Brake and accelerator control device for unmanned target vehicle

Abstract

The utility model discloses a driverless target car brake throttle control device, including mounting plate, drive mechanism, cab fixed plate, throttle cable, brake cable and control mechanism, the control mechanism includes controller and differential GPS module, drive mechanism is provided the bottom of mounting plate, drive mechanism is used for controlling steering mechanism rotation, drive mechanism is provided with the differential GPS module. The differential GPS module is used for transmitting the speed information of the current target vehicle to the controller in real time, and the controller is used for controlling the driving mechanism. Through the arrangement of the driving mechanism, the steering mechanism and the control mechanism, the driving mechanism can control an accelerator pedal and a brake pedal through the steering mechanism, an accelerator cable and a brake cable, so that the driving speed of the unmanned target vehicle is controlled, and emergency braking and acceleration of the unmanned target vehicle are facilitated; and moreover, the power-off and power-on of the driving mechanism can be controlled through the control mechanism, so that remote control driving and automatic driving are realized, and the unmanned target vehicle can be manually driven conveniently.

Description

Technical Field

[0001] The utility model relates to the technical field of unmanned target vehicles, in particular to a brake throttle control device for an unmanned target vehicle. Background Art

[0002] An unmanned target vehicle is a device specially used for military training. It is mainly used to carry combat shooting targets, provide mobile armored targets, and cooperate with the target vehicle control console to conduct combat shooting training and live-fire testing and assessment, thereby improving the efficiency and safety of training.

[0003] In the prior art, unmanned target vehicles often use cruise control, which is not convenient for controlling the driving speed of the unmanned target vehicle, nor is it convenient for emergency braking and acceleration of the unmanned target vehicle; and the existing unmanned target vehicle can only be controlled by a controller, which is not convenient for manual driving in an emergency, and has certain limitations.

[0004] In view of this, the present invention is proposed to solve the above technical problems. Utility Model Content

[0005] The utility model aims to provide a brake throttle control device for an unmanned target vehicle, so as to solve the technical problems that the existing unmanned target vehicle is inconvenient to control the driving speed of the unmanned target vehicle and is inconvenient to drive manually.

[0006] The technical solution of the utility model is: a brake throttle control device for an unmanned target vehicle, comprising:

[0007] A mounting plate, on which a steering mechanism is arranged;

[0008] A driving mechanism, which is arranged at the bottom of the mounting plate and is used to control the rotation of the steering mechanism;

[0009] A cab fixed plate, on which an accelerator pedal and a brake pedal are movably mounted;

[0010] A throttle cable, the two ends of which are connected to the accelerator pedal and the drive mechanism respectively;

[0011] A brake line, both ends of which are connected to a brake pedal and a drive mechanism respectively;

[0012] The control mechanism includes a controller and a differential GPS module. The differential GPS module is used to transmit the current speed information of the target vehicle to the controller in real time, and the controller is used to control the driving mechanism.

[0013] Furthermore, it also includes two bearings, which are respectively connected to the throttle cable and the brake cable.

[0014] Furthermore, guide tubes are provided at both ends of the mounting plate in the length direction;

[0015] The guide tube is arranged parallel to the width direction of the mounting plate;

[0016] The throttle cable and the brake cable pass through two guide tubes respectively.

[0017] Furthermore, the driving mechanism is a DC worm gear self-locking reduction motor.

[0018] Furthermore, the steering mechanism includes a top plate;

[0019] One end of the top plate close to the bearing is rotatably connected to the mounting plate;

[0020] One end of the top plate facing away from the bearing extends out of the mounting plate, and a nut is arranged on the extended end of the top plate;

[0021] The throttle cable and the brake cable are respectively arranged on nuts at one end close to the mounting plate.

