Remote cockpit and remote driving system

Abstract

The utility model discloses a remote cockpit and a remote driving system. The remote cockpit comprises a cabin body and a motion platform, the cabin body comprises a driving operation mechanism and a driving position, the driving operation mechanism is used for controlling transverse movement and / or longitudinal movement of a to-be-controlled vehicle, the driving position is used for a remote driver to operate the driving operation mechanism, and the motion platform comprises a driving assembly connected to the cabin body. The driving assembly can move so as to drive the cabin body to move in the designated direction. In this way, the motion platform can transmit the real-time posture of the vehicle to a remote driver, and vivid driving experience is provided.

Description

Technical Field

[0001] The utility model relates to the technical field of intelligent driving, in particular to a remote cockpit and a remote driving system. Background Art

[0002] When mining in an open-pit mine, unmanned vehicles can be used to carry out mining and other related work in the open-pit mine. When an unmanned vehicle stops due to a malfunction or obstacle, if it still has the ability to control by wire, it can be taken over by remote control to get the unmanned vehicle out of trouble, thereby ensuring the smooth operation efficiency of the open-pit mining site. The existing remote cockpit cannot simulate the actual driving conditions of the vehicle well, which will affect the dispatcher's judgment of the actual situation. Utility Model Content

[0003] A series of simplified concepts are introduced in the utility model content section, which will be further described in detail in the detailed implementation section. The utility model content section of the utility model does not mean to attempt to define the key features and essential technical features of the technical solution claimed for protection, nor does it mean to attempt to determine the scope of protection of the technical solution claimed for protection.

[0004] According to a first aspect of the utility model, a remote cockpit is provided, the remote cockpit comprising:

[0005] a cabin, the cabin comprising a driving operating mechanism and a driving position, the driving operating mechanism being used to control the lateral movement and / or longitudinal movement of the vehicle to be controlled, the driving position being used for a remote driver to operate the driving operating mechanism; and

[0006] The motion platform comprises a driving assembly, wherein the driving assembly is connected to the cabin and is movable to drive the cabin to move in a specified direction.

[0007] According to the remote cockpit of the present application, the remote cockpit includes a cabin and a motion platform, the cabin includes a driving operation mechanism and a driving position, the driving operation mechanism is used to control the lateral movement and / or longitudinal movement of the vehicle to be controlled, the driving position is used for the remote driver to operate the driving operation mechanism, and the motion platform includes a driving component, the driving component is connected to the cabin, and the driving component can move to drive the cabin to move in a specified direction. In this way, the motion platform can transmit the real-time posture of the vehicle to the remote driver, providing a realistic driving experience.

[0008] Optionally, the driving assembly includes a motor and a swinging member, the top of the swinging member is connected to the cabin body, and the motor can drive the swinging member to move along the height direction of the cabin body.

[0009] Optionally, the driving assembly further includes a rotating member, one end of which is connected to the motor, and the other end of which is rotatably connected to the swing member, and the rotating member can drive the swing member to rotate around a swing axis, and the swing axis intersects with the height direction.

[0010] Optionally, the motion platform also includes an upper support member and a lower support member, the upper support member and the lower support member are arranged at intervals along the height direction of the cabin, the lower support member is used to support the driving assembly, and the swing member of the driving assembly is connected to the cabin through the upper support member.

[0011] Optionally, the drive assembly further comprises a universal bearing, which connects the swing member and the upper supporting member, a ball groove is provided on the top of the swing member, the universal bearing is located in the ball groove, and the swing member can rotate relative to the universal bearing.

[0012] Optionally, the driving assembly further comprises a deceleration member, the motor comprises an output shaft, and the output shaft is connected to the swinging member via the deceleration member.

[0013] Optionally, there are multiple drive assemblies, and the multiple drive assemblies are arranged at intervals.

[0014] Optionally, a plurality of the drive assemblies are arranged in a triangle.

[0015] Optionally, the designated direction includes a height direction, a longitudinal direction and / or a lateral direction of the cabin.

[0016] Optionally, a swing member of the drive assembly moves to control the pitch angle and / or roll angle of the cabin, or,

[0017] The swing components of the plurality of driving assemblies are respectively moved to different positions to control the pitch angle and / or roll angle of the cabin.

[0018] Optionally, the driving operating mechanism includes a steering wheel, a shift member and a pedal.

[0019] The present application also provides a remote driving system, which includes the above-mentioned remote cockpit and a vehicle to be controlled, wherein a communication connection is established between the vehicle to be controlled and the remote cockpit, and the remote cockpit is used to remotely control the driving of the vehicle to be controlled.

[0020] The remote driving system according to the present application includes the above-mentioned remote cockpit and the vehicle to be controlled, the vehicle to be controlled and the remote cockpit establish a communication connection, the remote cockpit is used to remotely control the driving of the vehicle to be controlled, the remote cockpit includes a cabin and a motion platform, the cabin includes a driving operating mechanism and a driving position, the driving operating mechanism is used to control the lateral movement and / or longitudinal movement of the vehicle to be controlled, the driving position is used for the remote driver to operate the driving operating mechanism, and the motion platform includes a driving component, the driving component is connected to the cabin, and the driving component can move to drive the cabin to move in a specified direction. In this way, the motion platform can transmit the real-time posture of the vehicle to the remote driver, providing a realistic driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The following drawings of the present invention are used as part of the present invention for understanding the present invention. The drawings show the implementation of the present invention and its description, and are used to explain the device and principle of the present invention. In the drawings,

[0022] Figure 1 A perspective view of a remote cockpit according to a preferred embodiment of the present invention; and

[0023] Figure 2 for Figure 1 A partial three-dimensional schematic diagram of the motion platform shown.

