Vehicle capable of being driverless along guide rail and driverless system

Abstract

The utility model discloses a vehicle capable of unmanned driving along a guide rail and an unmanned driving system, belongs to the technical field of vehicle unmanned driving, and aims at solving the problem that an existing unmanned automobile is high in cost, the vehicle capable of unmanned driving along the guide rail comprises a vehicle body (1) and an auxiliary steering system (2), the auxiliary steering system (2) comprises a guide assembly (21), a base (22) and a steering pull rod (23) which are sequentially connected, and when the guide assembly (21) swings left and right, the base (22) can enable the steering knuckles (12) and the wheels (13) to correspondingly swing left and right along with the guide assembly (21) through the steering pull rod (23). The auxiliary steering system of the vehicle capable of being driverless along the guide rail is simple in structure, the vehicle capable of being driverless along the guide rail is used in cooperation with the guide rail, the cost of the driverless vehicle can be greatly reduced, and popularization of the driverless vehicle is better facilitated.

Description

Technical Field

[0001] The utility model relates to the technical field of vehicle driverless technology, specifically a vehicle capable of driverless driving along a guiding track and a driverless system. Background Art

[0002] In recent years, driverless technology has advanced by leaps and bounds. However, the scope of driverless technology not only involves fields such as vehicle control, path planning, and perception fusion, but also fields such as artificial intelligence, machine learning, and deep learning. The technical difficulty of driverless technology is relatively high. At present, the manufacturing and technical costs of driverless vehicles are high, making it difficult to promote and popularize them. Summary of the Utility Model

[0003] In order to solve the problem of high cost of existing driverless vehicles, the utility model provides a vehicle capable of driverless driving along a guiding track and a driverless system. The auxiliary steering system of the vehicle capable of driverless driving along a guiding track has a simple structure. The vehicle capable of driverless driving along a guiding track is used in cooperation with the guiding track, which can not only achieve safe and reliable driverless driving, but also greatly reduce the cost of driverless vehicles, and is more conducive to the promotion and popularization of driverless vehicles.

[0004] The technical solution adopted by the utility model to solve its technical problems is:

[0005] A vehicle capable of driverless driving along a guiding track includes a vehicle body and an auxiliary steering system. The vehicle body includes a chassis, a steering knuckle, and wheels. The auxiliary steering system includes a guiding component, a base, and a steering tie rod connected in sequence. The steering tie rod is connected to the steering knuckle of the vehicle body. The lower part of the guiding component can be inserted into the guiding track. When the guiding component swings left and right, the base can swing left and right correspondingly with the guiding component, and the base can also make the steering knuckle and the wheels swing left and right correspondingly through the steering tie rod.

[0006] The guiding component includes a transmission connecting rod and a guiding strip. The transmission connecting rod is in an upright state. The upper end of the transmission connecting rod is connected to the base, and the lower end of the transmission connecting rod is connected to the guiding strip. The guiding strip extends in the front-rear direction.

[0007] Two transmission connecting rods are arranged at intervals in the front-rear direction. The transmission connecting rod includes an upper connecting rod, a first rotating shaft, and a lower connecting rod connected in sequence from top to bottom. The first rotating shaft extends in the front-rear direction. The auxiliary steering system further includes a rotation driving mechanism, and the rotation driving mechanism can make the guiding strip and the lower connecting rod rotate around the first rotating shaft.

[0008] The rotation driving mechanism can make the lower connecting rod rotate from an upright state to a horizontal state, and the rotation driving mechanism can also make the lower connecting rod rotate from a horizontal state to an upright state.

[0009] The rotation drive mechanism includes a drive motor, a worm, and a worm gear. The output shaft of the drive motor is connected to the worm, the worm meshes with the worm gear, the worm gear is located between two transmission connecting rods, and both first rotating shafts are connected to the worm gear.

[0010] A transverse guide wheel and a longitudinal guide wheel are connected below the guide bar. The axis of the transverse guide wheel extends in the left - right direction, the axis of the longitudinal guide wheel extends in the up - down direction, and both the transverse guide wheel and the longitudinal guide wheel can rotate self - sufficiently.

[0011] The auxiliary steering system further includes a rotating component. The rotating component includes a second rotating shaft and an outer sleeve which are sleeved inside and outside each other. The rotating component is located above the base. The second rotating shaft is connected to the base, the outer sleeve is connected to the chassis, the second rotating shaft is in an upright state, and the base can swing around the second rotating shaft.