[0022] By adopting the above technical solution, the utility model has the following beneficial effects:

[0023] By setting up the driving mechanism, steering mechanism and control mechanism, the driving mechanism can control the accelerator pedal and the brake pedal through the steering mechanism, the accelerator cable and the brake cable, so as to control the driving speed of the unmanned target vehicle, and also facilitate emergency braking and speeding up of the unmanned target vehicle. The control mechanism can also control the power-off and power-on of the driving mechanism to realize remote control driving and automatic driving, which is convenient for manual driving of the unmanned target vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings are part of this application and are used to provide a further understanding of the utility model. The schematic embodiments of the utility model and their descriptions are used to explain the utility model, but do not constitute an improper limitation on the utility model. Obviously, the drawings described below are only some embodiments. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0025] Figure 1 This is a schematic diagram of the structure of the brake and throttle control device of the unmanned target vehicle provided in this embodiment of the present application.

[0026] Figure numerals: 1. throttle pedal; 2. brake pedal; 3. throttle cable; 4. brake cable; 5. bearing; 6. mounting plate; 7. driving mechanism; 8. top plate; 9. guide tube; 10. cab fixing plate; 11. nut.

[0027] It should be noted that these drawings and textual descriptions are not intended to limit the conceptual scope of the present invention in any way, but rather to illustrate the concept of the present invention for those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0028] The specific implementation modes of the present utility model are further described in detail with reference to the accompanying drawings.

[0029] See also Figure 1 As shown, an embodiment of the present application provides a brake throttle control device for an unmanned target vehicle, comprising: a mounting plate 6, a driving mechanism 7, a cab fixing plate 10, a throttle cable 3, a brake cable 4 and a control device, a steering mechanism is arranged on the mounting plate 6, the driving mechanism 7 is arranged at the bottom of the mounting plate 6, the driving mechanism 7 is used to control the rotation of the steering mechanism, an accelerator pedal 1 and a brake pedal 2 are movably mounted on the cab fixing plate 10, two ends of the throttle cable 3 are respectively connected to the accelerator pedal 1 and the driving mechanism 7, two ends of the brake cable 4 are respectively connected to the brake pedal 2 and the driving mechanism 7, the control mechanism comprises a controller and a differential GPS module, the differential GPS module is used to transmit the current target vehicle speed information to the controller in real time, and the controller is used to control the driving mechanism 7.

[0030] It should be noted that the differential GPS module has the following functions:

[0031] Improve positioning accuracy: In complex environments, such as those affected by the atmospheric ionosphere, tropospheric delay, and satellite orbit errors, the positioning accuracy of civil GPS is usually around 10 meters. The differential GPS module uses a base station with a known precise position and the GPS receiver on the unmanned target vehicle to simultaneously receive satellite signals, and compares the difference between the two to correct the error. This can improve positioning accuracy to centimeter level or even higher, meeting the unmanned target vehicle's requirements for high-precision positioning and more accurately simulating the target's motion trajectory and position.

[0032] Enhanced positioning reliability: The differential GPS module can monitor and correct positioning errors caused by environmental factors in real time. In the case of weather changes, signal blocking, etc., it can still provide relatively stable and accurate location information for the unmanned target vehicle, reduce the jump and abnormality of positioning data, improve the reliability and stability of the entire positioning system, and ensure that the unmanned target vehicle can travel according to the predetermined plan under various conditions.

[0033] Accurate speed measurement: In addition to improving positioning accuracy, the differential GPS module can also measure the speed of the unmanned target vehicle more accurately. Through accurate processing and error correction of satellite signals, more accurate speed information can be obtained, providing more reliable data support for the motion control and status monitoring of the unmanned target vehicle, helping operators to better understand the driving status and performance of the unmanned target vehicle.

[0034] Support remote monitoring and command: Based on the high-precision position and speed information provided by the differential GPS module, the remote control center can monitor the operation of the unmanned target vehicle in real time and accurately. This allows operators to remotely adjust and command the unmanned target vehicle from a distance, flexibly change the route, speed and other parameters of the unmanned target vehicle according to actual needs, improve the efficiency and safety of training and testing, and also facilitate centralized management and coordinated control of multiple unmanned target vehicles.

