Vehicle slip self-processing device and unmanned vehicle

Abstract

The utility model discloses a vehicle slip self-processing device and an unmanned vehicle, and relates to the technical field of vehicles. According to one specific embodiment, the device comprises one or more telescopic devices installed on the vehicle, each telescopic device is provided with an anti-skid device, and when the vehicle is in a skid state, the telescopic devices stretch out to jack up the vehicle, so that the anti-skid devices make contact with the ground and drive the vehicle to move. According to the embodiment of the utility model, the vehicle can be jacked up and driven to move when the vehicle slips, so that the labor cost is reduced, and the working efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of vehicles, in particular to a vehicle skid self - treatment device and an autonomous vehicle. Background Art

[0002] When a vehicle is driving on a complex road condition, the situation that the wheels slip for a long time and the vehicle cannot move forward often occurs. At present, it is solved by adjusting and replacing the tire material, anti - skid chains, etc., or by on - site manual rescue.

[0003] In the process of implementing the present utility model, the inventor found that there are at least the following problems in the related art:

[0004] Since the wear and aging speed of tires or anti - skid chains is relatively fast, the cost of manual replacement is high and the efficiency is very low. Summary of the Utility Model

[0005] In view of this, an embodiment of the present utility model provides a vehicle skid self - treatment device, which can jack up the vehicle and drive the vehicle to move when the vehicle skids, reducing the labor cost and improving the working efficiency.

[0006] To achieve the above object, an embodiment of the present utility model provides a vehicle skid self - treatment device. The device includes one or more telescopic devices installed on the vehicle, and each telescopic device is equipped with an anti - skid device. When the vehicle is in a skidding state, the telescopic device extends to jack up the vehicle, so that the anti - skid device contacts the ground and drives the vehicle to move.

[0007] Further, the telescopic device can rotate and / or telescopically fold at the bottom and / or side of the vehicle.

[0008] Further, the included angle between the telescopic device and the bottom and / or side of the vehicle is within a preset range, and the preset range is greater than or equal to 0° and less than 90°.

[0009] Further, the anti - skid device includes two anti - skid wheel groups and an anti - skid track wrapped around the outer periphery of the two anti - skid wheel groups, or the anti - skid device includes one or more anti - skid wheels.

[0010] Further, the outer surface of the anti - skid track and / or the anti - skid wheel is provided with a plurality of raised structures, and the raised structures are conical, square and / or serrated.

[0011] Further, the material of the anti - skid track is one or more of steel, alloy steel, aluminum alloy and glass fiber reinforced plastic.

[0012] Further, the material of the anti - skid wheel is rubber or polyurethane.

[0013] Further, the telescopic device is a hydraulic rod and / or a pneumatic rod.

[0014] Further, the device further includes a skid monitoring device, which can monitor the system parameters of the vehicle through sensors and use the system parameters to judge skid signals to control the telescopic device to rotate and / or extend.

[0015] According to the second aspect of the embodiments of the present invention, there is provided an autonomous vehicle, including the vehicle skid self-processing device as described in any one of the above embodiments.

[0016] One embodiment of the above utility model has the following advantages or beneficial effects: The vehicle skid self-processing device is provided with one or more telescopic devices mounted on the vehicle, and each telescopic device is equipped with an anti-skid device. When the vehicle is in a skidding state, the telescopic device extends to lift the vehicle, so that the anti-skid device contacts the ground and drives the vehicle to move; this device can lift the vehicle and drive the vehicle to move when the vehicle skids, reducing labor costs and improving work efficiency.

[0017] The further effects of the above non-conventional optional ways will be described below in conjunction with specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings are used to better understand the present invention and do not constitute an improper limitation to the present invention. Among them:

[0019] Figure 1 is the front view of the vehicle skid self-processing device according to the embodiments of the present invention;

[0020] Figure 2 is the schematic structural diagram of the first embodiment of the anti-skid device of the vehicle skid self-processing device according to the present invention;

[0021] Figure 3 is the schematic structural diagram of the second embodiment of the anti-skid device of the vehicle skid self-processing device according to the present invention;

[0022] Figure 4 is the schematic structural diagram of the anti-skid track of the vehicle skid self-processing device according to the present invention;

[0023] Figure 5 Schematic structural diagram of the autonomous vehicle according to the present invention.

