Intelligent mobile carrier
阅读说明:本技术 智能型移动载具 (Intelligent mobile carrier ) 是由 黄学正 于 2019-07-25 设计创作,主要内容包括:一种智能型移动载具,包括:具有容置空间的车体;设置于车体底部的底盘,底盘具有与车体相连接的悬吊系统;由圆型单元所构成的两驱动轮设置于车体的两侧的轮框内;提供智能型移动载具驱动电力的模块;设置于任两个圆型单元的中间或任一圆型单元的表面上的马达,马达与电池模块电性连接,藉由马达的扭力输出以带动两驱动轮转动;以及分别与马达及电池模块电性连接以输送监控讯号的整车控制器。藉此,本发明智能型移动载具为电池动力车不会在路面排放废气,且该智能型移动载具具有两个大轮径的圆形车轮,可达到在水陆行驶的目的。(An intelligent mobile vehicle comprising: a vehicle body having an accommodating space; the chassis is arranged at the bottom of the vehicle body and is provided with a suspension system connected with the vehicle body; two driving wheels formed by circular units are arranged in wheel frames at two sides of the vehicle body; a module for providing driving power for the intelligent mobile carrier; the motor is arranged between any two circular units or on the surface of any circular unit, and is electrically connected with the battery module, and the torque output of the motor drives the two driving wheels to rotate; and the vehicle control unit is electrically connected with the motor and the battery module respectively to transmit the monitoring signal. Therefore, the intelligent mobile carrier of the invention is a battery power vehicle which can not discharge waste gas on the road surface, and the intelligent mobile carrier is provided with two round wheels with large wheel diameters, thereby achieving the purpose of driving on water and land.)
1. An intelligent mobile carrier, characterized in that it includes:
a vehicle body having an accommodating space;
the chassis is a symmetrical chassis, is arranged at the bottom of the vehicle body and is provided with a suspension system, a brake system and a steering system, and the suspension system is connected with the vehicle body;
the two driving wheels are arranged in two wheel frames at two sides of the vehicle body, the two wheel frames are connected with a chassis frame through at least two locking pieces, the steering of the two driving wheels is controlled through a rocker module and a steering system, the two driving wheels are respectively provided with a groove, a plurality of spheres are arranged in the grooves, and the spheres are fixed in the grooves through a fixing structure and a positioning piece;
a battery module for providing driving power for the intelligent mobile carrier;
the plurality of motors are arranged between any two circular units or on one surface of any one circular unit, and are electrically connected with the battery module, and the two driving wheels are driven to rotate by the torque output of the motors; and
and the vehicle control unit is electrically connected with the motors and the battery module respectively so as to transmit a monitoring signal.
2. The intelligent mobile carrier as in claim 1, wherein the suspension system has two or more pneumatic suspensions or bladders, one or more hydraulic suspensions, a tire, a spring and a gear system.
3. The intelligent mobile carrier as claimed in claim 1, wherein the braking system comprises a brake pedal and a pressure sensor, the brake pedal is actuated to brake the intelligent mobile carrier by foot when being stepped on, the braking system is actuated to perform deceleration braking action on the two driving wheels, the vehicle controller is connected to the pressure sensor to receive a pressure received by the pressure sensor, convert the pressure into the monitoring signal and transmit the monitoring signal to the brake caliper to brake the large wheel disc; alternatively, a transmission shaft in a gear box is braked and decelerated or a clutch is decelerated to brake.
4. The intelligent mobile carrier as claimed in claim 1, further comprising an optical sensor connected to the vehicle controller for obtaining a distance between the vehicle body and the ground through optical reflection and transmitting the distance to the vehicle controller.
5. The intelligent mobile carrier as claimed in claim 1, further comprising a weight sensor connected to the vehicle controller, wherein the weight sensor is a level or a gyroscope to obtain a level value of the intelligent mobile carrier and transmit the level value to the vehicle controller.
6. The intelligent mobile carrier as claimed in claim 1, further comprising at least one cover movably disposed on the two wheel frames, the cover being designed to have an outer pointed cone structure or a V-shaped structure; and a plurality of magnetic components are embedded in the two wheel frames, and the magnetic components are used for generating electricity or signals.
