.8 in the opposite direction, driving the inner ring and thus pulling the slider 6.4.10. The slider 6.4.1 slides along the seventh axis 6.5 and retreats until the right end face of the slider 6.4.10 touches the displacement retaining ring 6.4.6. The push rod motor 6.4.5 touches the limit switch to stop and maintains the pulling force. The slider 6.4.10 retreats a distance that reaches the design value and is limited by the displacement retaining ring 6.4.6. The sixth axis 6.1 and the seventh axis 6.5 separate.

[0059] like Figure 3The gearbox system 8 shown consists of a first shaft cover 8.1, a first gear 8.2, a first shaft end cover 8.3, a first shaft bearing a 8.4, a first shaft empty gear set 8.5, a lower housing 8.6, and a second shaft cover a 8. 7. Second shaft 8.8, Second shaft bearing a 8.9, Second gear 8.10, Third shaft bearing a 8.11, Third shaft end cover a 8.12, Third gear 8.13, Fourth shaft bearing a 8.14, Fourth shaft 8.15, Fourth shaft through cover a 8.16, Fifth gear 8.17, Fourth shaft through cover b 8.18, Fourth shaft bearing b 8.19, Fourth gear 8.20, Third shaft end cover b 8.21, Third shaft bearing b 8.22, Second empty gear set 8.23, Second empty gear set bearing a 8.24, Second empty gear set bearing b 8.25, Second shaft bearing b 8.26, Second shaft through cover b 8.27, First empty gear set bearing a 8 The system comprises: 8.28, 8.29, 8.30, 8.31, 8.32, 8.33, 8.34, 8.35, 8.36, 8.38, 8.39, 8.30, 8.31, 8.32, 8.33, 8.34, 8.35, and 8.36. The battery 8.35 outputs high-voltage DC power to the motor controller 8.34. The motor controller 8.34 receives commands from the control module 11.2 to control the speed, torque, forward rotation, reverse rotation, and stop of the drive motor 8.32. The first shaft 8.33 is connected to the drive motor 8.32 via the coupling 8.31 and is supported by the first shaft bearings a8.4 and b8.30 installed in the housing flange seat. The closed end is supported by the first end cover 8. .3 The bearings are clamped and sealed, and the through end is clamped and sealed by the first shaft through cover 8.1; the first shaft 8.33 is equipped with the first gear 8.2, the first empty gear set bearing a8.28 supporting the first shaft empty gear set 8.5, and the first empty gear set bearing b8.29 supporting the first empty gear set, so that the first shaft empty gear set 8.5 can rotate freely on the first shaft 8.33; the second shaft 8.8 is supported by the second shaft bearing a8.9 and the second shaft bearing b8.26 installed in the housing flange seat, and the bearings are clamped and sealed by the second shaft through cover a8.7 and the second shaft through cover b8.27 respectively; the second shaft 8.8 is equipped with the second gear 8.10 and the second empty gear set 8.23 ​​supporting the second empty gear set 8.23. The wheel set bearing a8.24 and the second idler gear set bearing b8.25 allow the second idler gear set 8.23 ​​to idle on the second shaft 8.8; the first gear 8.2 meshes with the large gear of the second idler gear set 8.23 ​​to form a first-order speed-reducing gear pair; the small gear of the second idler gear set 8.23 ​​meshes with the large gear of the first shaft idler gear set 8.5 to form a second-order speed-reducing gear pair; the small gear of the first shaft idler gear set 8.5 meshes with the second gear 8.10 to form a third-order speed-reducing gear pair, thus transmitting the speed and torque of the first shaft 8.33 to the second shaft 8.8 through three speed reductions; cranks 10.1 are symmetrically interference-fitted at the two protruding ends of the second shaft 8.8; the third shaft 8.36 is supported by third shaft bearings a8.11 and b8.22 installed in the housing flange seat, and is pressed and sealed by third shaft end caps a8.12 and b8.21 respectively; third shaft 8.36 is equipped with third gear 8.13 and fourth gear 8.20; fourth shaft 8.15 is supported by fourth shaft bearings a8.14 and b8.19 installed in the housing flange seat, and is pressed and sealed by fourth shaft through caps a8.16 and b8.18 respectively; A fifth gear 8.17 is mounted on shaft 8.15; the second gear 8.10 meshes with the third gear 8.13, with the same number of teeth, causing shafts 8.8 and 8.36 to rotate at the same speed and have the same torque, but in opposite directions; the fourth gear 8.20 meshes with the fifth gear 8.17, causing shafts 8.36 and 8.15 to rotate at the same speed and have the same torque, but in opposite directions, and causing shafts 8.8 and 8.15 to rotate at the same speed, have the same torque, and rotate in the same direction; cranks 10.1 are symmetrically fitted with interference fits on the two extended ends of shaft 8.15.