[0035] In the above scheme, by setting up the driving mechanism 7, steering mechanism and control mechanism, the driving mechanism 7 can control the accelerator pedal 1 and the brake pedal 2 through the steering mechanism, the throttle cable 3 and the brake cable 4, so as to control the driving speed of the unmanned target vehicle, and it is also convenient for emergency braking and speeding up of the unmanned target vehicle. In addition, the control mechanism can also control the power off and power on of the driving mechanism 7 to realize remote control driving and automatic driving, which is convenient for manual driving of the unmanned target vehicle.

[0036] In some possible implementations, see Figure 1 As shown, the brake throttle control device of the unmanned target vehicle provided in the embodiment of the present application also includes two bearings 5, and the two bearings 5 ​​are respectively connected to the throttle line 3 and the brake line 4.

[0037] In the above scheme, on the throttle cable 3 and brake cable 4 of the unmanned target vehicle, the bearing 5 can effectively reduce the friction between the throttle cable 3 and brake cable 4 and the connecting parts, ensure that the throttle cable 3 and brake cable 4 can move smoothly, avoid damage or wear caused by friction, extend the service life of the throttle cable 3 and brake cable 4, reduce failures caused by excessive wear, and improve the response speed of the throttle cable 3 and brake cable 4 to the accelerator pedal 1 and brake pedal 2.

[0038] In some possible implementations, see Figure 1 As shown, guide tubes 9 are provided at both ends of the mounting plate 6 in the length direction. The guide tubes 9 are provided in parallel with the width direction of the mounting plate 6 . The throttle cable 3 and the brake cable 4 pass through the two guide tubes 9 respectively.

[0039] In the above scheme, the two guide tubes 9 are used to guide the throttle cable 3 and the brake cable 4. When the unmanned target vehicle is moving, the guide tubes 9 can limit the excessive displacement and shaking of the throttle cable 3 and the brake cable 4, ensuring that the throttle cable 3 and the brake cable 4 move within a certain range to avoid interference or entanglement with other components, thereby ensuring the response speed of the accelerator pedal 1 and the brake pedal 2.

[0040] In some possible implementation schemes, the driving mechanism 7 is a DC worm gear self-locking reduction motor.

[0041] In the above scheme, the DC worm gear self-locking reduction motor can achieve self-locking and deceleration. The DC worm gear self-locking reduction motor is connected to the controller electrical signal. When the drive mechanism 7 is powered off, it is in an unlocked state and the unmanned target vehicle can be manually driven. When the drive mechanism 7 is powered on, the servo self-locks to achieve remote control driving.

[0042] When the driving mechanism 7 rotates clockwise, the accelerator pedal 1 is pulled down by the throttle line 3 to accelerate the unmanned target vehicle. When the driving mechanism 7 rotates counterclockwise, the brake line 4 is used to pull down the brake pedal 2 to decelerate the unmanned target vehicle. When the unmanned target vehicle receives the start command sent by the ground control station, the differential GPS module transmits the current speed information to the controller in real time at a frequency of 10Hz. After the controller receives the current speed of the unmanned target vehicle transmitted by the differential GPS module and the set speed, the two speeds are compared. The controller controls the driving mechanism 7 to rotate clockwise or counterclockwise through the PID algorithm to control the speed of the unmanned target vehicle. When the speed of the unmanned target vehicle is less than the set value, the controller controls the driving mechanism 7 to rotate clockwise to pull down the accelerator pedal 1 to increase the acceleration of the unmanned target vehicle. Under the control of the PID algorithm, the time required for the unmanned target vehicle to accelerate from rest to 54km / h is less than 20s, and the distance is less than 200m. When the speed of the unmanned target vehicle is close to the set value, the controller controls the driving mechanism 7 to rotate slightly, thereby controlling the speed of the unmanned target vehicle within the range of ±2km / h of the set speed. When the unmanned target vehicle reaches the set end point, the controller controls the drive mechanism 7 to pull down the brake pedal 2 to brake the unmanned target vehicle. Under the PID control algorithm, the unmanned target vehicle decelerates from 54km / h to stop in less than 20s and the distance is less than 200m. When encountering an emergency, the emergency braking function is activated, and the controller controls the drive mechanism 7 to quickly pull down the brake pedal 2 through the PID control algorithm to make the unmanned target vehicle brake urgently.