[0024] Reference numerals: 1 - telescopic device; 2 - anti-skid device; 3 - anti-skid wheel set; 4 - anti-skid track; 5 - anti-skid wheel; 6 - convex structure. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0025] The exemplary embodiments of the present utility model will be described below in conjunction with the accompanying drawings. Various details of the embodiments of the present utility model are included to facilitate understanding, and they should be considered merely exemplary. Therefore, those of ordinary skill in the art should recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present utility model. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0026] It should be noted that in the description of the present utility model, terms indicating directions or positional relationships such as "center", "upper", "lower", etc. are based on the directions or positional relationships shown in the drawings. This is only for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of the present utility model. In addition, the terms "first", "second", "third", and "fourth" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0027] Furthermore, it should be noted that in the description of the present utility model, unless otherwise clearly specified and defined, the terms "installed", "connected", and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those skilled in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0028] Currently, when a vehicle is driving on complex road conditions, such as rainwater puddles, muddy dirt roads, especially in winter snow days when the road surface is a combination of ice and snow, the wheels often slip for a long time and cannot continue to move forward. Even more seriously, in the case of a slope, the vehicle may slide due to slipping, which is a dangerous phenomenon. The prior art can only solve this problem by replacing and adjusting the tire material or outer covers such as anti-skid chains; or, when the vehicle cannot continue to drive, it is solved by manual on-site intervention. For example, if a driverless vehicle uses anti-skid tires or snow tires, they need to be replaced every winter. Since the number of driverless vehicles is large, the workload is huge; if anti-skid tires or snow tires are used throughout the year, it is a waste of resources. The tires will wear and age quickly, and it will also increase the power consumption of the driverless vehicle, resulting in increased costs; if manual on-site rescue is carried out, it will also increase the labor cost and delay the user's time cost, causing losses.

[0029] In view of this, according to one aspect of the embodiments of the present utility model, a vehicle skid self-treatment device is provided.

[0030] Figure 1 is the front view of the vehicle skid self-treatment device according to the embodiments of the present utility model. As Figure 1As shown in the figure, a vehicle skid self - treatment device, the device includes one or more telescopic devices 1 installed on the vehicle, and each telescopic device 1 is equipped with an anti - skid device 2. When the vehicle is in a skidding state, the telescopic device 1 extends to lift the vehicle, so that the anti - skid device 2 contacts the ground and drives the vehicle to move.

[0031] Among them, the vehicle skid self - treatment device is a device installed on the vehicle to improve the driving stability and safety of the vehicle under complex road conditions. The vehicle skid self - treatment device consists of one or more telescopic devices 1 and corresponding anti - skid devices 2. Its main function is that when the vehicle is in a skidding state, the telescopic device 1 extends and lifts the vehicle, so that the anti - skid device 2 contacts the ground and drives the vehicle to move, thus replacing the vehicle's own wheels and relying entirely on this device to move forward. The anti - skid device 2 increases the friction with the ground, improves the stability and control ability of the vehicle in the case of skidding, reduces the accident risk caused by vehicle skidding, and enhances driving safety.

[0032] The telescopic device 1 is a telescopic mechanical device installed on the vehicle, which can be driven by hydraulic pressure, air pressure or an electric motor to extend and retract. For example, a hydraulic telescopic device: uses a hydraulic cylinder or a hydraulic motor to achieve extension and retraction; a pneumatic telescopic device: uses a pneumatic cylinder or a pneumatic motor to achieve extension and retraction; an electric telescopic device: realizes extension and retraction by controlling the steering and speed of the electric motor; a screw telescopic device: uses a screw rod or a screw wheel to achieve extension and retraction; a mechanical telescopic device: uses mechanical transmission devices such as mechanical gears and linkages to achieve extension and retraction.

[0033] The telescopic device 1 can also be a rotary mechanical device installed on the vehicle, which uses an electric motor or other power devices to rotate and extend. For example, a rotary rod - type telescopic device: the rotary rod is fixed on the vehicle and can be driven to rotate by an electric motor, a hydraulic or a pneumatic system. At the same time, the rotary rod can also be linearly extended or curvedly extended; a rotary arm - type telescopic device: a rotary arm is set to rotate, and the rotary arm can be a single - arm design or a double - arm design. At the same time, the rotary arm can also be extended and retracted; a rotary rod + rotary gear - type telescopic device: can use a rotary gear to achieve rotation, the rotary gear can be driven by an electric motor or a hydraulic system, and the rotary gear can be a direct gear drive or an indirect gear drive. At the same time, the rotary rod is linearly extended or curvedly extended; a rotary rod + screw drive - type telescopic device: combines a rotary rod and a screw drive, the rotary rod rotates, and at the same time, the screw drive extends and retracts. The screw drive can adopt a screw rod and nut structure, and realizes extension and retraction by rotating the screw rod; a rotary hydraulic cylinder / pneumatic cylinder - type telescopic device: rotates through a rotary hydraulic cylinder or a pneumatic cylinder, and the rotary hydraulic cylinder / pneumatic cylinder can be set as single - acting or double - acting. It should be noted that the above - mentioned rotary mechanical devices can only rotate and extend, or can rotate and extend telescopically, and the appropriate extension method can be selected according to specific requirements and application scenarios.