[0024] Description of reference numerals:

[0025] 100: Remote cockpit 110: Cabin

[0026] 111: Driving seat 112: Steering wheel

[0027] 113: pedal 114: display member

[0028] 115: Button panel 116: Support plate

[0029] 117: Countertop 118: Drawer

[0030] 119: Hatch 120: Plug

[0031] 121: Rear light 150: Sports platform

[0032] 160: Drive assembly 161: Motor

[0033] 162: Swinging member 163: Rotating member

[0034] 164: Universal bearing 165: Speed ​​reduction component

[0035] 171: Upper support member 172: Lower support member DETAILED DESCRIPTION

[0036] In the following description, a large number of specific details are given to provide a more thorough understanding of the utility model. However, it is obvious to those skilled in the art that the utility model can be implemented without one or more of these details. In other examples, in order to avoid confusion with the utility model, some technical features known in the art are not described.

[0037] In order to fully understand the present invention, detailed parts will be presented in the following description to illustrate the present invention. Obviously, the implementation of the present invention is not limited to the specific details familiar to those skilled in the art. The preferred embodiments of the present invention are described in detail below, but in addition to these detailed descriptions, the present invention may also have other embodiments and should not be construed as being limited to the embodiments presented here.

[0038] It should be understood that the purpose of the terms used herein is only to describe specific embodiments and is not intended to limit the present invention. The singular forms "one", "an" and "said / the" are also intended to include plural forms, unless the context clearly indicates otherwise. When the terms "comprise" and / or "include" are used in this specification, they indicate the presence of the features, wholes, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof. The terms "upper", "lower", "front", "back", "left", "right" and similar expressions used in the present invention are for illustrative purposes only and are not limiting.

[0039] Ordinal numbers such as "first" and "second" cited in the present invention are merely identifiers and do not have any other meanings, such as a specific order, etc. In the present invention, unless otherwise clearly specified and limited, a first feature "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact through another feature between them. Moreover, a first feature "above", "above" and "above" a second feature include the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature "below", "below" and "below" a second feature include the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0040] Hereinafter, specific embodiments of the present invention will be described in more detail with reference to the accompanying drawings. These drawings show representative embodiments of the present invention and are not intended to limit the present invention.

[0041] When mining in an open-pit mine, unmanned vehicles can be used to carry out mining and other related work in the open air. When an unmanned vehicle stops due to a malfunction or obstacle, if it still has the ability to control by wire, it can take over the unmanned vehicle through remote control to free the vehicle to be controlled, thereby ensuring the smooth operation efficiency of the open-pit mining site.

[0042] In order to ensure the smooth operation efficiency of the open-pit mining site, the open-pit mine dispatch center currently monitors the status of the unmanned vehicle by dispatching personnel through monitoring videos and real-time information of the unmanned vehicle sent back by the truck dispatching platform. Once an abnormality is found in the vehicle, the dispatching personnel immediately notify the remote driver verbally or through the dispatching platform to perform the remote takeover task, so that the unmanned vehicle driving is switched from automatic driving to remote manual driving. Therefore, the utility model provides a remote cockpit 100 of a preferred embodiment, and the remote driver can remotely and manually drive the vehicle to be controlled through the remote cockpit 100.

[0043] It can be understood that the unmanned vehicles mentioned above can also be unmanned vehicles such as automatic driving vehicles, all of which can realize automatic driving of vehicles without anyone. From the application scenario, the unmanned vehicle of the exemplary embodiment of the present disclosure can be used in mining, such as open-pit mining, coal mining and various other unmanned driving application scenarios.

[0044] Specifically, Figure 1 As shown, the remote cockpit 100 includes a cabin 110, and the cabin 110 is used for the remote driver to enter to perform simulated operations. The cabin includes a driving operating mechanism and a driving position, and the driving operating mechanism is used to control the lateral movement and / or longitudinal movement of the vehicle to be controlled. The driving position is used for the remote driver to operate the driving operating mechanism. The remote driver can operate in the cabin 110 to remotely control the vehicle to be controlled. It should be noted that the driving operating mechanism may only include relevant mechanisms for controlling the lateral movement of the vehicle to be controlled (so that the remote driver only needs to control the lateral movement of the vehicle to be controlled, without the need for longitudinal control), or may only include relevant mechanisms for controlling the longitudinal movement of the vehicle to be controlled (so that the remote driver only needs to control the longitudinal movement of the vehicle to be controlled, without the need for lateral control).

[0045] As an optional embodiment, the driving operating mechanism includes a throttle, which is used to control the longitudinal movement of the vehicle to be controlled, such as forward or backward. The driving operating mechanism includes a brake, which is used to control the longitudinal movement of the vehicle to be controlled, such as stopping. As another optional embodiment, the driving operating mechanism includes a steering wheel 112, which is used to control the lateral movement of the vehicle to be controlled, such as turning left or right.

