阅读说明：本技术 一种无人驾驶军用靶车 (Unmanned military target vehicle ) 是由 姬书得 温琦 任赵旭 胡为 龚鹏 熊需海 宋崎 于 2019-09-29 设计创作，主要内容包括：本发明提供了一种无人驾驶军用靶车,其组成包括燃油动力车身、导航与控制系统、供电系统和自主保护装置,集人工驾驶、遥控驾驶、自动驾驶、数据监控四大功能于一体；本发明具有适用性强、安全性高、抗干扰性强等特点,使无人驾驶靶车自动化程度提高,广泛应用于军事领域,真正实现了模拟真实车辆移动打靶的目的。(The invention provides an unmanned military target vehicle, which comprises a fuel power vehicle body, a navigation and control system, a power supply system and an autonomous protection device, and integrates four functions of manual driving, remote control driving, automatic driving and data monitoring; the invention has the characteristics of strong applicability, high safety, strong anti-interference performance and the like, improves the automation degree of the unmanned target vehicle, is widely applied to the military field, and really realizes the purpose of simulating real vehicle movement target shooting.)

1. The utility model provides a military target car of unmanned, its characterized in that: the automatic protection device comprises a vehicle body, a navigation and control system, a power supply system and an automatic protection device;

the steering engine is characterized in that a power chassis is arranged at the bottom of the vehicle body, and a steering engine steering mechanism, a steering engine braking mechanism, a steering engine accelerator mechanism and an electric telescopic rod are arranged on the vehicle body; target plates are respectively arranged on two sides of the vehicle body; an electric power steering system and a stepless speed change device are arranged in the vehicle body; the vehicle body is provided with a steering wheel, a manual gear shift lever, a brake and an accelerator pedal, wherein the steering wheel is connected with a steering mechanism of a steering engine, and the brake and the accelerator pedal are respectively connected with a brake mechanism of the steering engine and an accelerator structure of the steering engine; the manual gear shifting rod is connected with the electric telescopic rod; the vehicle body is also provided with a signal receiving antenna;

the navigation and control system comprises a main control box, a GPS positioning device, a data chain, a remote controller and a ground station device, wherein a control main board is arranged in the main control box;

the autonomous protection device comprises a remote control fire maker, a remote control fire extinguisher and a vehicle fault protection power-off switch, wherein the remote control fire maker and the fire extinguisher are respectively composed of two relay switches; and the power supply system supplies power to the steering engine structure and all electronic equipment.

2. An unmanned military target vehicle, as defined in claim 1, wherein: steering wheel outside installation sealed protective housing device, the outer line connection all adopts Y to be aviation plug, the cable all wraps up low temperature resistant thermoplastic pipe.

3. An unmanned military target vehicle, as defined in claim 1, wherein: be equipped with the target plate frame on the automobile body, the target plate adopts angle bar drilling bolted connection with the automobile body, has the fixed beam of two parallels through bolted connection simultaneously between the upper portion of two relative target plates to adopt tensioning band and fixed beam cooperation to consolidate, tensioning band one end hooks target plate upper end fixed beam, and the other end hooks target plate below automobile body, and the target plate is polylith concatenation mode.

4. An unmanned military target vehicle, as defined in claim 1, wherein: the steering engine steering mechanism is fixed through three rigid angle irons welded on the vehicle body and is connected with the steering wheel through a coupler.

5. An unmanned military target vehicle, as defined in claim 1, wherein: an intelligent shock pad is arranged below the main control box and comprises a common spring, an external SMA spring, a push-pull rod, a supporting piece, a sliding block, a guide rail and a central shaft; the support piece is in a sleeve shape, the central shaft is divided into an upper part and a lower part, the upper end and the lower end of a common spring are respectively fixed on the two parts of the central shaft, the central shaft is arranged at the center of the support piece, a guide rail is respectively led out from the lower end central shaft from three angles, an outer side SMA spring is respectively arranged on the guide rail, a sliding block is fixed on the outer side SMA spring, a push-pull rod is connected between each sliding block and the upper end central shaft, the two ends of each push-pull rod are respectively hinged and fixed on the central shaft and the push-pull rod, and the upper end of the.

Technical Field

The invention belongs to the field of automation equipment, relates to an unmanned target vehicle, and particularly relates to a military target vehicle with an automatic driving function.

