Unmanned all-terrain vehicle

Abstract

The utility model discloses an unmanned all-terrain vehicle which comprises a vehicle body, a visualization system and a control unit, the visualization system comprises a plurality of cameras, and the cameras are distributed on the periphery of the vehicle body and used for obtaining environment information of the periphery of the vehicle body and inputting the obtained environment information to the control unit. The control unit sends a control command to the early warning unit according to the adopted environment information; according to the unmanned all-terrain vehicle, the cameras are distributed on the periphery of the vehicle body, so that the environment information of the periphery of the vehicle body can be obtained, the control unit can conveniently make corresponding driving strategies according to the obtained environment information, and the safety and intelligence of unmanned driving can be improved; and meanwhile, image data are provided when the all-terrain vehicle needs to be parked laterally or backed up, so that the operation of a user is facilitated, or automatic parking is realized.

Description

TECHNICAL FIELD

[0001] The utility model relates to unmanned all terrain vehicle technical field, especially unmanned all terrain vehicle. BACKGROUND

[0002] Unmanned all terrain vehicle refers to the vehicle that can run on various terrains, and walks freely on the terrain that ordinary vehicle is difficult to maneuver, and the vehicle has multiple purposes and is not limited by road conditions, therefore, is widely used in logistics freight and other fields.

[0003] Therefore, it is urgent to improve the structure of the visualization system of the prior art unmanned all terrain vehicle, which can provide image data for the side parking or reversing image of the unmanned all terrain vehicle, and can obtain the environmental information around the whole vehicle in all directions, so as to accurately control the vehicle position and avoid obstacles. SUMMARY

[0004] Therefore, the utility model discloses the purpose in providing a kind of unmanned all terrain vehicle, which can provide image data for the side parking or reversing image of the unmanned all terrain vehicle, and can obtain the environmental information around the whole vehicle in all directions, so as to accurately control the vehicle position and avoid obstacles.

[0005] The utility model discloses unmanned all terrain vehicle, including car body, visualization system and control unit, the visualization system includes several cameras, the several cameras are distributed in the four around car body, for obtaining the environmental information around car body and inputting the environmental information obtained to control unit, the control unit issues control command according to the environmental information used to early warning unit;

[0006] The car body further includes frame and goods shelf, the goods shelf is fixedly connected with frame and the upper surface of goods shelf is configured as mounting surface, the upper portion of mounting surface forms the installation area for installing load platform, and the load platform is installed in the installation area.

[0007] Further, the frame is provided with a plurality of mounting positions for mounting the goods shelf, and the plurality of mounting positions are arranged at the front, middle, rear, left and right portions of the frame.

[0008] Further, at least four wheels are arranged on the frame, and the ratio of the diameter of the wheel to the vertical distance from the upper surface of the goods shelf to the ground is 0.72-0.76.

[0009] Further, the cameras arranged on the left and right sides of the vehicle body are arranged at a set angle towards the front of the vehicle body.

[0010] Further, the sensing positioning system arranged on the wheels comprises a wheel speed sensor and an inertial measurement unit.

[0011] Further, the suspension system comprises a front suspension system and a rear suspension system, which are respectively arranged at the front and rear of the vehicle frame;

[0012] The brake system is a brake-by-wire system arranged on one side of the vehicle frame.

[0013] The driving system comprises a front drive system and a rear drive system, the front drive system comprises a front electric drive controller and a front electric drive, the front electric drive controller and the front electric drive are in a split structure, and the front electric drive controller is arranged in front of the power battery.

[0014] The rear drive system comprises a rear electric drive controller and a rear electric drive, the rear electric drive controller and the rear electric drive are in an integrated structure, and the rear electric drive controller is arranged behind the power battery.

[0015] The control unit comprises a domain controller arranged at a rear position of the middle of the vehicle frame.