[0046] As another optional implementation, the driving operating mechanism includes an accelerator, a brake and a steering wheel, so that the vehicle to be controlled can be controlled to move laterally and longitudinally.

[0047] In order to simulate the actual road conditions more realistically, the remote cockpit 100 further includes a motion platform 150, which is located below the cabin 110 along the height direction of the cabin 110. The motion platform 150 is located at the bottom of the remote cockpit 100. In this way, the motion platform 150 can support the cabin 110. The motion platform 150 is connected to the cabin 110 to drive the cabin 110 to move. The motion platform 150 and the cabin 110 are designed in a split modular manner, and the cabin 110 can be used alone or in combination with the motion platform 150 according to actual needs and usage scenarios.

[0048] The motion platform 150 includes a drive assembly 160, which is connected to the cabin 110 to drive the cabin 110 to move. The drive assembly 160 can move to drive the cabin 110 to move in a specified direction. The drive assembly 160 can drive the cabin 110 to make different degrees of movement, thereby simulating road conditions in different situations. The specified direction includes the height direction, longitudinal direction and / or lateral direction of the cabin 110. For example, the drive assembly 160 can drive the lateral movement of the cabin 110, thereby simulating the lateral movement of the vehicle to be controlled, so that the remote driver can control the movement of the vehicle to be controlled according to the simulated lateral movement, and then feedback to the actual driving of the vehicle to be controlled. The drive assembly 160 can also drive the longitudinal movement of the cabin 110, thereby simulating the longitudinal movement of the vehicle to be controlled, so that the remote driver can control the movement of the vehicle to be controlled according to the simulated longitudinal movement, and then feedback to the actual driving of the vehicle to be controlled. The driving assembly 160 can also drive the height direction of the cabin 110, thereby simulating the height direction of the vehicle to be controlled, so that the remote driver can control the movement of the vehicle to be controlled according to the simulated height direction, and then feedback to the actual driving of the vehicle to be controlled. The driving assembly 160 can drive both the lateral movement of the cabin 110 and the longitudinal movement of the cabin 110, and can drive the height direction movement of the cabin 110, thereby simulating the lateral movement and longitudinal movement of the vehicle to be controlled, so that the remote driver can control the movement of the vehicle to be controlled according to the simulated lateral movement and longitudinal movement, and then feedback to the actual driving of the vehicle to be controlled.

[0049] According to the remote cockpit 100 of the present application, the remote cockpit 100 includes a cabin 110 and a motion platform 150. The cabin 110 includes a driving operation mechanism and a driving position. The driving operation mechanism is used to control the lateral movement and / or longitudinal movement of the vehicle to be controlled. The driving position is used for the remote driver to operate the driving operation mechanism. The motion platform 150 includes a driving component 160. The driving component 160 is connected to the cabin 110. The driving component 160 can move to drive the cabin 110 to move in a specified direction. In this way, the motion platform 150 can transmit the real-time posture of the vehicle to the remote driver, providing a realistic driving experience.

[0050] Optionally, there are multiple drive assemblies, and the multiple drive assemblies 160 are arranged at intervals and are all connected to the cabin 110. The multiple drive assemblies 160 can be arranged at intervals along the length direction of the cabin 110, and the multiple drive assemblies 160 can also be arranged at intervals along the width direction of the cabin 110. The multiple drive assemblies 160 can stably support the cabin 110 to prevent the cabin 110 from tipping over due to uneven force. Figure 2 In the illustrated embodiment, the motion platform 150 includes three drive assemblies 160, and the three drive assemblies 160 are arranged at intervals. The three drive assemblies 160 are all connected to the cabin 110. Preferably, the three drive assemblies 160 are arranged in a triangle. Of course, the motion platform 150 can also include other numbers of drive assemblies 160, such as two, four or more, and the multiple drive assemblies 160 are arranged in a triangle. Multiple motion assemblies can stably drive the cabin 110 to move, and the present embodiment does not limit the number of drive assemblies 160.

[0051] Further, the plurality of drive assemblies 160 can move separately, and the plurality of drive assemblies 160 can move simultaneously, or can move at different times, or can move at least partially simultaneously. The motion platform 150 further includes a controller, and the controller is located at the bottom of the remote cockpit 100. The controller is used to control the movement of the plurality of drive assemblies 160 separately. Each drive assembly 160 can move independently, so as not to affect the movement of other drive assemblies 160.

[0052] For example, the plurality of drive assemblies 160 include a first drive assembly, a second drive assembly and a third drive assembly, and the first drive assembly, the second drive assembly and the third drive assembly are arranged at intervals. Preferably, the first drive assembly, the second drive assembly and the third drive assembly are arranged in a triangle. Optionally, the first drive assembly, the second drive assembly and the third drive assembly can move simultaneously. Optionally, the first drive assembly, the second drive assembly and the third drive assembly can also move at different times. Optionally, at least two of the first drive assembly, the second drive assembly and the third drive assembly move simultaneously. At least some of the plurality of drive assemblies 160 move simultaneously. Thus, the plurality of drive assemblies 160 can drive the cabin 110 to make different degrees of movement, thereby simulating road conditions in different situations.

