CN204461780U - Topographic change and restructural comprehensive test device - Google Patents
Topographic change and restructural comprehensive test device Download PDFInfo
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- CN204461780U CN204461780U CN201520176721.8U CN201520176721U CN204461780U CN 204461780 U CN204461780 U CN 204461780U CN 201520176721 U CN201520176721 U CN 201520176721U CN 204461780 U CN204461780 U CN 204461780U
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Abstract
The utility model provides a kind of topographic change and restructural comprehensive test device, and proving installation comprises carrying basis and the multiple test cells carrying basis are fixed in arrangement; Each test cell includes test housing and for regulating the governor motion of test housing high and low position; The xsect of test housing is polygon, close contact between the side of adjacent test housing, and the upper surface of each test housing is spliced into artificially generated terrain and road surface.After building proving installation of certain scale, only need to utilize the toroidal function model set up according to terrain feature, choose test shell position coordinate (X, Y), calculate and obtain test cell height Z, adjust each test cell height, the artificially generated terrain with different curve feature can be obtained.Landform after conversion, reconstruct and road bed data, can be recorded and check.Therefore, do not need to rebuild proving installation, improve the versatility of proving installation, saved test site and test fund.
Description
Technical field
The utility model belongs to body technical field of measurement and test of advancing, and is specifically related to a kind of topographic change and restructural comprehensive test device.
Background technology
Body of advancing comprises intelligence and to advance body and non intelligent body of advancing, intelligence is advanced body, such as, disaster is searched and rescued class intelligence and to be advanced body, be a kind of towards earthquake disaster application, can move in gap, ruins with detection and can implement the survivor in ruins to assist the intelligence of rescuing to advance system, become current important subject.Work out efficient disaster to search and rescue class intelligence and to advance body, and make it extensively apply in Post disaster relief work, the fortuitous casualty in manpower and materials input, minimizing rescue work can be reduced, and improve rescue efficiency and success ratio, raising mankind itself is resisted to the process tool significance of disaster ability.
Disaster is searched and rescued to the research of the intelligent body of advancing of class, one of problem that emphasis need solve is: how to improve intelligence and to advance the locomitivity of body, the topographic condition of various complexity can be adapted to, such as, ruins, mud ground, sand ground, step, abrupt slope, trench, bend etc.Therefore, advance in the research process of body in intelligence, need Reusability proving installation to test the advance performance of body of intelligence.
Same, for non intelligent body of advancing, such as, Che Mo, dilly etc., also need to carry out performance test to abilities such as its handling capacity, obstacle climbing ability, turning and overturn-preventings.
In prior art, when advance to intelligence body and non intelligent body of advancing carry out performance test, the simulation of one of two kinds of modes below main employing roughness pavement: the building materialss such as differing heights fragment of brick, timber are laid on road surface by (1), thus an interim structure roughness pavement; (2) excavate the small-sized gully of different depth on earth road surface, reach the effect of simulation roughness pavement.
The subject matter that aforesaid way exists is: single the fixing of the test index of the proving installation that (1) has built can not adjust, therefore, to advance body for difference, need to build the proving installation with different test road surfaces index, wherein, road surface index comprises irregularity degree, the gradient, bend and barrier height etc.; Therefore, there is the problem that proving installation build process is loaded down with trivial details, in addition, because multiple independently proving installation built by needs, also result in the waste of a large amount of place and fund.(2) proving installation of sizing cannot be become, test index on-fixed, intelligence cannot be quantized and to advance the comprehensive ability to act of body.
Utility model content
For the defect that prior art exists, the utility model provides a kind of topographic change and restructural comprehensive test device, can effectively solve the problem.
The technical solution adopted in the utility model is as follows:
The utility model provides a kind of topographic change and restructural comprehensive test device, comprises multiple test cells (2) that described carrying basic (1) is fixed in carrying basis (1) and arrangement;
Each described test cell (2) includes test housing (4) and for regulating the governor motion of described test housing (4) high and low position; The xsect of described test housing (4) is polygon, and close contact between the side of adjacent described test housing (4), the upper surface testing housing (4) described in each is spliced into artificially generated terrain and road surface.
