Multifunctional all-terrain material transport unmanned vehicle

Abstract

The utility model relates to a kind of multifunctional all-terrain material transport unmanned vehicle, it is equipped with independently installed control box, interface panel is equipped on control box, integrated backplate is provided in control box, and main control module and several functional hardware modules are inserted and installed on integrated backplate;Integrated backplate is equipped with several standard hardware slots and backplate bus;Functional hardware module includes material state monitoring module, walking mode control module, and they are electrically connected with main control module by backplate bus respectively;Interface panel is provided with several standardized external equipment connection interfaces, and the input / output port of corresponding functional hardware module is electrically connected by internal cable.This multifunctional all-terrain material transport unmanned vehicle realizes material state monitoring, control mode quick switching function while expanding, realizes flexible expansion, hardware seamless compatibility and efficient troubleshooting and safeguards continuous execution of task by pluggable backplane architecture and standardization interface.

Description

Technical Field

[0001] This utility model relates to the field of unmanned transportation equipment technology, specifically to a multi-functional all-terrain unmanned vehicle for transporting materials. Background Technology

[0002] All-terrain unmanned vehicles (UGVs) are widely used in complex environments such as mountainous areas, mining areas, and disaster sites to undertake material transfer tasks. Existing UGVs used for material transport have the following shortcomings:

[0003] (1) Fixed functions are difficult to expand: Traditional controllers adopt a closed circuit design, which cannot replace, adjust or modify functional modules (such as material status monitoring, control mode selection, etc.) according to the needs of material monitoring, control mode, etc., and need to be returned to the factory for modification, which is time-consuming and costly.

[0004] (2) Difficulty in hardware upgrades: When iterating functional components such as sensors (e.g., lidar) or actuators (e.g., high-torque motors), the control box needs to be replaced as a whole due to incompatibility of the corresponding signal modules, resulting in a waste of resources;

[0005] (3) Low maintenance efficiency: The internal wiring of the control box is messy, and it is difficult to quickly locate and replace faulty functional units. It is extremely difficult to shut down and repair during field operations, which affects the continuity of the task. Utility Model Content

[0006] The technical problem to be solved by this utility model is to provide a multi-functional all-terrain unmanned material transport vehicle, which, while expanding the functions of material status monitoring and rapid switching of control modes, achieves flexible functional expansion, seamless hardware compatibility, efficient fault troubleshooting, and ensures continuous task execution through a pluggable backplane architecture and standardized interfaces.

[0007] This multi-functional all-terrain unmanned material transport vehicle includes a frame with a battery compartment, an all-terrain walking mechanism mounted below the frame, and a cargo box mounted above the frame. A separately installed control box is located below the frame, and the control box has an interface panel. Inside the control box is an integrated backplane, a main control module, and several functional hardware modules that are pluggable onto the integrated backplane. The integrated backplane has several standard hardware slots and a backplane bus. The main control module is pluggable into one of the standard hardware slots and has a communication interface and a power management unit interface. The functional hardware modules are pluggable into the other standard hardware slots and include a material status monitoring module and a walking mode control module. The material status monitoring module and the walking mode control module are electrically connected to the main control module via the backplane bus. The interface panel has several standardized external device connection interfaces, which are electrically connected to the input / output ports of the corresponding functional hardware modules via internal cables.

[0008] Furthermore, the all-terrain walking mechanism includes independent wheel suspensions and all-terrain off-road tires mounted on each independent wheel suspension, and a drive motor controller and a steering servo controller are mounted on each independent wheel suspension; the cargo box has a platform at its bottom, and a cargo weighing sensor and a cargo displacement sensor are mounted on the platform.

[0009] Furthermore, the material status monitoring module integrates an audible and visual alarm, and is electrically connected to the weighing sensor and cargo displacement sensor mounted on the platform via its corresponding standardized external device connection interface; the walking mode control module integrates a mode selection DIP switch, and is electrically connected to the drive motor controller and steering servo controller of the walking mechanism via its corresponding standardized external device connection interface.