[0053] The plurality of drive assemblies 160 move respectively to drive the cabin 110 to move in the height direction of the cabin 110. The plurality of drive assemblies 160 can simultaneously move in the height direction of the cabin 110 to drive the cabin 110 to move in the height direction of the cabin 110. In particular, the plurality of drive assemblies 160 can simultaneously move linearly in the height direction of the cabin 110 to drive the cabin 110 to move linearly in the height direction of the cabin 110.

[0054] The plurality of drive assemblies 160 may also move incompletely at the same time, so that the cabin 110 can tilt and move. For example, a portion of the drive assemblies 160 moves simultaneously along the height direction of the cabin 110, while another portion of the drive assemblies 160 does not move. Furthermore, the movement displacements of a portion of the drive assemblies 160 are not completely the same. In this way, a height difference is formed between the plurality of drive assemblies 160, so that the cabin 110 tilts and moves.

[0055] For example, the plurality of drive assemblies 160 include a first drive assembly, a second drive assembly, a third drive assembly and a fourth drive assembly, and the first drive assembly, the second drive assembly, the third drive assembly and the fourth drive assembly are arranged at intervals. The first drive assembly, the second drive assembly, the third drive assembly and the fourth drive assembly are all connected to the cabin 110. The first drive assembly, the second drive assembly, the third drive assembly and the fourth drive assembly do not move completely at the same time. The first drive assembly, the second drive assembly and the third drive assembly can move at the same time, and the fourth drive assembly does not move. The movement displacements of the first drive assembly, the second drive assembly and the third drive assembly can be exactly the same. The movement displacements of the first drive assembly, the second drive assembly and the third drive assembly can be completely different.

[0056] The movement displacements of the first drive assembly, the second drive assembly, and the third drive assembly may not be completely the same. The movement displacements of the first drive assembly and the second drive assembly may be the same, the movement displacements of the third drive assembly and the first drive assembly are different, and the movement displacements of the third drive assembly and the second drive assembly are different. Thus, the first drive assembly, the second drive assembly, the third drive assembly, and the fourth drive assembly together form a height difference, so that the cabin 110 tilts and moves.

[0057] Specifically, Figure 2 As shown, the driving assembly 160 includes a motor 161 and a swing member 162, and the motor 161 is connected to the swing member 162. The motor 161 includes an output shaft, and the output shaft of the motor 161 is connected to the swing member 162. The rotation of the output shaft of the motor 161 can drive the swing member 162 to move. Preferably, the rotation of the output shaft of the motor 161 can drive the swing member 162 to move along the height direction of the cabin 110. The top of the swing member 162 is connected to the cabin 110, and the swing member 162 moves along the height direction of the cabin 110, which can drive the cabin 110 to move. The motor 161 can drive the swing member 162 to move along the height direction of the cabin 110. The motors 161 of the multiple driving assemblies 160 output power respectively to drive their respective swing members 162 to move, so that the cabin 110 can move along the height direction of the cabin 110 and can also make the cabin 110 tilt and move.

[0058] The motors 161 of the multiple drive assemblies 160 can output the same power at the same time, so that the rotation speeds of the output shafts of the respective motors 161 are the same, and the displacements of the respective swing members 162 are the same, so that the cabin 110 can move linearly along the height direction of the cabin 110. The motors 161 of the multiple drive assemblies 160 can also output power at different times, so that the output shafts of the respective motors 161 do not rotate at the same time, and the swing members 162 do not move at the same time, so that the cabin 110 can tilt and move. The motors 161 of the multiple drive assemblies 160 can also output different powers, so that the rotation speeds of the output shafts of the respective motors 161 are different, and the displacements of the respective swing members 162 are different, so that the cabin 110 can tilt and move.

[0059] In order to enable the swing member 162 to be stably connected to the support cabin 110, the motion platform 150 also includes an upper support member 171 and a lower support member 172, which are arranged at intervals along the height direction of the cabin 110. The upper support member 171 is configured as a frame structure. The lower support member 172 is configured as a frame structure. A plurality of drive assemblies 160 are mounted to the lower support member 172. The lower support member 172 is used to support the drive assembly 160. The drive assembly 160 is connected to the lower support member 172 through a connector. The lower support member 172 provides good support for the plurality of drive assemblies 160.

[0060] The swing member 162 of the driving assembly 160 is connected to the cabin 110 through the upper support member 171. A plurality of driving assemblies 160 are connected to the upper support member 171. A plurality of swing members 162 of the driving assemblies 160 are connected to the upper support member 171. The upper support member 171 is connected to the cabin 110. The upper support member 171 is connected to the bottom of the cabin 110 through a connector. The swing members 162 of the plurality of driving members are connected to the cabin 110 through the upper support member 171. In this way, the influence on the structural strength of the cabin 110 can be reduced.

[0061] In order to convert the rotation of the output shaft of the motor 161 into the movement of the swing member 162 along the height direction of the cabin 110, the driving assembly 160 also includes a rotating member 163, which connects the output shaft of the motor 161 and the swing member 162. One end of the rotating member 163 is connected to the motor 161, and the other end of the rotating member 163 is rotatably connected to the swing member 162. The rotating member 163 includes a rotating block and a rotating shaft connected vertically, one end of the rotating block is connected to the output shaft of the motor 161, and the other end of the rotating block is connected to the rotating shaft. The output shaft of the motor 161 rotates to drive the rotating block to rotate. The rotating block drives the rotating shaft to rotate. The rotating block can drive the rotating shaft to rotate around the swing axis. Preferably, the swing axis is parallel to the central axis of the output shaft of the motor 161. The swing axis intersects with the height direction of the cabin 110. Optionally, the swing axis is perpendicular to the height direction of the cabin 110. The rotating shaft is rotatably connected to the swing member 162. The swing member 162 is sleeved to the rotating shaft. The rotating member 163 can drive the swinging member 162 to rotate around the swing axis.