[0034] When the vehicle slips, the telescopic device 1 quickly extends and lifts the vehicle body, thereby increasing the contact area between the vehicle and the ground, providing better traction and control, and its specific form can be adjusted according to requirements.

[0035] The anti-slip device 2 is a component installed on the telescopic device 1, which can be made of rubber, silica gel or similar anti-slip materials, and has good grip and wear resistance. When the telescopic device 1 extends and lifts the vehicle, the anti-slip device 2 contacts the ground, and its surface design and material characteristics can increase the friction force to prevent the vehicle from continuing to slip or get out of control.

[0036] The detection and determination of the vehicle being in a slipping state can be achieved through a variety of sensors and systems. For example, wheel speed sensors, steering angle sensors, vehicle acceleration sensors, etc. The above-mentioned wheel speed sensors can monitor the speed of the vehicle; the steering angle sensors can monitor the steering condition of the vehicle; the vehicle acceleration sensors can monitor parameters such as the acceleration of the vehicle. By analyzing the algorithm, it is judged whether there is a slipping situation. Once the vehicle slipping is detected, the system will trigger the operation of the telescopic device 1 and activate the anti-slip device 2 to deal with the slipping situation.

[0037] After the telescopic device 1 extends and lifts the vehicle, the anti-slip device 2 contacts the ground to increase the friction force, and at the same time, the position of the vehicle's center of gravity will also change, which is beneficial to improving the traction and stability of the vehicle. At this time, it can be achieved through the vehicle's original power system, such as the engine and transmission, or an auxiliary system equipped with electric drive. The system will adjust the power output of the vehicle according to the driver's operation or an automatic control algorithm to adapt to the current road conditions and keep the vehicle driving stably.

[0038] In the embodiment of the present utility model, the vehicle self-processing device for slipping is provided with one or more telescopic devices 1 installed on the vehicle. Each of the telescopic devices 1 is installed with an anti-slip device 2. When the vehicle is in a slipping state, the telescopic device 1 extends to lift the vehicle, so that the anti-slip device 2 contacts the ground and drives the vehicle to move; this device can lift the vehicle and drive the vehicle to move when the vehicle slips, reducing the labor cost and improving the work efficiency. Through the coordinated action of components such as the telescopic device 1, the anti-slip device 2, the sensors and the control system, it can quickly respond and take measures when the vehicle slips, improve the vehicle's grip and controllability, and thus enhance the driving safety and stability.

[0039] Optionally, the telescopic device 1 can rotate and / or be telescopically folded at the bottom and / or side of the vehicle.

[0040] According to the layout and space limitations of the vehicle bottom and side, a suitable telescopic device 1 is set to make the telescopic device 1 installed firmly and operate reliably.

[0041] Among them, a rotating mechanism is arranged at the top or connecting part of the telescopic device 1 and connected to the bottom and / or side part of the vehicle, such as a bearing or a rotating shaft, so that the telescopic device 1 can rotate in the horizontal or vertical direction; at the same time, an electric, hydraulic or pneumatic control system can also be installed to realize the rotation function of the telescopic device 1 by controlling the rotation of the rotating mechanism; a position sensor or an angle sensor can also be set to monitor the rotation angle of the telescopic device 1 so as to realize precise control and adjustment.

[0042] Among them, the telescopic device 1 can also adopt a telescopic material or structure, such as a hydraulic cylinder, a pneumatic cylinder or a telescopic bracket, a strut, etc., so that the telescopic device 1 can be extended or folded at the bottom and / or side part of the vehicle as needed; at the same time, a folding mechanism, such as a hinge or a slide rail, etc., is arranged at the end or connecting part of the telescopic device 1, so that the telescopic device 1 can be smoothly folded or unfolded during the telescopic process. A control system can also be installed to control the telescopic speed and strength of the telescopic device 1 to realize the telescopic folding function; the telescopic device 1 can also be provided with a limit switch or a mechanism to prevent accidental folding to ensure the safety and reliability of the telescopic device 1 during use.