[0016] Further, the power management system comprises a battery high-voltage system and a battery low-voltage system, the battery low-voltage system comprises a storage battery and a vehicle controller, the storage battery is arranged at the front of the vehicle frame, the vehicle controller is arranged at a front position of the middle of the vehicle frame, the battery high-voltage system comprises a power battery and a charging and discharging integrated machine, the power battery is arranged at the middle of the vehicle frame, and the charging and discharging integrated machine is arranged at a front position of the middle of the vehicle frame.

[0017] Further, the charging port is arranged on one side of the vehicle body and fixedly connected with the vehicle frame.

[0018] Further, the positioning system comprises two positioning antennas symmetrically arranged about the longitudinal center plane of the vehicle body.

[0019] Further, the laser radar system comprises a roof laser radar, a front laser radar, a rear laser radar and a laser radar analysis box, the roof laser radar is arranged on the top of the vehicle head, the front laser radar is arranged on the end of the vehicle head, the rear laser radar is arranged on the vehicle tail, and the laser radar analysis box is arranged on the vehicle body and separately arranged on the left and right sides of the vehicle body with the brake-by-wire system.

[0020] Further, the visual system further comprises an ultrasonic radar device arranged on the left and right sides of the vehicle body.

[0021] Further, the visual system further comprises a light compensation lamp arranged above the camera.

[0022] Further, the visual system further comprises an instrument assembly arranged on one side of the vehicle body, a starting switch arranged beside the instrument assembly, an emergency stop switch and a driving mode switch arranged at the tail of the vehicle body, and a mode display device arranged beside the driving mode switch.

[0023] The unmanned all-terrain vehicle has the advantages that: the camera is arranged around the vehicle body, the environmental information around the vehicle body can be acquired, the control unit can make corresponding driving strategies according to the acquired environmental information, the safety and intelligence of unmanned driving are improved, image data is provided when the all-terrain vehicle needs to be parked or needs to be reversed, the user is more convenient to operate, or automatic parking is realized. BRIEF DESCRIPTION OF DRAWINGS

[0024] The utility model will be further described in connection with the drawings and embodiments:

[0025] Figure 1 It is the structural schematic diagram of the utility model;

[0026] Figure 2 It is the structural schematic diagram when hiding the object platform;

[0027] Figure 3 It is Figure 2 It is the structural schematic diagram of another view;

[0028] Figure 4 It is Figure 2 It is the structural schematic diagram when hiding part components;

[0029] Figure 5 It is the structural schematic diagram of the frame;

[0030] Figure 6 It is the structural schematic diagram of the cooling system arrangement;

[0031] Among them, the above drawing contains the following figure marks:

[0032] 1, roof laser radar; 2, positioning antenna; 3, camera; 4, front laser radar; 5, front suspension system; 51, front shock absorber; 52, front upper swing arm; 53, front lower swing arm; 6, object carrying platform; 7, vehicle body; 8, ultrasonic radar device; 9, ignition switch; 10, instrument assembly; 11, charging and discharging integrated machine; 12, power battery; 13, domain controller; 14, cooling system; 141, radiator; 142, cooling water pipe assembly; 143, electronic water pump; 15, GPS signal processor; 16, front electric drive controller; 17, line control brake system; 18, rear electric drive; 19, rear suspension system; 191, rear shock absorber; 192, rear upper swing arm; 193, rear lower swing arm; 20, laser radar analysis box; 21, rear electric drive controller; 22, storage battery; 23, front electric drive; 24, vehicle controller; 25, light supplement lamp; 26, charging port; 27, emergency stop switch; 28, rear laser radar; 29, three-color lamp; 30, driving mode switch; 31, vehicle frame; 32, left support frame; 33, goods shelf; 331, mounting position; 34, right support frame; 35, wheel. DETAILED DESCRIPTION