[0060] like Figure 1 , Figure 3 , Figure 9The horse-leg mechanism 10 shown comprises a crank 10.1, a crank connecting rod pin 10.2, a first connecting rod 10.3, a second connecting rod 10.4, a horseshoe-shaped rod and a second rocker pin 10.5, a horseshoe-shaped rod 10.6, a second connecting rod and a second rocker pin 10.7, a second rocker 10.8, a fixed pin 10.9, a horseshoe-shaped rod and a parallel rod pin 10.10, a three-pin hole plate forming an equilateral triangle 10.11, a rod of equal length and parallel to the second rocker 10.12, a parallel rod and a triangular plate pin 10.13, and a first connecting rod and a triangular plate pin 10.14. The connecting rod pin 10.2 passes through the holes of crank 10.1, first connecting rod 10.3, and second connecting rod 10.4 to form a hinge; one end of the fixed pin 10.9 is inserted into the hole of the lower housing 8.6 with an interference fit, and the other end passes through the three pin holes to form a hinge with one hole of the equilateral triangle plate 10.11 and one end of the second rocker arm 10.8; the first connecting rod triangular plate pin 10.14 passes through the three pin holes to form a hinge with the other hole of the equilateral triangle plate 10.11 and the other hole of the first connecting rod 10.3; the second rocker arm pin 10.7 passes through the second connecting rod 10. 0.4 The other hole and the middle hole of the second rocker 10.8 form a hinge; the crank 10.1, the first connecting rod 10.3, and the three pin holes are connected to form an equilateral triangle plate 10.11 to form a crank-rocker mechanism; the crank 10.1, the second connecting rod 10.4, and the second rocker 10.8 form another crank-rocker mechanism; the horseshoe rod second rocker pin 10.5 passes through the other hole of the second rocker 10.8 and the middle hole of the horseshoe rod 10.6 to form a hinge; the horseshoe rod parallel rod pin 10.10 passes through the other hole of the horseshoe rod 10.6 and is the same length as the second rocker and is parallel to it. The rod 10.12 forms a hinge; the parallel rod triangular plate pin 10.13 passes through another hole of the rod 10.12, which is the same length as the second rocker and parallel to it, and connects with the three pin holes to form an equilateral triangle plate 10.11. The remaining hole forms a hinge; the second rocker 10.8, the horseshoe-shaped rod 10.6, the rod 10.12, which is the same length as the second rocker and parallel to it, and the three pin holes connect to form an equilateral triangle plate 10.11 to form a parallelogram mechanism; all pins are equipped with shaft elastic retaining rings, which are used to limit the axial movement of the pins, and the crank 10.1 rotates counterclockwise.

[0061] like Figure 1 The intelligent control system 11 shown consists of a control cabinet 11.1 and a control module 11.2. The control module 11.2 includes a sightseeing mechanical carriage control module 11.2.1 and an L2++ intelligent driving kit 11.2.2, which are placed inside the control cabinet 11.1. The sightseeing mechanical carriage control module 11.2.1 is connected to the self-designed sightseeing mechanical carriage control system using the pre-built L2++ intelligent driving kit 11.2.2. It retains the upper-level perception and recognition, path planning, and decision-making logic, and replaces the sightseeing mechanical carriage in performing following, overtaking, turning, braking, stopping, and passing through traffic light intersections. The specific secondary development includes the following steps:

[0062] Step 1: Review the interfaces and data protocols between the two parties: retrieve the publicly available communication protocol from the L2++ solution provider, output the protocol, issue command fields, and provide status feedback; compile the communication protocol of the sightseeing mechanical carriage, including the message format received by the sightseeing mechanical carriage, control range, response cycle, and output formats of the sightseeing mechanical carriage's IMU, wheel speed odometer, and self-made positioning module.

[0063] Step 2: Build a protocol conversion middleware layer: Develop a CAN message forwarding and conversion program to convert the standard driving commands output by L2++ into control ranges suitable for the sightseeing mechanical carriage, match the speed commands to the speed regulation range of the sightseeing mechanical carriage's power system, and link with the self-developed PID speed stabilization algorithm; bidirectional data feedback adaptation, sending the actual speed, attitude, and position information of the sightseeing mechanical carriage back to the L2++ algorithm end, replacing the original vehicle's built-in odometer data, and using self-developed dead reckoning and attitude data to participate in decision-making;

[0064] Step 3: Perception Layer Reuse and Custom Optimization: Directly reuse mature outsourced capabilities, reuse the raw perception data of 5 mmWave radar + 5 cameras, and directly call the built-in: lane recognition, vehicle and pedestrian detection, traffic light recognition, and surround view. Adopt the existing global path planning logic of highway NOA and city NOA. Secondary custom optimization and development, replace the original local obstacle avoidance algorithm, implant self-developed local trajectory planning logic, superimpose self-developed EKF multi-sensor fusion positioning, correct the L2++ native positioning deviation, connect to the button control board 15-button control module, and secondary develop the emergency stop button priority control logic to interrupt / take over automatic driving.

[0065] Step 4: Deep replacement and development of chassis control layer: Abandon L2++ original chassis adaptation drive, fully integrate sightseeing mechanical carriage motion control, implant self-developed McLaren / Ackerman kinematic model, recalculate driving commands; secondary customization of driving strategy, customize start-stop smoothness, set exclusive driving speed limit, turning speed limit, and low-speed driving rules in the field.

[0066] Step 5: Development of the integration of positioning and map modules: The L2++ high-precision map and NOA navigation are used, only the vehicle pose calculation and fusion method is replaced; coordinate system calibration is performed to unify the coordinate system of the purchased algorithm with the coordinate system of the sightseeing mechanical carriage, eliminating the deviation of the driving trajectory;

[0067] Step Six: Layered Development of Functional Permissions: Automatic Mode: L2++ makes all decisions, combined with the sightseeing mechanical carriage to execute actions; Button Control Mode: Secondary development of button interrupt control for the highest priority emergency stop; Secondary writing of safety logic, superimposed with the sightseeing mechanical carriage's emergency stop logic;

[0068] Step 7, Joint Debugging and Calibration and Real Vehicle Deployment: Static Joint Debugging: Message Interoperability, Command Transmission and Reception, Status Feedback Verification; Low-Speed ​​Site Calibration: Steering Linearity, Speed ​​Following, Braking Response Matching; Real Vehicle Road Testing: Joint Testing of NOA Navigation Following, Autonomous Driving, and Automatic Parking.