[0043] In addition, the telescopic device 1 can be integrated into the bottom or side part of the vehicle and integrated with the original electrical system and control system of the vehicle. The operation of the telescopic device 1 is coordinated with other systems of the vehicle and adapted according to the characteristics of different vehicle types and brands to ensure that the performance and operation of the telescopic device 1 meet the actual needs and usage habits of the vehicle.

[0044] Optionally, the included angle between the telescopic device 1 and the bottom and / or side part of the vehicle is within a preset range, and the preset range is greater than or equal to 0° and less than 90°.

[0045] Among them, an adjustable angle mechanism is arranged at the connecting part of the telescopic device 1 and the bottom and / or side part of the vehicle, such as a support rod with adjustable length, a movable connecting piece or a rotating joint. The adjustable angle mechanism adjusts the included angle between the telescopic device and the vehicle within a preset range; an angle sensor or a position sensor can also be installed to monitor the angle of the telescopic device 1. The angle sensor or the position sensor is connected to the control system, and the control system adjusts the length or angle of the telescopic device 1 according to the angle information fed back by the angle sensor or the position sensor. The control system includes an electric, hydraulic or pneumatic control mechanism, a sensor monitoring system and an automatic control algorithm, etc., so as to accurately control and adjust the angle of the telescopic device 1. At the same time, a safety protection mechanism and an emergency stop device are set, and the safety protection mechanism and the emergency stop device are automatically started in case of danger.

[0046] When the telescopic device 1 is at 0° with the bottom and / or side of the vehicle, the telescopic device 1 is parallel to the bottom and / or side of the vehicle, folds up and does not contact the ground. The above angle is used when the telescopic device 1 is not needed, for example, when the vehicle is in a normal driving state.

[0047] The angle is adjusted within the range of 0° to 90° according to actual needs. When the vehicle is in different road conditions or driving situations, the angle of the telescopic device 1 is adjusted to balance the traction force and space requirements. For example, when the vehicle is driving on a steep section or a landslide terrain, or when it is affected by side winds or the vehicle's center of gravity is unstable, it can provide the maximum support area, traction force relative to the ground, and reduce wind resistance or other driving resistances.

[0048] In addition, when the telescopic device 1 is at 90° with the bottom and / or side of the vehicle, the telescopic device 1 is perpendicular to the ground and can provide the maximum support area and traction force. For example, it can provide the maximum support area and traction force when the vehicle slips.

[0049] In the embodiment of the present utility model, the telescopic device 1 is rotationally and / or telescopically connected to the bottom and / or side of the vehicle, and the included angle between the telescopic device 1 and the bottom and / or side of the vehicle is within a preset range. It is used emergently when the wheels slip and cannot move forward. During normal driving, the vehicle anti-slip self-processing device can be folded and received at the idle position of the vehicle, without occupying a large amount of space, saving energy consumption, improving the flexibility and practicality of the vehicle anti-slip self-processing device, and being able to better adapt to different vehicle scenarios and requirements.

[0050] Optionally, Figure 2 is a schematic structural diagram of the first embodiment of the anti-slip device of the vehicle anti-slip self-processing device according to the present utility model; Figure 3 is a schematic structural diagram of the second embodiment of the anti-slip device of the vehicle anti-slip self-processing device according to the present utility model, as Figure 2 and Figure 3 shown, the anti-slip device 2 includes two anti-slip wheel groups 3 and an anti-slip track 4 wrapped around the outer periphery of the two anti-slip wheel groups 3. Alternatively, the anti-slip device includes one or more anti-slip wheels 5.

[0051] As Figure 2 shown, the anti-slip device 2 includes two anti-slip wheel groups 3, each anti-slip wheel group 3 is composed of two or more anti-slip wheels 5, and the anti-slip wheels 5 are made of materials with strong wear resistance, such as rubber or special anti-slip materials. The anti-slip track 4 is wrapped around the outer periphery of the two anti-slip wheel groups 3, and the anti-slip track 4 is also made of wear-resistant rubber or other anti-slip materials. Especially in complex road conditions such as muddy and sandy roads, the anti-slip track 4 increases the surface area in contact with the ground and improves the grip and stability of the anti-slip device 2.