Preferably, the xsect of described test housing (4) is rectangle.
Preferably, described governor motion is height continuous regulation mechanism or highly discontinuous governor motion.
Preferably, described height continuous regulation mechanism is feed screw nut pair governor motion or slide bar governor motion.
Preferably, described height continuous regulation mechanism is automatically drive governor motion or non-automatic driving governor motion.
Preferably, described automatic driving governor motion comprises drive source; Described test housing (4) is driven to carry out rising or descending motion by described drive source;
Wherein, described drive source comprises hydraulic drive source, motor array drive source, man power drive source.
Preferably, the discontinuous governor motion of described height is inserted link and jack formula governor motion.
Preferably, also comprise: for limiting the fixing coaming plate (5) tested housing (4) described in each and tilt; The bottom of described fixing coaming plate (5) is fixedly connected with the described periphery carrying basis (1).
The topographic change that the utility model provides and restructural comprehensive test device have the following advantages:
After building proving installation of certain scale, only need the height adjusting each test cell, landform and the road surface with different characteristic can be obtained, and do not need to rebuild proving installation, improve the versatility of proving installation, save test site and test fund.
Accompanying drawing explanation
Fig. 1 be based on feed screw nut pair restructural terrain generalization proving installation assembling after schematic perspective view;
Fig. 2 be based on feed screw nut pair restructural terrain generalization proving installation assembling after vertical view;
Fig. 3 be based on feed screw nut pair restructural terrain generalization proving installation assembling after side view;
Fig. 4 is the physical construction schematic perspective view of each test cell 2;
Fig. 5 is the structural representation rotated by tool drives screw mandrels such as electric drills;
Fig. 6 is the structural representation of feed screw nut when moving to wire rod thread lowermost end;
Fig. 7 is the structural representation of feed screw nut when moving to wire rod thread top;
Fig. 8 is the design sketch of simulating vertical obstruction type roughness pavement;
Fig. 9 is the design sketch of dummy level trench type roughness pavement;
Figure 10 is the design sketch of simulation convex ridge type roughness pavement;
Figure 11 is the design sketch of simulation road ditch type roughness pavement;
Figure 12 is the design sketch of imitating shell pit type roughness pavement;
Figure 13 is the design sketch of Simulation of Complex road surface type roughness pavement.
Embodiment
Below in conjunction with accompanying drawing, the utility model is described in detail:
The utility model provides a kind of topographic change and restructural comprehensive test device, for advancing to intelligence, body and non intelligent body of advancing carry out ability to act test, wherein, intelligence advance body both can be disaster search and rescue class robot, also can be other smart machines, such as, Che Mo etc., for carrying out performance test to car mould, the utility model does not limit the advance particular type of body and non intelligent body of advancing of intelligence.
As shown in Figure 1, for topographic change and restructural comprehensive test device assemble after schematic perspective view; As shown in Figure 2, for topographic change and restructural comprehensive test device assemble after vertical view, comprising: carrying basis 1 and multiple test cell 2; The arrangement of each test cell 2 is fixed on carrying basis 1, and because each test cell is all fixed on carrying basis, can avoid when trying body examination of advancing, moving in test cell occurred level direction, improves the switching performance of proving installation.In addition, fixing coaming plate 5 can also be fixed with in the periphery on carrying basis 1, by carrying the common position-limiting action on basis 1 and fixing coaming plate 5, in the coffin that each test cell close-packed arrays is surrounded in fixing coaming plate 5, avoid when trying body examination of advancing, test cell occurred level direction tilts, and improves the switching performance of proving installation.In addition, the xsect of the test housing 4 of test cell is rectangle, thus when can ensure that each test cell arranges and is fixed on carrying basis, close contact between adjacent test housing 4, there is not gap, prevent from causing the unnecessary interference to body examination examination of advancing because of gap, reach artificially generated terrain more true to nature and the effect on road surface.
Each test cell 2 includes test housing 4 and for regulating the governor motion of test housing 4 high and low position; Regulated the position of test housing upper surface by governor motion, make the upper surface of each test housing 4 be spliced into artificially generated terrain and road surface.