[0062] The swing member 162 includes a first rocker arm, a second rocker arm and an intermediate arm, and the intermediate arm connects the first rocker arm and the second rocker arm. The driving assembly 160 includes a first rotating shaft and a second rotating shaft, and the first rotating shaft and the second rotating shaft are arranged relatively along the swing axis. The first rocker arm is connected to the first rotating shaft, and the first rocker arm is rotatably connected to the first rotating shaft. For example, the first rocker arm can be sleeved on the first rotating shaft. The first rocker arm can rotate relative to the first rotating shaft. The first rocker arm can also rotate relative to the first rotating shaft around the axial direction of the first rotating shaft. A limiting structure is provided at the end of the first rotating shaft to limit the movement of the first rocker arm along the axial direction of the swing axis, thereby preventing the first rocker arm from being disengaged from the first rotating shaft. The rotation of the first rotating shaft around the swing axis can drive the first rocker arm to rotate around the swing axis. The first rocker arm rotates around the swing axis and can rotate relative to the first rotating shaft to avoid the first rocker arm and the first rotating shaft from being stuck to each other.

[0063] The second rocker arm is connected to the second rotating shaft. The second rocker arm is rotatably connected to the second rotating shaft. For example, the second rocker arm can be sleeved on the second rotating shaft. The second rocker arm can rotate relative to the second rotating shaft. The second rocker arm can also rotate relative to the second rotating shaft around the axial direction of the second rotating shaft. A limiting structure is provided at the end of the second rotating shaft to limit the movement of the second rocker arm along the axial direction of the swing axis, thereby preventing the second rocker arm from disengaging from the second rotating shaft. The rotation of the second rotating shaft around the swing axis can drive the second rocker arm to rotate around the swing axis. The second rocker arm rotates around the swing axis and can rotate relative to the second rotating shaft to avoid the second rocker arm and the second rotating shaft from getting stuck with each other.

[0064] The middle arm is connected to the upper support member 171. The first rocker arm rotates around the swing axis to generate displacement in the height direction of the cabin body 110, and the second rocker arm rotates around the swing axis to generate displacement in the height direction of the cabin body 110, thereby driving the middle arm to move in the height direction of the cabin body 110. In this way, the upper support member 171 can move in the height direction of the cabin body 110.

[0065] The swing axes of the rotating members 163 of the multiple driving assemblies 160 intersect. The swing members 162 of the multiple driving assemblies 160 are respectively connected to different positions of the upper support member 171. In this way, the driving assemblies 160 at different positions produce different movements, so that the cabin 110 tilts and moves. The driving assembly 160 also includes a universal bearing 164, which connects the swing member 162 and the upper support member 171. The universal bearing 164 is constructed as a ball bearing structure. A ball groove is provided at the top of the swing member 162. The universal bearing 164 is located in the ball groove. The universal bearing 164 is engaged with the ball groove. The swing member 162 can rotate relative to the universal bearing 164. The swing member 162 and the universal bearing 164 can be connected together by a ball hinge. There are multiple degrees of freedom in multiple directions between the swing member 162 and the universal bearing 164. In this way, the swing member 162 can be flexibly rotated relative to the upper supporting member 171, thereby preventing interference and jamming between the swing member 162 and the upper supporting member 171.

[0066] The driving assembly 160 also includes a reduction member 165, which is connected to the motor 161. The reduction member 165 can reduce the output speed of the motor 161. The reduction member 165 is connected to the output shaft of the motor 161. The output shaft of the motor 161 is connected to the swing member 162 through the reduction member 165. The output shaft of the motor 161 is connected to the two rocker arms (the first rocker arm and the second rocker arm) of the swing member 162 through the reduction member 165. The reduction member 165 includes a plurality of gears and two power shafts, and the two power shafts are respectively connected to the first rotating shaft and the second rotating shaft. The output shaft of the motor 161 can transmit power to the two power shafts through a plurality of gears, respectively, thereby driving the first rotating shaft and the second rotating shaft to rotate, and then driving the first rocker arm and the second rocker arm to rotate.

[0067] The plurality of drive assemblies 160 include a first drive assembly, a second drive assembly, and a third drive assembly, and the first drive assembly, the second drive assembly, and the third drive assembly are respectively moved to different positions, so as to control the pitch angle of the cabin 110. The pitch angle refers to the angle between the longitudinal direction of the cabin 110 and the ground plane. The first drive assembly is located in front of the second drive assembly and the third drive assembly along the length direction of the cabin 110. The first drive assembly can be connected to the front of the cabin 110. The second drive assembly and the third drive assembly are both connected to the rear of the cabin 110.