[0010] Furthermore, the interface panel is located inside an openable interface box on the control box, and the standardized external device connection interface adopts an M14 series or FQ14 series 4-pin waterproof aviation plug.

[0011] Furthermore, the functional hardware module also includes a perception navigation module and a power distribution module.

[0012] This utility model discloses a multi-functional all-terrain unmanned material transport vehicle. While expanding the functions of material status monitoring and rapid switching of control modes, it also achieves flexible functional expansion, seamless hardware compatibility, efficient fault troubleshooting, and ensures continuous mission execution through a pluggable backplane architecture and standardized interfaces. Attached Figure Description

[0013] The following description, in conjunction with the accompanying drawings, further illustrates the multi-functional all-terrain unmanned material transport vehicle of this utility model:

[0014] Figure 1 This is a 3D structural diagram of this multi-functional all-terrain unmanned material transport vehicle;

[0015] Figure 2 yes Figure 1 A schematic diagram of the left-side planar structure;

[0016] Figure 3 This is an exploded view of the internal structure of the control box of this multi-functional all-terrain material transport unmanned vehicle;

[0017] Figure 4 This is a wireframe diagram illustrating the logical structure and connection principle of the control box of this multi-functional all-terrain unmanned material transport vehicle.

[0018] In the picture:

[0019] 1-Chassis; 11-Battery compartment; 401-Interface box;

[0020] 2-All-terrain walking mechanism; 21-Independent wheel suspension; 22-All-terrain off-road tires; 23-Drive motor controller; 24-Steering servo controller;

[0021] 3-Cargo box; 31-Platform; 32-Cargo weighing sensor; 33-Cargo displacement sensor;

[0022] 4-Control box; 41-Interface panel; 42-Integrated backplane; 43-Main control module; 44-Functional hardware module; 411-Standardized external device connection interface; 421-Standard hardware slot; 422-Backplane bus; 431-Communication interface; 432-Power management unit interface; 441-Material status monitoring module; 442-Walking mode control module; 443-Sensing and navigation module; 444-Power distribution module. Detailed Implementation

[0023] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood according to the specific circumstances.

[0024] In the description of this utility model, it should be understood that the terms "left", "right", "front", "rear", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0025] The present invention will be further described below with specific embodiments, but the scope of protection of the present invention is not limited to the following embodiments.

[0026] Implementation method 1: such as Figures 1 to 4As shown, this multi-functional all-terrain unmanned material transport vehicle includes a frame 1 with a battery compartment 11, an all-terrain walking mechanism 2 installed below the frame 1, and a cargo box 3 installed above the frame 1. A control box 4 is independently installed below the frame 1. The control box 4 has an interface panel 41, and inside the control box 4 is an integrated backplane 42, a main control module 43 that is pluggably mounted on the integrated backplane 42, and several functional hardware modules 44. The integrated backplane 42 has several standard hardware slots 421 and a backplane bus 422. The main control module 43 is pluggably mounted in one of the standard hardware slots 421. The main control module 43 is equipped with a communication interface 431 and a power management unit interface 432. The functional hardware modules 44 are pluggable into other standard hardware slots 421. The functional hardware modules 44 include a material status monitoring module 441 and a walking mode control module 442. The material status monitoring module 441 and the walking mode control module 442 are electrically connected to the main control module 43 via a backplane bus 422. The interface panel 41 is equipped with several standardized external device connection interfaces 411, which are electrically connected to the input / output ports of the corresponding functional hardware modules 44 via internal cables. The main control module 43 receives the sensing signals from the material status monitoring module 441 via the backplane bus 422 and sends control commands to the walking mode control module 442. The standard hardware slots 421 can be configured and expanded to accommodate different functions of the unmanned vehicle by adding, replacing, or combining different functional hardware modules.

