An intelligent guiding mechanism suitable for an unmanned vehicle

Abstract

The utility model discloses an intelligent guiding mechanism suitable for unmanned car relates to unmanned technical field. The unmanned car on single track is guided, and the intelligent guiding mechanism suitable for unmanned car is simple in structure, and the unmanned car on single track can be guided.

Description

Technical Field

[0001] This utility model relates to the field of autonomous driving technology, and more specifically to an intelligent guidance mechanism suitable for autonomous vehicles. Background Technology

[0002] Currently, existing autonomous vehicles, or AGVs, achieve autonomous driving by using colored strips of markers along the road's direction. They rely on visual recognition of these markers for automatic navigation and path tracking control. This involves image recognition, navigation, and path tracking control technologies, resulting in complex algorithms, high costs, high computational resource consumption, slow response times, and the colored strips being easily damaged or soiled, rendering them unrecognizable.

[0003] Furthermore, they are easily affected by surrounding environmental factors such as building shadows, which can lead to accidents.

[0004] In recent years, thanks to government support, monorail transportation has been widely used in various agricultural scenarios. However, monorail vehicles have very low load-bearing capacity, and because the wheels used to support the vehicle are stuck on the monorail and forced to turn by the side of the guide rail, the wheels and guide rails are easily damaged.

[0005] Therefore, how to provide a simple algorithm that can control the direction of travel of an autonomous vehicle is a problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0006] In view of this, the present invention provides an intelligent guidance mechanism suitable for unmanned vehicles, which simplifies the algorithm, reduces costs, and enables guidance of unmanned vehicles on a single track. To achieve the above objectives, the present invention adopts the following technical solution:

[0007] This utility model provides an intelligent guidance mechanism suitable for unmanned vehicles, guiding unmanned vehicles on a single track, including:

[0008] The bracket includes a first connecting plate, a second connecting plate, and a connecting block. The first connecting plate and the second connecting plate are spaced apart. A support plate connects the first connecting plate and the second connecting plate. A first guide wheel and a second guide wheel are respectively provided at both ends of the first connecting plate and the second connecting plate. A third guide wheel connects the first connecting plate and the second connecting plate. An angle sensor is installed on the connecting block. The connecting block is fixedly connected to the first connecting plate. A connecting frame is hinged to one end of the connecting block. The end of the connecting frame away from the connecting block is hinged to the chassis of the autonomous vehicle.

[0009] A control system, which is electrically connected to the angle sensor and the wheels on both sides of the unmanned vehicle;

[0010] During operation, the two first guide wheels are located at the upper end of the single track and roll in contact with the single track, the two second guide wheels are located at the lower end of the single track and roll in contact with the single track, and the third guide wheel is located on one side of the single track and rolls in contact with the side wall of the single track.

[0011] Furthermore, both ends of the second connecting plate are rotatably connected to the second guide wheel via a rotating plate, and the second guide wheel is rotatably connected to the rotating plate.

[0012] Furthermore, both the first connecting plate and the second connecting plate are provided with sliding grooves, one end of which is provided with an opening. A sliding block is connected to each end of the third guide wheel. The third guide wheel is rotatably connected to the sliding block. The sliding block slides in the sliding groove. A baffle is fixed at the opening of each of the two sliding grooves. A first spring is connected between each baffle and the adjacent sliding block.

[0013] Furthermore, a first guide rod is connected to the baffle plate. The first guide rod is fixed to the baffle plate and extends into the sliding groove. The first guide rod is located inside the first spring.

[0014] Furthermore, the first guide rod is a first bolt, and the baffle is provided with a first threaded hole. The first bolt is fixed on the baffle by the cooperation between the first bolt and the first threaded hole, and the threaded section of the first bolt extends into the interior of the sliding groove.

[0015] Furthermore, a mounting plate is provided below the rotating plate, the mounting plate is fixedly connected to the second connecting plate, a second guide rod is connected to the mounting plate, and a second spring is connected to one end of the rotating plate near the mounting plate, with the second guide rod located inside the second spring.

[0016] Furthermore, the second guide rod is a second bolt, and the mounting plate is provided with a second threaded hole. The second bolt is fixed on the mounting plate by the cooperation between the second bolt and the second threaded hole. The threaded section of the second bolt extends into the interior of the second spring, and the end of the second spring away from the rotating plate is connected to the second bolt.