[0052] As Figure 3As shown, the anti-slip device 2 can also be in direct contact with the ground through one or more anti-slip wheels 5. The anti-slip wheels 5 have special patterns or surface treatments to increase friction and prevent slipping, and are suitable for relatively flat roads or situations where there are limitations on the size of the device, such as vehicles on urban roads or in specific industrial scenarios.

[0053] In practical applications, the choice of which anti-slip device 2 depends on the specific usage environment and requirements. For example, for driverless vehicles, off-road or engineering vehicles that need to travel on rough road conditions, the structure shown Figure 2 is often adopted; while for small vehicles traveling on general roads, etc., the structure shown Figure 3 is often adopted.

[0054] Optionally, Figure 4 is a schematic diagram of the anti-slip track structure of the vehicle anti-slip self-processing device according to the present utility model. As shown in Figure 4 the figure, a plurality of protruding structures 6 are provided on the outer surface of the anti-slip track 5 and / or the anti-slip wheel 5, and the protruding structures 6 are conical, square and / or serrated.

[0055] Among them, the protruding structure 6 is conical. The conical protrusion can increase the ability to insert into the ground through the conical tip, and is suitable for scenarios where vehicles need to travel on slippery, sandy or muddy roads, such as driverless vehicles, off-road vehicles, construction machinery, etc.; the protruding structure 6 is square, and the square protrusion can increase the surface area in contact with the ground, and is suitable for small vehicles, electric vehicles, etc. traveling on general urban roads; the protruding structure 6 is serrated, and the serrated protrusion can provide better grip and stability, and is suitable for vehicles that need to travel on rough and pitted roads, such as off-road motorcycles, off-road vehicles and agricultural vehicles, etc. According to actual needs and expected effects, the density and arrangement of the protruding structures 6 are set. The density of the protruding structures is the number of protrusions per square centimeter or per square inch. The higher the density, the stronger the grip; the arrangement can be selected as uniform arrangement or random arrangement according to actual needs.

[0056] By setting the protruding structures 6 of different shapes in the embodiments of the present utility model, selection and design can be carried out according to specific usage environments and requirements to provide the best anti-slip effect. Considering factors such as road conditions, vehicle types and usage scenarios, etc., the performance and effect of the anti-slip device 2 are improved, and the stability and controllability of the vehicle under various road conditions are enhanced.

[0057] Optionally, the material of the anti-slip track 4 is one or more of steel, alloy steel, aluminum alloy and glass fiber reinforced plastic.

[0058] The anti-slip track 4 can be made of steel. Steel has extremely high strength and hardness, can withstand large pressures and impacts, has strong wear resistance, and is not easily deformed or damaged after long-term use. The anti-slip track 4 is suitable for heavy vehicles or construction machinery, such as excavators, bulldozers, etc., and has excellent grip and durability under harsh road conditions.

[0059] The anti-slip track 4 can be made of alloy steel. Compared with ordinary steel, alloy steel has higher wear resistance and strength, and at the same time has certain toughness and corrosion resistance. It is suitable for some vehicles and machinery that need to balance strength and wear resistance, such as agricultural machinery, loaders, etc.

[0060] The anti-slip track 4 can be made of aluminum alloy. Aluminum alloy has a low density and good corrosion resistance, and at the same time has certain strength and rigidity. It is light in weight and helps to reduce the overall weight of the vehicle. It is suitable for scenarios that require vehicle lightweight and high-speed movement, such as driverless vehicles, racing cars, off-road vehicles, etc.

[0061] The anti-slip track 4 can be made of glass fiber reinforced plastic. Glass fiber reinforced plastic has excellent wear resistance, impact resistance and corrosion resistance, and at the same time is light in weight, easy to process, and relatively low in cost. It is suitable for various light vehicles and can provide good anti-slip effect and durability.

[0062] When selecting the material of the anti-slip track 4, it is necessary to comprehensively consider according to the specific vehicle type, use environment and expected performance. Heavy vehicles or construction machinery usually choose materials with high strength and strong wear resistance such as steel or alloy steel; light vehicles or vehicles that need to move at high speed may be more inclined to aluminum alloy or glass fiber reinforced plastic to achieve lightweight and flexibility. Therefore, the material selection of the anti-slip track 4 should be reasonably selected according to specific application requirements and performance requirements.

[0063] Optionally, the material of the anti-slip wheel 5 is rubber or polyurethane.