[0027] Implementation Method 2: The all-terrain walking mechanism 2 of this multi-functional all-terrain material transport unmanned vehicle includes independent wheel suspensions 21 and all-terrain off-road tires 22 mounted on each independent wheel suspension 21. Each independent wheel suspension 21 is equipped with a drive motor controller 23 and a steering servo controller 24. The cargo box 3 has a platform 31 at its bottom, and a cargo weighing sensor 32 and a cargo displacement sensor 33 are mounted on the platform 31. The drive motor controller 23 and the steering servo controller 24 control the operation of the wheel motors on the suspension and the steering of the servo steering shaft. The weighing sensor 32 and the cargo displacement sensor 33 monitor the weight and position of the cargo and send sensing signals to the material status monitoring module 441.

[0028] Implementation Method 3: The material status monitoring module 441 of this multi-functional all-terrain material transport unmanned vehicle integrates an audible and visual alarm. The material status monitoring module 441 is electrically connected to the weighing sensor 32 and the cargo displacement sensor 33 installed on the platform 31 through its corresponding standardized external device connection interface 411. The walking mode control module 442 integrates a mode selection DIP switch. The walking mode control module 442 is electrically connected to the drive motor controller 23 and the steering servo controller 24 of the walking mechanism 2 through its corresponding standardized external device connection interface 411. When the material status monitoring module 441 detects that the change in the sensing signal exceeds a preset threshold, it sends an abnormal signal to the main control module 43 and activates an alarm. When the walking mode control module 442 receives the active control signal sent by the main control module 43, it switches from the programmable signal channel to the active signal control channel through the mode selection DIP switch. The material status monitoring module 441 uses the Acrel AEW100-D15X signal processing module, which integrates high-precision multiple sets of HX7140 14-bit ADCs and LM393 comparison circuits, and embeds a high-speed microcontroller. It can simultaneously monitor weighing and displacement sensor signals and perform threshold range comparison processing. The walking mode control module 442 uses the Dawei Zhitong DW-J31-0808 wireless switch control module, which uses multiple switch inputs / outputs and switches between control signal channels via DIP switches to achieve automatic / manual mode switching. Both modules have standard slot interfaces and can communicate with the main control module via the RS485 communication bus on the backplane. The main control module uses the Youshu Technology LAN-402 vehicle signal controller, which uses the Xilinx XC7K325T FPGA core processing chip, supports PCIe 2.0 interface, can be directly connected to the backplane bus, and integrates 32 RS485 interfaces and a wireless transmission module, compatible with the digital signal input and control signal output of multiple functional modules. The standard hardware slot 421 uses a PCIe 2.0 interface. The interface panel 41 is located inside an openable interface box 401 on the control box 4. The standardized external device connection interface 411 uses an M14 series or FQ14 series 4-pin waterproof aviation connector, which is compatible with most industrial-grade hardware devices.

[0029] Implementation Method 4: The functional hardware module 44 of this multi-functional all-terrain material transport unmanned vehicle also includes a perception and navigation module 443 and a power distribution module 444. The perception and navigation module 443 adopts a Feirui Intelligent 24G low-power SOC + WeRideSS5.0 automotive-grade perception module, which is connected to a solid-state LiDAR and an LVDS interface camera mounted on the roof, and is connected to and transmits data to the main control module 43 through a communication interface 431 for obstacle avoidance signal and video signal acquisition during programmed automatic driving. The power distribution module 444 adopts a Turck IM18-CCM50 status monitoring module, which is connected to the power battery pack in the battery compartment 11, and is connected to and transmits data to the main control module 43 through a power management unit interface 432. The IM18-CCM50 supports the acquisition of voltage, current, and temperature monitoring signals of the vehicle battery for battery health management.

[0030] This multi-functional all-terrain unmanned material transport vehicle, while expanding its capabilities to include material status monitoring and rapid control mode switching, achieves the following through its pluggable backplane architecture and standardized interfaces:

[0031] (1) Flexible expansion of functions: Based on the modular design of PCIe2.0 standard slot 421, the material status monitoring module 441, walking control module 442 and other modules can be plugged in and replaced, and the signal function modules such as material monitoring, control mode, road condition perception and power supply management can be quickly replaced, adjusted and modified to adapt to various material, control mode and other multi-scenario needs.