[0012] A transmission arm is connected to the front part of the steering knuckle. The steering tie rod extends in the left - right direction. One end of the steering tie rod is hinged to the base, and the other end of the steering tie rod is hinged to the transmission arm.

[0013] The auxiliary steering system is located at the front and rear of the vehicle body. The steering knuckle includes a front - wheel steering knuckle and a rear - wheel steering knuckle. The steering tie rod of the auxiliary steering system at the front is connected to the front - wheel steering knuckle of the vehicle body, and the steering tie rod of the auxiliary steering system at the rear is connected to the rear - wheel steering knuckle of the vehicle body.

[0014] An unmanned driving system, the unmanned driving system includes a vehicle and a guiding track. The vehicle is the vehicle capable of unmanned driving along the guiding track as described above. The vehicle can be combined with or separated from the guiding track. When the vehicle is combined with the guiding track and driving along the guiding track, the guiding track can guide the vehicle to turn.

[0015] An upper groove is provided in the guiding track, the opening of the upper groove faces upward, and the lower part of the guiding component can be inserted into the upper groove of the guiding track in a matching manner; along the extending direction of the guiding track, the guiding track includes an entrance section, a driving section, and an exit section which are connected in sequence; the lower part of the guiding component of the vehicle can enter the driving section from the outside of the guiding track through the entrance section, the lower part of the guiding component of the vehicle can be inserted into the driving section in a matching manner, the driving section can guide the vehicle to turn, and the lower part of the guiding component of the vehicle can also leave the guiding track through the exit section from the driving section.

[0016] The beneficial effects of the present utility model are as follows: The auxiliary steering system of the vehicle capable of unmanned driving along the guiding track has a simple structure. The vehicle capable of unmanned driving along the guiding track and the guiding track are used in cooperation, which can not only achieve safe and reliable unmanned driving, but also greatly reduce the cost of unmanned vehicles, and is more conducive to the popularization and application of unmanned vehicles. Description of the Drawings

[0017] The accompanying drawings of the specification, which form a part of this application, are used to provide a further understanding of the present utility model. The schematic embodiments of the present utility model and their descriptions are used to explain the present utility model and shall not constitute an improper limitation to the present utility model.

[0018] Figure 1 It is a schematic diagram of the auxiliary steering system.

[0019] Figure 2 It is a schematic diagram of the upper part of the auxiliary steering system.

[0020] Figure 3 It is a schematic diagram of the lower part of the auxiliary steering system.

[0021] Figure 4 It is a schematic diagram of the lower link in the auxiliary steering system rotating to the horizontal state.

[0022] Figure 5 It is a schematic diagram of the connection between the worm and the worm wheel.

[0023] Figure 6 It is a schematic diagram of the vehicle capable of unmanned driving along the guiding track according to the present utility model.

[0024] Figure 7 It is a schematic diagram of the connection between the tie rod and the steering knuckle from the first perspective.

[0025] Figure 8 It is a schematic diagram of the connection between the tie rod and the steering knuckle from the second perspective.

[0026] Figure 9 It is a schematic diagram of the connection between the rotating component and the chassis.

[0027] Figure 10 It is a schematic diagram of the vehicle capable of unmanned driving along the guiding track traveling along the guiding track.

[0028] Figure 11 It is a schematic diagram of the vehicle capable of unmanned driving along the guiding track before entering the entrance section.

[0029] Figure 12 It is a schematic diagram of the vehicle capable of unmanned driving along the guiding track entering the traveling section.

[0030] Figure 13 It is a schematic diagram of the guiding track guiding the vehicle capable of unmanned driving along the guiding track to automatically steer.

[0031] Figure 14 It is a schematic diagram of the vehicle capable of unmanned driving along the guiding track entering the exit section.

[0032] Figure 15 It is a schematic diagram of the vehicle capable of unmanned driving along the guiding track driving out of the guiding track.