[0068] When the swing member 162 of the first drive assembly moves upward along the height direction of the cabin 110, and the second drive assembly and the third drive assembly do not move. In this way, the front of the cabin 110 is higher than the rear of the cabin 110, and the cabin 110 has a positive pitch angle. When the swing members 162 of the second drive assembly and the third drive assembly move upward along the height direction of the cabin 110, and the first drive assembly does not move. In this way, the rear of the cabin 110 is higher than the front of the cabin 110, and the cabin 110 has a negative pitch angle. For ease of distinction, the pitch angle formed by the front of the cabin 110 upward is a positive value, and the pitch angle formed by the front of the cabin 110 downward is a negative value. Optionally, the second drive assembly is arranged at intervals with the third drive assembly along the width direction of the cabin 110. The second drive assembly is connected to the left part of the cabin 110, and the third drive assembly is connected to the right part of the cabin 110. When the second drive assembly moves upward and the third drive assembly does not move. In this way, the left part of the cabin 110 is higher than the right part of the cabin 110, and the cabin 110 has a positive roll angle. The roll angle refers to the angle between the lateral direction of the cabin 110 and the ground plane. When the third drive assembly moves upward and the second drive assembly does not move. In this way, the right part of the cabin 110 is higher than the left part of the cabin 110, and the cabin 110 has a negative roll angle. For the sake of distinction, the roll angle formed by the left part of the cabin 110 upward is a positive value, and the roll angle formed by the left part of the cabin 110 downward is a negative value.

[0069] Of course, the swing member 162 of one driving assembly 160 moves, which can control the pitch angle of the cabin 110. For example, when the swing member 162 of one driving assembly 160 located in the front moves, the front part of the cabin 110 is higher than the rear part of the cabin 110, and the cabin 110 has a positive pitch angle. When the swing member 162 of one driving assembly 160 located in the rear moves, the rear part of the cabin 110 is higher than the front part of the cabin 110, and the cabin 110 has a negative pitch angle. When the swing member 162 of one driving assembly 160 located in the left part moves, the left part of the cabin 110 is higher than the right part of the cabin 110, and the cabin 110 has a positive roll angle. When the swing member 162 of one driving assembly 160 located in the right part moves, the right part of the cabin 110 is higher than the left part of the cabin 110, and the cabin 110 has a negative roll angle.

[0070] Thus, the plurality of drive components 160 can respectively control the pitch angle, roll angle and up and down movement of the cabin 110. Preferably, the pitch angle may range from 1% to 8%, with a positive and negative 10 cm. The roll angle may range from 1% to 15%, with a positive and negative 10 cm. The data sources of the pitch angle, roll angle and up and down movement are the changes in the pitch angle, roll angle and elevation of the actual vehicle, respectively. In order to maintain the driver's riding experience, the controller can filter out small bumps within 1% of the angle data changes and 2 cm of the vertical height data changes.

[0071] Preferably, the motion platform 150 can bear a load of more than 300 kg, the operating noise is within 65 decibels, the operating temperature is -20 to 60 degrees, and the power requirement is household electricity. The motion platform 150 has safety protection functions, including but not limited to automatic braking of the motor 161 when the power is off, equipped with emergency switches, overload protection, leakage protection and other safety functions.

[0072] In order to facilitate the remote pilot cockpit 110, now return to Figure 1 The cabin 110 includes a driving operating mechanism and a driving seat 111, and the remote driver sits in the driving seat 111. The driving seat 111 is ergonomically designed. The driving seat 111 is equipped with a seat belt. The driving seat 111 can be an electric driving seat. The driving seat 111 has front and rear, height and backrest angle adjustment, the front and rear height adjustment range is 0 to 10 cm, the height adjustment range is 0 to 10 cm, and the backrest angle adjustment range is 90 degrees to 150 degrees.

[0073] The driving operation mechanism includes a steering wheel 112, a shift member and a pedal 113 to simulate the situation of a real vehicle. The steering wheel 112 is arranged opposite to the driving position 111 along the length direction of the cabin 110. The arrangement of the steering wheel 112 adopts an ergonomic design. The steering wheel 112 is configured as a remote control driving dedicated steering wheel 112. The steering wheel 112 is located at the upper part in front of the driving position 111, so that the remote driver can hold the steering wheel 112. The steering wheel 112 can be configured as a multi-function steering wheel. The steering wheel 112 is provided with at least one button.

[0074] For example, the steering wheel 112 is provided with a car phone button, a cruise control button, etc. The steering wheel 112 has force feedback, and the maximum torque is 2.2Nm. The remote driver controls the steering of the vehicle by operating the steering wheel 112. The controller converts the steering angle of the steering wheel 112 into a percentage from -100% to 100%, and issues it with the steering wheel 112 rotating counterclockwise at zero position as a positive angle and clockwise as a negative angle (satisfying the right-hand rule). The controller can also perform control operations on several accessories such as car lights according to the buttons on the steering wheel 112, and the buttons are scalable.

[0075] The pedal 113 is located at the lower part in front of the driving position 111, so that the remote driver can step on the pedal 113. The layout of the pedal 113 adopts ergonomic design. The pedal 113 includes an accelerator pedal, a brake pedal and an emergency stop pedal, and the accelerator pedal, the brake pedal and the emergency stop pedal are all located at the lower part in front of the driving position 111. The remote driver controls the speed of the actual vehicle remotely by controlling the opening of the accelerator pedal. The accelerator pedal issues an accelerator command in the form of a pedal percentage (0-100%). The remote driver controls the brake of the actual vehicle remotely by controlling the opening of the brake pedal. The brake pedal issues a brake command in the form of a pedal percentage (0-100%). The remote driver can directly control the emergency stop of the vehicle by stepping on the emergency stop pedal. The shift component is located on the side of the driving position 111, so that the remote driver can control the gear of the vehicle. The layout of the shift component adopts ergonomic design. The shift component is divided into four gears: R gear, D gear, N gear and L gear. The shift member is located at the side of the driving position 111 along the width direction of the cabin 110 so as to facilitate the remote driver's hand to operate the shift member.