7. The intelligent mobile carrier as claimed in claim 1, wherein the steering system further comprises a plurality of gear boxes connected to the motors, the gear boxes having an accelerator reducer, the accelerator reducer being used to generate a differential speed between the two driving wheels to steer the intelligent mobile carrier.
8. The intelligent mobile carrier as claimed in claim 1, further comprising a tilt wheel having a pulley structure for supporting the intelligent mobile carrier when the intelligent mobile carrier is overturned; alternatively, the pulley structure provides a center of gravity or vertical height of a cabin for land and water operation by means of gears according to the ambient conditions of the intelligent mobile vehicle.
9. The intelligent mobile carrier as claimed in claim 1, further comprising a control unit installed in the vehicle controller, wherein when the intelligent mobile carrier turns, the control unit calculates the weight distribution of the intelligent mobile carrier through a spring coefficient of a shock absorber and hardness control of the two driving wheels; when the intelligent mobile carrier turns, a centripetal force and a counter-centripetal force are generated, and when the rolling center of the centripetal force exceeds the relationship between the two driving wheels and the gravity center of the intelligent mobile carrier, the control unit can correct the stability of the intelligent mobile carrier.
10. The intelligent mobile carrier as claimed in claim 1, wherein the mobile carrier further comprises a floor structure capable of lifting and lowering arc, connected to the suspension system, and acting as an infinite walking platform for game through an external shock absorber or a push rod.
Technical Field
The present invention relates to an intelligent mobile carrier, and more particularly to an intelligent mobile carrier with a novel vehicle body and a unique chassis design.
Background
Air pollution is a major issue to be dealt with by governments in various countries today, and many large cities suffer from air pollution hazards. Most of the current commercial vehicles use fuel oil as a main power source, and gasoline power generation motorcycles, automobiles or trucks can be seen in many places, and because gasoline power generation generates pollutants, the problem of air pollution is more and more serious in the places. In addition, to avoid the air pollution becoming more serious, many countries are beginning to ban the sale of internal combustion engine vehicles in full to achieve full zero emissions from the vehicle.
Today, hybrid electric and all-electric vehicles can meet the fuel saving requirements, but due to the high and centralized mass production, the overall pollution in densely populated areas can be reduced. But still depends on the industry of the large country and the transport across the sea to effectively serve the market, and the quality of life of people is seriously influenced along with the rise of protection.
Furthermore, the research on hybrid electric vehicles and all-electric vehicles in various countries puts a lot of efforts, but the demand of unmanned vehicles in the future still remains in the concept of traffic, and if the unmanned system populates the vehicles, the vehicles must provide functions and comfort close to buildings, and then the security system must integrate more life safety functions besides traffic.
In summary, the usage of petrochemical energy and the emission of pollutants can be reduced by charging the electric vehicle, however, the usage and operation of the electric vehicle do not completely meet the needs of consumers, and with the increase of the demand of communication network, the vehicle needs to effectively form a network system by itself, so that there is a need for a mobile vehicle to improve the safety of the electric vehicle and achieve the purpose of multiple functionalities of the electric vehicle.
Disclosure of Invention
In view of the safety and functionality problems of the electric vehicle in the prior art, an object of the present invention is to provide an intelligent mobile vehicle, which has a separate design of a vehicle body and a chassis, and on one hand, a circular wheel having two large wheel diameters and a central annular wheel can form a complete damping plane, so as to achieve the purposes of increasing buoyancy and improving impact resistance and easy maintenance in water and on land.
To achieve the above object, the present invention provides an intelligent mobile carrier, which comprises: the vehicle comprises a vehicle body, a chassis, two driving wheels, a battery module, a plurality of motors and a vehicle control unit. First, the vehicle body may have an accommodating space, and the accommodating space may be a square structure. The chassis may be a symmetric chassis, may be set in the bottom of the vehicle body, and may have one suspension system connected to the vehicle body, one brake system and one steering system. The two driving wheels can be arranged in two wheel frames at two sides of the vehicle body, the two wheel frames are connected with a chassis frame through at least two locking pieces, the steering of the two driving wheels is controlled through a rocker module and a steering system, the two driving wheels can respectively have a groove, a plurality of spheres can be arranged in the groove, and the spheres can be fixed in the groove through a fixing structure and a positioning piece. Moreover, the battery module can provide driving power for the intelligent mobile carrier; the motors can be arranged between any two circular units or on one surface of any circular unit, and the motors can be electrically connected with the battery module, so that the torque output of the motors can drive the two driving wheels to rotate. In addition, the vehicle control unit can be electrically connected with the motors and the battery module respectively to transmit a monitoring signal.
