CN106153348B - Dynamically adjustable restructural terrain generalization test device and integrated test facility - Google Patents
Dynamically adjustable restructural terrain generalization test device and integrated test facility Download PDFInfo
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- CN106153348B CN106153348B CN201510140180.8A CN201510140180A CN106153348B CN 106153348 B CN106153348 B CN 106153348B CN 201510140180 A CN201510140180 A CN 201510140180A CN 106153348 B CN106153348 B CN 106153348B
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Abstract
The present invention provides a kind of adjustable restructural terrain generalization test device of dynamic and integrated test facility, test device include：Master controller and several test cells；Each test cell arrangement is fixed on the basis of carrying；Wherein, each test cell includes actuator and test body；The bottom end of actuator is fixed on the basis of carrying, and the top of actuator is fixedly connected with the bottom end of test body；Control terminal of the master controller respectively with each actuator is connect, and for the action of each actuator of independent control, and then controls the height for the test body for being fixed on actuator.The present invention is after test device of certain scale is built, it only needs to adjust the lifting height instruction sent to each test cell, the simulated roadway with different flatness can be obtained, without rebuilding test device, the versatility of test device is improved, has saved test site and test fund.
Description
Technical field
The invention belongs to intelligent traveling body technical field of measurement and test, and in particular to a kind of adjustable restructural terrain generalization of dynamic
Test device and integrated test facility.
Background technology
Disaster searches and rescues class intelligence traveling body, is that one kind is applied towards earthquake disaster, can be moved in the gap of ruins with visiting
The intelligent traveling system surveyed and can implement auxiliary rescue to the survivor in ruins is united, it has also become current hot research topic.It grinds
Study carefully and efficient disaster search and rescue class intelligence traveling body, and make in its extensive utilization to Post disaster relief work, manpower and materials can be reduced
Fortuitous casualty in input, reduction rescue work, and rescue efficiency and success rate are improved, resist nature for improving mankind itself
The process tool significance of disaster ability.
Search and rescue the research of class intelligence traveling body for disaster, emphasis one of need to solve the problems, such as be：How intelligent row is improved
Into the locomitivity of body, the orographic condition of various complexity can be adapted to, for example, ruins, muddy ground, sand ground, step, abrupt slope or
Trench etc..Therefore, in the research process of intelligent traveling body, need Reusability test device to the performance of intelligent traveling body into
Row test.
In the prior art, to intelligent traveling body carry out roughness pavement test when, mainly using following two modes it
One simulation roughness pavement：(1) construction materials such as different height brick, timber are laid on road surface, so as to build one temporarily
A roughness pavement；(2) the small-sized gully of different depth is excavated on soil road surface, achievees the effect that simulate roughness pavement.
Main problem is existing for aforesaid way：(1) the single fixation of test index for the test device that structure is completed can not
Therefore adjustment, for variety classes intelligence traveling body, needs test device of the structure with different test pavement indexs, wherein,
Road surface index includes irregularity degree and barrier height etc.；Therefore, there is the problem of test device build process is cumbersome, in addition, by
In needing to build multiple independent test devices, the waste of a large amount of places and fund is also resulted in.(2) it can not become and qualitatively survey
Trial assembly is put, test index on-fixed, can not quantify the synthesis ability to act of intelligent traveling body.
Invention content
In view of the defects existing in the prior art, the present invention provides a kind of adjustable restructural terrain generalization test device of dynamic
And integrated test facility, it can effectively solve the above problems.
The technical solution adopted by the present invention is as follows：
The present invention provides a kind of adjustable restructural terrain generalization test device of dynamic, including：Master controller and several
Test cell (1)；The each test cell (1) arrangement is fixed on the basis of carrying；Wherein, each test cell (1)
Include actuator (2) and test body (3)；The bottom end of the actuator (2) is fixed on the basis of the carrying, the actuator
(2) top is fixedly connected with the bottom end of the test body (3)；The master controller respectively with each actuator (2)
Control terminal connects, and for the action of each actuator (2) of independent control, and then controls and is fixed on the actuator (2)
The height of the test body (3).