[0069] like Figure 1 , Figure 6 , Figure 7 , Figure 8 The camera group 13 shown consists of a front low-angle wide-angle camera 13.1, a rear-view camera 13.2, a rear-view camera mounting plate 13.3, a right-side camera 13.4, a right-side camera mounting plate 13.5, a front main camera 13.6, a front main camera mounting plate 13.7, a left-side camera 13.8, and a left-side camera mounting plate 13.9. The front low-angle wide-angle camera 13.1 is mounted at the front of the control cabinet 11.1, 1.2 meters above the ground, horizontally facing forward, with a 15° downward angle and a horizontal field of view of 140°. The rear-view camera 13.2 is mounted on the rear-view camera mounting plate 13.3, which is fastened to the rear end of the sunshade panel 4, 1.7 meters above the ground, horizontally facing backward, with an 18° downward angle and a horizontal field of view of 140°. The field of view is 120° horizontally; the right-side camera 13.4 is mounted on the right-side camera mounting plate 13.5, which is fastened to the front of the sunshade panel 4 with fasteners, at a height of 1.6 meters above the ground, with a horizontal angle of 40° forward and to the right, a downward angle of 12°, and a horizontal field of view of 120°; the front-view main camera 13.6 is mounted on the front-view main camera mounting plate 13.7, which is fastened to the middle of the front of the sunshade panel 4 with fasteners, at a height of 1.75 meters above the ground, with a horizontal angle of 6° forward and a horizontal field of view of 90°; the left-side camera 13.8 is mounted on the left-side camera mounting plate 13.9, which is fastened to the front of the sunshade panel 4 with fasteners, at a height of 1.6 meters above the ground, with a horizontal angle of 40° forward and to the left, a downward angle of 12°, and a horizontal field of view of 120°.

[0070] like Figure 1 , Figure 6 , Figure 7The millimeter-wave radar assembly 14 shown consists of a radar front mounting plate 14.1, a right front corner radar 14.2, a front main long-range radar 14.3, a left front corner radar 14.4, a right rear corner radar mounting plate 14.5, a right rear corner radar 14.6, a left rear corner radar 14.7, and a left rear corner radar mounting plate 14.8. The right front corner radar 14.2, the front main long-range radar 14.3, and the left front corner radar 14.4 are respectively mounted on the right, center, and left sides of the radar front mounting plate 14.1, which is fastened to the front of the chassis frame 5 with fasteners. The right front corner radar 14.2 is 0.58 meters above the ground, horizontally angled 45° to the right front, and has a depression angle of 3°. The front main long-range radar... The front left radar 14.3 is 0.6 meters above the ground, facing directly forward at 0°, with a depression angle of 4°; the left front radar 14.4 is 0.58 meters above the ground, horizontally tilted 45° to the left front, with a depression angle of 3°; the right rear radar 14.6 is mounted on the right rear radar mounting plate 14.5, which is fastened to the rear of the seat base plate 16 with fasteners, at a height of 0.55 meters above the ground, horizontally tilted 45° to the right rear, with a depression angle of 3°; the left rear radar 14.7 is mounted on the left rear radar mounting plate 14.8, which is fastened to the rear of the seat base plate 16 with fasteners, at a height of 0.55 meters above the ground, horizontally tilted 45° to the left rear, with a depression angle of 3°; all millimeter-wave radars use 77GHz.

[0071] like Figure 10 The intelligent control method for an unmanned sightseeing mechanical carriage shown includes the following steps:

[0072] S1. When a person presses the start power button on the button control panel 15, the de-energized equipment is powered on.

[0073] S2, control module 11.2 sends a command to the electrical control cabinet 6.3.7 of the wound magnetic brake 6.3 to cut off the power and stop the braking;

[0074] S3. Manually press the current scenic area location button, the desired scenic area location button, and the vehicle start moving button on the button control panel 15.

[0075] S4, Control Module 11.2 extracts camera images and millimeter-wave radar data;

[0076] S5, Control Module 11.2 loads the scenic area road map, performs map matching, plans the route from the starting point to the end point, and generates driving control commands;

[0077] S6, Control Module 11.2 periodically and synchronously collects intersection traffic signals, braking demand signals, driving intention signals, turning signals, and signals of manual pressing of the emergency stop button;

[0078] S7 and control module 11.2 perform condition verification on five types of acquired signals in parallel, and synchronously issue control commands based on the verification results of each group:

[0079] S71. Determining whether to proceed at a traffic light intersection: When the light is red, a command is sent to the motor controller 8.34 to stop the drive motor 8.32 from rotating. Simultaneously, a command is sent to the electrical control cabinet 6.3.7 to energize the coil of the inner-wound shaft 6.3.3, generating magnetic force to brake the sixth shaft 6.1 and the seventh shaft 6.5, stopping the vehicle at the red light. When the light is green, a command is sent to the electrical control cabinet 6.3.7 to de-energize the coil of the inner-wound shaft 6.3.3, ceasing braking of the sixth shaft 6.1 and the seventh shaft 6.5. Simultaneously, a command is sent to the motor controller 8.34 to control the drive motor 8.32 to rotate, smoothly increasing the output speed to the speed allowed by the road to proceed straight, or to follow the vehicle in front.