[0064] The anti-slip wheel 5 can be made of rubber material. The rubber material has a good friction coefficient and can provide good grip when in contact with the ground, preventing the vehicle from slipping. The rubber material is relatively soft and can reduce damage to the ground, especially suitable for use indoors or in places where the ground needs to be protected. In addition, rubber has certain shock absorption and noise reduction effects, which can improve the comfort of vehicle driving. It is suitable for vehicles running on general roads, such as electric vehicles and light vehicles on urban roads, and can provide good grip and a comfortable driving experience.

[0065] The anti-slip wheel 5 can also be made of polyurethane material. Polyurethane material has high wear resistance and can withstand long-term use and friction without being easily damaged. Compared with rubber, polyurethane material is stronger and more rigid, can withstand greater loads and pressures, and is resistant to acids, alkalis, and oils and fats, with a wider adaptability. It can be used in different working environments, such as vehicles that need to bear large loads or often drive on rough road conditions, such as heavy engineering vehicles, off-road vehicles, etc.

[0066] In addition to rubber and polyurethane, the material of the anti-slip wheel 5 can also be metal, nylon, polycarbonate, hard rubber, or plastic, etc. Among them, metal materials usually have high hardness and strength, can withstand large loads and pressures, and are suitable for vehicles that need to bear heavy loads or have high-strength requirements, such as heavy construction machinery, etc. Nylon has good wear resistance and impact resistance, a smooth surface, and a low coefficient of friction, and is suitable for vehicles or equipment that need to drive on smooth ground and reduce friction, such as pulleys, scooters, etc. Polycarbonate has excellent impact resistance, wear resistance, and corrosion resistance, and at the same time is light in weight, and is suitable for high-speed movement, heavy loads, and various application scenarios that require wear resistance and impact resistance, such as industrial machinery, etc. Hard rubber has high hardness and strength, while maintaining a certain elasticity and wear resistance, and is suitable for scenarios that need to balance grip and wear resistance, such as the anti-slip wheels of some industrial vehicles. Plastic materials are lightweight, easy to process, have a certain degree of wear resistance and corrosion resistance, and are suitable for some vehicles or equipment with low weight requirements, such as electric vehicles, etc.

[0067] When selecting the material of the anti-slip wheel 5, factors such as vehicle type, use environment, load requirements, and wear resistance need to be considered, and reasonable trade-offs and selections need to be made to ensure that the anti-slip wheel 5 can provide good grip, durability, and stability.

[0068] Optionally, the telescopic device 1 is a hydraulic rod and / or a pneumatic rod.

[0069] Among them, the hydraulic rod realizes the telescopic function by transmitting hydraulic pressure through a hydraulic system. When the hydraulic system applies pressure, the hydraulic rod can retract or extend, thereby controlling the movement of the vehicle anti-slip self-processing device. The hydraulic system can provide a large pressure, the hydraulic rod has a high load-bearing capacity, and the hydraulic system can achieve precise control by adjusting the hydraulic valve, making the movement of the vehicle anti-slip self-processing device more stable and accurate, and is suitable for devices that require high load-bearing capacity and precise control, such as construction machinery, heavy vehicles, etc.

[0070] The pneumatic rod realizes the telescopic function through air pressure. When the air pressure system increases the air pressure, the pneumatic rod can retract or extend to control the movement of the vehicle skid self-treatment device. The response speed of the air pressure system is relatively fast, and the pneumatic rod can retract or extend quickly, which is suitable for scenarios that require rapid action. Compared with the hydraulic system, the air pressure system usually has a lighter load-bearing capacity and is suitable for some devices with lighter loads, such as light vehicles, etc.

[0071] In practical applications, the choice between a hydraulic rod and a pneumatic rod depends on specific requirements and application scenarios. If high load-bearing capacity and precise control are required, a hydraulic rod can be set; while if rapid response and light load are needed, a pneumatic rod can be set.

[0072] First, determine the specific requirements of the telescopic device 1, including load-bearing capacity, telescopic range, speed requirements, etc.; select a hydraulic rod, a pneumatic rod, or a combination of both as the power element according to the requirements; set the specific position, quantity, size, etc. of the hydraulic rod or pneumatic rod; manufacture the hydraulic rod or pneumatic rod according to the design requirements and ensure that its quality and performance meet the requirements; fix and connect the manufactured hydraulic rod or pneumatic rod. If a hydraulic system is used, components such as hydraulic pipelines and valves need to be installed; if a pneumatic system is used, pneumatic pipelines and pneumatic control elements need to be installed; install sensors as needed to monitor parameters such as the pressure and position of the hydraulic or pneumatic system; debug the working performance of the hydraulic rod or pneumatic rod through the hydraulic or pneumatic system, including telescopic speed, load-bearing capacity, etc. If there is a control system, the coordination between the control system and the power element needs to be debugged to ensure the normal operation of the telescopic device; conduct a test run of the telescopic device to check whether its operation is stable, reliable, and meets the design requirements; regularly check the working status of the hydraulic system or pneumatic system, including whether there is air leakage or oil leakage in the hydraulic or pneumatic pipelines and whether the power element is operating normally; regularly clean the power element and pipelines to keep their surfaces clean and avoid dust or dirt affecting the working effect; lubricate the piston rod of the hydraulic rod or pneumatic rod to ensure its smooth movement without jamming.

