Unmanned target vehicle direction control device

Abstract

The utility model discloses an unmanned target vehicle direction control device, and belongs to the technical field of target vehicle direction control. The device comprises a motor assembly, a steering mechanism is connected to an output shaft of the motor assembly, and a fixing disc is arranged at the other end of the steering mechanism; the steering mechanism comprises a steering column and two universal joints, and the two ends of the steering column are connected with the two universal joints respectively. The motor assembly comprises a controller and a motor, the controller is electrically connected with the motor, and a positioning module and a route correction module are further arranged in the controller. The motor assembly drives the steering mechanism and the steering wheel to act, so that automatic driving of the target vehicle is achieved; and the deviation value of the current position of the profiling motion target vehicle is obtained by comparing the current position of the profiling motion target vehicle with the driving target position, and a direction motor is controlled to rotate forwards and backwards through a PID algorithm, so that the position of the profiling motion target vehicle is corrected, and the profiling motion target vehicle moves along a target route all the time.

Description

Technical Field

[0001] The utility model relates to the technical field of target vehicle direction control, and more specifically to a direction control device for an unmanned target vehicle. Background Art

[0002] Unmanned target vehicles are widely used to simulate real battlefield environments and provide moving targets. The direction control device of the unmanned target vehicle mainly includes:

[0003] 1. Autonomous Driving Technology: The core of the unmanned target vehicle's directional control system lies in autonomous driving technology, which involves path planning, positioning and navigation, and vehicle control. Currently, autonomous driving technology mainly relies on vision, lidar, and GPS navigation technologies.

[0004] 2. Sensor Technology: To achieve environmental perception, the unmanned target vehicle's steering control system needs to be equipped with a variety of sensors, such as cameras, lidar, and ultrasonic sensors. These sensors are responsible for collecting information about the road and obstacles around the vehicle.

[0005] 3. Control Algorithms: Precisely controlling the direction of an unmanned target vehicle requires advanced control algorithms, such as PID control, fuzzy control, and adaptive control. These algorithms adjust the vehicle's direction based on sensor data to ensure it follows the intended path.

[0006] 4. Mechanical Structure Design: The mechanical structure design of the unmanned target vehicle's steering control system must consider the vehicle's stability and steering accuracy. If the unmanned target vehicle's steering control system lacks stability, it can easily cause the vehicle to deviate from its intended route. To address this issue, we propose a steering control system for an unmanned target vehicle. Utility Model Content

[0007] The purpose of the present invention is to provide a direction control device for an unmanned target vehicle to solve the problems raised in the above background technology.

[0008] To achieve the above purpose, the present invention provides the following technical solutions:

[0009] A direction control device for an unmanned target vehicle comprises a motor assembly, an output shaft of the motor assembly is connected to a steering mechanism, the other end of the steering mechanism is provided with a fixed plate, and a fixing assembly is provided on the fixed plate;

[0010] The steering mechanism includes a steering column and two universal joints, and both ends of the steering column are respectively connected to the two universal joints.

[0011] Preferably, the motor assembly includes a controller and a motor, the controller is electrically connected to the motor, and a positioning module and a route correction module are also provided in the controller and are electrically connected to each other.

[0012] Preferably, the output shaft of the motor assembly is connected to one of the universal joints, and the other universal joint is connected to the fixed plate.

[0013] Preferably, the fixing assembly is a bolt, a mounting hole is provided on the fixing plate, and the bolt is threadedly engaged with the mounting hole.

[0014] Preferably, a mounting cavity is formed on the fixing plate, and the fixing assembly includes two clamping plates arranged opposite to each other, and the clamping plates are slidably engaged with the mounting cavity;

[0015] An adjusting rod is provided between the two clamping plates. Two threaded sections with opposite thread directions are relatively provided on the adjusting rod. The threaded sections are threadedly connected to the clamping plates.

[0016] Preferably, limit plates are provided on both sides of the installation cavity, the limit plates pass through the two clamping plates in sequence, and the clamping plates are slidably matched with the limit plates.

[0017] Preferably, a groove is provided at one end of the splint away from the adjusting rod, a spring telescopic rod is provided in the groove, the end of the spring telescopic rod is connected to a baffle, the baffle is slidably fitted in the groove, and the baffle is an L-shaped structure.