In the utility model; can arrange flexibly according to the actual requirements for regulating the governor motion of test housing 4 high and low position; the specific constructive form of the utility model to governor motion does not limit, and every structure of test housing 4 high and low position that can regulate is all within the utility model protection domain.
On the whole, governor motion can divide into two classes: a class is height continuous regulation mechanism, for carrying out continuity adjustment to the high and low position of test housing; Another kind of is highly discontinuous governor motion, can only carry out noncontinuity adjustment to the high and low position of test housing.Herein, the implication that continuity regulates is: the height of test housing can be made to belong to optional position between certain regulatory region, such as, suppose test housing height regulatory region between be 0 ~ 30 millimeter, test housing then can be made to be arranged in any number of 0 ~ 30 millimeter, as, be 27 millimeters, 28 millimeters or 28.5 millimeters etc.The implication that noncontinuity regulates is: the height of test housing cannot regulate arbitrarily between certain regulatory region, ad-hoc location between certain regulatory region can only be belonged to fixed intervals or on-fixed interval, such as, be assumed to be fixed intervals, and, fixed intervals are 3 millimeters, then: when being 0 ~ 30 millimeter when between height regulatory region, test the Height Adjustable of housing is 0 millimeter, 3 millimeters, 6 millimeters ...And the height of test housing cannot be made to be 1 millimeter, 2 millimeters etc.
In practical application, height continuous regulation mechanism can adopt feed screw nut pair governor motion or slide bar governor motion.Highly discontinuous governor motion is inserted link and jack formula governor motion.Further, for height continuous regulation mechanism, both can adopt manual adjustments mode, and also can adopt automatic regulative mode, such as, automatically adjusted by motor driver or hydraulic unit driver, the utility model does not all limit this.
As a kind of specific implementation, for convenience of understanding, below introduce the embodiment of a kind of topographic change based on feed screw nut pair governor motion and restructural comprehensive test device:
As shown in Figure 1, be the schematic perspective view after assembling based on the topographic change of feed screw nut pair and restructural comprehensive test device; As shown in Figure 2, being the vertical view after assembling based on the topographic change of feed screw nut pair and restructural comprehensive test device, as shown in Figure 3, is the side view after assembling based on the topographic change of feed screw nut pair and restructural comprehensive test device; As shown in Figure 4, be the physical construction schematic perspective view of each test cell 2, include elevating mechanism 3 and test housing 4;
Elevating mechanism 3 comprises screw mandrel 3.1, feed screw nut 3.2, fixed sleeving 3.3 and bearing 3.4; Fixed sleeving 3.3 is vertically fixedly installed on carrying basis 1, can adopt welding or screw fixed form; The inside of fixed sleeving 3.3 arranges bearing 3.4; Screw mandrel 3.1 is vertically arranged, and the bottom of screw mandrel 3.1 is sheathed on bearing 3.4, and screw mandrel 3.1 is connected with fixed sleeving 3.3 is rotatable by bearing 3.4; Feed screw nut 3.2 is sheathed on screw mandrel 3.1, and feed screw nut 3.2 is placed in the cavity of test housing 4, and the outer wall of feed screw nut 3.2 is fixed with the inwall of test housing 4.Therefore, when making screw mandrel occur clockwise or rotate counterclockwise, feed screw nut can be driven to carry out the rectilinear motion rising or declines, thus drive test housing to carry out elevating movement, reach adjustment and test body height and the object of simulating different terrain and road surface.
In said structure, test housing and feed screw nut fix, and feed screw nut and screw mandrel form feed screw nut pair, can be the rectilinear motion of nut by the convert rotational motion of screw mandrel; Screw mandrel is rotatably connected by bearing and fixed sleeving, and fixed sleeving is fixed on carrying basis, therefore, fixed sleeving is while guaranteeing that screw mandrel can rotate freely in sleeve pipe, fixed sleeving also has lateral support effect to whole proving installation, ensures the plumbness of the test housing on top.