[0080] S72. Determine braking demand during deceleration or stopping: If the verification indicates that braking is required for deceleration or stopping, issue a command to the electrical control cabinet 6.3.7 to energize the coil of the wound shaft 6.3.3 to generate magnetic force, braking the sixth shaft 6.1 and the seventh shaft 6.5; If the verification indicates that braking is complete and braking is no longer required, issue a command to the electrical control cabinet 6.3.7 to de-energize the coil of the wound shaft 6.3.3, no longer braking the sixth shaft 6.1 and the seventh shaft 6.5.

[0081] S73. Determine driving intention: When the verification indicates that the vehicle is going straight, following, overtaking, or stopping, a command is sent to the motor controller 8.34 to control the speed of the drive motor 8.32 to achieve straight driving at the speed specified by the road, or following the vehicle in front at the speed of the vehicle in front, or accelerating to overtake the vehicle in front, or controlling the drive motor 8.32 to stop to stop.

[0082] S74. Determine if a reversal turn is needed: If a reversal turn is needed, send a command to the motor controller 8.34 to control the drive motor 8.32 to slow down. At the same time, send a command to the push rod motor 6.4.5 to stop the push rod from retracting to the designed value, thus separating the sixth shaft 6.1 and the seventh shaft 6.5. Simultaneously, send a command to the left and right electrical control cabinets 6.3.7 to generate different braking forces by energizing the coils of the wound shaft 6.3.3 with different currents, creating a speed difference between the two wheels 2 on the front axle, thus turning left or right. If the turn is complete and no further turns are needed, send a command to the electrical control cabinet 6.3.7 to de-energize the coil of the wound shaft 6.3.3, thus stopping the braking of the sixth shaft 6.1 and the seventh shaft 6.5. Then, send a command to the push rod motor 6.4.5 to stop the push rod from advancing to the limited design reserved magnetic gap value, thus engaging the sixth shaft 6.1 and the seventh shaft 6.5 and causing them to rotate at the same speed.

[0083] S75. Determine whether the emergency stop button has been manually pressed. If the verification shows that the emergency stop button has been manually pressed, execute it first and send a command to the motor controller 8.34 to control the drive motor 8.32 to stop rotating.

[0084] S8. Verify arrival signal: If the verification indicates that the destination has not been reached, return to S4 for cyclic acquisition and execution; if the verification indicates that the destination has been reached, the control module 11.2 sends a command to the motor controller 8.34 to control the drive motor 8.32 to stop rotating; at the same time, it sends a command to the electrical control cabinet 6.3.7 to energize the coil of the wound shaft 6.3.3 to generate magnetic force, braking the sixth shaft 6.1 and the seventh shaft 6.5, putting them in a parking braking state; then, except for the electrical control cabinet 6.3.7 being energized, all other equipment is de-energized.

Claims

1. An unmanned sightseeing mechanical carriage, comprising a rear axle system (1), wheels (2), seats (3), sunshade panels (4), chassis frame (5), front axle system (6), canopy support rods (7), gearbox system (8), gearbox cover (9), horse leg mechanism (10), intelligent control system (11), horse head-shaped shell (12), camera group (13), millimeter-wave radar group (14), button control board (15), and seat base plate (16), characterized in that The four wheels (2) are respectively press-fitted to both ends of the axles of the rear axle system (1) and the front axle system (6) by interference fit; the rear axle system (1) and the front axle system (6) are suspended under the chassis frame (5) by fasteners; the chassis frame (5) is supported by the four wheels (2) pressed on the ground by axles and bearings; the seat (3), four canopy support rods (7), and button control board (15) are installed on the seat base plate (16), and the seat base plate (16) and gearbox system (8) are installed on the chassis frame (5); the lower edge of the gearbox cover (9) is fixed to the upper edge of the lower box (8.6) of the gearbox system (8) by fasteners, and the outer cabinet of the intelligent control system (11) is fixed on the upper edge by fasteners; the horse head-shaped shell (12) is fixed on the upper edge of the outer cabinet of the intelligent control system (11); the four canopy support rods (7) support the sunshade board (4); the four sets of horse leg mechanisms (1 The cranks (10.1) of the gearbox system (8) are evenly distributed on the shaft extensions at both ends of the two shafts (8.8) and the fourth shaft (8.15) with the same speed, torque and direction of rotation. The starting positions of the front and rear sets of cranks (10.1) are 180° apart, and the starting positions of the left and right sets of cranks (10.1) are 90° apart. The camera group (13) is distributed and installed on the outer cabinet of the intelligent control system (11) and the sunshade (4). The millimeter-wave radar group (14) is distributed and installed on the chassis frame (5) and the seat base (16). The button control board (15) is equipped with: start power button, current scenic spot position button, desired scenic spot position button, vehicle start forward button, and emergency stop button. The intelligent control system (11) receives the signals sent by pressing each button on the button control board (15) and issues instructions for the sightseeing carriage to perform actions.

2. The driverless sightseeing mechanical carriage according to claim 1, characterized in that... The wheel (2) consists of a hub (2.1), spokes (2.2), and rim (2.3). The evenly distributed spokes (2.2) are connected to the hub (2.1) at one end with fasteners and to the rim (2.3) at the other end with fasteners.

