Temporary manual takeover control system for unmanned vehicle

Abstract

The utility model discloses a temporary manual takeover control system for an unmanned vehicle, which belongs to the technical field of vehicle control systems and comprises a wired rocker component, a vehicle control unit, a steering module, a driving module, a parking module and a rocker hidden protection mechanism. The vehicle control unit is electrically connected with the wired rocker assembly, the steering module, the driving module and the parking module. The steering module, the driving module and the parking module are fixedly mounted on the unmanned vehicle; the power supply module is used for supplying power to the wired rocker assembly and the vehicle control unit; the power supply module is electrically connected with the wired rocker assembly and the vehicle control unit; the rocker is located in a hiding mechanism, the hiding mechanism is installed at the vehicle end, and protection and functions are achieved through a vehicle end structure and an electrical system. By means of the mode, wired rocker control over the unmanned vehicle is achieved, and meanwhile the rocker is protected.

Description

Technical Field

[0001] This utility model relates to the field of vehicle control system technology, specifically to a temporary manual takeover control system for unmanned vehicles. Background Technology

[0002] There is currently a type of small unmanned vehicle with a sliding rear cover installed at the rear.

[0003] Currently, most low-speed, small unmanned vehicles are controlled remotely, with intervention provided when the autonomous driving function fails.

[0004] Among the many existing technologies, Chinese patent application CN111949029A discloses an embedded wireless control system and control method for a smart car, which includes wireless control of the smart car. The wireless control system for the smart car includes a processor, an infrared sensor, a camera, and a WiFi signal transmitter. The processor, infrared sensor, camera, and WiFi signal transmitter are all connected to the smart car. The processor is connected to the infrared sensor, camera, WiFi signal transmitter, and the motor of the smart car.

[0005] However, the wireless control device in this patent application uses near-field communication such as Bluetooth and WIFI, and the communication quality is easily affected by factors such as electromagnetic fields and remote control distance, resulting in poor communication stability. Under these circumstances, controlling unmanned vehicles poses a safety hazard.

[0006] Wireless control devices generally need to be charged frequently, and their battery life is usually not long.

[0007] Wireless control devices are typically handheld and have no fixed storage location in the vehicle, making them easy to lose.

[0008] Based on this, this utility model designs a temporary manual takeover control system for unmanned vehicles to solve the above problems. Utility Model Content

[0009] In view of the above-mentioned shortcomings of the existing technology, this utility model provides a temporary manual takeover control system for unmanned vehicles.

[0010] To achieve the above objectives, this utility model provides the following technical solution:

[0011] A temporary manual takeover control system for an unmanned vehicle includes a wired joystick assembly, a vehicle control unit, a steering module, a drive module, and a parking module;

[0012] The vehicle control unit is electrically connected to the wired rocker assembly, steering module, drive module, and parking module.

[0013] The steering module, drive module, and parking module are all fixedly installed on the unmanned vehicle.

[0014] It also includes a power module for powering the wired joystick assembly and the vehicle control unit, the power module being electrically connected to both the wired joystick assembly and the vehicle control unit;

[0015] It also includes a rear cover assembly and a protective assembly;

[0016] Both the rear cover plate assembly and the protection assembly are installed on the unmanned vehicle. The rear cover plate assembly is connected to the output end of the linear module on the unmanned vehicle. The rear cover plate assembly is connected to the protection assembly. The wired rocker assembly is installed on the inner end of the protection assembly. The wired rocker assembly is used in conjunction with the rear cover plate assembly.

[0017] It also includes a transmission assembly, with the wired rocker assembly and the rear cover plate assembly connected by the transmission assembly.

[0018] Furthermore, the wired joystick assembly includes a wired joystick body, a power supply module electrically connected to the wired joystick body, and the wired joystick body electrically connected to the vehicle control unit.

[0019] Furthermore, the X-OUT pin of the wired joystick body is connected to the AIU pin of the vehicle control unit, the X+OUT pin of the wired joystick body is connected to the AIU pin of the vehicle control unit, the Y-OUT pin of the wired joystick body is connected to the AIU pin of the vehicle control unit, the Y+OUT pin of the wired joystick body is connected to the AIU pin of the vehicle control unit, the CAN pin of the vehicle control unit is electrically connected to the steering module, the CAN pin of the vehicle control unit is electrically connected to the drive module, and the CAN / DOH pin of the vehicle control unit is electrically connected to the parking module.