Preferably, each actuator (2) is hydraulic actuator, is included：Cylinder, driver, hydraulic power source, piston
Bar and displacement sensor；
The cylinder is fixing piece, and the carrying basis is fixed in bottom surface；
The piston rod is movement parts, is set to the inside of the cylinder, and the bottom of the piston rod passes through described
Hydraulic power source and connect with the output terminal of the driver, the top of the piston rod is fixedly connected with the test body (3)；Institute
Under the driving for stating driver, the piston rod is driven to carry out rising or falling action, and then the test body (3) is driven to carry out
Liter or lowering action；
Institute's displacement sensors are connect with the piston rod, and distance is risen or fallen for acquire the piston rod；
The output terminal of the master controller is connect with the input terminal of the driver, the input terminal of the master controller and institute
The output terminal connection of displacement sensors, thus forms closed-loop control system.
Preferably, the rectangular cross-section of the test body (3).
Preferably, when the arrangement of each test cell (1) is fixed on the basis of carrying, the adjacent test body (3) it
Between be in close contact.
The present invention provides a kind of adjustable restructural terrain generalization test method of dynamic, includes the following steps：
S1 on the basis of n test cell (1) arrangement is fixed on carrying, makes the test body (3) of neighboring test cell (1)
It is in close contact；Wherein, n is natural number；
When initial, the top surface of n test body (3) is concordant with ground；
S2, the plane where carrying basis establish two-dimensional Cartesian coordinate system, obtain the position of each test cell (1)
Coordinate；
The initial parameter of master controller is configured in S3；Including：Position coordinates, each test cell of n test cell (1)
Length value and width value and need the road surface parameter simulated；
S4, the master controller are based on the initial parameter, and the preferable of each test cell (1) is calculated and rises
Distance value, and according to the preferable climb value, generation respectively refers to the unique corresponding control of each test cell (1)
It enables, then, each control instruction is sent to the driver of the corresponding test cell (1), is driven by driver
Piston rod in corresponding actuator (2) rises a certain distance, and then the test body (3) for being fixed on piston rod is driven to rise one
Fixed distance；It is achieved in each test body (3) and rises different distances, then the upper surface of each test body (3) is then spliced into
Meet the simulated roadway of road surface parameter that the needs are simulated.
Preferably, it in S4, further includes：
S41 after the piston rod rises a certain distance, is installed on described in the position sensor detection of the piston rod
The practical climb value of piston rod, and the practical climb value of the piston rod is sent to the master controller；
S42, the master controller judge whether the practical climb value of the piston rod rises with presetting ideal
Distance value is consistent, if it is inconsistent, performing S43；If consistent, S44 is performed；
S43, the master controller are calculated between the practical climb value and the preferable climb value
Deviation, and generate corresponding adjust instruction；Then, the adjust instruction is sent to described for driving by the master controller again
The driver of piston rod movement by the driver, adjusts the practical climb value of the piston rod, and returns to S41；
S44, the practical climb value of the piston rod is consistent with presetting preferable climb value, terminates to described
The process that the movement of piston rod is controlled.
The adjustable restructural terrain generalization test device of dynamic provided by the invention and integrated test facility have following excellent
Point：
After test device of certain scale is built, it is only necessary to adjust the lifting height sent to each test cell
Instruction, you can obtain the simulated roadway with different flatness, without rebuilding test device, improve test device
Versatility, saved test site and test fund.
Description of the drawings
Fig. 1 is the stereoscopic schematic diagram after the adjustable restructural terrain generalization test device assembling of dynamic provided by the invention；
Fig. 2 is the vertical view after the adjustable restructural terrain generalization test device assembling of dynamic provided by the invention；
Fig. 3 is the left view after the adjustable restructural terrain generalization test device assembling of dynamic provided by the invention；
Fig. 4 is the right view after the adjustable restructural terrain generalization test device assembling of dynamic provided by the invention；
Fig. 5 is the mechanical structure stereoscopic schematic diagram of each test cell 1；
Fig. 6 is the structure diagram of test body 3；
Fig. 7 is the structure diagram of actuator 2.