3. The driverless sightseeing mechanical carriage according to claim 1, characterized in that... The rear axle system (1) consists of a fifth bearing housing a (1.1), a fifth through cover a (1.2), a fifth bearing a (1.3), a rear wheel axle (1.4), a fifth bearing b (1.5), and a fifth through cover b (1.6). 6) The fifth bearing housing b (1.7) is composed of the rear wheel axle (1.4) supported by the fifth bearing a (1.3) and the fifth bearing b (1.5); the fifth bearing a (1.3) is installed in the fifth bearing housing a (1.1) and is pressed and sealed by the fifth through cover a (1.2) installed on the end face of the fifth bearing housing a (1.1) by fasteners. The fifth bearing housing a (1.1) is suspended under the chassis frame (5) by fasteners; the fifth bearing b (1.5) is installed in the fifth bearing housing b (1.7) and is pressed and sealed by the fifth through cover b (1.6) installed on the end face of the fifth bearing housing b (1.7) by fasteners. The fifth bearing housing b (1.7) is suspended under the chassis frame (5) by fasteners.

4. The driverless sightseeing mechanical carriage according to claim 1, characterized in that... The front axle system (6) consists of a sixth axle (6.1), a sleeve (6.2), a wound magnetic brake (6.3), a magnetic clutch (6.4), and a seventh axle (6.5). Wound magnetic brakes (6.3) are mounted on the sixth axle (6.1) and the seventh axle (6.5), respectively, and are supported by a pair of bearings within the wound magnetic brakes (6.3). At the other end away from the wheel (2), the sixth axle (6.1) is connected to the input end of the magnetic clutch (6.4), and the seventh axle (6.5) is connected to the output end of the magnetic clutch (6.4). When turning without changing direction, the magnetic clutch (6.4) connects the sixth axle (6.1) and the seventh axle (6.5). 5) When the two shafts are engaged, after the control module (11.2) issues a braking command, the winding coil of the wound magnetic brake (6.3) is energized, and the shaft is braked; after the braking ends, the control module (11.2) issues a braking end command, the winding coil of the wound magnetic brake (6.3) is de-energized, and the shaft is not braked; when it is necessary to change direction and turn, the magnetic clutch (6.4) separates the six shaft (6.1) and the seven shaft (6.5), and controls the different currents in the winding coils of the symmetrical wound magnetic brake (6.3) so that the braking forces generated by the six shaft (6.1) and the seven shaft (6.5) are different, so that the two wheels (2) can change direction and turn.

5. The driverless sightseeing mechanical carriage according to claim 4, characterized in that... The wound magnetic brake (6.3) includes a sixth shaft (6.1) and a seventh shaft (6.5), and is composed of a sixth bearing a (6.3.1), a sixth end cover a (6.3.2), a wound shaft (6.3.3), a sixth seat a (6.3.4), a sixth seat b (6.3.5), a sixth bearing b (6.3.6), an electrical control cabinet (6.3.7), an induction disk (6.3.8), a rotor frame (6.3.9), a copper disk (6.3.10), a heat sink (6.3.11), and a sixth end cover b (6.3.12). The sixth bearing a (6.3.1) .3.1) The bearing is installed inside the sixth seat a (6.3.4) and is pressed and sealed by the sixth end cap a (6.3.2) installed on the end face of the sixth seat a (6.3.4) by fasteners. The sixth seat a (6.3.4) is suspended under the chassis frame (5) by fasteners. The sixth bearing b (6.3.6) is installed inside the sixth seat b (6.3.5) and is pressed and sealed by the sixth end cap b (6.3.12) installed on the end face of the sixth seat b (6.3.5) by fasteners. The sixth seat b (6.3.5) is suspended under the chassis frame (5) by fasteners. Six evenly distributed wound shafts (6.3.3) are fixedly connected at one end to the sixth seat a (6.3.4) by fasteners, and at the other end to the sixth seat b (6.3.5) and the induction disk (6.3.8) by fasteners, forming the stator; the rotor frame (6.3.9) and the induction disk (6.3.8) are fixedly connected at opposite end faces to the copper disk (6.3.10) by fasteners, and evenly distributed heat sinks (6.3.11) are welded on the back; the rotor frame (6.3.9) is connected to the shaft key and connected to the sixth shaft (6.1) to form the input winding magnetic brake (6.3). The output winding magnetic brake (6.3) is connected to the seventh shaft (6.5); the axial sleeve (6.2) and the shaft use elastic retaining ring to position and adjust the magnetic gap between the induction disk (6.3.8) and the copper disk (6.3.10) to the design value; the electrical control cabinet (6.3.7) is fixed on the sixth seat b (6.3.5) by fasteners, and receives the control command issued by the control module (11.2) to energize the winding coil. The wound shaft (6.3.3) generates an induction magnetic field, and a magnetic torque is generated between the induction disk (6.3.8) and the copper disk (6.3.10) to brake the shaft.