[0033] Figure 1 The structure schematic view of the utility model, Figure 2 The structure schematic view when hiding the object carrying platform, Figure 3 The structure schematic view of Figure 2 The structure schematic view of another view, Figure 4 The structure schematic view of Figure 2 The structure schematic view when hiding part components, Figure 5 The structure schematic view of the vehicle frame, Figure 6 The structure schematic view of the cooling system arrangement, such as Figures 1-6As shown: the unmanned all-terrain vehicle of the embodiment, including a vehicle body 7, a visualization system and a control unit, the visualization system includes several cameras 3, the several cameras 3 are distributed around the vehicle body 7, for obtaining the environmental information around the vehicle body 7 and inputting the obtained environmental information to the control unit, the control unit sends control commands to the early warning unit according to the adopted environmental information; the control unit can be a combination of CPU and peripheral circuit, or domain controller 13 and the like, the environmental information includes the information of the road, traffic lights, signs, other vehicles, pedestrians and other obstacles around the all-terrain vehicle, the camera 3 realizes the image information collection function through the lens and image sensor, and transmits the image information to the control unit, the control unit is in communication connection with the camera, the control unit processes data according to the obtained image information, so as to judge the environment where the all-terrain vehicle is located, the distance of the vehicle relative to other objects in the scene and the like, and make early warning when the obstacle is identified or when parking, the early warning unit can be warning lights or other early warning methods, such as early warning information appearing on the display screen and the like, in the structure, the cameras 3 are dispersedly arranged around the vehicle body 7, such as the front, rear, left and right four directions of the vehicle body 7, so as to obtain the omnidirectional information around the vehicle body 7, compared with the prior art, the lateral and rear traffic conditions of the all-terrain vehicle can be monitored, and assistance for parking can be provided;

[0034] The vehicle body 7 also includes a vehicle frame 31 and a cargo shelf 33, the cargo shelf 33 is fixedly connected with the vehicle frame 31, and the upper surface of the cargo shelf 33 is configured as a mounting surface, the upper side of the mounting surface forms a mounting area for mounting the load platform 6, and the load platform 6 is mounted on the mounting area; in the structure, the vehicle body 7 also includes a left support frame 32 and a right support frame, the left support frame 32 and the right support frame are respectively arranged on the left side and the right side of the vehicle frame 31 (left and right are relative to the left and right directions of the all-terrain vehicle), and are used for connecting the vehicle frame 31 and the cargo shelf 33, the upper surface of the cargo shelf 33 forms a mounting surface (the upper surface of the cargo shelf 33 is processed or designed as a plane convenient for mounting the load platform 6) so as to facilitate the mounting of the load platform 6, and the upper part of the mounting surface forms (relative to the up-down direction of the vehicle body) a mounting area, the load platform 6 can be a cargo box or a groove-shaped structure with an opening at the upper part (relative to the up-down direction of the vehicle body), or can be set according to the use requirement, so as to adapt to different use requirements.

[0035] In the prior art, the unmanned transport vehicle generally detects the environment in front of the vehicle by setting a camera 3 at the front of the vehicle to identify fixed and moving objects such as roads, vehicles and pedestrians, but when the vehicle needs to perform automatic parking or reverse image functions, the existing unmanned freight vehicle cannot meet the use needs; the unmanned all-terrain vehicle of the utility model, by setting the camera 3 around the vehicle body 7, can obtain the environmental information around the vehicle body 7, so that the control unit can make corresponding driving strategies according to the obtained environmental information, which can improve the safety and intelligence of unmanned driving, and provide image data when the all-terrain vehicle needs to park sideways or needs to reverse, which is more conducive to user operation or automatic parking.

[0036] In the embodiment, the frame 31 is provided with a plurality of mounting positions 331 for mounting the shelves 33, and the plurality of mounting positions 331 are arranged at the front, middle, rear, left and right of the frame 31; the plurality of mounting positions 331 are arranged at the front, rear, left, right and middle of the frame 31, and in the structure, the front, rear, left, right and middle are relative to the front, rear, left, right and middle of the all-terrain vehicle, which is beneficial to realize the mounting stability of the shelves 33, thereby effectively improving the carrying capacity of the whole vehicle.