[0017] Furthermore, the measuring end of the angle sensor is connected to the connecting block via a coupling, and the first connecting plate is connected to the connecting block via the coupling.

[0018] As can be seen from the above technical solution, compared with the prior art, this utility model discloses an intelligent guidance mechanism suitable for unmanned vehicles. By cooperating with a single track through the first guide wheel, the second guide wheel, and the third guide wheel, the unmanned vehicle is guided. The deflection angle of the single track is measured by an angle sensor, and the electrical signal is transmitted to the control system. The control system controls the rotation speed of the wheels at the left and right ends of the vehicle to form a speed difference, thereby realizing the steering of the vehicle. This achieves correct guidance of the vehicle's rotation direction and accelerates the vehicle's steering speed. Attached Figure Description

[0019] 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 embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0020] Fig. 1 A schematic diagram of the intelligent guidance mechanism for unmanned vehicles provided by this utility model;

[0021] Fig. 2 A side view of the intelligent guidance mechanism for unmanned vehicles provided by this utility model;

[0022] Fig. 3 A schematic diagram of the angle sensor for the intelligent guidance mechanism of an unmanned vehicle provided by this utility model.

[0023] In the diagram: 1. Angle sensor; 2. Connecting block; 3. First connecting plate; 4. First guide wheel; 5. Rotating plate; 6. Second guide wheel; 7. Second connecting plate; 8. Third guide wheel; 9. Support plate; 10. First bolt; 11. Baffle; 12. First spring; 13. Sliding block; 14. Coupling; 15. Mounting plate; 16. Second bolt; 17. Second spring; 18. Calculation end; 19. Measuring shaft; 20. Connecting frame. Detailed Implementation

[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0025] See Figs. 1-3This utility model discloses an intelligent guidance mechanism suitable for unmanned vehicles, which guides unmanned vehicles on a single track, including:

[0026] The bracket includes a first connecting plate 3, a second connecting plate 7, and a connecting block 2. The first connecting plate 3 and the second connecting plate 7 are spaced apart. A support plate 9 is connected between the first connecting plate 3 and the second connecting plate 7. A first guide wheel 4 and a second guide wheel 6 are respectively provided at both ends of the first connecting plate 3 and the second connecting plate 7. A third guide wheel 8 is connected between the first connecting plate 3 and the second connecting plate 7. An angle sensor 1 is installed on the connecting block 2. The connecting block 2 is fixedly connected to the first connecting plate 3. A connecting frame 20 is hinged to one end of the connecting block 2. The end of the connecting frame 20 away from the connecting block 2 is hinged to the chassis of the unmanned vehicle.

[0027] The control system is electrically connected to the angle sensor 1 and the wheels on both sides of the driverless vehicle.

[0028] During operation, the two first guide wheels 4 are located at the upper end of the single track and roll in contact with the single track, the two second guide wheels 6 are located at the lower end of the single track and roll in contact with the single track, and the third guide wheel 8 is located on one side of the single track and rolls in contact with the side wall of the single track.

[0029] In some embodiments, the measuring shaft 19 of the angle sensor 1 is fixedly connected to the connecting block 2, and the calculation end 18 of the angle sensor 1 is rotatably connected to the connecting block 2.

[0030] The trolley consists of four wheels, each connected to a motor. The motors drive the wheels to roll on the ground, allowing the trolley to move inside the greenhouse. As the trolley moves, the rotation of the wheels moves the trolley, which in turn moves the guide mechanism. During this movement, the first guide wheel 4 and the second guide wheel 6 roll along the upper and lower surfaces of the single track, respectively, while the third guide wheel 8 rolls along the side of the single track. When the single track deflects at an angle, the first guide wheel 4, the second guide wheel 6, and the third guide wheel 8 follow the track's deflection. At this time, the first connecting plate 3 and the second connecting plate 7... Both the connecting block 2 and the angle sensor 1 rotate. The connecting block 2 causes the measuring shaft 19 of the angle sensor 1 to rotate relative to the calculation end 18 of the sensor. At this time, the angle sensor 1 can calculate the angle of rotation of the measuring shaft 19 of the angle sensor 1, thereby calculating the deflection angle of the single track and transmitting the electrical signal to the control system. The control system controls the speed of the motors at the left and right ends of the car, thereby controlling the speed of the wheels and creating a speed difference between the wheels at the left and right ends of the car, thereby realizing the rapid turning of the car. This simplifies the algorithm, improves the reaction speed of the car, and makes the turning of the car more timely.