[0043] In some possible implementations, see Figure 1 As shown, the steering mechanism includes a top plate 8, and one end of the top plate 8 close to the bearing 5 is rotatably connected to the mounting plate 6. The end of the top plate 8 facing away from the bearing 5 extends out of the mounting plate 6, and a nut 11 is provided on the extended end of the top plate 8. The throttle cable 3 and the brake cable 4 are respectively provided on the nuts 11 at one end close to the mounting plate 6. The top plate 8 is used for rotatably mounting the rotating shaft.

[0044] In the above scheme, when the driving mechanism 7 is powered on, the servo is self-locked to realize remote control driving. When the unmanned target vehicle is accelerated, the driving mechanism 7 is controlled to start, so that the driving mechanism 7 drives the top plate 8 to rotate clockwise around the end close to the bearing 5, thereby pulling the accelerator pedal 1 downward through the accelerator cable 3 to accelerate the unmanned target vehicle; when the unmanned target vehicle is decelerated, the driving mechanism 7 is controlled to start, so that the driving mechanism 7 drives the top plate 8 to rotate counterclockwise around the end close to the bearing 5, thereby pulling the brake pedal 2 downward through the brake cable 4 to decelerate the unmanned target vehicle.

[0045] This specific embodiment is merely an explanation of the utility model, and it is not a limitation of the utility model. After reading this specification, those skilled in the art can make non-creative modifications to the embodiment as needed, but as long as it is within the protection scope of the utility model, it is protected by the patent law.

Claims

1. A brake throttle control device for an unmanned target vehicle, characterized in that: include: A mounting plate (6), wherein a steering mechanism is provided on the mounting plate (6); A driving mechanism (7), the driving mechanism (7) being arranged at the bottom of the mounting plate (6), the driving mechanism (7) being used to control the rotation of the steering mechanism; A cab fixing plate (10), wherein an accelerator pedal (1) and a brake pedal (2) are movably mounted on the cab fixing plate (10); A throttle cable (3), wherein two ends of the throttle cable (3) are respectively connected to the throttle pedal (1) and the driving mechanism (7); A brake line (4), wherein two ends of the brake line (4) are respectively connected to the brake pedal (2) and the drive mechanism (7); A control mechanism, the control mechanism comprising a controller and a differential GPS module, the differential GPS module being used to transmit current vehicle speed information of the target vehicle to the controller in real time, and the controller being used to control the driving mechanism (7).

2. The brake throttle control device for an unmanned target vehicle according to claim 1, characterized in that: It also includes two bearings (5), wherein the two bearings (5) are respectively connected to the throttle cable (3) and the brake cable (4).

3. The brake throttle control device for the unmanned target vehicle according to claim 2 is characterized in that: Guide tubes (9) are provided at both ends of the mounting plate (6) in the length direction; The guide tube (9) is arranged parallel to the width direction of the mounting plate (6); The throttle cable (3) and the brake cable (4) respectively pass through the two guide tubes (9).

4. The brake throttle control device for an unmanned target vehicle according to claim 3 is characterized in that: The driving mechanism (7) is a DC worm gear self-locking reduction motor.

5. The brake throttle control device for an unmanned target vehicle according to claim 4 is characterized in that: The steering mechanism comprises a top plate (8); The top plate (8) is rotatably connected to the mounting plate (6) at one end close to the bearing (5); One end of the top plate (8) facing away from the bearing (5) extends out of the mounting plate (6), and a nut (11) is provided on the extended end of the top plate (8); The throttle cable (3) and the brake cable (4) are respectively arranged on the nut (11) at one end close to the mounting plate (6).

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