[0037] In the embodiment, at least four wheels 35 are arranged on the frame 31, and the ratio of the diameter of the wheel 35 to the vertical distance from the upper surface of the shelf 33 to the ground is 0.72-0.76; the ratio of the diameter of the wheel 35 to the vertical distance from the upper surface of the shelf 33 to the ground is preferably 0.73, and of course, it can also be set according to the use needs, compared with the prior art, the vertical distance from the bottom of the frame 31 of the whole vehicle to the ground is larger, thereby improving the ability of the all-terrain vehicle to adapt to various terrains.

[0038] In the embodiment, the cameras arranged on the left and right sides of the vehicle body 7 are inclined at a set angle towards the front of the vehicle body 7; the cameras arranged on the left and right sides (relative to the left and right directions of the all-terrain vehicle) of the vehicle body 7 are inclined at an angle of 45° and arranged towards the front of the vehicle body 7 (the front and back are the front and back directions of the whole vehicle), thereby being more conducive to identifying pedestrians and obstacles in front of the vehicle, identifying a wider width when driving forward, following driving such as following a person or a vehicle, and ensuring that the following target is less likely to be lost when turning.

[0039] In this embodiment, a sensing positioning system is also included on the wheel 35, which includes a wheel speed sensor and an inertial measurement unit; the wheel speed sensor is used to measure the rotation speed of the wheel 35 and transmit the rotation speed information of the wheel 35 to the control unit, and the inertial measurement unit is used to measure the linear acceleration and angular velocity and transmit the information to the control unit. By setting the sensing positioning system (not shown in the figure), in some areas where the GPS signal is limited, the wheel speed sensor can provide the distance information of the wheel 35, and the inertial measurement unit provides the yaw rate data of the vehicle, thereby overcoming the problem of short-time loss of GPS signal, ensuring the normal unmanned driving of the ATV, improving the reliability of positioning and increasing the driving ability of the ATV in complex environment. The cooperation of the sensing positioning system and the control unit is the application of the prior art, which will not be described here.

[0040] In this embodiment, a suspension system and a braking system are also included, the suspension system includes a front suspension system 5 and a rear suspension system 19, which are respectively located at the front and rear of the frame 31; in this structure, the suspension system is similar to the suspension system of the ATV sand vehicle, so as to improve the environmental adaptability of the whole vehicle and adapt to more severe road conditions, the front suspension system 5 includes a front suspension, a front shock absorber 51, a front upper rocker arm 52 and a front lower rocker arm 53, the front suspension is a double wishbone structure, the upper end of the front shock absorber 51 is fixedly connected with the frame 31, the lower end of the front shock absorber 51 is connected with the front upper rocker arm 52, one end of the front upper rocker arm 52 is connected with a steering ball head, the other end of the front upper rocker arm 52 is connected with the frame 31, one end of the front lower rocker arm 53 is connected with the steering ball head, the other end of the front lower rocker arm 53 is connected with the frame 31, the rear suspension system 19 includes a rear suspension, a rear shock absorber 191, a rear upper rocker arm 192 and a rear lower rocker arm 193, the rear suspension is a double wishbone structure, the upper end of the rear shock absorber 191 is fixedly connected with the frame 31, the lower end of the rear shock absorber 191 is connected with the rear upper rocker arm 192, one end of the rear upper rocker arm 192 is connected with a drive joint, the other end of the rear upper rocker arm 192 is connected with the frame 31, one end of the rear lower rocker arm 193 is connected with the drive joint, the other end of the rear lower rocker arm 193 is connected with the frame 31;

[0041] The braking system is a line control braking system 17, which is arranged on one side of the frame 31; the line control braking system 17 can be arranged on the left side or the right side of the frame 31, and the structure of the line control braking system 17 is the application of the prior art, which will not be described here;