[0031] After the car completes the turn, the angle sensor 1 measures that the rotation angle of the measuring axis 19 of the angle sensor 1 relative to the calculation terminal 18 is 0°. At this time, the angle sensor 1 sends an electrical signal to the control system, and the control system controls the rotation speed of the wheels at both ends of the car to be consistent, so that the car continues to move forward straight.

[0032] In some embodiments, the two ends of the second connecting plate 7 are rotatably connected to the second guide wheel 6 via a rotating plate 5, and the second guide wheel 6 is rotatably connected to the rotating plate 5.

[0033] In some embodiments, both the first connecting plate 3 and the second connecting plate 7 are provided with sliding grooves, one end of which is provided with an opening. A sliding block 13 is connected to each end of the third guide wheel 8. The third guide wheel 8 and the sliding block 13 are rotatably connected. The sliding block 13 slides in the sliding groove. A baffle 11 is fixed at the opening of both sliding grooves. A first spring 12 is connected between each baffle 11 and the adjacent sliding block 13.

[0034] During the movement of the trolley, when there are protrusions on the side of the single track due to the machining precision, the protrusions push the sliding blocks 13 at both ends of the third guide wheel 8 to slide in the sliding groove, squeeze the first spring 12, adjust the position of the third guide wheel 8, avoid the protrusions from blocking the movement of the third guide wheel 8, ensure that the third guide wheel 8 slides smoothly along the side wall of the single track, and expand the application range of the guiding mechanism.

[0035] When the third guide wheel 8 of the trolley passes the protrusion, the first spring 12 returns to its original position, thereby pushing the sliding block 13 to slide in the sliding groove, so that the sliding block 13 drives the third guide wheel 8 back to the initial position.

[0036] In some embodiments, a first guide rod is connected to the baffle 11. The first guide rod is fixed to the baffle 11 and extends into the sliding groove. The first guide rod is located inside the first spring 12.

[0037] In some embodiments, the first guide rod is a first bolt 10, and the baffle 11 is provided with a first threaded hole. The first bolt 10 is fixed on the baffle 11 by the cooperation between the first bolt 10 and the first threaded hole, and the threaded section of the first bolt 10 extends into the interior of the sliding groove.

[0038] The first bolt 10 ensures that the first spring 12 deforms along the axial direction of the first bolt 10, preventing the first spring 12 from deflecting during compression and ensuring smooth adjustment of the position of the third guide wheel 8.

[0039] In some embodiments, a mounting plate 15 is provided below the rotating plate 5. The mounting plate 15 is fixedly connected to the second connecting plate 7. A second guide rod is connected to the mounting plate 15. A second spring 17 is connected to one end of the rotating plate 5 near the mounting plate 15. The second guide rod is located inside the second spring 17.

[0040] When the single track has varying thicknesses at different locations due to machining precision, as the first guide wheel 4 and the second guide wheel 6 roll from the thinner position to the thicker position, the single track pushes the rotating plate 5, causing the rotating plate 5 to drive the second guide wheel 6 to rotate downwards. This compresses the second spring 17, allowing the first guide wheel 4 and the second guide wheel 6 to roll smoothly along the single track. When the first guide wheel 4 and the second guide wheel 6 roll from the thicker position to the thinner position, the elastic force of the second spring 17 pushes the rotating plate 5 to rotate upwards, allowing the rotating plate 5 to slide smoothly on the single track. Through the cooperation of the rotating plate 5 and the second spring 17, the first guide wheel 4 and the second guide wheel 6 can always be in contact with the upper and lower surfaces of the single track, ensuring the timely rotation of the first guide wheel 4 and the second guide wheel 6. This, in turn, ensures the timely rotation of the connecting block 2, and ensures that the angle sensor 1 can promptly measure the rotation angle of the measuring shaft of the angle sensor 1. This, in turn, ensures timely control of the wheels of the unmanned vehicle and timely steering of the vehicle.