[0076] The driving operation mechanism also includes a button panel 115, a support plate 116, a table top 117 and a drawer 118. The button panel 115 is provided with buttons such as a host power button, a motion platform power button and an emergency stop switch, and has good expandability. The support plate 116 includes a keyboard support plate and a mouse support plate, which are respectively located on both sides of the steering wheel 112. The keyboard support plate and the mouse support plate can be flipped and folded for easy use and storage. The table top 117 can be constructed as a platform surface, on which items such as notebooks can be placed. The drawer 118 can be constructed as a storage drawer. The drawer 118 can be designed as a magnetic door, which can be opened for storage.

[0077] The cabin 110 also includes a plurality of display components 114, which are located in front of the driver's seat 111. The arrangement of the plurality of display components 114 adopts an ergonomic design. The display component 114 is configured as a display screen. The plurality of display components 114 are connected together, and the display components 114 can move. The plurality of display components 114 can move independently relative to each other. The plurality of display components 114 can form a triple screen together. The cabin 110 also includes a support bracket, a connecting bracket and a bracket shell, and the support bracket can adjust the display screen up and down, and the adjustment range is 15 cm up and down. The connecting bracket is used to connect the three display components 114, and the display components on both sides can move. The display components on both sides can move relative to the display component in the middle position. The opening of the left display component and the middle display component can be adjusted, and the adjustment range is 0 to 40 degrees. The opening of the right display component and the middle display component can be adjusted, and the adjustment range is 0 to 40 degrees. In this way, it is convenient for the remote driver to observe the content displayed by the display component 114.

[0078] The driving operation mechanism also includes a main box, which is electrically connected to the display component 114. The main box is used to control the display content of the display component 114. The main box is also electrically connected to the buttons of the steering wheel 112 to operate according to the feedback of the buttons. The cabin 110 also includes a main box cover 119 for protecting the main box. The main box cover 119 is constructed as a magnetic structure to facilitate the opening and closing of the cabin door. The cabin 110 also includes a headlight and a rear light 121, and the rear light 121 is used to display the state of the cabin 110. For example, when the brake pedal is stepped on, the rear light 121 can light up to show the braking state. The headlight is an E-shaped headlight. The cabin 110 has a good streamlined aesthetic and technological sense, and is decorated with front and rear lights 121 and silk screen. The cabin 110 also includes a plug 120, which can be constructed as a main power supply and a network cable aviation plug 120. The plug 120 can be used as two external lines for the entire cabin 110. The cabin 110 also includes a carrying handle, which is respectively located at the front and rear of the cabin 110 to facilitate the carrying of the cabin 110. The carrying handle is detachable. The remote control cockpit also includes an accordion cover, which is used to protect the upper support member 171 and the lower support member 172. The accordion cover covers the motion platform 150 below. The upper part of the accordion cover is connected to the cabin 110 by bolts and other connectors, and the lower part of the accordion cover is attached to the lower support member by Velcro to facilitate maintenance. The upper support member 171 and the lower support member 172 are located inside the accordion cover.

[0079] The present application also provides a remote driving system, which includes the above-mentioned remote cockpit 100. The remote driving system also includes a vehicle to be controlled, and the vehicle to be controlled establishes a communication connection with the remote cockpit 100, and the remote cockpit 100 is used to remotely control the driving of the vehicle to be controlled.

[0080] According to the remote driving system of the present application, the remote driving system includes the above-mentioned remote cockpit 100, and the remote driving system also includes a vehicle to be controlled, the vehicle to be controlled and the remote cockpit 100 establish a communication connection, the remote cockpit 100 is used to remotely control the driving of the vehicle to be controlled, the remote cockpit 100 includes a cabin 110 and a motion platform 150, the cabin 110 includes a driving operating mechanism and a driving position, the driving operating mechanism is used to control the lateral movement and / or longitudinal movement of the vehicle to be controlled, the driving position is used for the remote driver to operate the driving operating mechanism, and the motion platform 150 includes a driving component 160, the driving component 160 is connected to the cabin 110, and the driving component 160 can move to drive the cabin 110 to move in a specified direction. In this way, the motion platform 150 can transmit the real-time posture of the vehicle to the remote driver, providing a realistic driving experience.