[0042] Also include a drive system, the drive system includes front drive system and rear drive system, the front drive system includes front electric drive controller 16 and front electric drive 23, the front electric drive controller 16 and front electric drive 23 are split structure, the front electric drive controller 16 is arranged in the front of the power battery 12;Drive system adopts the form of double motor four-wheel drive, power distribution can be flexibly regulated by vehicle controller, can adapt to various working conditions, at the same time is conducive to energy saving, power battery 12 is located at the bottom of the frame 31 (up and down direction) and is located in the middle of the vehicle (front and rear direction), at the same time between the front drive system and the rear drive system, it is conducive to the arrangement of high voltage wire harness, shortens the length of high voltage wire harness, at the same time can evenly distribute the weight of the whole vehicle on the frame 31, so as to effectively balance the load of the front and rear axles of the whole vehicle, reduce the vibration and noise of the whole vehicle in the process of driving, improve the stability and driving comfort of the whole vehicle, the front electric drive 23 adopts air cooling heat dissipation mode, which can reduce the heat dissipation element, and the front electric drive 23 is provided with a cooling fan, the front electric drive controller 16 is connected to the front electric drive 23 (motor) through high voltage wire harness, the front electric drive 23 transmits power to the front wheel, the front drive adopts split structure, which is conducive to saving space, the specific structure of the drive system is the application of prior art, here, it will not be repeated.

[0043] The rear drive system includes rear electric drive controller 21 and rear electric drive 18, the rear electric drive controller 21 and rear electric drive 18 are integrated structure, the rear electric drive controller 21 is arranged in the rear of the power battery 15;In this structure, the rear electric drive controller 21 is connected to the rear electric drive 18 through high voltage wire harness, front and rear are relative to the front and rear direction of the all terrain vehicle, the rear electric drive 18 (motor) adopts water cooling mode, the cooling system 14 of the rear drive system can be arranged in the rear of the rear drive system, the cooling system 14 generally includes radiator 141, electronic water pump 143 and cooling water pipe assembly 142, the radiator 141 is arranged at the rear of the frame 31 and beside the rear electric drive 18, which is convenient for cooling the rear electric drive 18 nearby, so as to reduce the length of the cooling water pipe assembly 142, reduce the cost, and be convenient for maintenance.

[0044] The control unit includes domain controller 13, the domain controller 13 is arranged at the rear of the middle of the frame 31;The structure of domain controller 13 is the application of prior art, here, it will not be repeated, the domain controller 13 is located at the rear of the middle of the frame 31, which is the rear of the middle of the whole vehicle in the front and rear direction.

[0045] The power management system includes a high-voltage battery system and a low-voltage battery system, the low-voltage battery system includes a storage battery 22 and a vehicle controller 24, the storage battery 22 is arranged at the front of the frame 31, and the vehicle controller 24 is arranged at the front of the middle of the frame 31, the high-voltage battery system includes a power battery 12 and a charging and discharging integrated machine 11, the power battery 12 is located at the middle of the frame 31, and the charging and discharging integrated machine 11 is located at the front of the middle of the frame 31; the middle is a middle position in the front-rear direction of the all-terrain vehicle, and the front of the middle is a position in front of the middle of the whole vehicle, the structure of the vehicle controller 24 and the charging and discharging integrated machine 11 is the application of the prior art, and here, details are not repeated;

[0046] The charging port 26 is arranged on one side of the vehicle body 7 and is fixedly connected with the frame 31; the charging port 26 and the power battery 12 are connected through a high-voltage wire harness, so that the power battery 12 is charged through the external charging gun of the charging port 26;

[0047] The positioning system includes two positioning antennas 2, the two positioning antennas 2 are symmetrically arranged about the longitudinal center plane of the vehicle body 7; the two positioning antennas 2 are arranged at the position of the vehicle head of the vehicle body 7 and are arranged on the left and right sides of the vehicle head, the positioning antenna 2 is used for collecting GPS signals in real time, the collected GPS signals are transmitted to a GPS signal processor 15 through CAN for analysis and processing, and then the processed signals are transmitted to a domain controller 13, the domain controller 13 analyzes and plans the position of the all-terrain vehicle and the driving route according to the received signals, the spacing between the two positioning antennas 2 is greater than 1000mm, and the line connecting the centers of the two positioning antennas 2 is perpendicular to the longitudinal center plane of the vehicle body (the longitudinal direction is the front-rear direction of the all-terrain vehicle), so that the positioning accuracy can be improved, the algorithm difficulty is reduced, and the positioning accuracy can reach 2cm level.