[0041] In some embodiments, the second guide rod is a second bolt 16, and a second threaded hole is provided on the mounting plate 15. The second bolt 16 is fixed on the mounting plate 15 by the cooperation between the second bolt 16 and the second threaded hole. The threaded section of the second bolt 16 extends into the interior of the second spring 17, and the end of the second spring 17 away from the rotating plate 5 is connected to the second bolt 16.

[0042] The second bolt 16 ensures that the second spring 17 deforms along the axial direction of the second bolt 16, thus preventing the second spring 17 from deflecting during compression.

[0043] In some embodiments, the measuring end of the angle sensor 1 is connected to the connecting block 2 via a coupling 14, and the first connecting plate 3 is connected to the connecting block 2 via a coupling 14.

[0044] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0045] The apparatus disclosed in the embodiments is described simply because it corresponds to the method disclosed in the embodiments; relevant details can be found in the method section. The above description of the disclosed embodiments enables those skilled in the art to implement or use this invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this invention. Therefore, this invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An intelligent guidance mechanism suitable for unmanned vehicles, guiding unmanned vehicles on a single track, characterized in that, include: The bracket includes a first connecting plate, a second connecting plate, and a connecting block. The first connecting plate and the second connecting plate are spaced apart. A support plate connects the first connecting plate and the second connecting plate. A first guide wheel and a second guide wheel are respectively provided at both ends of the first connecting plate and the second connecting plate. A third guide wheel connects the first connecting plate and the second connecting plate. An angle sensor is installed on the connecting block. The connecting block is fixedly connected to the first connecting plate. A connecting frame is hinged to one end of the connecting block. The end of the connecting frame away from the connecting block is hinged to the chassis of the autonomous vehicle. A control system, which is electrically connected to the angle sensor and the wheels on both sides of the unmanned vehicle; During operation, the two first guide wheels are located at the upper end of the single track and roll in contact with the single track, the two second guide wheels are located at the lower end of the single track and roll in contact with the single track, and the third guide wheel is located on one side of the single track and rolls in contact with the side wall of the single track.

2. The intelligent guidance mechanism for unmanned vehicles according to claim 1, characterized in that, The two ends of the second connecting plate are respectively rotatably connected to the second guide wheel via a rotating plate, and the second guide wheel is rotatably connected to the rotating plate.

3. The intelligent guidance mechanism for unmanned vehicles according to claim 1, characterized in that, Both the first connecting plate and the second connecting plate are provided with sliding grooves, one end of which is provided with an opening. A sliding block is connected to each end of the third guide wheel. The third guide wheel is rotatably connected to the sliding block. The sliding block slides in the sliding groove. A baffle is fixed at the opening of each of the two sliding grooves. A first spring is connected between each baffle and the adjacent sliding block.

4. The intelligent guidance mechanism for unmanned vehicles according to claim 3, characterized in that, A first guide rod is connected to the baffle plate. The first guide rod is fixed to the baffle plate and extends into the sliding groove. The first guide rod is located inside the first spring.

5. The intelligent guidance mechanism for unmanned vehicles according to claim 4, characterized in that, The first guide rod is a first bolt, and the baffle is provided with a first threaded hole. The first bolt is fixed on the baffle by the cooperation between the first bolt and the first threaded hole, and the threaded section of the first bolt extends into the sliding groove.

6. The intelligent guidance mechanism for unmanned vehicles according to claim 2, characterized in that, A mounting plate is provided below the rotating plate, and the mounting plate is fixedly connected to the second connecting plate. A second guide rod is connected to the mounting plate, and a second spring is connected to one end of the rotating plate near the mounting plate. The second guide rod is located inside the second spring.

7. The intelligent guidance mechanism for unmanned vehicles according to claim 6, characterized in that, The second guide rod is a second bolt. The mounting plate is provided with a second threaded hole. The second bolt is fixed on the mounting plate by the cooperation between the second bolt and the second threaded hole. The threaded section of the second bolt extends into the interior of the second spring. The end of the second spring away from the rotating plate is connected to the second bolt.

8. The intelligent guidance mechanism for unmanned vehicles according to claim 1, characterized in that, The measuring end of the angle sensor is connected to the connecting block via a coupling, and the first connecting plate is connected to the connecting block via the coupling.

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