[0073] Optionally, the device further includes a skid monitoring device. The skid monitoring device can monitor the system parameters of the vehicle through sensors and use the system parameters to judge the skid signal to control the telescopic device 1 to rotate and / or extend.

[0074] Among them, the skid monitoring device is used to monitor the skid state of the vehicle and control the rotation and / or telescoping of the telescoping device 1 according to the monitored signal. The skid monitoring device monitors the system parameters of the vehicle through sensors installed on the vehicle, such as wheel speed, vehicle speed, torque, etc.; when the sensor detects that the vehicle is skidding, the sensor sends the monitored signal to the control system; the control system takes corresponding measures to control the telescoping device according to the received skid signal, for example, adjusting the telescoping length or rotation angle of the hydraulic rod or pneumatic rod to improve the anti-skid effect.

[0075] Specifically, monitor the rotation speed of each wheel of the vehicle. When the rotation speed of a certain wheel is significantly higher than that of other wheels, it indicates that the wheel may be in a skidding state; monitor the actual speed of the vehicle, and combine parameters such as the acceleration of the vehicle to more accurately judge whether the vehicle is in a skidding state; monitor the engine output torque of the vehicle. For four-wheel drive or front-rear drive vehicles, the torque distribution of different tires is also one of the important parameters for judging skidding. The control system judges the skid signal according to the monitored parameters. For example, when the rotation speed of a certain wheel is significantly higher than that of other wheels and the vehicle speed does not increase correspondingly, it indicates that the wheel may be in a skidding state. The judgment of the skid signal can be achieved through a set threshold or algorithm. Once the skid signal is confirmed, the control system will control the movement of the telescoping device 1 according to the preset strategy. For the telescoping device 1 of the hydraulic rod or pneumatic rod, the control system adjusts its length so that the anti-skid device 2 touches the ground and improves the grip of the vehicle. For the rotating device, adjust its angle so that the anti-skid device 2 works more effectively near the skidding wheel and enhances the anti-skid effect.

[0076] By setting the skid monitoring device in the embodiment of the present invention, the vehicle can monitor its own state in real time and adjust the telescoping device 1 as needed, improving the stability and controllability of the vehicle in case of skidding and effectively preventing accidents.

[0077] According to the second aspect of the embodiment of the present invention, as Figure 5 shown, a driverless vehicle is provided, including the vehicle skid self-processing device provided in the first aspect of the embodiment of the present invention.

[0078] First, integrate the vehicle skid self - treatment device into the overall design of the vehicle. Reasonably connect and integrate each component of the vehicle skid self - treatment device, such as the telescopic device 1, the anti - skid device 2, the skid monitoring device, etc., with other systems of the driverless vehicle. Install sensors required for the skid monitoring device, such as wheel speed sensors, vehicle speed sensors, torque sensors, etc. Connect the wheel speed sensors, vehicle speed sensors, and torque sensors to the electronic control unit of the vehicle or the control unit of the driverless system to achieve real - time monitoring and transmission of sensor data. Develop or design a control algorithm for the vehicle skid self - treatment device. This algorithm can judge whether the vehicle is skidding based on the vehicle state data monitored by the sensors and perform corresponding processing. Embed the designed control algorithm into the control unit of the driverless system to ensure real - time response and handling of skidding situations. According to the design requirements and control algorithm, set the working modes and parameters of the telescopic device 1, such as the telescopic length, rotation angle, etc., and set the working methods and triggering conditions of the anti - skid device 2 to ensure that the anti - skid device can be deployed or adjusted in time when a skid signal is detected, improving the vehicle's grip and stability. After the integration is completed, conduct system testing and debugging on the driverless vehicle to verify the functions and performance of the vehicle skid self - treatment device. Through simulation or actual scenario testing, ensure that the vehicle skid self - treatment device can effectively identify skidding situations and perform accurate control responses. Continuously optimize and improve the vehicle skid self - treatment device to enhance its stability, flexibility, and adaptability to meet the actual application requirements under different road conditions and environments.