[0020] Furthermore, the rear cover assembly includes a rear cover, a clearance groove, and a limiting plate. The rear cover is slidably mounted on the upper end of the rear of the unmanned vehicle. The rear cover is fixedly connected to the output end of the linear module mounted on the unmanned vehicle. The clearance groove is opened on the right side of the front side wall of the rear cover. There are two limiting plates arranged in parallel. Both sets of limiting plates are fixedly mounted on the lower end face of the rear cover and are located on the left and right side walls of the clearance groove, respectively. The wired rocker assembly is used in conjunction with the clearance groove and the limiting plates. The limiting plate and the rear cover are both connected to the protection assembly. The transmission assembly is connected to the side wall of the right limiting plate.

[0021] Furthermore, the wired rocker assembly also includes a rotating sleeve, a slanted groove, a guide sleeve, a guide slot, a rocker post, and a rocker cap. The wired rocker body is installed inside the protective assembly. The bottom of the rotating sleeve is rotatably connected to the upper end face of the wired rocker body. The slanted groove is formed on the outer wall of the rotating sleeve. The guide sleeve is fixedly installed on the upper end face of the wired rocker body, and its outer wall is slidably connected to the inner wall of the rotating sleeve. The guide slot is formed on the outer wall of the guide sleeve. The rocker post is slidably connected to the inner wall of the guide sleeve. A sliding column is fixedly installed on the outer wall of the rocker post for sliding connection with the slanted groove and guide slot. The rocker cap is fixedly installed on the top of the rocker post. The outer wall of the rocker cap is used to avoid the clearance groove. The outer wall of the rocker cap is used to limit the sliding of the side wall of the limiting plate. The transmission assembly is connected to the outer wall of the rotating sleeve.

[0022] Furthermore, the protective component includes a housing and sliding grooves. The housing is fixedly installed on the upper rear end of the unmanned vehicle. There are four sliding grooves, which are symmetrically opened on the front and rear side walls of the housing. The sliding grooves cooperate with two limiting plates located at symmetrical positions on the front and rear of the housing for limiting and sliding connection. The bottom of the rear cover is slidably connected to the top of the housing.

[0023] Furthermore, the transmission assembly includes a gear and a rack. The gear is fixedly installed on the outer wall of the rotating sleeve, and the rack is fixedly connected to the side wall of the right-side limiting plate. The gear and rack mesh together for transmission.

[0024] Compared with the prior art, the advantages of this utility model are as follows:

[0025] 1. When the wired control function of the unmanned vehicle is activated, the rear cover is driven to move by the linear module of the unmanned vehicle. The rear cover moves backward along the slide groove. At this time, the limit plate drives the rack to move. The rack drives the gear to rotate. The gear drives the rotating sleeve to rotate. The inclined groove on the rotating sleeve rotates and drives the sliding column on the rocker column to slide along the inclined groove and the guide groove. The sliding column drives the rocker column to slide upward along the inner wall of the guide sleeve. The rocker column drives the rocker cap to move. The rocker cap slides along the side wall of the limit plate until the outer wall of the rocker cap disengages from the limit plate. Then the rack and gear disengage. At this time, the rocker cap extends out of the clearance groove. The operator can operate the rocker cap. The rocker cap indirectly drives the upper operating end of the wired rocker body to move, thereby realizing reliable wired rocker control.

[0026] 2. The wired joystick body is sealed and protected by the housing and back cover when it is not in use. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a block diagram of a temporary manual takeover control system for an unmanned vehicle according to the present invention.

[0029] Figure 2 This is a circuit diagram of a temporary manual takeover control system for an unmanned vehicle according to the present invention.

[0030] Figure 3 This is a perspective view of the rear cover plate assembly, wired rocker arm assembly, protective assembly, and transmission assembly of this utility model.

[0031] Figure 4 This is a front view of the rear cover plate assembly, wired rocker arm assembly, protective assembly, and transmission assembly of this utility model;

[0032] Figure 5 This is a schematic diagram of the rear cover plate assembly and the transmission assembly;

[0033] Figure 6 This is a schematic diagram of the wired joystick assembly and the transmission assembly;

[0034] Figure 7 A schematic diagram of the protected components.

[0035] The labels in the diagram represent:

[0036] 1. Rear cover assembly; 11. Rear cover; 12. Clearance groove; 13. Limiting plate; 2. Wired rocker assembly; 21. Wired rocker body; 22. Rotating sleeve; 23. Inclined groove; 24. Guide sleeve; 25. Guide groove; 26. Rocker post; 27. Rocker cap; 28. Sliding post; 3. Protective assembly; 31. Housing; 32. Sliding groove; 4. Vehicle control unit; 5. Power module; 6. Steering module; 7. Drive module; 8. Parking module; 9. Transmission assembly; 91. Gear; 92. Rack. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the scope of protection of this utility model.