[0081] The motion platform 150 includes a drive assembly 160, which is connected to the cabin 110 to drive the cabin 110 to move. The drive assembly 160 can move to drive the cabin 110 to move in a specified direction. The drive assembly 160 can drive the cabin 110 to make different degrees of movement, thereby simulating road conditions in different situations. The specified direction includes the height direction, longitudinal direction and / or lateral direction of the cabin 110. For example, the drive assembly 160 can drive the lateral movement of the cabin 110, thereby simulating the lateral movement of the vehicle to be controlled, so that the remote driver can control the movement of the vehicle to be controlled according to the simulated lateral movement, and then feedback to the actual driving of the vehicle to be controlled. The drive assembly 160 can also drive the longitudinal movement of the cabin 110, thereby simulating the longitudinal movement of the vehicle to be controlled, so that the remote driver can control the movement of the vehicle to be controlled according to the simulated longitudinal movement, and then feedback to the actual driving of the vehicle to be controlled. The driving assembly 160 can also drive the height direction of the cabin 110, thereby simulating the height direction of the vehicle to be controlled, so that the remote driver can control the movement of the vehicle to be controlled according to the simulated height direction, and then feedback to the actual driving of the vehicle to be controlled. The driving assembly 160 can drive both the lateral movement of the cabin 110 and the longitudinal movement of the cabin 110, and can drive the height direction movement of the cabin 110, thereby simulating the lateral movement and longitudinal movement of the vehicle to be controlled, so that the remote driver can control the movement of the vehicle to be controlled according to the simulated lateral movement and longitudinal movement, and then feedback to the actual driving of the vehicle to be controlled.

[0082] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art in the technical field of the present invention. The terms used herein are only for describing specific implementation purposes and are not intended to limit the present invention. Terms such as "parts" and "pieces" appearing in this article may represent either a single part or a combination of multiple parts. Terms such as "installation" and "setting" appearing in this article may represent either a component being directly attached to another component or a component being attached to another component through an intermediate. Features described in this article in one embodiment may be applied to another embodiment alone or in combination with other features, unless the feature is not applicable in the other embodiment or otherwise specified.

[0083] The utility model has been described through the above-mentioned embodiments, but it should be understood that the above-mentioned embodiments are only for the purpose of example and description, and are not intended to limit the utility model to the scope of the described embodiments. In addition, it can be understood by those skilled in the art that the utility model is not limited to the above-mentioned embodiments, and more variations and modifications can be made according to the teachings of the utility model, and these variations and modifications all fall within the scope of protection claimed by the utility model. The protection scope of the utility model is defined by the attached claims and their equivalent scope.

Claims

1. A remote cockpit (100), characterized in that: The remote cockpit (100) comprises: A cabin (110), the cabin (110) comprising a driving operating mechanism and a driving position, the driving operating mechanism being used to control the lateral movement and / or longitudinal movement of the vehicle to be controlled, the driving position being used for a remote driver to operate the driving operating mechanism; and A motion platform (150) includes a driving assembly (160), wherein the driving assembly (160) is connected to the cabin (110), and the driving assembly (160) is movable to drive the cabin (110) to move in a specified direction.

2. The remote cockpit (100) according to claim 1, characterized in that: The driving assembly (160) comprises a motor (161) and a swinging member (162), the top of the swinging member (162) is connected to the cabin (110), and the motor (161) can drive the swinging member (162) to move along the height direction of the cabin (110).

3. The remote cockpit (100) according to claim 2, characterized in that: The driving assembly (160) further comprises a rotating member (163), one end of which is connected to the motor (161), and the other end of which is rotatably connected to the swing member (162). The rotating member (163) can drive the swing member (162) to rotate around a swing axis, and the swing axis intersects with the height direction.

4. The remote cockpit (100) according to claim 3, characterized in that: The motion platform (150) further includes an upper support member (171) and a lower support member (172), wherein the upper support member (171) and the lower support member (172) are arranged at intervals along the height direction of the cabin (110), and the lower support member (172) is used to support the driving assembly (160), and the swing member (162) of the driving assembly (160) is connected to the cabin (110) via the upper support member (171).

5. The remote cockpit (100) according to claim 4, characterized in that: The driving assembly (160) further comprises a universal bearing (164), wherein the universal bearing (164) connects the swing member (162) and the upper supporting member (171), a ball groove is provided at the top of the swing member (162), the universal bearing (164) is located in the ball groove, and the swing member (162) is rotatable relative to the universal bearing (164).

6. The remote cockpit (100) according to claim 2, characterized in that: The driving assembly (160) further comprises a deceleration member (165), the motor (161) comprises an output shaft, and the output shaft is connected to the swing member (162) through the deceleration member (165).

7. The remote cockpit (100) according to any one of claims 1 to 6, characterized in that: There are a plurality of drive assemblies, and the plurality of drive assemblies (160) are arranged at intervals.

8. The remote cockpit (100) according to claim 7, characterized in that: The plurality of drive assemblies (160) are arranged in a triangle.

9. The remote cockpit (100) according to claim 1, characterized in that: The designated direction includes a height direction, a longitudinal direction and / or a transverse direction of the cabin (110).

10. The remote cockpit (100) according to claim 1 or 2, characterized in that: A swing member (162) of the drive assembly (160) moves to control the pitch angle and / or roll angle of the cabin (110), or, The swing components (162) of the plurality of driving assemblies (160) are respectively moved to different positions to control the pitch angle and / or roll angle of the cabin (110).

11. The remote cockpit (100) according to claim 1, characterized in that: The driving operation mechanism comprises a steering wheel (112), a shift member and a pedal (113).

12. A remote driving system, characterized in that: The remote driving system comprises a remote cockpit (100) according to any one of claims 1 to 11 and a vehicle to be controlled, wherein a communication connection is established between the vehicle to be controlled and the remote cockpit (100), and the remote cockpit (100) is used to remotely control the driving of the vehicle to be controlled.

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