Specific embodiment
Below in conjunction with attached drawing, the present invention is described in detail：
The present invention provides a kind of adjustable restructural terrain generalization test device of dynamic and integrated test facility, for intelligence
The body ability to act that can advance is tested, wherein, intelligent traveling body both can be that disaster searches and rescues class robot, or other
Smart machine, for example, vehicle mould etc., for being tested for the property to vehicle mould, the concrete type of the invention to intelligent traveling body is not
Limitation.As shown in Figure 1, for the stereoscopic schematic diagram after the adjustable restructural terrain generalization test device assembling of dynamic；Such as Fig. 2, Fig. 3
Shown in Fig. 4, vertical view, left view and the right side respectively after the adjustable restructural terrain generalization test device assembling of dynamic regard
Figure, including：Master controller and several test cells 1；Each test cell 1 is arranged and is fixed on the basis of carrying；Due to every
A test cell is both secured on the basis of carrying, can be avoided when trying intelligent traveling body examination, test cell occurred level direction
Movement improves the switching performance of test device.
As shown in figure 5, the mechanical structure stereoscopic schematic diagram for each test cell 1, including actuator 2 and test body 3；
As shown in fig. 6, the structure diagram for test body 3；The rectangular cross-section of test body 3, it is each so as to can just ensure
When a test cell 1 is arranged and is fixed on the basis of carrying, be in close contact between adjacent test body 3, there is no gap, prevent because
Gap and cause the unnecessary interference tried intelligent traveling body examination, achieve the effect that simulation roughness pavement more true to nature.
As shown in fig. 7, the structure diagram for actuator 2；The bottom end of actuator 2 is fixed on the basis of carrying, actuator 2
Top be fixedly connected with the bottom end of test body 3；Control terminal of the master controller respectively with each actuator 2 is connect, for independence
The action of each actuator 2 is controlled, and then controls the height for the test body 3 for being fixed on actuator 2.Wherein, actuator can be used
All kinds of forms, below only by actuator using being introduced for hydraulic actuator, specifically, following knot can be used in actuator
Structure：
Each actuator 2 includes：Cylinder, driver, hydraulic power source, piston rod and displacement sensor；
Cylinder is fixing piece, and carrying basis is fixed in bottom surface；
Piston rod is movement parts, is set to the inside of cylinder, the bottom of piston rod by hydraulic power source and with driver
Output terminal connection, the top of piston rod is fixedly connected with test body 3；Under the driving of driver, driving piston rod carries out
Liter or lowering action, and then test body 3 is driven to carry out rising or falling action；
Displacement sensor is connect with piston rod, and distance is risen or fallen for acquire piston rod；
The input terminal of the output terminal of master controller and driver connects, the input terminal of master controller and displacement sensor it is defeated
Outlet connects, and thus forms closed-loop control system, realizes and the precision of each test body climb is controlled.
The present invention also provides a kind of adjustable restructural terrain generalization test methods of dynamic, include the following steps：
S1, on the basis of the n arrangement of test cell 1 is fixed on carrying, the test cell of specific arrangement mode and selection
Quantity, flexibly set according to testing requirement, only need to ensure neighboring test cell 1 test body 3 be in close contact；
When initial, the top surface of n test body 3 is concordant with ground；
S2, the plane where carrying basis establish two-dimensional Cartesian coordinate system, obtain the position coordinates of each test cell 1；
The initial parameter of master controller is configured in S3；Including：The position coordinates of n test cell 1, each test cell
The road surface parameter that length value and width value and needs are simulated；Road surface parameter includes irregularity degree, the angle of each road surface position
Deng；
S4, master controller are based on initial parameter, using certain algorithm, each test cell 1 are calculated ideally
Distance value is risen, and according to preferable climb value, respectively the unique corresponding control instruction of generation and each test cell 1, then,
Each control instruction is sent to the driver of corresponding test cell 1, the work in corresponding actuator 2 is driven by driver
Stopper rod rises a certain distance, and then the test body 3 for being fixed on piston rod is driven to rise a certain distance；It is achieved in each survey
Examination body 3 rises different distances, then the upper surface of each test body 3, which is then spliced into, meets the simulation of road surface parameter that needs are simulated
Road surface.In addition, the upper surface of test body 3 can select different materials according to actual test demand, unlike material has different
Friction coefficient so as to simulate to obtain the simulated roadway with different coefficients of friction, meets to traveling body in differentiated friction degree
The demand of road surface traveling aptitude tests.