[0038] The terms "left," "right," "front," "back," "up," and "down" used in the following description refer to the orientation from the perspective of the front view.

[0039] Example 1: In some embodiments, please refer to the accompanying drawings. Figures 1-7 A temporary manual takeover control system for an unmanned vehicle includes a wired joystick assembly 2, a vehicle control unit 4, a steering module 6, a drive module 7, and a parking module 8.

[0040] The vehicle control unit 4 is electrically connected to the wired rocker assembly 2, the steering module 6, the drive module 7, and the parking module 8.

[0041] Steering module 6, drive module 7, and parking module 8 are all fixedly installed on the unmanned vehicle;

[0042] It also includes a power module 5 for powering the wired joystick assembly 2 and the vehicle control unit 4, and the power module 5 is electrically connected to both the wired joystick assembly 2 and the vehicle control unit 4;

[0043] It also includes the rear cover assembly 1 and the protective assembly 3;

[0044] Both the rear cover plate assembly 1 and the protection assembly 3 are installed on the unmanned vehicle. The rear cover plate assembly 1 is connected to the output end of the linear module on the unmanned vehicle. The rear cover plate assembly 1 is connected to the protection assembly 3. The wired rocker assembly 2 is installed on the inner end of the protection assembly 3. The wired rocker assembly 2 is used in conjunction with the rear cover plate assembly 1.

[0045] It also includes a transmission assembly 9, through which the wired rocker assembly 2 and the rear cover plate assembly 1 are connected.

[0046] The vehicle control unit 4 can be other vehicle controllers such as VCU and BCM. This utility model will be discussed using VCU as an example.

[0047] The wired joystick assembly 2 includes a wired joystick body 21, a power module 5 electrically connected to the wired joystick body 21, and the wired joystick body 21 electrically connected to the vehicle control unit 4.

[0048] The X-OUT pin of the wired joystick body 21 is connected to the AIU1 pin of the VCU, the X+OUT pin of the wired joystick body 21 is connected to the AIU2 pin of the VCU, the Y-OUT pin of the wired joystick body 21 is connected to the AIU3 pin of the VCU, the Y+OUT pin of the wired joystick body 21 is connected to the AIU4 pin of the VCU, the CAN1 pin of the VCU is electrically connected to the steering module 6, the CAN2 pin of the VCU is electrically connected to the drive module 7, and the CAN3 / DOH pin of the VCU is electrically connected to the parking module 8.

[0049] The joystick is located in a hidden mechanism, which can be installed at the vehicle end, utilizing the vehicle end structure and electrical system to achieve protection and functionality.

[0050] Wired joysticks are not limited to analog signals; other communication and signal acquisition methods such as CAN are also acceptable. This invention will be explained using analog signal control as an example.

[0051] When this utility model is used, the control principle is as follows:

[0052] Forward: Continuously press the middle button on the wired joystick body 21. After receiving a High level voltage signal at the VCU DIH pin, it sends a CAN3 message or a DO signal to the parking module 8 to release the parking brake, and the vehicle enters ready mode. Pushing the wired joystick body 21 forward, the VCU AIU4 pin receives the Y+ signal from the wired joystick body 21 and sends a CAN2 vehicle forward message. After receiving the CAN2 vehicle forward message, the drive module 7 executes the forward command.

[0053] Reversing: Press and hold the center button on the wired joystick body 21. After receiving a High level voltage signal at the VCU DIH pin, the VCU sends a CAN3 release parking message or a DO signal to the parking module 8 to release the parking brake accordingly, and the vehicle enters ready mode. Pulling the wired joystick body 21 back, the VCU AIU3 pin receives the Y- signal from the wired joystick body 21 and sends a CAN2 vehicle reverse message. After receiving the CAN2 vehicle reverse message, the drive module 7 executes the reverse command.

[0054] Steering: When the wired joystick body 21 swings to the left, the VCU AIU1 pin receives the X- signal from the wired joystick body 21 and sends a CAN1 left turn message. The steering module 6 receives the CAN1 left turn message and executes the left turn command. When the VCU AIU2 pin receives the X+ signal from the wired joystick body 21, it sends a CAN1 right turn message. The steering module 6 receives the CAN1 right turn message and executes the right turn command.

