CN110749237B - Unmanned military target vehicle - Google Patents
Unmanned military target vehicle Download PDFInfo
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- CN110749237B CN110749237B CN201910935648.0A CN201910935648A CN110749237B CN 110749237 B CN110749237 B CN 110749237B CN 201910935648 A CN201910935648 A CN 201910935648A CN 110749237 B CN110749237 B CN 110749237B
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- 238000009434 installation Methods 0.000 claims description 3
- 229920001169 thermoplastic Polymers 0.000 claims description 3
- 239000004416 thermosoftening plastic Substances 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 2
- 235000000396 iron Nutrition 0.000 claims description 2
- 230000006870 function Effects 0.000 abstract description 5
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- 238000012544 monitoring process Methods 0.000 abstract description 2
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- 229910052782 aluminium Inorganic materials 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
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- 238000005516 engineering process Methods 0.000 description 2
- 239000000295 fuel oil Substances 0.000 description 2
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Images
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41J—TARGETS; TARGET RANGES; BULLET CATCHERS
- F41J9/00—Moving targets, i.e. moving when fired at
- F41J9/02—Land-based targets, e.g. inflatable targets supported by fluid pressure
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
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.
Description
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 outer 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 the push-pull rod are respectively hinged and fixed on the central shaft and the sliding blocks, and the upper end of the central shaft is connected to the main control box.
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 higher, 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 piece, 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 with an accelerator steering gear 183 through an adding piece 182, wherein a sheath nail 184 is fixedly arranged between the accelerator pedal 181 and the adding piece 182, the adding piece 182 is fixedly connected with the accelerator steering gear 183 through a steering wheel 185, the accelerator steering gear 183 is welded on a vehicle body through an angle iron bracket 186, (a steering gear brake mechanism 17 is connected with a steering gear accelerator mechanism 18 in the same manner and is not described again), an electric telescopic rod 21 is connected behind a manual shift lever 20, specifically, the bottom end of the electric telescopic rod 21 is hinged and fixed on a target vehicle on one side of the manual shift lever, the electric telescopic rod 21 is fixed on the target vehicle through a base, wherein the telescopic rod 21 is hinged with the base, the other end of the electric telescopic rod 21 is connected with the upper end of the manual gear shifting rod 20 in a hinged mode, the signal line and the power line are communicated with the main control board in the main control box to work, and the telescopic stroke of the electric telescopic rod is changed to realize gear shifting 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 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 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 piece 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 223 is connected between each sliding block 225 and the central shaft 227 at the upper end, two ends of the push-pull rod 223 are respectively hinged and fixed on the central shaft 227 and the sliding block 225, and the upper end of the central shaft 227 is connected to the main control box 13.
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 powered off and flameout when the vehicle breaks down or deviates from a moving route through a control algorithm, so that the vehicle has high safety.
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.
Claims (4)
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 accelerator pedal is connected with an accelerator steering engine through an additional piece, a sheath nail is fixedly arranged between the accelerator pedal and the additional piece, the additional piece is fixedly connected with the accelerator steering engine through a steering wheel, and the accelerator steering engine is welded on a vehicle body through an angle iron bracket; the steering mechanism of the steering engine is fixed through three rigid angle irons welded on a vehicle body and is connected with a steering wheel through a coupler;
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 remote control 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: 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 central shaft at the lower end 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 central shaft at the upper end, the two ends of the push-pull rod are respectively hinged on the central shaft and the sliding blocks, and the upper end of the central shaft is connected to the main control box.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910935648.0A CN110749237B (en) | 2019-09-29 | 2019-09-29 | Unmanned military target vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910935648.0A CN110749237B (en) | 2019-09-29 | 2019-09-29 | Unmanned military target vehicle |
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| CN110749237A CN110749237A (en) | 2020-02-04 |
| CN110749237B true CN110749237B (en) | 2022-06-24 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111578788B (en) * | 2020-05-15 | 2022-06-21 | 江苏智屯达车载系统有限公司 | Unmanned target vehicle with multi-angle signal collecting structure |
| CN111497536B (en) * | 2020-06-02 | 2021-11-16 | 安徽工业大学 | Unmanned target vehicle system for aviation missile testing and use method |
| CN112729017A (en) * | 2020-12-17 | 2021-04-30 | 陕西华通机电制造有限公司 | Unmanned target vehicle control system |
| CN112947192B (en) * | 2021-02-10 | 2024-06-14 | 吉林大学 | Teleoperation vehicle driving system |
| CN114322672B (en) * | 2021-12-31 | 2023-12-26 | 沈阳航空航天大学 | Multifunctional military targeting device |
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|---|---|---|---|---|
| JP2008075970A (en) * | 2006-09-21 | 2008-04-03 | Hitachi Kokusai Electric Inc | Steering target device |
| CN108344330A (en) * | 2018-01-04 | 2018-07-31 | 中国空空导弹研究院 | A kind of unmanned target vehicle and a kind of unmanned target vehicle ontology |
| CN108502035A (en) * | 2018-04-25 | 2018-09-07 | 中国兵器工业计算机应用技术研究所 | A kind of high speed crawler-type unmanned vehicle platform and its control method |
| CN108916312A (en) * | 2018-07-31 | 2018-11-30 | 中国石油大学(华东) | A kind of marmem intelligent damping support based on PID control |
| CN109357573A (en) * | 2018-09-26 | 2019-02-19 | 中国人民解放军总参谋部第六十研究所 | Intelligent robot tactics target vehicle platform |
-
2019
- 2019-09-29 CN CN201910935648.0A patent/CN110749237B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008075970A (en) * | 2006-09-21 | 2008-04-03 | Hitachi Kokusai Electric Inc | Steering target device |
| CN108344330A (en) * | 2018-01-04 | 2018-07-31 | 中国空空导弹研究院 | A kind of unmanned target vehicle and a kind of unmanned target vehicle ontology |
| CN108502035A (en) * | 2018-04-25 | 2018-09-07 | 中国兵器工业计算机应用技术研究所 | A kind of high speed crawler-type unmanned vehicle platform and its control method |
| CN108916312A (en) * | 2018-07-31 | 2018-11-30 | 中国石油大学(华东) | A kind of marmem intelligent damping support based on PID control |
| CN109357573A (en) * | 2018-09-26 | 2019-02-19 | 中国人民解放军总参谋部第六十研究所 | Intelligent robot tactics target vehicle platform |
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Effective date of registration: 20211027 Address after: 266300 Room 101, convenience service center, Jiaodong sub district office, Jiaozhou City, Qingdao City, Shandong Province Applicant after: Qingdao Xindong Aviation Technology Development Co.,Ltd. Address before: 110136, Liaoning, Shenyang, Shenbei New Area moral South Avenue No. 37 Applicant before: SHENYANG AEROSPACE University |
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