In the above-mentioned intelligent mobile carrier of the present invention, the suspension system may have more than two pneumatic suspensions or air bags, more than one hydraulic suspension, more than one center tire, a damping spring and a gear transmission system. The built-in tire can also be made by a ring-type combination of magnetic, elastic or electromagnetic structural systems.
In the aforementioned intelligent mobile carrier of the present invention, the brake system may include a brake pedal and a pressure sensor, the brake pedal is foot-braked when being stepped on to drive the brake system to decelerate and brake the two driving wheels, the vehicle controller is connected to the pressure sensor to receive a pressure received by the pressure sensor, convert the pressure into the monitoring signal and transmit the monitoring signal to the brake caliper to brake the disc or drum of the large wheel.
The vehicle body may further include a light sensor, the light sensor is connected to the vehicle controller, obtains a distance between the vehicle body and the ground through reflection, and transmits the distance to the vehicle controller.
In the above-mentioned intelligent mobile carrier of the present invention, the vehicle control unit may further comprise a weight sensor, the weight sensor is connected to the vehicle control unit, and may be a level or a gyroscope, so as to obtain a level value of the intelligent mobile carrier and transmit the level value to the vehicle control unit.
In the above-mentioned intelligent mobile carrier of the present invention, it may further have an outer cover movably disposed on the two wheel frames, the outer cover being designed to have an outer pointed cone structure or a V-shaped structure; and a plurality of magnetic components are embedded in the two wheel frames, and the magnetic components can be used as a power generation mechanism or a structure for sensing the position of the wheel moment.
In the above-mentioned intelligent mobile carrier of the present invention, the steering system may further include a plurality of gear boxes connected to the motors, the gear boxes have an acceleration reducing machine, and the acceleration reducing machine is used to generate a differential speed between the two driving wheels to steer the intelligent mobile carrier.
In the above-mentioned intelligent mobile carrier of the present invention, the vehicle further comprises an oblique wheel, wherein the oblique wheel is a pulley structure and can be used for supporting the cabin of the intelligent mobile carrier; or, according to the surrounding environment condition of the intelligent mobile carrier, the pulley structure provides the adjustment of the center of gravity or the vertical height of the cabin body through the gear, and when the center of gravity or the vertical height of the cabin body is adjusted to be higher than the water surface, the intelligent mobile carrier can run on the water surface; when the center of gravity or the vertical height of the cabin body is at a common position, the intelligent mobile vehicle can drive on the road. Meanwhile, the relative density of the carrier can be corrected by matching with the tires in the chassis so as to adjust the sinking and floating degree of the carrier in water.
In the above-mentioned intelligent mobile carrier of the present invention, a control unit may be further included, which is installed in the vehicle controller, and when the intelligent mobile carrier turns, the control unit calculates the weight distribution of the intelligent mobile carrier through a spring coefficient of a shock absorber and hardness control of the two driving wheels. Secondly, when the intelligent mobile carrier turns, a centripetal force and a counter-centripetal force are generated, and when the rolling center of the centripetal force exceeds the relation between the two driving wheels and the gravity center of the intelligent mobile carrier, the control unit can perform various actions of a damping mechanism to correct the stability of the intelligent mobile carrier.
In the above-mentioned intelligent mobile carrier of the present invention, the floor structure of the cabin body can have the function of lifting and drawing arc through the toughness of the material, and the outer frame or the floor of the cabin body can also be connected with the suspension system, and can be moved outside through the action of the external shock absorber or the push rod, or can be controlled by the push rod together with accessories to be used as a board platform for the infinite movement of the virtual reality game.
The intelligent mobile carrier of the invention is further provided with a chassis structure which can be connected in series from front to back and in parallel from left to right, and a gravity energy storage system can be additionally arranged at the center of the intelligent mobile carrier to express the vertical rotation function of a gyroscope and input and output electric power.