6. The driverless sightseeing mechanical carriage according to claim 4, characterized in that... The magnetic clutch (6.4) includes a sixth shaft (6.1) and a seventh shaft (6.5), and is composed of a conductor yoke frame (6.4.1), a conductor yoke (6.4.2), a magnet block (6.4.3), a magnet block holder (6.4.4), a push rod motor (6.4.5), a disengagement retaining ring (6.4.6), a through cover (6.4.7), a ball bearing (6.4.8), a bearing seat (6.4.9), a slider (6.4.10), and a engagement retaining ring (6.4.11). One end of the conductor yoke frame (6.4.1) is fixedly connected to the sixth shaft (6.1) by fasteners, and the other end is fixedly connected to the conductor yoke (6.4.2) by fasteners. The seventh shaft (6.5) has a spline mounted on the other end where the wheel (2) is mounted. The sliding block (6.4.10) is fitted with a retaining ring (6.4.11) and a disengaging ring (6.4.6) mounted on the seventh axis (6.5). These retaining rings limit the conductor yoke (6.4.2) and the magnet block (6.4.3) to a pre-designed second magnetic gap. The sliding block (6.4.10) is designed to retract from the disengaging ring (6.4.6) by a pre-designed retraction distance. The magnet block holder (6.4.4) is inlaid with a designed number of magnet blocks (6.4.3) evenly distributed along its circumference. The middle flange of the sliding block (6.4.10) is fixedly connected to the magnet block holder (6.4.4) by fasteners. The middle shoulder is pressed against the inner ring of the ball bearing (6.4.8) mounted on it. The outer ring of the ball bearing (6.4.8) is mounted on the bearing seat. (6.4.9) Inside, the bearing is pressed and sealed by the through cover (6.4.7) fixed to the end face of the bearing housing (6.4.9) by fasteners; the push rod motor (6.4.5) is fixed to the back of the sixth end cover a (6.3.2) of the wound magnetic brake (6.3) on the side of the seventh shaft (6.5) by fasteners, and the push rod is interference-fitted with the through cover (6.4.7); after receiving the closing command issued by the control module (11.2), the push rod motor (6.4.5) pushes the outer ring of the bearing housing (6.4.9) and the ball bearing (6.4.8) to drive the inner ring, thereby pushing the slider (6.4.10) and the conductor yoke frame (6.4.1) to slide along the seventh shaft (6.5) until the left end face of the slider (6.4.10) touches the retaining ring (6). 4.11), the push rod motor (6.4.5) stops when it touches the limit switch and maintains the thrust. The second magnetic gap between the conductor yoke (6.4.2) and the magnet (6.4.3) reaches the design value. The sixth axis (6.1) and the seventh axis (6.5) close. After receiving the separation command from the control module (11.2), the push rod motor (6.4.5) pulls the bearing seat (6.4.9) and the outer ring of the ball bearing (6.4.8) in the opposite direction, which drives the inner ring and thus pulls the slider (6.4.10). The conductor yoke frame (6.4.1) slides along the seventh axis (6.5) and backs until the right end face of the slider (6.4.10) touches the positioning retaining ring (6.4.6). The push rod motor (6.4.5) stops when it touches the limit switch and maintains the thrust. The slider (6.4.10)10) The retraction distance reaches the design value and is limited by the positioning retaining ring (6.4.6), causing the sixth axis (6.1) and the seventh axis (6.5) to separate.

7. The driverless sightseeing mechanical carriage according to claim 1, characterized in that... The gearbox system (8) comprises a first shaft cover (8.1), a first gear (8.2), a first shaft end cover (8.3), a first shaft bearing a (8.4), a first shaft empty gear set (8.5), a lower housing (8.6), a second shaft cover a (8.7), a second shaft (8.8), a second shaft bearing a (8.9), a second gear (8.10), a third shaft bearing a (8.11), a third shaft end cover a (8.12), a third gear (8.13), a fourth shaft bearing a (8.14), a fourth shaft (8.15), a fourth shaft cover a (8.16), a fifth gear (8.17), a fourth shaft cover b (8.18), a fourth shaft bearing b (8.19), a fourth gear (8.20), and a third... The system consists of a shaft end cover b (8.21), a third shaft bearing b (8.22), a second empty gear set (8.23), a second empty gear set bearing a (8.24), a second empty gear set bearing b (8.25), a second shaft bearing b (8.26), a second shaft through cover b (8.27), a first empty gear set bearing a (8.28), a first empty gear set bearing b (8.29), a first shaft bearing b (8.30), a coupling (8.31), a drive motor (8.32), a first shaft (8.33), a motor controller (8.34), a battery (8.35), and a third shaft (8.36). The battery (8.35) outputs high-voltage DC power to the motor controller (8.34). 34) The control module (11.2) receives instructions to control the speed, torque, forward rotation, reverse rotation, and stop of the drive motor (8.32); the first shaft (8.33) is connected to the drive motor (8.32) through a coupling (8.31), and is supported by the first shaft bearing a (8.4) and the first shaft bearing b (8.30) installed in the housing flange seat. The closed end is sealed by the first shaft end cover (8.3) pressing the bearing, and the open end is sealed by the first shaft through cover (8.1) pressing the bearing; the first shaft (8.33) is equipped with the first gear (8.2), the first empty gear set bearing a (8.28) and the first empty gear set bearing b (8.29) supporting the first shaft empty gear set (8.5), so that the first shaft empty gear set (8.28) is connected to the drive motor (8.32) through a coupling (8.31), and is supported by the first shaft bearing a (8.28) and the first empty gear set bearing b (8.29) supporting the first shaft empty gear set (8.32). 5) The first shaft (8.33) rotates freely; the second shaft (8.8) is supported by the second shaft bearing a (8.9) and the second shaft bearing b (8.26) installed in the housing flange seat, and is pressed and sealed by the second shaft cover a (8.7) and the second shaft cover b (8.27) respectively; the second shaft (8.8) is equipped with the second gear (8.10), the second empty gear set bearing a (8.24) and the second empty gear set bearing b (8.25) supporting the second empty gear set (8.23), so that the second empty gear set (8.23) rotates freely on the second shaft (8.8); the first gear (8.2) meshes with the large gear of the second empty gear set (8.23) to form the first-order speed reduction gear pair, and the second empty gear set (8.23)The small gear of 23) meshes with the large gear of the first shaft empty gear set (8.5) to form a second-order speed reduction gear pair. The small gear of the first shaft empty gear set (8.5) meshes with the second gear (8.10) to form a third-order speed reduction gear pair, which transmits the speed and torque of the first shaft (8.33) to the second shaft (8.8) through three speed reductions. The two protruding ends of the second shaft (8.8) are respectively symmetrically interference-fitted with cranks (10.1). The third shaft (8.36) is supported by the third shaft bearing a (8.11) and the third shaft bearing b (8.22) installed in the housing flange seat. The bearings are pressed and sealed by the third shaft end cover a (8.12) and the third shaft end cover b (8.21) respectively. The third gear (8.13) and the fourth gear (8.20) are installed on the third shaft (8.36). The fourth shaft (8.15) is supported by the third gear (8.13) and the fourth gear (8.20). The fourth shaft bearings a (8.14) and b (8.19) are mounted in the flange seat of the housing and are supported by the fourth shaft cover a (8.16) and b (8.18), respectively, which press and seal the bearings. A fifth gear (8.17) is mounted on the fourth shaft (8.15). The second gear (8.10) meshes with the third gear (8.13) with the same number of teeth, causing the second shaft (8.8) and the third shaft (8.36) to rotate at the same speed and have the same torque, but in opposite directions. The fourth gear (8.20) meshes with the fifth gear (8.17) with the same number of teeth, causing the third shaft (8.36) and the fourth shaft (8.15) to rotate at the same speed and have the same torque, but in opposite directions, and causing the second shaft (8.8) and the fourth shaft (8.15) to rotate at the same speed, have the same torque, and rotate in the same direction. Cranks (10.1) are symmetrically interference-fitted onto the two protruding ends of the fourth shaft (8.15).