[0055] The rear cover assembly 1 includes a rear cover 11, a clearance groove 12, and a limiting plate 13. The rear cover 11 is slidably mounted on the upper end of the rear of the unmanned vehicle. The rear cover 11 is fixedly connected to the output end of the linear module mounted on the unmanned vehicle. The clearance groove 12 is opened on the right side of the front side wall of the rear cover 11. There are two limiting plates 13 arranged in parallel. Both sets of limiting plates 13 are fixedly mounted on the lower end face of the rear cover 11 and are located on the left and right side walls of the clearance groove 12, respectively. The wired rocker assembly 2 is used in conjunction with the clearance groove 12 and the limiting plate 13. The limiting plate 13 and the rear cover 11 are both connected to the protection assembly 3. The transmission assembly 9 is connected to the side wall of the right limiting plate 13.

[0056] The wired joystick assembly 2 also includes a rotating sleeve 22, a slanted groove 23, a guide sleeve 24, a guide groove 25, a joystick post 26, and a joystick cap 27. The wired joystick body 21 is installed inside the protective assembly 3. The bottom of the rotating sleeve 22 is rotatably connected to the upper end face of the wired joystick body 21. The slanted groove 23 is formed on the outer wall of the rotating sleeve 22. The guide sleeve 24 is fixedly installed on the upper end face of the wired joystick body 21, and the outer wall of the guide sleeve 24 is slidably connected to the inner wall of the rotating sleeve 22. The guide groove 25... The rocker column 26 is slidably connected to the inner wall of the guide sleeve 24, and the outer wall of the rocker column 26 is fixedly installed with a sliding column 28 that is used to slide and fit with the inclined groove 23 and the guide groove 25. The rocker cap 27 is fixedly installed on the top of the rocker column 26. The outer wall of the rocker cap 27 is used to avoid the clearance groove 12. The outer wall of the rocker cap 27 is used to limit the sliding with the side wall of the limiting plate 13. The transmission component 9 is connected to the outer wall of the rotating sleeve 22.

[0057] The protective component 3 includes a housing 31 and a slide 32. The housing 31 is fixedly installed on the upper rear end of the unmanned vehicle. There are four slides 32, which are symmetrically opened on the front and rear side walls of the housing 31. The slides 32 are used in conjunction with two limiting plates 13 located at symmetrical positions on the front and rear of the housing 31 for limiting and sliding connection. The bottom of the rear cover 11 is slidably connected to the top of the housing 31.

[0058] The transmission assembly 9 includes a gear 91 and a rack 92. The gear 91 is fixedly installed on the outer wall of the rotating sleeve 22, and the rack 92 is fixedly connected to the side wall of the right limit plate 13. The gear 91 and the rack 92 mesh together for transmission.

[0059] When this utility model is in use, if the wired control function of the unmanned vehicle is activated, the rear cover 11 is driven to move by the linear module of the unmanned vehicle. The rear cover 11 moves backward along the slide groove 32. At this time, the limiting plate 13 drives the rack 92 to move. The rack 92 drives the gear 91 to rotate. The gear 91 drives the rotating sleeve 22 to rotate. The inclined groove 23 on the rotating sleeve 22 rotates and drives the sliding column 28 on the rocker arm 26 to slide along the inclined groove 23 and the guide groove 25. The sliding column 28 drives the rocker arm 26 to slide along the inclined groove 23 and the guide groove 25. As the guide sleeve 24 slides upward along its inner wall, the rocker arm column 26 drives the rocker arm cap 27 to move. The rocker arm cap 27 slides along the side wall of the limiting plate 13 until the outer wall of the rocker arm cap 27 disengages from the limiting plate 13. Then, the rack 92 disengages from the gear 91. At this time, the rocker arm cap 27 extends out of the clearance groove 12, and the operator can operate the rocker arm cap 27. The rocker arm cap 27 indirectly drives the upper operating end of the wired rocker arm body 21 to move, thereby realizing reliable wired rocker arm control.

[0060] When in use, this utility model provides sealing protection for the wired rocker body 21 when it is not in use through the housing 31 and the rear cover 11.

[0061] The above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions will not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A temporary manual takeover control system for an unmanned vehicle, characterized in that: It includes a wired joystick assembly (2), a vehicle control unit (4), a steering module (6), a drive module (7), and a parking module (8); The vehicle control unit (4) is electrically connected to the wired rocker assembly (2), the steering module (6), the drive module (7), and the parking module (8); The steering module (6), drive module (7), and parking module (8) are all fixedly installed on the unmanned vehicle; It also includes a power module (5) for powering the wired joystick assembly (2) and the vehicle control unit (4), wherein the power module (5) is electrically connected to both the wired joystick assembly (2) and the vehicle control unit (4); It also includes a rear cover assembly (1) and a protective assembly (3); The rear cover plate assembly (1) and the protection assembly (3) are both installed on the unmanned vehicle. The rear cover plate assembly (1) is connected to the output end of the linear module on the unmanned vehicle. The rear cover plate assembly (1) is connected to the protection assembly (3). The wired rocker assembly (2) is installed on the inner end of the protection assembly (3). The wired rocker assembly (2) is used in conjunction with the rear cover plate assembly (1). It also includes a transmission assembly (9), and the wired rocker assembly (2) and the rear cover plate assembly (1) are connected by the transmission assembly (9).