[0048] In this embodiment, the laser radar system also includes a roof laser radar 1, a front laser radar 4, a rear laser radar 28 and a laser radar analysis box 20, the roof laser radar 1 is arranged on the top of the front of the vehicle body 7, the front laser radar 4 is arranged on the end of the front of the vehicle body 7, the rear laser radar 28 is arranged on the rear of the vehicle body 7, and the laser radar analysis box 20 is arranged on the vehicle body 7 and is arranged on the left and right sides of the vehicle body 7 with the line control brake system 17; the roof laser radar 1 is arranged on the top of the whole vehicle and is located at the position of the front of the vehicle, the front laser radar 4 and the rear laser radar 28 are arranged on the front and the rear of the vehicle respectively, and the front laser radar 4 is located at the lower position relative to the roof laser radar 1, the laser radar analysis box 20 and the line control brake system 17 are arranged on the left and right sides of the vehicle body 7 respectively, the roof laser radar 1, the front laser radar 4 and the rear laser radar 28 transmit the collected signals to the laser radar analysis box 20, and the laser radar analysis box 20 transmits the processed signals to the domain controller 13 after processing the signals, so that the laser radar system can quickly identify the obstacles in the surrounding environment of the whole vehicle, which is beneficial to real-time perception of the surrounding environment, thereby facilitating the domain controller 13 to make corresponding driving decisions.

[0049] The ultrasonic radar device 8 is also included, which is arranged on the left and right sides of the vehicle body 7; the ultrasonic radar device 8 is a plurality of, and the plurality of ultrasonic radar devices 8 are arranged on the left and right sides of the vehicle body 7 respectively, so as to identify the obstacles on the left and right sides of the vehicle body 7, and facilitate the domain controller 13 to make corresponding driving decisions according to the received signals.

[0050] In this embodiment, the visualization system also includes a light supplement lamp 25, which is arranged above the camera 3; the light supplement lamp 25 is arranged above the camera 3, so that the imaging effect of the camera 3 can be significantly improved in the night or poor light environment, thereby ensuring that the camera 3 can provide reliable visual information under various lighting conditions and improving the safety and reliability of the unmanned driving.

[0051] In the embodiment, the instrument cluster 10 is arranged on one side of the vehicle body 7, the ignition switch 9 is arranged beside the instrument cluster 10, the emergency stop switch 27 and the driving mode switch 30 are arranged at the tail of the vehicle body 7, and the mode display device 29 is arranged beside the driving mode switch 30; the instrument cluster 10 is arranged on one side of the vehicle body 7 and is used for displaying the information related to the operation of the whole vehicle, such as the route information and the power battery 12 information; the ignition switch 9 is arranged on one side of the instrument cluster 10 and is used for starting the vehicle; the emergency stop switch 27 is arranged at the tail of the vehicle body 7 and is convenient for being pressed in an emergency to intervene artificially; the driving mode switch 30 is used for switching the automatic driving mode and the remote control mode; the mode display device 29 (which can be a three-color lamp device) is arranged beside the driving mode switch 30 and is used for displaying the state of the vehicle; and of course, the vehicle is also provided with an industrial router, which is convenient for remote control and data acquisition.

[0052] Finally, it should be pointed out that the above embodiments are only used to illustrate the technical solutions of the present application and are not limited. Although the present application has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solutions of the present application can be modified or replaced equivalently without departing from the purpose and scope of the present application, and all should be covered in the scope of the claims of the present application.

Claims

1. An unmanned all-terrain vehicle, characterized by: The vehicle body comprises a vehicle body, a visualization system and a control unit, the visualization system comprises several cameras, the several cameras are distributed around the vehicle body, used for acquiring environmental information around the vehicle body and inputting the acquired environmental information to the control unit, and the control unit sends control commands to a warning unit according to the adopted environmental information; The vehicle body further comprises a vehicle frame and a goods shelf, the goods shelf is fixedly connected with the vehicle frame, and an upper surface of the goods shelf is configured as a mounting surface, an installation area for mounting a load platform is formed above the mounting surface, and the load platform is mounted on the installation area.