In this step, to realize more fine simulated roadway, further include：
S41 after rising a certain distance on the piston rod, is installed on the reality of the position sensor detection piston rod of piston rod
Climb value, and the practical climb value of piston rod is sent to master controller；
S42, master controller judge piston rod practical climb value whether with presetting preferable climb value one
It causes, if it is inconsistent, performing S43；If consistent, S44 is performed；
The deviation between practical climb value and preferable climb value, and generation pair is calculated in S43, master controller
The adjust instruction answered；Then, adjust instruction is sent to the driver for driving piston rod movement by master controller again, passes through drive
Dynamic device, adjusts the practical climb value of piston rod, and return to S41；
S44, the practical climb value of piston rod is consistent with presetting preferable climb value, terminates to piston rod
Move the process controlled.
It can be seen that the adjustable restructural terrain generalization test device of dynamic provided by the invention and integrated test facility tool
It has the advantage that：
(1) after test device of certain scale is built, it is only necessary to adjust the rising sent to each test cell
It highly instructs, you can obtain the simulation complex road surface with different flatness, without rebuilding test device, improve
The versatility of test device has saved test site and test fund；
(2) each test cell is both secured on the basis of carrying, effectively reaches the fixed function to test cell, is improved and is surveyed
The switching performance of unit is tried, is prevented when testing intelligent traveling body, therefore the displacement of test cell occurred level, improves
To the analog capability of roughness pavement；
(3) present apparatus uses Design of Closed-Loop Control, has test index that is multiple dimensioned, becoming more meticulous and energy is adjusted flexibly
Power, each test cell lifting height can quantify, so as to fulfill the qualitative test to intelligent traveling body ability to act；It and can root
Factually border testing requirement is adjusted flexibly test component difficulty of the test equipment to intelligent traveling body ability to act, meets to intelligence
The testing requirement of traveling body ability to act.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications also should
Depending on protection scope of the present invention.
Claims (5)
1. a kind of adjustable restructural terrain generalization test of dynamic based on the adjustable restructural terrain generalization test device of dynamic
Method, which is characterized in that the adjustable restructural terrain generalization test device of dynamic includes：Master controller and several test cells
(1)；The each test cell (1) arrangement is fixed on the basis of carrying；Wherein, each test cell (1) includes making
Dynamic device (2) and test body (3)；The bottom end of the actuator (2) is fixed on the basis of the carrying, the top of the actuator (2)
End is fixedly connected with the bottom end of the test body (3)；The master controller connects respectively with the control terminal of each actuator (2)
It connects, for the action of each actuator (2) of independent control, and then controls the test for being fixed on the actuator (2)
The height of body (3)；
Dynamically adjustable restructural terrain generalization test method, includes the following steps：
S1, on the basis of n test cell (1) arrangement is fixed on carrying, the test body (3) for making neighboring test cell (1) is close
Contact；Wherein, n is natural number；
When initial, the top surface of n test body (3) is concordant with ground；
S2, the plane where carrying basis establish two-dimensional Cartesian coordinate system, and the position for obtaining each test cell (1) is sat
Mark；
The initial parameter of master controller is configured in S3；Including：The position coordinates of n test cell (1), the length of each test cell
The road surface parameter that angle value and width value and needs are simulated；
S4, the master controller are based on the initial parameter, and the preferable climb of each test cell (1) is calculated
Value, and according to the preferable climb value, the unique corresponding control instruction of generation and each test cell (1) respectively,
Then, each control instruction is sent to the driver of the corresponding test cell (1), is driven and corresponded to by driver
Actuator (2) in piston rod rise a certain distance, and then it is certain that the test body (3) for being fixed on piston rod is driven to rise
Distance；It is achieved in each test body (3) and rises different distances, then the upper surface of each test body (3) is then spliced into satisfaction
The simulated roadway of road surface parameter for needing to simulate.