8. The driverless sightseeing mechanical carriage according to claim 1, characterized in that... The horse-leg mechanism (10) comprises a crank (10.1), a crank connecting rod pin (10.2), a first connecting rod (10.3), a second connecting rod (10.4), a horseshoe-shaped rod second rocker pin (10.5), a horseshoe-shaped rod (10.6), a second connecting rod second rocker pin (10.7), a second rocker (10.8), a fixed pin (10.9), a horseshoe-shaped rod parallel rod pin (10.10), an equilateral triangle plate (10.11) formed by three pin holes, a rod (10.12) of equal length and parallel to the second rocker, a parallel rod triangular plate pin (10.13), and a first connecting rod triangular plate pin (10.14). The structure consists of a crank connecting rod pin (10.2) that passes through the holes of the crank (10.1), the first connecting rod (10.3), and the second connecting rod (10.4) to form a hinge; a fixed pin (10.9) is inserted into the hole of the lower housing (8.6) with an interference fit at one end, and the other end passes through the three pin holes to form a hinge with one hole of the equilateral triangle plate (10.11) and one hole of the second rocker arm (10.8); the first connecting rod triangle plate pin (10.14) passes through the three pin holes to form a hinge with the other hole of the equilateral triangle plate (10.11) and the other hole of the first connecting rod (10.3); and the second connecting rod second rocker arm pin (10.7) passes through... The second connecting rod (10.4) and the second rocker (10.8) form a hinge at the other hole; the crank (10.1), the first connecting rod (10.3), and the three pin holes are connected to form an equilateral triangle plate (10.11) to form a crank-rocker mechanism; the crank (10.1), the second connecting rod (10.4), and the second rocker (10.8) form another crank-rocker mechanism; the horseshoe rod second rocker pin (10.5) passes through the other hole of the second rocker (10.8) and the middle hole of the horseshoe rod (10.6) to form a hinge; the horseshoe rod parallel rod pin (10.10) passes through the other hole of the horseshoe rod (10.6) and the second rocker pin... The rocker arm and the parallel rod (10.12) are connected by holes to form a hinge; the parallel rod triangular plate pin (10.13) passes through another hole of the parallel rod (10.12) and the three pin holes to form an equilateral triangle plate (10.11), and the remaining hole forms a hinge; the second rocker arm (10.8), the horseshoe rod (10.6), the parallel rod (10.12) and the three pin holes are connected to form an equilateral triangle plate (10.11) to form a parallelogram mechanism; all pins are equipped with shaft elastic retaining rings, and the shaft elastic retaining rings are used to achieve axial positioning of the pins, and the crank (10.1) rotates counterclockwise.

9. The driverless sightseeing mechanical carriage according to claim 1, characterized in that... The intelligent control system (11) consists of a control cabinet (11.1) and a control module (11.2). The control module (11.2) includes a sightseeing mechanical carriage control module (11.2.1) and an L2++ intelligent driving kit (11.2.2), which are placed inside the control cabinet (11.1).

10. The driverless sightseeing mechanical carriage according to claim 1, characterized in that... The camera group (13) consists of a front low-angle wide-angle camera (13.1), a rear-view camera (13.2), a rear-view camera mounting plate (13.3), a right-side camera (13.4), a right-side camera mounting plate (13.5), a front main camera (13.6), a front main camera mounting plate (13.7), a left-side camera (13.8), and a left-side camera mounting plate (13.9). The front low-angle wide-angle camera (13.1) is installed at the front of the control cabinet (11.1), and the rear-view camera (13.2) is installed... The rear-view camera mounting plate (13.3) is fastened to the rear end of the sunshade panel (4) by fasteners. The right-side camera (13.4) is mounted on the right-side camera mounting plate (13.5) fastened to the front end of the sunshade panel (4) by fasteners. The front-view main camera (13.6) is mounted on the front-view main camera mounting plate (13.7) fastened to the middle of the front end of the sunshade panel (4) by fasteners. The left-side camera (13.8) is mounted on the left-side camera mounting plate (13.9) fastened to the front end of the sunshade panel (4) by fasteners.