[0033] Description of the reference numerals in the drawings:

[0034] 1. Vehicle body; 2. Auxiliary steering system; 3. Guide track;

[0035] 11. Chassis; 12. Steering knuckle; 13. Wheel; 14. Transmission arm;

[0036] 21. Guide assembly; 22. Base; 23. Steering tie rod; 24. Rotary drive mechanism; 25. Rotary component;

[0037] 31. Upper groove; 32. Entrance section; 33. Travel section; 34. Exit section;

[0038] 121. Front-wheel steering knuckle; 122. Rear-wheel steering knuckle;

[0039] 211. Transmission link; 212. Guide bar; 213. Lateral guide wheel; 214. Longitudinal guide wheel;

[0040] 241. Drive motor; 242. Worm; 243. Worm gear;

[0041] 251. Second rotating shaft; 252. Outer sleeve;

[0042] 2111. Upper link; 2112. First rotating shaft; 2113. Lower link. Detailed implementation manners

[0043] It should be noted that, without conflict, the embodiments in this application and the features in the embodiments can be combined with each other. The following will describe the present invention in detail with reference to the drawings and in combination with the embodiments.

[0044] For the convenience of understanding and clear description, the following description of the present invention adopts a combination of an absolute position relationship and a three-dimensional rectangular coordinate system with the X, Y, and Z axes as the coordinate axes. Unless otherwise specified, the directional term "up and down direction" represents Figure 6 the Z-axis direction in Figure 6 the directional term "left and right direction" represents Figure 6 the X-axis direction in

[0045] and the directional term "front and back direction" represents Figures 1 to 9As shown in the figure, a vehicle capable of unmanned driving along a guiding track according to an embodiment of the present utility model includes a vehicle body 1 and an auxiliary steering system 2. The vehicle body 1 includes a chassis 11, a steering knuckle 12, and wheels 13. The auxiliary steering system 2 includes a guiding component 21, a base 22, and a steering tie rod 23 that are connected in sequence. The steering tie rod 23 is connected to the steering knuckle 12 of the vehicle body 1. The lower part of the guiding component 21 can be inserted into the guiding track 3, and the lower end surface of the guiding component 21 is higher than the lower end surface of the wheels 13. When the guiding component 21 swings left and right, the base 22 can swing left and right accordingly with the guiding component 21, and the base 22 can also make the steering knuckle 12 and the wheels 13 swing left and right accordingly through the steering tie rod 23.

[0046] The guiding component 21 includes a transmission connecting rod 211 and a guiding strip 212 arranged vertically. The transmission connecting rod 211 is in an upright state. The upper end of the transmission connecting rod 211 is fixedly connected to the base 22 by screws, and the lower end of the transmission connecting rod 211 is fixedly connected to the guiding strip 212 by screws. Both the base 22 and the guiding strip 212 are strip-shaped plate structures, both the base 22 and the guiding strip 212 are parallel to the horizontal plane, and both the base 22 and the guiding strip 212 extend in the front-rear direction.

[0047] As Figures 1 to 3 shown, two transmission connecting rods 211 are arranged at intervals front and rear and are mirror images of each other. The transmission connecting rod 211 includes an upper connecting rod 2111, a first rotating shaft 2112, and a lower connecting rod 2113 connected in sequence from top to bottom. The upper end of the upper connecting rod 2111 is fixedly connected to the base 22 by screws. The first rotating shaft 2112 extends in the front-rear direction, and the lower end of the lower connecting rod 2113 is fixedly connected to the guiding strip 212 by screws.

[0048] To enable the vehicle capable of unmanned driving along the guiding track to drive safely and smoothly whether there is a guiding track 3 or not, the auxiliary steering system 2 further includes a rotary drive mechanism 24. The rotary drive mechanism 24 can make the guiding strip 212 and the lower connecting rod 2113 rotate around the first rotating shaft 2112. For example, the rotary drive mechanism 24 can make the lower connecting rod 2113 rotate from an upright state to a horizontal state, and the rotary drive mechanism 24 can also make the lower connecting rod 2113 rotate from a horizontal state to an upright state.

[0049] When the vehicle capable of unmanned driving along the guiding track needs to be in a track-guided mode, the lower connecting rod 2113 is in an upright state, and the lower part of the guiding component 21 can be inserted into the guiding track 3 in a matching manner. The guiding track 3 can guide the vehicle capable of unmanned driving along the guiding track to automatically turn. When the vehicle capable of unmanned driving along the guiding track needs to be in a non-track-guided mode, the lower connecting rod 2113 is in a horizontal state, and the lower part of the guiding component 21 cannot be inserted into the guiding track 3. As Figure 4 and Figure 6 shown.