2. The unmanned vehicle temporary manual takeover control system according to claim 1, characterized in that, The wired rocker assembly (2) includes a wired rocker body (21), a power module (5) electrically connected to the wired rocker body (21), and the wired rocker body (21) electrically connected to the vehicle control unit (4).

3. The unmanned vehicle temporary manual takeover control system according to claim 2, characterized in that, The X-OUT pin of the wired rocker body (21) is connected to the AIU1 pin of the vehicle control unit (4), the X+OUT pin of the wired rocker body (21) is connected to the AIU2 pin of the vehicle control unit (4), the Y-OUT pin of the wired rocker body (21) is connected to the AIU3 pin of the vehicle control unit (4), the Y+OUT pin of the wired rocker body (21) is connected to the AIU4 pin of the vehicle control unit (4), the CAN1 pin of the vehicle control unit (4) is electrically connected to the steering module (6), the CAN2 pin of the vehicle control unit (4) is electrically connected to the drive module (7), and the CAN3 / DOH pin of the vehicle control unit (4) is electrically connected to the parking module (8).

4. The unmanned vehicle temporary manual takeover control system according to claim 3, characterized in that, The rear cover assembly (1) includes a rear cover (11), a clearance groove (12), and a limiting plate (13). The rear cover (11) is slidably mounted on the upper end of the rear of the unmanned vehicle. The rear cover (11) is fixedly connected to the output end of the linear module mounted on the unmanned vehicle. The clearance groove (12) is opened on the right side of the front side wall of the rear cover (11). There are two limiting plates (13) arranged in parallel. Both sets of limiting plates (13) are fixedly mounted on the lower end face of the rear cover (11) and are located on the left and right side walls of the clearance groove (12), respectively. The wired rocker assembly (2) is used in conjunction with the clearance groove (12) and the limiting plate (13). The limiting plate (13) and the rear cover (11) are both connected to the protection assembly (3). The transmission assembly (9) is connected to the side wall of the right limiting plate (13).

5. The unmanned vehicle temporary manual takeover control system according to claim 4, characterized in that, The wired rocker assembly (2) further includes a rotating sleeve (22), a slanted groove (23), a guide sleeve (24), a guide groove (25), a rocker post (26), and a rocker cap (27). The wired rocker body (21) is installed on the inner end of the protective assembly (3). The bottom of the rotating sleeve (22) is rotatably connected to the upper end face of the wired rocker body (21). The slanted groove (23) is opened on the outer wall of the rotating sleeve (22). The guide sleeve (24) is fixedly installed on the upper end face of the wired rocker body (21), and the outer wall of the guide sleeve (24) is slidably connected to the inner wall of the rotating sleeve (22). The guide groove (25) is... 5) The rocker column (26) is slidably connected to the inner wall of the guide sleeve (24) on the outer wall of the guide sleeve (24). The outer wall of the rocker column (26) is fixedly installed with a sliding column (28) for sliding connection with the inclined groove (23) and the guide groove (25). The rocker cap (27) is fixedly installed on the top of the rocker column (26). The outer wall of the rocker cap (27) is used to avoid the groove (12). The outer wall of the rocker cap (27) is used to limit the sliding with the side wall of the limiting plate (13). The transmission component (9) is connected to the outer wall of the rotating sleeve (22).

6. The unmanned vehicle temporary manual takeover control system according to claim 5, characterized in that, The protective component (3) includes a housing (31) and a sliding groove (32). The housing (31) is fixedly installed on the upper rear end of the unmanned vehicle. There are four sliding grooves (32), which are symmetrically opened on the front and rear side walls of the housing (31). The sliding grooves (32) are used in conjunction with two limiting plates (13) located symmetrically at the front and rear of the housing (31) for limiting and sliding connection. The bottom of the rear cover (11) is slidably connected to the top of the housing (31).

7. The unmanned vehicle temporary manual takeover control system according to claim 6, characterized in that, The transmission assembly (9) includes a gear (91) and a rack (92). The gear (91) is fixedly installed on the outer wall of the rotating sleeve (22), and the rack (92) is fixedly connected to the side wall of the right limiting plate (13). The gear (91) and the rack (92) mesh together for transmission.

Images