[0018] Compared with the prior art, the beneficial effects of the present invention are:

[0019] This utility model uses a motor assembly to drive the steering mechanism and steering wheel, thereby achieving automatic driving of the target vehicle. During automatic driving, the controller obtains the current target vehicle position through differential GPS and uses the deviation value of the current position of the target vehicle to compare with the driving target position to control the forward and reverse rotation of the steering motor through a PID algorithm, thereby achieving correction of the position of the target vehicle, so that it always moves along the target route. The utility model provides a fixing assembly on the fixing plate to achieve rapid installation of the control device and the target vehicle steering wheel, while ensuring stable installation and facilitating accurate control of the steering wheel. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the overall structure of the first embodiment of the utility model;

[0021] Figure 2 This is a schematic diagram of the overall structure of the second embodiment of the present utility model;

[0022] Figure 3 This is a schematic structural diagram of a fixed plate according to a second embodiment of the present invention;

[0023] Figure 4 This is a schematic diagram of the connection between the fixed plate and the steering wheel according to the second embodiment of the present invention.

[0024] Explanation of the numbers in the figure: 1. Motor assembly; 2. Steering mechanism; 201. Universal joint; 202. Steering column; 3. Fixed plate; 301. Mounting cavity; 4. Clamp; 5. Adjustment rod; 6. Limit plate; 7. Baffle; 8. Steering wheel. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0026] Example 1:

[0027] See also Figure 1 A direction control device for an unmanned target vehicle includes a motor assembly 1. The output shaft of the motor assembly 1 is connected to a steering mechanism 2. The other end of the steering mechanism 2 is provided with a fixed plate 3. A fixed assembly is provided on the fixed plate 3. The fixed plate 3 is used to connect to the steering wheel. The motor assembly 1 is fixedly installed inside the target vehicle.

[0028] The motor assembly 1 includes a controller and a motor. The controller is electrically connected to the motor. The controller is used to control the forward and reverse rotation of the motor. The controller is also provided with a positioning module and a route correction module that are electrically connected to each other. The positioning module is used to obtain the current position of the target vehicle. The route correction module is used to compare the current position of the target vehicle with the target position of the target vehicle to obtain the deviation value of the current position of the target vehicle, and control the forward and reverse rotation of the direction motor through the PID algorithm, thereby realizing the correction of the position of the contour-profiling target vehicle so that it always moves along the target route.

[0029] The steering mechanism 2 includes a steering column 202 and two universal joints 201. The two ends of the steering column 202 are connected to the two universal joints 201. The motor assembly 1 drives the steering mechanism 2, thereby driving the steering wheel of the target vehicle. The output shaft of the motor assembly 1 is connected to one of the universal joints 201, while the other universal joint 201 is connected to the fixed plate 3. The motor assembly 1 drives the connected universal joints 201 to rotate. The rotation of the universal joint 201 at one end drives the steering column 202. The steering column 202 drives the universal joint 201 at the other end. The universal joint 201 at the other end drives the fixed plate 3, thereby rotating the steering wheel connected to the fixed plate 3.

[0030] Among them, the fixing component is a bolt, a mounting hole is opened on the fixing plate 3, the bolt is threadedly matched with the mounting hole, and a threaded hole matching the bolt is opened on the steering wheel of the target vehicle. The fixing plate 3 and the steering wheel are fixed by bolts, and can also be fixed by bolts and nuts.

[0031] When the utility model is in use, the steering is turned to the right when the motor rotates clockwise, and the steering is turned to the left when the motor rotates counterclockwise; during automatic driving, the controller obtains the current position of the target vehicle through differential GPS, and uses the deviation value of the current position of the contour-profiling target vehicle obtained by comparing the current position of the contour-profiling target vehicle with the driving target position, and controls the forward and reverse rotation of the steering motor through the PID algorithm, thereby realizing the correction of the position of the contour-profiling target vehicle, so that it always moves along the target route.

[0032] Example 2:

[0033] See also Figure 2-4 , which is different from the first embodiment in that: a mounting cavity 301 is formed on the fixed plate 3, and the fixing assembly includes two clamping plates 4 arranged opposite to each other. The clamping plates 4 are located in the mounting cavity 301, and the mounting cavities 301 are extended at both ends. The clamping plates 4 are slidably engaged with the mounting cavities 301. The two clamping plates 4 can move relative to each other along the length direction of the mounting cavity 301, thereby clamping the steering wheel. That is, the two clamping plates 4 clamp the spokes of the steering wheel to achieve fixation between the steering wheel and the fixed plate 3;

[0034] An adjusting rod 5 is provided between the two splints 4. Two threaded sections with opposite thread directions are relatively provided on the adjusting rod 5. The threaded sections are threadedly connected to the splint 4. Supports are provided at both ends of the adjusting rod 5. The adjusting rod 5 is rotatably connected to the supports. By rotating the adjusting rod 5, the two splints 4 can move relative to each other. The mounting cavity 301 limits the moving trajectory of the splint 4, so that the splint 4 can only move in a straight line along the length direction of the mounting cavity 301.