It is weighed 2. the dynamic according to claim 1 based on the adjustable restructural terrain generalization test device of dynamic is adjustable
Structure terrain generalization test method, which is characterized in that each actuator (2) is hydraulic actuator, is included：Cylinder, drive
Dynamic device, hydraulic power source, piston rod and displacement sensor；
The cylinder is fixing piece, and the carrying basis is fixed in bottom surface；
The piston rod is movement parts, is set to the inside of the cylinder, the bottom of the piston rod passes through the hydraulic pressure
Source and connect with the output terminal of the driver, the top of the piston rod is fixedly connected with the test body (3)；In the drive
Under the driving of dynamic device, the piston rod is driven rise or fall action, so the drive test body (3) risen or
Lowering action；
Institute's displacement sensors are connect with the piston rod, and distance is risen or fallen for acquire the piston rod；
The output terminal of the master controller is connect with the input terminal of the driver, input terminal and the institute's rheme of the master controller
The output terminal connection of displacement sensor, thus forms closed-loop control system.
It is weighed 3. the dynamic according to claim 1 based on the adjustable restructural terrain generalization test device of dynamic is adjustable
Structure terrain generalization test method, which is characterized in that the rectangular cross-section of the test body (3).
It is weighed 4. the dynamic according to claim 2 based on the adjustable restructural terrain generalization test device of dynamic is adjustable
Structure terrain generalization test method, which is characterized in that adjacent when each test cell (1) arrangement is fixed on the basis of carrying
It is in close contact between the test body (3).
It is weighed 5. the dynamic according to claim 1 based on the adjustable restructural terrain generalization test device of dynamic is adjustable
Structure terrain generalization test method, which is characterized in that in S4, further include：
S41, after the piston rod rises a certain distance, the position sensor for being installed on the piston rod detects the piston
The practical climb value of bar, and the practical climb value of the piston rod is sent to the master controller；
S42, the master controller judge the piston rod practical climb value whether with presetting preferable climb
Value is consistent, if it is inconsistent, performing S43；If consistent, S44 is performed；
The deviation between the practical climb value and the preferable climb value is calculated in S43, the master controller,
And generate corresponding adjust instruction；Then, the adjust instruction is sent to drive the piston again by the master controller
The driver of bar movement, by the driver, adjusts the practical climb value of the piston rod, and return to S41；
S44, the practical climb value of the piston rod is consistent with presetting preferable climb value, terminates to the piston
The process that the movement of bar is controlled.
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| CN201510140180.8A CN106153348B (en) | 2015-03-27 | 2015-03-27 | Dynamically adjustable restructural terrain generalization test device and integrated test facility |
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| CN106153348B true CN106153348B (en) | 2018-07-10 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107655701B (en) * | 2017-09-08 | 2018-10-12 | 童涵 | New-energy automobile comprehensive performance test device |
| CN113252369B (en) * | 2021-06-24 | 2023-04-07 | 中国第一汽车股份有限公司 | Method for determining road parameters suitable for air suspension test |
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| KR20040037427A (en) * | 2002-10-28 | 2004-05-07 | 현대자동차주식회사 | Road simulation system |
| CN103712800A (en) * | 2013-11-06 | 2014-04-09 | 中联重科股份有限公司渭南分公司 | Vibration test device of walking device |
| CN104330266A (en) * | 2014-10-28 | 2015-02-04 | 芜湖赛德交通设备有限公司 | Road condition simulator for automobile testing |
| CN104330265A (en) * | 2014-10-28 | 2015-02-04 | 芜湖赛德交通设备有限公司 | Pavement concave-convex simulator for automobile testing |
| CN204461765U (en) * | 2015-03-27 | 2015-07-08 | 张涛 | Dynamically adjustable restructural terrain generalization proving installation |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| NL1015517C2 (en) * | 2000-06-23 | 2001-12-28 | Tno | Scheme for conducting research on intelligent road vehicles. |
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2015
- 2015-03-27 CN CN201510140180.8A patent/CN106153348B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20040037427A (en) * | 2002-10-28 | 2004-05-07 | 현대자동차주식회사 | Road simulation system |
| CN103712800A (en) * | 2013-11-06 | 2014-04-09 | 中联重科股份有限公司渭南分公司 | Vibration test device of walking device |
| CN104330266A (en) * | 2014-10-28 | 2015-02-04 | 芜湖赛德交通设备有限公司 | Road condition simulator for automobile testing |
| CN104330265A (en) * | 2014-10-28 | 2015-02-04 | 芜湖赛德交通设备有限公司 | Pavement concave-convex simulator for automobile testing |
| CN204461765U (en) * | 2015-03-27 | 2015-07-08 | 张涛 | Dynamically adjustable restructural terrain generalization proving installation |
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