[0079] Exemplarily, for a delivery driverless vehicle, there is a hydraulic rod in the chassis device. Four anti - skid wheels 5 are connected to the bottom of each hydraulic rod, and an anti - skid track 4 is driven by the periphery of the anti - skid wheels 5. Four of the above - mentioned vehicle skid self - treatment devices are arranged in the chassis of the delivery driverless vehicle, adjacent to the four wheels of the delivery driverless vehicle itself. When the delivery driverless vehicle is driving normally, the four anti - skid wheels 5 are parallel and in the same direction as the hydraulic rod, that is, the vehicle skid self - treatment device is parallel to the chassis and the ground. When the vehicle skids multiple times and cannot move forward, a signal is transmitted to the vehicle skid self - treatment device, and the vehicle skid self - treatment device will fold down. The contact force between the anti - skid track 4 and the ground depends on the hydraulic rod, and the force of the hydraulic rod can be greater than the weight of the delivery driverless vehicle, lifting the vehicle body, and it can move forward completely relying on the vehicle skid self - treatment device instead of its own wheels. The material structure of the anti - skid track 5 is a spiky structure for anti - skid or a material like a tank track, which is suitable for ice surfaces, snow, puddles, muddy dirt roads, etc., increasing the friction force on the contact surface with the ground / ice / dirt, etc. When the vehicle's tires skid and it does not move forward on a slope section, the vehicle skid self - treatment device can also be folded down to prevent the vehicle from slipping backward. After moving forward a certain distance using the vehicle skid self - treatment device, the hydraulic rod retracts and folds down, and the delivery continues with the four wheels of the delivery driverless vehicle itself.

[0080] In the embodiments of the present utility model, in cases such as rainy and snowy weather, ice surfaces, snowfields, puddles, muddy lands, etc., when the wheels of the express delivery unmanned vehicle are infinitely slipping, it can self-process and continue to move forward without the need for staff to locate the scene of the incident for manual processing, saving labor costs and eliminating the need for manual replacement. The present utility model can be triggered for use when infinitely slipping. If the vehicle does not encounter slipping, the vehicle slipping self-processing device may not be used.

[0081] In the embodiments of the present utility model, by setting the vehicle slipping self-processing device described in the first aspect on the driverless vehicle, the monitoring and automatic processing of vehicle slipping conditions are realized, improving the safety and stability of the driverless vehicle during driving.

[0082] It should be noted that the specific implementation content of the driverless vehicle in the present utility model has been described in detail in the above-described vehicle slipping self-processing device, so the repeated content will not be described here again.

[0083] The above specific implementation manners do not constitute a limitation to the protection scope of the present utility model. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can occur depending on design requirements and other factors. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A vehicle skidding self-handling device, characterized in that: The device includes one or more telescopic devices installed on the vehicle, each of which is equipped with an anti-skid device. When the vehicle is in a slipping state, the telescopic device extends to lift the vehicle so that the anti-skid device contacts the ground and drives the vehicle to move.

2. The device according to claim 1, characterized in that The telescopic device can be rotated and / or telescopically folded at the bottom and / or side of the vehicle.

3. The device according to claim 2, characterized in that The included angle between the telescopic device and the bottom and / or side of the vehicle is within a preset range, and the preset range is greater than or equal to 0° and less than 90°.

4. The device according to claim 1, characterized in that The anti-skid device includes two anti-skid wheel groups and an anti-skid track wrapped around the outer periphery of the two anti-skid wheel groups, or the anti-skid device includes one or more anti-skid wheels.

5. The device according to claim 4, characterized in that The outer surface of the anti-skid track and / or the anti-skid wheel is provided with a plurality of protrusion structures, and the protrusion structures are conical, square and / or sawtooth-shaped.

6. The device according to claim 4, characterized in that The anti-skid wheel is made of rubber or polyurethane.

7. The device according to claim 1, characterized in that The telescopic device is a hydraulic rod and / or a pneumatic rod.

8. The device according to claim 1, characterized in that The device also includes a slip monitoring device, which can monitor the system parameters of the vehicle through sensors, and use the system parameters to determine the slip signal to control the telescopic device to rotate and / or telescope.

9. An unmanned vehicle, characterized in that: It comprises the vehicle skidding self-handling device as described in any one of claims 1-8.

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