Background

With the development of scientific technology, the automatic driving technology is mature day by day. Compared with a common fixed target, the unmanned target vehicle has the advantages of high fidelity, strong practicability, low requirement on the use environment, reduced working danger and the like. The training of ordinary fixed target position is with the target can't remove the shooting, be unfavorable for improving the accuracy of live-action shooting, especially when simulation guided missile shooting terrorist armed vehicle, it is very high to parameter requirements such as target car size and moving speed, this kind of emulation is not only the outward appearance, still need carry out the game with shooting personnel in the exercise process, obvious potential safety hazard then can appear in the real person driving, lay the track and erect the target and then hardly appear the interactive scene of game, the lifelike degree of exercise has been reduced from this.

The invention improves the automation degree of the unmanned target vehicle, is widely applied to the military field, and really realizes the aim of simulating real vehicle movement target shooting.

Disclosure of Invention

The invention provides an unmanned military target vehicle suitable for a GPS base station and a ground station, which integrates four functions of manual driving, remote control driving, automatic driving and data monitoring and can flexibly realize any one or more function combinations of manual driving, automatic driving, data transmission and the like. The fuel oil motor provides power, has the advantages of high horsepower, strong off-road property and the like of the fuel oil motor vehicle, and can ensure the normal operation of various functions even in severe environments such as low temperature and the like. The specific scheme is as follows: the automatic protection device comprises a vehicle body, a navigation and control system, a power supply system and an automatic protection device;

the steering engine is characterized in that a power chassis is arranged at the bottom of the vehicle body, and a steering engine steering mechanism, a steering engine braking mechanism, a steering engine accelerator mechanism and an electric telescopic rod are arranged on the vehicle body; target plates are respectively arranged on two sides of the vehicle body; an electric power steering system and a stepless speed change device are arranged in the vehicle body; the vehicle body is provided with a steering wheel, a manual gear shift lever, a brake and an accelerator pedal, wherein the steering wheel is connected with a steering mechanism of a steering engine, and the brake and the accelerator pedal are respectively connected with a brake mechanism of the steering engine and an accelerator structure of the steering engine; the manual gear shifting rod is connected with the electric telescopic rod; the vehicle body is also provided with a signal receiving antenna;

the navigation and control system comprises a main control box, a GPS positioning device, a data chain, a remote controller and a ground station device, wherein a control main board is arranged in the main control box;

the autonomous protection device is positioned in the locomotive and comprises a remote control lighter, a remote control extinguisher and a vehicle fault protection power-off switch, wherein the remote control lighter and the extinguisher are respectively composed of two relay switches; and the power supply system supplies power to the steering engine structure and all electronic equipment.

Furthermore, the outside installation of steering wheel sealed protective housing device, the outer line connection all adopts Y to be aviation plug, the cable all wraps up low temperature resistant thermoplastic pipe.

Further, be equipped with the target grillage on the automobile body, the target board adopts angle bar drilling bolted connection with the automobile body, has two parallel fixed beams through bolted connection between the upper portion of two relative target boards simultaneously to adopt tensioning band and fixed beam cooperation to consolidate, tensioning band one end hooks target board upper end fixed beam, and the other end hooks target board below automobile body, and the target board is polylith concatenation mode.

Furthermore, the steering engine steering mechanism is fixed through three rigid angle irons welded on the vehicle body and is connected with the steering wheel through a coupler.

Furthermore, an intelligent shock pad is arranged below the main control box and comprises a common spring, an external SMA spring, a push-pull rod, a support piece, a sliding block, a guide rail and a central shaft. The support piece is in a sleeve shape, the central shaft is divided into an upper part and a lower part, the upper end and the lower end of a common spring are respectively fixed on the two parts of the central shaft, the central shaft is arranged at the center of the support piece, a guide rail is respectively led out from the lower end central shaft from three angles, an outer side SMA spring is respectively arranged on the guide rail, a sliding block is fixed on the outer side SMA spring, a push-pull rod is connected between each sliding block and the upper end central shaft, the two ends of each push-pull rod are respectively hinged and fixed on the central shaft and the push-pull rod, and the upper end of the.

The invention has the beneficial effects that:

1. the invention has a plurality of control modes at the same time, can be driven manually, remotely and fully automatically, can write track points and driving routes through remote control or ground station software, and has strong applicability.

2. The emergency stop protection device is arranged by depending on a control algorithm and a sensor, the state of the target vehicle can be observed through a ground station and an image, and the emergency power-off flameout is realized through range-extending data transmission, so that the safety is high.

3. The control box is processed by the intelligent shock pad, and the heat preservation, dehumidification and demagnetization devices are arranged in the control box, so that the anti-interference performance is strong.

4. The steering wheel, the brake, the accelerator and the gear mechanism are all installed by independently designed machining parts, so that the transmission efficiency of the mechanism is high, and the maintenance and the replacement are convenient.