In addition, in the utility model, the thread depth of screw mandrel is the height adjustment range of test housing, and such as, if the thread depth of screw mandrel is 50cm, then the height adjustment range of testing housing is 0 ~ 50cm.As shown in Figure 6, for structural representation when feed screw nut moves to wire rod thread lowermost end, as shown in Figure 7, for structural representation when feed screw nut moves to wire rod thread top, as can be seen here, for realizing above-mentioned effect, the following design parameter of demand fulfillment: the internal diameter of test housing 4 is greater than the external diameter of fixed sleeving 3.3, makes fixed sleeving 3.3 can be placed in the cavity of test housing 4 completely.By said structure, under the prerequisite as far as possible reducing whole proving installation cost, the height adjustment range that improve test housing of maximum possible.
In the utility model, all kinds of version can be adopted to apply external force to screw mandrel, thus drive screw mandrel to rotate, and then regulate the height of test housing 4.Below two kinds of specific constructive form are only introduced:
(1) non-automatic drives structure form
The example that this example rotates for adopting the tool drives screw mandrels such as electric drill.
As shown in Figure 5, the structural representation for being rotated by tool drives screw mandrels such as electric drills; The top end face of screw mandrel 3.1 is provided with screw mandrel adjustment unit 6, such as, and screw mandrel adjustment cross recess or screw mandrel adjustment square hole; At the test top end face of housing 4 and the position be positioned at directly over screw mandrel adjustment unit 6 is provided with screw mandrel adjustment instrument penetrates hole 7.When needing the ground parameter of simulating certain type, calculate the height value of each test housing, then, instrument such as crosshead electric drill 8 grade is used to act on screw mandrel adjustment cross recess or square hole through screw mandrel adjustment instrument penetrates hole, screw mandrel is driven to carry out clockwise or be rotated counterclockwise by electric drill, screw mandrel revolving force acts on feed screw nut, thus give test housing vertically upward or downward acting force, final rising or the descending motion realizing test housing, further, this rising or decline are continuously adjustable.The aperture penetrating hole 7 due to the screw mandrel adjustment instrument offered on the top of test housing is very little, therefore, can not affect the test performance of simulated roadway.Certainly, for the occasion needing fine analog road surface, also can arrange and penetrate port lid; Penetrate port lid be placed in screw mandrel adjustment instrument penetrate in the hole in hole.By penetrating port lid, ensureing the slickness of test housing upper surface, improving test effect.
(2) automatic drives structure form
The example that this example drives screw mandrel to rotate for adopting motor automatically.
Each test cell 2 also comprises drive motor; Drive motor is built in fixed sleeving 3.3, links in the bottom of drive motor and screw mandrel 3.1, carries out clockwise for driving screw mandrel 3.1 or is rotated counterclockwise.
Also comprise master controller; Master controller is connected with the drive motor of each test cell 2 respectively, automatically controls drive motor rotate by master controller.Above-mentioned hardware configuration, can solve the relevant issues existed in background technology, as the further improvement of above-mentioned hardware configuration, introduces a kind of method of testing based on master controller below, comprises the following steps:
S1, is fixed on n test cell 2 arrangement on carrying basis 1, makes test housing 4 close contact of neighboring test cell 2; Wherein, n is natural number;
S2, sets up two-dimensional direct angle coordinate system in the basic 1 place plane of carrying, obtains the position coordinates of each test cell 2;
S3, the initial parameter of configuration master controller; Comprise: the road surface parameter of the road surface parameter that the length value of the xsect of the position coordinates of n test cell 2, the test housing 4 of each test cell 2 and width value, previous simulation obtain and the simulation of this needs;
S4, master controller, based on initial parameter, calculates the ideal distance adjusted value of each test cell 1, and according to ideal distance adjusted value, generates corresponding steering order unique with each test cell 2 respectively; Wherein, steering order comprises drive motor ID, drive motor rotation direction and drive motor number of revolutions; Ideal distance adjusted value comprises ideal distance rising value or ideal distance drop-out value;
S5, each steering order is sent to the drive motor of corresponding test cell 2 by master controller, makes drive motor be undertaken clockwise by number of revolutions or rotate counterclockwise; Wherein, when drive motor rotates, drive motor drives screw mandrel 3.1 to rotate, the rotational motion of screw mandrel 3.1 is converted into the rectilinear motion that feed screw nut 3.2 carries out rising or declining, and due to feed screw nut 3.2 with test housing 4 be fixedly connected with, therefore, the rising of feed screw nut 3.2 or descending motion are rising or the descending motion of test housing 4, the test housing 4 realizing each test cell 2 thus rises or drops to required distance, then the upper surface of each test housing 4 is spliced into the simulated roadway of the road surface parameter meeting the simulation of these needs.