[0050] As shown Figures 4 to 5 in FIG. 2, the rotation drive mechanism 24 may include a drive motor 241, a worm 242, and a worm gear 243 connected in sequence. The output shaft of the drive motor 241 is coaxially and fixedly connected to the worm 242. The worm 242 meshes with the worm gear 243. In the front-rear direction, the worm gear 243 is located between two transmission link rods 211. Both first rotating shafts 2112 are coaxially and fixedly connected to the worm gear 243. The upper link rod 2111 has a clearance fit with the first rotating shaft 2112. The lower link rod 2113 and the first rotating shaft 2112 may be connected by a key. The rotation of the output shaft of the drive motor 241 can cause the lower link rod 2113 to rotate around the first rotating shaft 2112.

[0051] The manner in which the lower part of the guiding assembly 21 is inserted into the guiding track 3 may be that the upper surface of the guiding track 3 has an upper groove 31 with an upward opening, and the lower part of the guiding assembly 21 can be inserted into the upper groove 31 of the guiding track 3 in a matching manner. Or, the lower part of the guiding assembly 21 has a lower groove with a downward opening, and the guiding track 3 can be inserted into the lower groove of the guiding assembly 21 in a matching manner. Preferably, the upper surface of the guiding track 3 has an upper groove 31.

[0052] A transverse guide wheel 213 and a longitudinal guide wheel 214 are connected below the guide bar 212. The axis of the transverse guide wheel 213 extends in the left-right direction, and the axis of the longitudinal guide wheel 214 extends in the up-down direction. Both the transverse guide wheel 213 and the longitudinal guide wheel 214 can rotate self-rotationally. In the front-rear direction, the two transverse guide wheels 213 are located between the two longitudinal guide wheels 214. When in use, after the lower part of the guiding assembly 21 is inserted into the upper groove 31 of the guiding track 3, the longitudinal guide wheel 214 can contact the bottom surface of the upper groove 31, and the longitudinal guide wheel 214 can contact the side surface of the upper groove 31.

[0053] As shown Figures 6 to 9 in FIG. 3, the auxiliary steering system 2 further includes a rotating member 25. The rotating member 25 includes an inner and outer sleeved second rotating shaft 251 and an outer sleeve 252. The rotating member 25 is located above the base 22. The second rotating shaft 251 is fixedly connected to the base 22 by screws. The outer sleeve 252 is fixedly connected to the chassis 11 by screws. The chassis 11 may be a truss structure. Both the second rotating shaft 251 and the outer sleeve 252 are in an upright state. The base 22 can swing around the second rotating shaft 251, that is, the base 22 can swing with the axis of the second rotating shaft 251 as the axis.

[0054] The second rotating shaft 251 and the outer sleeve 252 can be connected by bearings. In the front-rear direction, the rotating member 25 is located between the two transmission connecting rods 211, that is, the second rotating shaft 251 is located between the two transmission connecting rods 211. The driving motor 241 is fixedly connected to the base 22 through a motor base. The driving motor 241 is located on the left or right side of the base 22. In the front-rear direction, the two transmission connecting rods 211 are located in the middle and rear parts of the base 22, and the connection part of the steering tie rod 23 and the base 22 is located in the front part of the base 22.

[0055] As Figures 6 to 9 shown, a transmission arm 14 is fixedly connected to the inner side of the front part of the steering knuckle 12. For example, the transmission arm 14 is bolted or welded to the steering knuckle 12. The steering tie rod 23 is connected to the steering knuckle 12 of the vehicle body 1 through the transmission arm 14. The steering tie rod 23 extends in the left-right direction. One end of the steering tie rod 23 is hinged to the base 22, and the other end of the steering tie rod 23 is hinged to the transmission arm 14. The connection manner among the steering tie rod 23, the transmission arm 14, and the steering knuckle 12 is basically the same as the connection manner among the steering cross rod, the trapezoidal arm, and the steering knuckle in existing vehicles (electric vehicles and fuel vehicles). The transmission arm 14 is located in the front part of the steering knuckle 12, and the trapezoidal arm is located in the rear part of the steering knuckle 12.

[0056] In a vehicle capable of driverless driving along a guiding track, the manner in which the steering tie rod 23 pulls the steering knuckle 12 to swing the steering knuckle 12 and the wheel 13 left and right to achieve vehicle steering is the same as the manner in the prior art in which the steering cross rod pulls the steering knuckle 12 to swing the steering knuckle 12 and the wheel 13 left and right to achieve vehicle steering.