5. The target plate is convenient to disassemble, the target pattern can be modified, and the target vehicle can be repeatedly used under the condition of not damaging an internal control system.

Drawings

Figure 1 is a front view of the present invention,

FIG. 2 is a right side view of FIG. 1;

FIG. 3 is a top view of FIG. 1;

FIG. 4 is a schematic view of the internal structure of the shock pad of the present invention;

FIG. 5 is a schematic view of a connection structure of the electric telescopic rod and the manual gear shifting lever according to the present invention;

FIG. 6 is a schematic diagram of a rudder throttle mechanism;

FIG. 7 is a schematic view of a steering mechanism of a steering engine;

in the figure, 1-antenna, 2-target, 3-target plate, 4-wheel, 5-square platform, 6-antenna frame, 7-target plate fixed beam, 8-hook tie, 9-target plate frame, 10-steering wheel, 11-damping spring, 12-car light, 13-main control box, 14-battery box, 15-fuel power chassis, 16-seat, 17-steering engine brake mechanism, 18-steering engine accelerator mechanism, 181-accelerator pedal, 182-mechanical part, 183-accelerator steering engine, 184-sheath nail, 185-steering wheel, 186-angle iron bracket, 19-steering engine steering mechanism, 191-direction, 192-coupler, 20-manual rod, 21-electric telescopic rod, 22-damping pad, 23-bumper, 24-autonomous protection device, 25-angle iron frame, 221-common spring, 222-outer SMA spring, 223-push-pull rod, 224-support piece, 225-slider, 226-guide rail, 227-central axis.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Referring to fig. 1-7, the invention provides an unmanned military target vehicle, which comprises a fuel powered vehicle body, a navigation and control system, a power supply system and an autonomous protection device. The vehicle body comprises a fuel power chassis 15, a steering engine steering mechanism 19, a steering engine braking mechanism 17, a steering engine accelerator mechanism 18, an electric telescopic rod 21, a target plate 3, a hook binding band 8, a target plate fixing beam 7, a target plate frame 8, an antenna frame 6, a bumper 23, a battery box 14 and a seat 16.

The navigation and control system comprises a main control box 13, an antenna 1, a GPS positioning device, a data link, a remote controller and a ground station device. The front end of the vehicle body is provided with a bumper 23, and the interior of the vehicle body is provided with an electric power steering system and a continuously variable transmission device which are modified by a motor car chassis. Steering wheel 10 is connected steering wheel steering mechanism 19 through high strength reduction gear group and realizes locking connection through rotatory screw (this structure is the prior art with steering wheel in the current life and steering wheel steering structure connected mode the same, no longer gives details). Referring to fig. 6, an accelerator pedal 181 is connected to an accelerator steering gear 183 through an adding piece 182, wherein a sheath nail 184 is fixedly installed between the accelerator pedal 181 and the adding piece 182, the adding piece 182 is fixedly connected to the accelerator steering gear 183 through a rudder plate 185, the accelerator steering gear 183 is welded to a vehicle body through an angle iron bracket 186, (the connection structure of the steering gear brake mechanism 17 and the rudder accelerator mechanism 18 is the same, and is not described again),

electric telescopic handle 21 is connected at 20 backs of manual shift pole, and is concrete, and electric telescopic handle 21 bottom is articulated to be fixed on the target car of manual shift pole one side, and electric telescopic handle 21 passes through the base to be fixed on the target car, and wherein telescopic link 21 is articulated with the base, and electric telescopic handle 21 other end passes through articulated mode and links to each other with 20 upper ends of manual shift pole, and main control board communication work in through signal line and power cord and the main control box changes electric telescopic handle's flexible stroke and realizes shift control. The sealed protective housing device of steering wheel external installation, the protective housing adopts 3D to print the material processing and form, is the square appearance, and the steering wheel is connected through four copper posts to the protective housing. Steering wheel steering mechanism 19 is fixed through three angle iron frame 25 that weld in the automobile body, connects steering wheel 10 through special shaft coupling, and the outer circuit connection all adopts Y to be aviation plug, and the cable all wraps up low temperature resistant thermoplastic pipe.