2. The unmanned all-terrain vehicle of claim 1, wherein: The vehicle frame is provided with a plurality of mounting positions for mounting the goods shelf, and the plurality of mounting positions are arranged at the front, middle, rear, left and right parts of the vehicle frame.

3. The unmanned all-terrain vehicle of claim 1, wherein: Further comprising at least four wheels arranged on the vehicle frame, and the ratio of the diameter of the wheel to the vertical distance from the upper surface of the goods shelf to the ground is 0.72-0.

76.

4. The unmanned all-terrain vehicle of claim 1, wherein: The cameras arranged on the left and right sides of the vehicle body are inclined at a set angle towards the front part of the vehicle body.

5. The unmanned all-terrain vehicle of claim 3, wherein: Further comprising a sensing positioning system arranged on the wheels, and the sensing positioning system comprises a wheel speed sensor and an inertial measurement unit.

6. The unmanned all-terrain vehicle of claim 1, wherein: Further comprising a suspension system and a braking system, the suspension system comprises a front suspension system and a rear suspension system, and the front suspension system and the rear suspension system are respectively located at the front and rear parts of the vehicle frame; The braking system is a brake-by-wire system, and the brake-by-wire system is arranged on one side of the vehicle frame. Further comprising a driving system, the driving system comprises a front drive system and a rear drive system, the front drive system comprises a front electric drive controller and a front electric drive, the front electric drive controller and the front electric drive are in a split structure, and the front electric drive controller is arranged in front of the power battery; The rear drive system comprises a rear electric drive controller and a rear electric drive, the rear electric drive controller and the rear electric drive are in an integrated structure, and the rear electric drive controller is arranged behind the power battery; The control unit comprises a domain controller, and the domain controller is arranged at a position rearward of the middle part of the vehicle frame.

7. The unmanned all-terrain vehicle of claim 1, wherein: Further comprising a power management system, the power management system comprises a high-voltage battery system and a low-voltage battery system, the low-voltage battery system comprises a storage battery and a vehicle controller, the storage battery is arranged at the front part of the vehicle frame, the vehicle controller is arranged at a position forward of the middle part of the vehicle frame, the high-voltage battery system comprises a power battery and a charging and discharging integrated machine, the power battery is located at the middle part of the vehicle frame, and the charging and discharging integrated machine is located at a position forward of the middle part of the vehicle frame; Further comprising a charging port, the charging port is arranged on one side of the vehicle body and fixedly connected with the vehicle frame; Further comprising a positioning system, the positioning system comprises two positioning antennas, and the two positioning antennas are symmetrically arranged about the longitudinal center plane of the vehicle body.

8. The unmanned all-terrain vehicle of claim 6, wherein: Further comprising a laser radar system, comprising a roof laser radar, a front laser radar, a rear laser radar and a laser radar analysis box, the roof laser radar is arranged on the top of the vehicle head, the front laser radar is arranged on the end of the vehicle head, the rear laser radar is arranged on the vehicle tail, and the laser radar analysis box is arranged on the vehicle body and separately arranged on the left and right sides of the vehicle body with the brake-by-wire system; Further comprising an ultrasonic radar device, and the ultrasonic radar device is arranged on the left and right sides of the vehicle body.

9. The unmanned all-terrain vehicle of claim 1, wherein: The visualization system further comprises a fill light, which is arranged above the camera.

10. The unmanned all-terrain vehicle of claim 1, wherein: Further comprising an instrument cluster, which is arranged at one side of the vehicle body, a start switch is arranged beside the instrument cluster, an emergency stop switch and a driving mode switch are arranged at the tail of the vehicle body, and a mode display device is arranged beside the driving mode switch.

Images