[0057] As Figures 6 to 10 shown, in order to achieve fast and stable steering, the auxiliary steering system 2 is located at the front and rear parts of the vehicle body 1. The steering knuckle 12 includes a front-wheel steering knuckle 121 and a rear-wheel steering knuckle 122. The steering tie rod 23 of the auxiliary steering system 2 at the front part is connected to the transmission arm 14 of the front-wheel steering knuckle 121 of the vehicle body 1, and the steering tie rod 23 of the auxiliary steering system 2 at the rear part is connected to the transmission arm 14 of the rear-wheel steering knuckle 122 of the vehicle body 1.

[0058] Except for the auxiliary steering system 2 and the transmission arm 14, the other components of the vehicle capable of driving without a driver along the guiding track are basically the same as those in the prior art. It can be understood that the vehicle capable of driving without a driver along the guiding track is based on the existing vehicles (electric vehicles and fuel vehicles) with the addition of the auxiliary steering system 2 and the transmission arm 14. The vehicle capable of driving without a driver along the guiding track can be a newly produced vehicle or a vehicle transformed by installing the auxiliary steering system 2 and the transmission arm 14 on an existing vehicle. The vehicle capable of driving without a driver along the guiding track can be an electric vehicle or a fuel vehicle, and can be in a manned driving mode or an unmanned driving mode. Alternatively, the vehicle capable of driving without a driver along the guiding track can also switch between the manned driving mode and the unmanned driving mode.

[0059] The following introduces an unmanned driving system. As Figures 6 to 10 shown, the unmanned driving system includes a vehicle and a guiding track 3. The vehicle is the vehicle capable of driving without a driver along the guiding track described above. The vehicle can be combined (i.e., connected) with or separated from the guiding track 3. When the vehicle is combined with the guiding track 3 and travels along the guiding track 3, the guiding track 3 can guide the vehicle to turn.

[0060] An upper groove 31 is provided in the guiding track 3, and the opening of the upper groove 31 faces upward. The lower part of the guiding component 21 can be inserted into the upper groove 31 of the guiding track 3 in a matching manner. Along the extending direction of the guiding track 3, the guiding track 3 includes an inlet section 32, a traveling section 33, and an outlet section 34 that are connected in sequence. The width of the upper groove 31 in the inlet section 32 is greater than the width of the upper groove 31 in the traveling section 33, and the width of the upper groove 31 in the outlet section 34 is also greater than the width of the upper groove 31 in the traveling section 33.

[0061] The lower part of the guiding component 21 of the vehicle can enter the upper groove 31 of the traveling section 33 from the outside of the guiding track 3 through the upper groove 31 of the inlet section 32. In the traveling section 33, the lower part of the guiding component 21 of the vehicle can be inserted into the upper groove 31 of the guiding track 3 in a matching manner, and the traveling section 33 can guide the vehicle to turn. The lower part of the guiding component 21 of the vehicle can also leave the guiding track 3 from the upper groove 31 of the traveling section 33 through the upper groove 31 of the outlet section 34.

[0062] The entrance section 32, the driving section 33, and the exit section 34 are connected in sequence from the rear to the front. Both the entrance section 32 and the exit section 34 are in the shape of a flared trumpet. The small-mouth ends of the entrance section 32 and the exit section 34 are connected to the driving section 33. The width of the entrance section 32 is greater than that of the driving section 33, and the width of the exit section 34 is greater than that of the driving section 33. The rear end of the upper groove 31 in the entrance section 32 is in an open state, and the front end of the upper groove 31 in the exit section 34 is in an open state. The driving section 33 includes a straight section and a curved section. Correspondingly, the upper groove 31 in the straight section is in a straight structure, and the upper groove 31 in the curved section is in a curved structure.

[0063] The working process of the vehicle and the unmanned driving system capable of driving without a driver along the guiding track will be introduced below.

[0064] For example, the vehicle capable of driving without a driver along the guiding track can be an unmanned vehicle. Initially, the vehicle capable of driving without a driver along the guiding track can travel on an ordinary road where there is no guiding track 3, that is, the vehicle capable of driving without a driver along the guiding track is located outside the guiding track 3. The lower connecting rod 2113 is in a horizontal state to avoid bumping and damage. The operation mode of the vehicle is the same as that of the existing unmanned vehicle.