The target plate 3 and the vehicle body are connected through angle iron drilling bolts and are arranged on the target plate frame 9, the hook binding bands 8 and the fixing beams 7 are matched for reinforcement, the target plate 3 is in a multi-block splicing mode, and cross-shaped patterns are arranged on the target plate. The antenna frame 6 is arranged at the position behind the center of the vehicle body and is vertically arranged, an aviation aluminum pipe with large diameter and thickness is adopted, and a platform 5 made of square composite materials is horizontally arranged at the top end of the aviation aluminum pipe and used for mounting the antenna 1. Under the circumstances that the steering engine is not electrified, the unmanned military target vehicle can normally drive the vehicle by a driver sitting on the seat 16, and the target vehicle is convenient to move and use. The power supply system adopts a 24v storage battery pack to supply power for the steering engine structure and all electronic equipment

The antenna 1 integrates image transmission, data transmission and a remote controller receiver, receives data sent by a remote ground station and a remote controller and realizes data interaction with the inside of a main control box 13, the main control box 13 is independently powered by a storage battery in a battery box 14, the receiving antenna transmits a signal of the remote controller to a control main board, the control main board converts the signal into a PWM (pulse-width modulation) signal and transmits the PWM signal to a steering engine, wherein an accelerator steering engine 183 rotates by a certain angle according to the PWM signal, and an accelerator pedal 181 is pressed to realize speed control of a target vehicle; the direction steering gears 191 are connected with the steering wheel 10 through a coupling 192 between the direction steering gears 191 through a high-strength reduction gear set to realize direction control, wherein the coupling 192 and the steering wheel 10 are locked through bolts to realize direction control; when the target vehicle needs to decelerate, the accelerator steering engine 183 receives the PWM signal and returns to the initial position, the brake steering engine rotates for a certain angle, and the brake pedal is pressed to decelerate or stop the target vehicle. When the automatic mode is switched, the cruise track in the main control board is downloaded in advance according to the electronic map of the ground station, the control main board calculates position information and real-time dynamic information of the target vehicle through the magnetometer and the DPS positioning device, PWM pulse signals of all steering engines are generated and sent to all steering engine mechanisms, all the steering engines execute corresponding actions to realize autonomous driving, and the motion mode of all the steering engines in the autonomous driving mode is the same as that in the manual remote control mode.

The main control box is internally provided with a carbon fiber interlayer, a control mainboard, a transformer, a magnetometer, a galvanometer and a demagnetization module are arranged in the main control box and are a central control system for receiving and processing signals of a circuit control part, and the transformer converts the voltage of a 24v storage battery into 12v stable voltage for each steering engine to use; the magnetometer provides direction data for the target vehicle to drive autonomously, and the demagnetizing module can reduce the influence of electromagnetism in each circuit in the main control box on the magnetometer. The antenna 1 receives a signal sent remotely, the signal is filtered and amplified, then the signal is converted into a certain volt input level and transmitted to a control mainboard in the main control box 13, the control mainboard performs operation processing on the preprocessed signal, processed data are transmitted to an output circuit, the digital signal subjected to power amplification and reduction by the output circuit is subjected to data interaction with a steering engine brake mechanism 17, a steering engine accelerator mechanism 18 and an electric telescopic rod 21, and a simulator rotates a steering wheel and pedals the brake, an accelerator and shifts gears, so that the automatic cruise along a pre-planned path is realized.

An intelligent shock pad 22 is arranged below the main control box 13 and can provide a certain buffering effect according to the bumping effect of the vehicle during running, and the shock pad 22 comprises a common spring 221, an outer SMA spring 222, a push-pull rod 223, a support 224, a sliding block 225, a guide rail 226 and a central shaft 227. The supporting member 224 is in a shape of a sleeve, the central shaft 227 is divided into an upper part and a lower part, the upper end and the lower end of the common spring 221 are respectively fixed on the two parts of the central shaft 227, the central shaft is arranged at the center of the supporting member 224, a guide rail 226 is respectively led out from three angles on the central shaft at the lower end, an outer SMA spring 222 is respectively arranged on the guide rail 226, a sliding block 225 is fixed on the outer SMA spring 222, a push-pull rod is connected between each sliding block and the central shaft at the upper end, the two ends of the push-pull rod are respectively hinged and fixed on the central shaft and the push-pull rod, and the upper.

The autonomous protection device 24 is located in the vehicle head and comprises a remote control lighter, a remote control extinguisher and a vehicle fault protection power-off switch, and the vehicle can be started and extinguished remotely through remote control. The remote control igniter and the extinguisher are respectively composed of two relay switches, are connected with an ignition wire and a flameout wire inside the vehicle and are independently powered by a power supply inside the vehicle; the vehicle fault protection power-off switch can automatically identify that the vehicle is subjected to power-off flameout when the vehicle breaks down or deviates from a movement route through a control algorithm, so that the vehicle has high safety.

Target plate 3 is two millimeters steel sheet lacquers for punching, and 2 patterns of target can revise, and the target plate can be dismantled, target car repeatedly usable under the condition of no longer damaging inside control system.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.