[0032] (2) Seamless hardware compatibility: Through the standardization of the physical interface of the waterproof aviation plug 411 and the backplane bus 422, it is compatible with most industrial-grade sensors such as the weighing sensor 32 and actuators such as the steering servo motor 24, avoiding the scrapping of the entire controller due to equipment iteration;

[0033] (3) Efficient troubleshooting: The real-time fault location of the audible and visual alarm, combined with the hardware-level switching control channel of the DIP switch, shortens the field maintenance time while ensuring the continuous execution of the task.

[0034] The above description illustrates the main features, basic principles, and advantages of this utility model. It will be apparent to those skilled in the art that this utility model is not limited to the details of the exemplary embodiments or examples described above, and that it can be implemented in other specific forms without departing from the spirit or basic characteristics of this utility model. Therefore, the above embodiments or examples should be considered exemplary and not restrictive. The scope of this utility model is defined by the appended claims rather than the foregoing description, and therefore all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this utility model. No reference numerals in the claims should be construed as limiting the scope of the claims. Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity, and those skilled in the art should consider the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A multi-functional all-terrain material transport unmanned vehicle, characterized in that: The vehicle includes a frame (1) with a battery compartment (11), an all-terrain walking mechanism (2) installed below the frame (1), and a cargo box (3) installed above the frame (1); a control box (4) is independently installed below the frame (1), the control box (4) is equipped with an interface panel (41), and the control box (4) contains an integrated backplane (42), a main control module (43) and several functional hardware modules (44) that are pluggable and mounted on the integrated backplane (42); wherein, The integrated backplane (42) is provided with several standard hardware slots (421) and a backplane bus (422); the main control module (43) is pluggably installed in one of the standard hardware slots (421), and the main control module (43) is provided with a communication interface (431) and a power management unit interface (432); the functional hardware module (44) is pluggably installed in other standard hardware slots (421), and the functional hardware module (44) includes a material status monitoring module (441) and a walking mode control module (442). The material status monitoring module (441) and the walking mode control module (442) are electrically connected to the main control module (43) through the backplane bus (422); the interface panel (41) is provided with several standardized external device connection interfaces (411), and the standardized external device connection interfaces (411) are electrically connected to the input / output ports of the corresponding functional hardware module (44) through internal cables.

2. The multi-functional all-terrain unmanned material transport vehicle according to claim 1, characterized in that: The all-terrain walking mechanism (2) includes independent wheel suspensions (21) and all-terrain off-road tires (22) mounted on each independent wheel suspension (21), and a drive motor controller (23) and a steering servo controller (24) are provided on each independent wheel suspension (21); the cargo box (3) has a platform (31) at the bottom, and a cargo weighing sensor (32) and a cargo displacement sensor (33) are provided on the platform (31).

3. The multi-functional all-terrain unmanned material transport vehicle according to claim 2, characterized in that: The material status monitoring module (441) integrates an audible and visual alarm. The material status monitoring module (441) is electrically connected to the weighing sensor (32) and cargo displacement sensor (33) set on the platform (31) through its corresponding standardized external device connection interface (411). The walking mode control module (442) integrates a mode selection DIP switch. The walking mode control module (442) is electrically connected to the drive motor controller (23) and steering servo controller (24) of the walking mechanism (2) through its corresponding standardized external device connection interface (411).

4. The multi-functional all-terrain unmanned material transport vehicle according to claim 3, characterized in that: The interface panel (41) is located in the openable interface box (401) on the control box (4), and the standardized external device connection interface (411) adopts an M14 series or FQ14 series 4-pin waterproof aviation plug.

5. The multi-functional all-terrain unmanned material transport vehicle according to any one of claims 1 to 4, characterized in that: The functional hardware module (44) also includes a perception and navigation module (443) and a power distribution module (444).

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