[0065] When the vehicle capable of driving without a driver along the guiding track travels to a road with a guiding track 3, the vehicle capable of driving without a driver along the guiding track can detect the guiding track 3 ahead. As Figure 11 shown, the guiding track 3 extends along the extension direction of the road, and the guiding track 3 can be located in the center of the road. When the vehicle travels to the starting point of the guiding track 3, the rotation drive mechanism 24 rotates the lower connecting rod 2113 from the horizontal state to the upright state. As Figure 12 shown, the guiding strip 212 at the lower end of the guiding component 21 enters the upper groove 31 of the driving section 33 from the upper groove 31 of the entrance section 32, and the vehicle capable of driving without a driver along the guiding track can be changed from the non-track guiding mode to the track guiding mode.

[0066] When the upper groove 31 of the driving section 33 is in a curved structure, as Figure 13 shown, after the guiding strip 212 at the lower end of the guiding component 21 enters the curved upper groove 31, the guiding strip 212 at the lower end of the guiding component 21 will swing left and right around the second rotating shaft 251 following the curvature of the upper groove 31. The guiding strip 212 transmits the left and right swing to the base 22 through the transmission connecting rod 211. The base 22 can swing left and right correspondingly along with the guiding component 21. The base 22 then makes the steering knuckle 12 and the wheel 13 swing left and right correspondingly through the steering tie rod 23, thereby realizing vehicle steering, that is, the guiding track 3 can guide the vehicle capable of driving without a driver along the guiding track to achieve automatic steering.

[0067] When the vehicle reaches the end of the guiding track 3, after the guiding assembly 21 of the vehicle capable of driverless driving along the guiding track exits the driving section 33 or the exit section 34 of the guiding track 3, as Figure 14 and Figure 15 shown, the rotary drive mechanism 24 rotates the lower connecting rod 2113 from the upright state to the horizontal state, and the vehicle capable of driverless driving along the guiding track can be changed from the track guiding mode to the non-track guiding mode again. The vehicle drives out (i.e., leaves) the guiding track 3, and the vehicle continues to drive on the ordinary road.

[0068] The vehicle capable of driverless driving along the guiding track and the driverless system can be used within a relatively independent or enclosed range. For example, the vehicle capable of driverless driving along the guiding track and the driverless system can be used in a tourist rest town. The vehicle capable of driverless driving along the guiding track can be a four-wheel electric vehicle or a four-wheel car. The road for the vehicle capable of driverless driving along the guiding track is an internal road, and a guiding track 3 is provided on the road. The vehicle capable of driverless driving along the guiding track is used in cooperation with the guiding track, which can not only achieve safe and reliable driverless driving, but also greatly reduce the cost of driverless vehicles, and is more conducive to the popularization and promotion of driverless vehicles.

[0069] As mentioned above, only the specific embodiments of the present invention are described, and the scope of implementation of the invention cannot be limited by them. Therefore, the replacement of equivalent components or the equivalent changes and modifications made according to the protection scope of the present invention should still fall within the scope covered by the present invention. In addition, the technical features in the present invention can be freely combined with each other, between technical features and technical solutions, and between technical solutions.

Claims

1. A vehicle capable of unmanned driving along a guiding track, characterized in that, The vehicle capable of driverless running along a guiding track includes a vehicle body (1) and an auxiliary steering system (2). The vehicle body (1) includes a chassis (11), a steering knuckle (12) and wheels (13). The auxiliary steering system (2) includes a guiding component (21), a base (22) and a steering tie rod (23) which are connected in sequence. The steering tie rod (23) is connected to the steering knuckle (12) of the vehicle body (1). The lower part of the guiding component (21) can be inserted into the guiding track (3). When the guiding component (21) swings left and right, the base (22) can swing left and right correspondingly with the guiding component (21), and the base (22) can also make the steering knuckle (12) and the wheels (13) swing left and right correspondingly through the steering tie rod (23).

2. The vehicle capable of driverless operation along a guiding track according to claim 1, wherein The guiding component (21) includes a transmission connecting rod (211) and a guiding strip (212). The transmission connecting rod (211) is in an upright state. The upper end of the transmission connecting rod (211) is connected to the base (22), and the lower end of the transmission connecting rod (211) is connected to the guiding strip (212). The guiding strip (212) extends in the front-rear direction.