The intelligent mobile carrier of the invention can not discharge waste gas on the road surface, thus not causing air pollution. Secondly, the intelligent mobile carrier can achieve the purpose of traveling in water and on the ground, and overcomes the limitation that an electric vehicle can only travel on the ground. In addition, the intelligent mobile carrier has a circular structure, so that the safety of the vehicle can be improved.
In view of the above advantages, and in order to enable an examiner to further understand the present invention, a preferred embodiment is disclosed as follows, in which the constituent elements and effects achieved by the present invention are described in detail in conjunction with the drawings and figures.
Drawings
Fig. 1 is a side view of an intelligent mobile vehicle according to an embodiment of the present invention;
fig. 2 is a schematic perspective view of an intelligent mobile carrier according to an embodiment of the present invention;
fig. 3 is a block diagram of an intelligent mobile carrier according to an embodiment of the present invention;
fig. 4 is a schematic top view of an intelligent mobile carrier according to an embodiment of the present invention;
fig. 5a is a schematic perspective view of a suspension system of an intelligent mobile vehicle according to an embodiment of the present invention;
fig. 5b is a schematic perspective view of a suspension system of an intelligent mobile carrier with additional springs according to an embodiment of the present invention;
fig. 6 is a schematic view illustrating a motor of an intelligent mobile carrier driving two driving wheels to move forward according to an embodiment of the present invention;
fig. 7 is a schematic view of a motor arrangement of an intelligent mobile carrier according to an embodiment of the present invention;
fig. 8 is a schematic view of a motor arrangement of a second intelligent mobile carrier according to an embodiment of the present invention;
fig. 9 is a schematic perspective view of two driving wheels of an intelligent mobile carrier according to an embodiment of the present invention;
fig. 10a is a schematic view of a weight sensor of an intelligent mobile carrier according to an embodiment of the present invention;
fig. 10b is a schematic view of a weight sensor of a third intelligent mobile carrier according to an embodiment of the present invention;
fig. 11 is a schematic view of a cover of an intelligent mobile carrier according to an embodiment of the invention;
fig. 12 is a schematic diagram illustrating a control mode of an intelligent mobile vehicle according to an embodiment of the present invention;
fig. 13a is a graph showing the relationship between the actual control rate and the joystick control value of the intelligent mobile carrier according to the present invention;
fig. 13b is a graph of a rocker module of the intelligent mobile carrier;
fig. 13c is a graph of the relationship between the actual control angle and the speed of the intelligent mobile carrier;
fig. 13d is a graph showing the relationship between the actual control angle and the operation angle of the intelligent mobile carrier.
Description of the symbols:
1 Intelligent mobile carrier
10 vehicle body
101 fixing device
11 accommodating space
12 display
20 base plate
201 Chassis frame
2011 pipe column
2012 suite
21 suspension system
211 air pressure suspension
212 oil pressure suspension
213 tire
214 spring
215 gear transmission system
22 brake system
221 brake pedal
222 pressure sensor
23 steering system
231 gearbox
232 deceleration and acceleration machine
233 magnetic assembly
30 driving wheel
31 wheel frame
311 locking part
32 circular unit
321 carbon fiber board
33 Rocker Module
34 groove
40 cell module
50 motor
501 fixed seat
60 vehicle control unit
601 control unit
61 monitor signal
62 light sensor
63 weight sensor
64-door starting controller
65 door sensor
70 outer cover
71 floor structure
72 camera.
Detailed Description
The following embodiments of the present invention are provided as examples, and other advantages and effects of the present invention will be readily apparent to those skilled in the art from the disclosure of the present invention. Moreover, the invention is capable of other and different embodiments and of being practiced or being carried out in various ways without departing from the spirit of the invention.