[0035] In a possible embodiment, a locking structure is provided on the support at the end of the adjusting rod 5, and the locking structure includes a sleeve and a pin. The sleeve is sleeved on the adjusting rod 5 and there is a gap between the sleeve and the adjusting rod 5. A plurality of pin holes are provided on the adjusting rod 5. When the splint 4 clamps the spokes, the pins are sequentially extended through the sleeve to the pin holes to achieve locking of the adjusting rod 5 and prevent the adjusting rod 5 from rotating when accidentally touched.

[0036] In this application, limiting plates 6 are set on both sides of the installation cavity 301. The limiting plates 6 pass through the two clamps 4 in sequence. The clamps 4 slide together with the limiting plates 6. The position of the clamps 4 is further limited by the setting of the limiting plates 6, so that the moving trajectory of the clamps 4 is stable.

[0037] In this application Figure 4 As shown in the figure, a groove is provided at one end of the splint 4 away from the adjusting rod 5, and a spring telescopic rod is provided in the groove. The end of the spring telescopic rod is connected to a baffle 7, which slides in cooperation with the groove. The baffle 7 is an L-shaped structure. The outer side surface of the spoke can be clamped by setting the baffle 7. The baffle 7 is pulled outward and the spring telescopic rod is used to provide tension so that the outer side surface of the spoke abuts against the horizontal part of the outer end of the baffle 7, thereby improving the stability and tightness of the fixation of the splint 4.

[0038] In this embodiment, when the fixing plate 3 is connected to the steering wheel of the target vehicle, the fixing assembly is aligned with the spokes on the steering wheel so that the spokes are located between the two clamping plates 4. Then, the adjusting rod 5 is rotated to make the two clamping plates 4 relatively close to each other, and then the baffle 7 is pulled outward so that the inner side of the baffle 7 contacts the outer side of the spokes. The adjusting rod 5 is continued to be rotated until the two clamping plates 4 clamp the spokes of the steering wheel of the target vehicle, and finally the adjusting rod 5 is locked.

[0039] The above shows and describes the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely preferred examples of the present invention and are not intended to limit the present invention. Various changes and improvements may be made to the present invention without departing from the spirit and scope of the present invention, and such changes and improvements fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A direction control device for an unmanned target vehicle, comprising a motor assembly (1), characterized in that: The output shaft of the motor assembly (1) is connected to a steering mechanism (2), the other end of the steering mechanism (2) is provided with a fixing plate (3), and the fixing plate (3) is provided with a fixing assembly; The steering mechanism (2) comprises a steering column (202) and two universal joints (201), and two ends of the steering column (202) are respectively connected to the two universal joints (201); The motor assembly (1) comprises a controller and a motor, the controller being electrically connected to the motor, and the controller also being provided with a positioning module and a route correction module which are electrically connected to each other.

2. The direction control device of an unmanned target vehicle according to claim 1, characterized in that: The output shaft of the motor assembly (1) is connected to one of the universal joints (201), and the other universal joint (201) is connected to the fixed disk (3).

3. The direction control device of an unmanned target vehicle according to claim 2, characterized in that: The fixing assembly is a bolt, a mounting hole is provided on the fixing plate (3), and the bolt is threadedly matched with the mounting hole.

4. The direction control device of an unmanned target vehicle according to claim 1, characterized in that: The fixing plate (3) is provided with a mounting cavity (301), and the fixing assembly comprises two clamping plates (4) arranged opposite to each other, and the clamping plates (4) are slidably matched with the mounting cavity (301); An adjusting rod (5) is provided between the two clamping plates (4), and two threaded sections with opposite thread directions are provided on the adjusting rod (5), and the threaded sections are threadedly connected to the clamping plates (4).

5. The direction control device of an unmanned target vehicle according to claim 4, characterized in that: Limiting plates (6) are arranged on both sides of the installation cavity (301), and the limiting plates (6) pass through two clamping plates (4) in sequence, and the clamping plates (4) are slidably matched with the limiting plates (6).

6. The direction control device of an unmanned target vehicle according to claim 4, characterized in that: A groove is formed at one end of the clamping plate (4) away from the adjusting rod (5), a spring telescopic rod is arranged in the groove, a baffle (7) is connected to the end of the spring telescopic rod, the baffle (7) is slidably engaged with the groove, and the baffle (7) is an L-shaped structure.

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