3. The vehicle capable of driverless operation along a guiding track according to claim 2, characterized in that, Two transmission connecting rods (211) are arranged at intervals in the front-rear direction. The transmission connecting rod (211) includes an upper connecting rod (2111), a first rotating shaft (2112) and a lower connecting rod (2113) which are connected in sequence from top to bottom. The first rotating shaft (2112) extends in the front-rear direction. The auxiliary steering system (2) further includes a rotary drive mechanism (24). The rotary drive mechanism (24) can make the guiding strip (212) and the lower connecting rod (2113) rotate around the first rotating shaft (2112).

4. The vehicle capable of driverless operation along a guiding track according to claim 3, characterized in that, The rotary drive mechanism (24) can make the lower connecting rod (2113) rotate from an upright state to a horizontal state, and the rotary drive mechanism (24) can also make the lower connecting rod (2113) rotate from a horizontal state to an upright state. The rotary drive mechanism (24) includes a drive motor (241), a worm (242) and a worm wheel (243). The output shaft of the drive motor (241) is connected to the worm (242). The worm (242) meshes with the worm wheel (243). The worm wheel (243) is located between the two transmission connecting rods (211). Both first rotating shafts (2112) are connected to the worm wheel (243).

5. The vehicle capable of driverless operation along a guiding track according to claim 2, wherein A transverse guide wheel (213) and a longitudinal guide wheel (214) are connected below the guiding strip (212). The axis of the transverse guide wheel (213) extends in the left-right direction, and the axis of the longitudinal guide wheel (214) extends in the up-down direction. Both the transverse guide wheel (213) and the longitudinal guide wheel (214) can rotate on their own axes.

6. The vehicle capable of driverless operation along a guiding track according to claim 1, wherein The auxiliary steering system (2) further includes a rotating component (25). The rotating component (25) includes a second rotating shaft (251) and an outer sleeve (252) which are sleeved inside and outside each other. The rotating component (25) is located above the base (22). The second rotating shaft (251) is connected to the base (22), and the outer sleeve (252) is connected to the chassis (11). The second rotating shaft (251) is in an upright state, and the base (22) can swing around the second rotating shaft (251).

7. The vehicle capable of driverless operation along a guiding track according to claim 1, characterized in that, A transmission arm (14) is connected to the front part of the knuckle (12). The steering tie rod (23) extends in the left - right direction. One end of the steering tie rod (23) is hinged to the base (22), and the other end of the steering tie rod (23) is hinged to the transmission arm (14).

8. The vehicle capable of driverless operation along a guiding track according to claim 1, wherein The auxiliary steering system (2) is located at the front and rear parts of the vehicle body (1). The knuckle (12) includes a front - wheel knuckle (121) and a rear - wheel knuckle (122). The steering tie rod (23) of the auxiliary steering system (2) at the front part is connected to the front - wheel knuckle (121) of the vehicle body (1), and the steering tie rod (23) of the auxiliary steering system (2) at the rear part is connected to the rear - wheel knuckle (122) of the vehicle body (1).

9. An unmanned system, characterized in that, The unmanned driving system includes a vehicle and a guiding track (3). The vehicle is the vehicle capable of unmanned driving along the guiding track as described in claim 1. The vehicle can be combined with or separated from the guiding track (3). When the vehicle is combined with the guiding track (3) and travels along the guiding track (3), the guiding track (3) can guide the vehicle to turn.

10. The driverless system according to claim 9, characterized in that, An upper groove (31) is provided in the guiding track (3). The opening of the upper groove (31) faces upward. The lower part of the guiding component (21) can be inserted into the upper groove (31) of the guiding track (3) in a matching manner. Along the extending direction of the guiding track (3), the guiding track (3) includes an inlet section (32), a running section (33), and an outlet section (34) connected in sequence. The lower part of the guiding component (21) of the vehicle can enter the running section (33) from the outside of the guiding track (3) through the inlet section (32). The lower part of the guiding component (21) of the vehicle can be inserted into the running section (33) in a matching manner. The running section (33) can guide the vehicle to turn. The lower part of the guiding component (21) of the vehicle can also leave the guiding track (3) from the running section (33) through the outlet section (34).

Images