11. The driverless sightseeing mechanical carriage according to claim 1, characterized in that... The millimeter-wave radar group (14) consists of a radar front mounting plate (14.1), a right front corner radar (14.2), a front main long-range radar (14.3), a left front corner radar (14.4), a right rear corner radar mounting plate (14.5), a right rear corner radar (14.6), a left rear corner radar (14.7), and a left rear corner radar mounting plate (14.8). The radar (14.4) is installed on the right, middle and left sides of the radar front mounting plate (14.1) which is fixed to the front of the chassis frame (5) by fasteners. The right rear corner radar (14.6) is installed on the right rear corner radar mounting plate (14.5) which is fixed to the rear end of the seat base plate (16) by fasteners. The left rear corner radar (14.7) is installed on the left rear corner radar mounting plate (14.8) which is fixed to the rear end of the seat base plate (16) by fasteners.

12. A control method for an unmanned sightseeing mechanical carriage, applied to the unmanned sightseeing mechanical carriage according to any one of claims 1-11, characterized in that, Includes the following steps: S1. When a person presses the start power button on the button control panel (15), the de-energized equipment is powered on. S2, The control module (11.2) sends a command to the electrical control cabinet (6.3.7) of the wound magnetic brake (6.3) to cut off the power and stop the braking; S3, manually press the button on the control panel (15) to select the current scenic area location, the desired scenic area location, and the vehicle start moving forward button; S4, Control module (11.2) extracts camera images and millimeter-wave radar data; S5. The control module (11.2) loads the scenic area road map, performs map matching, plans the route from the starting point to the end point, and generates driving control commands. S6. The control module (11.2) periodically and synchronously collects intersection traffic signals, braking demand signals, driving intention signals, turning signals, and signals of manual pressing of the emergency stop button. S7, the control module (11.2) performs condition verification on the five types of acquired signals in parallel, and synchronously issues control commands based on the verification results of each group: S71. Intersection traffic signal: When the light is red, a command is sent to the motor controller (8.34) to control the drive motor (8.32) to stop rotating. At the same time, a command is sent to the electrical control cabinet (6.3.7) to energize the coil of the inner-wound shaft (6.3.3) to generate magnetic force, braking the sixth shaft (6.1) and the seventh shaft (6.5), stopping the vehicle and waiting for the red light. When the light is green, a command is sent to the electrical control cabinet (6.3.7) to de-energize the coil of the inner-wound shaft (6.3.3), no longer braking the sixth shaft (6.1) and the seventh shaft (6.5). At the same time, a command is sent to the motor controller (8.34) to control the drive motor (8.32) to rotate, smoothly increasing the output speed to achieve straight-ahead movement according to the road regulations, or following the vehicle in front according to the speed of the vehicle in front. S72, Braking Request Signal: When the verification indicates that braking is required for deceleration or stopping, a command is sent to the electrical control cabinet (6.3.7) to energize the coil of the wound shaft (6.3.3) to generate magnetic force, braking the sixth shaft (6.1) and the seventh shaft (6.5); when the verification indicates that braking is complete and braking is no longer required, a command is sent to the electrical control cabinet (6.3.7) to de-energize the coil of the wound shaft (6.3.3) to stop braking the sixth shaft (6.1) and the seventh shaft (6.5). S73, Driving Intent Signal: When the signal is verified to be straight, following, overtaking, or stopping, a command is sent to the motor controller (8.34) to control the speed of the drive motor (8.32) to achieve straight driving at the speed specified by the road, or following the vehicle in front at the speed of the vehicle in front, or accelerating to overtake the vehicle in front, or controlling the drive motor (8.32) to stop to achieve stopping; S74, Reversing and Turning Signal: When the verification indicates that a reversing and turning signal is required, a command is sent to the motor controller (8.34) to control the drive motor (8.32) to slow down. At the same time, a command is sent to the push rod motor (6.4.5) to make the push rod stop when the backward distance reaches the design value, so that the sixth shaft (6.1) and the seventh shaft (6.5) are separated. At the same time, a command is sent to the left and right electrical control cabinets (6.3.7) to make the coil of the wound shaft (6.3.3) generate different braking forces with different currents, so that the two wheels (2) on the left and right of the front axle generate a speed difference and turn left and right. When the verification indicates that the turning is completed and no further turning is required, a command is sent to the electrical control cabinet (6.3.7) to de-energize the coil of the wound shaft (6.3.3) and stop braking the sixth shaft (6.1) and the seventh shaft (6.5). Then, a command is sent to the push rod motor (6.4.5) to make the push rod stop after advancing to the limit design reserved magnetic gap value, so that the sixth shaft (6.1) and the seventh shaft (6.5) are engaged and rotate at the same speed. S75. When the emergency stop button is manually pressed, the system verifies that the emergency stop button has been pressed manually. In this case, the system sends a command to the motor controller (8.34) to control the drive motor (8.32) to stop rotating. S8, Verify arrival signal: If the verification indicates that the destination has not been reached, return to S4 for cyclical acquisition and execution; if the verification indicates that the destination has been reached, the control module (11.2) sends a command to the motor controller (8.34) to control the drive motor (8.32) to stop rotating; at the same time, it sends a command to the electrical control cabinet (6.3.7) to control the coil of the wound shaft (6.3.3) to be energized to generate magnetic force, braking the sixth shaft (6.1) and the seventh shaft (6.5), putting them in a parking braking state; then, except for the electrical control cabinet ( 6.3.7) Power off all other equipment except for the one that is powered on.

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