Referring to fig. 1 to 3, fig. 1 is a cross-sectional side view of an intelligent mobile carrier according to
As shown in fig. 1 to 3, the present invention is an intelligent
As shown in fig. 2, the shape of the
As shown in fig. 2, the
As shown in fig. 1 to 2, the intelligent
In addition, the size of the two driving
As shown in fig. 1 and fig. 3, the steering system 23 further includes a plurality of
Referring to fig. 4, 5a and 5b, fig. 4 is a schematic top view of an intelligent mobile carrier according to
As shown in fig. 5a and 5b, the
As shown in fig. 4, due to the unique shape of the
Referring to fig. 6, fig. 6 is a schematic view illustrating a motor of an intelligent mobile carrier driving two driving wheels to move forward according to
As shown in fig. 3 and fig. 6, the braking system 22 includes a
Referring to fig. 7, fig. 7 is a schematic view of a motor arrangement of an intelligent mobile carrier according to
As shown in fig. 7, the
Referring to fig. 8, fig. 8 is a schematic view of a motor arrangement of an intelligent mobile carrier according to
As shown in fig. 8, the
Referring to fig. 9, fig. 9 is a schematic perspective view of two driving wheels of an intelligent mobile carrier according to
As shown in fig. 9, each
Referring to fig. 10a and 10b, fig. 10a is a schematic view of a weight sensor of an intelligent mobile carrier according to
As shown in fig. 10a and 10b, the
Referring to fig. 11, fig. 11 is a schematic view of an outer cover of an intelligent mobile carrier according to
As shown in fig. 11, the intelligent
Referring to fig. 12, fig. 12 is a schematic view of a control mode of an intelligent mobile vehicle according to
As shown in fig. 12, the system start mode of the intelligent mobile carrier of the present invention can be divided into a normal driving mode, an amphibious mode and a primary power mode; the normal driving mode and the amphibious mode can be divided into a standby mode (namely a neutral mode), a designated driving mode and a transportation mode (namely a braking mode), wherein the braking mode comprises deceleration parking, downhill stabilization and parking; the designated driving mode can be classified into a safety mode (i.e., fail-safe mode), an emergency crash mode, and a maintenance mode.
Referring to fig. 13a, fig. 13a is a graph illustrating a relationship between an actual control speed and a joystick control value of the intelligent mobile carrier according to the present invention. As shown in fig. 13a, the intelligent
SF: F(x)=(22.22)*(e^(x/60)-1),
sf (sensitive function): a speed control sensitivity function;
the x axis is as follows: JS (Joystick speed): the rocker module controls a numerical value which can be an angle or voltage, the three dimension is defined by a plane xy, and the angle is defined by a coordinate xy position; the voltage is defined by the xy position.
And a y axis: cs (control speed): the actual control rate, in km/hr.
Referring to fig. 13b, fig. 13b is a graph of a joystick module of the intelligent mobile carrier. As shown in fig. 13b, the range represented by the circle represents the range in which the rocker is movable, and the range of the angle (θ) is +180 to-180; ADC (X, Y) represents a speed control sensitivity function; theta represents a numerical value of a control angle of the rocker; c θ (control θ) controls the angle value.
Referring to fig. 13c, fig. 13c is a graph illustrating a relationship between an actual control angle and a speed of the intelligent mobile carrier. As shown in fig. 13c, the x-axis is the actual control angle and the y-axis is the velocity. The actual rate of C θ = θ cos (CS/67) control reduces the sensitivity of the intelligent vehicle due to the actual speed of the vehicle, avoiding excessive speed steering situations.
Referring to fig. 13d, fig. 13d is a graph illustrating a relationship between an actual control angle and an operation angle of the intelligent mobile carrier. As shown in FIG. 13d, the x-axis is the actual control angle, the y-axis is the steering angle, the blue line represents speed 25(km/hr), the red line represents speed 50(km/hr), the gray line represents speed 75(km/hr) and the yellow line represents speed 100 (km/hr). In addition, the left motor control quantity (LM) of the motors provided at the left driving wheel of the intelligent mobile vehicle: LM = CS (1-C θ); right motor control amount (RM): RM = CS (1-C θ); c θ = θ cos (CS/67); actual control rate: CS = (22.22) < e > (JS/60) -1), wherein the function considers angles from +90 to-90, greater than this (rewind), will have been processed at fixed speed.
The above-mentioned embodiments are merely exemplary for convenience of description, and the claimed invention should not be limited to the above-mentioned embodiments, but should be limited only by the claims.
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