The utility model also provides a kind of topographic change and restructural integrated test facility, comprises the following steps:
S1, builds terrain surface mathematical model;
S2, test housing 4 cross section of each test cell 2 is rectangle, if its length value is A0, width value is B0;
S3, chooses A*B place scope, that is: the length value in this place is A, and width value is B; At a Ground arrangement m*n test cell, composition test cell array; Wherein, m=A/A0; N=B/B0;
S4, sets up cartesian coordinate system X-Y-Z in place; Wherein, X-axis and Y-axis are in the orthogonal coordinate axis of surface level; Z axis is pedal line;
S5, obtains the horizontal plane position coordinate X of m*n test cell in cartesian coordinate system, Y; By the horizontal plane position coordinate of m*n test cell and the terrain surface parameters input terrain surface mathematical model needing reconstruct, terrain surface mathematical model, through computing, obtains the ideal height value Z1 of each test cell;
S6, according to the ideal height value Z1 of each test cell, obtain the current true altitude value Z2 of corresponding test cell, then the true altitude value of each test cell is adjusted, it is made to be elevated position to being tending towards ideal height value Z, therefore, be elevated to the test cell of differing heights upper surface conversion or be reconstructed into the terrain surface that need simulate.In this step, the obtain manner obtaining the current true altitude value of corresponding test cell can be: scale mode, laser measurement mode, electromagnetic wave measurement mode, also at the top of each test cell, miniature displacement transducer can be installed, automatically be measured the true altitude value obtaining test cell by displacement transducer.The concrete metering system of the utility model to test cell true altitude value does not limit.
Afterwards, also comprise:
S7, detects the true altitude value Z3 of the test cell after adjustment;
Then, judge to detect the deviation of the true altitude value Z3 that obtains and ideal height value Z1 whether in allowable range, if, then show that each test cell height control situation meets expection, terminate to adjust further the height of this test cell; If not, then perform S8;
S8, adjusts the true altitude value of test cell further, so constantly circulation, until the deviation of true altitude value after adjustment and ideal height value Z1 is in allowable range.The terrain surface that each test cell upper surface is spliced to form constantly approaches the terrain surface needing simulation.
In the utility model, according to set up toroidal function model, by choosing test shell position coordinate (X, Y), calculate and obtain test cell height (Z), to the flexible adjustment of various test cell height, can simulate or reconstruct various complicated landform and road surface, the device that test intelligence advances body and non intelligent body ability to act under different terrain and pavement conditions of advancing is provided.Such as, as shown in Figure 8, for simulating the design sketch of vertical obstruction type roughness pavement; As shown in Figure 9, be the design sketch of dummy level trench type roughness pavement; As shown in Figure 10, for simulating the design sketch of convex ridge type roughness pavement; As shown in figure 11, be the design sketch of simulation road ditch type roughness pavement; As shown in figure 12, be the design sketch of imitating shell pit type roughness pavement; As shown in figure 13, be the design sketch of Simulation of Complex road surface type roughness pavement.Certainly, according to the actual requirements, flexible combination can go out all kinds of complex road surface, Fig. 8-Figure 13 is only concrete example.
As can be seen here, the topographic change that the utility model provides and restructural comprehensive test device, have the following advantages:
(1) after building proving installation of certain scale, only need to utilize the toroidal function model set up according to terrain feature, adjust the height of each test cell, can obtain that there is different curve feature, and the artificially generated terrain of the feature such as different flatness, the gradient, degree of tilt, ditch, bend, step, gully and road surface, and do not need to rebuild proving installation, improve the versatility of proving installation, save test site and test fund;
(2) each test cell is all fixed on carrying basis, effectively reaches the fixation to test cell, improves the switching performance of test cell, prevent when body of advancing to intelligence is tested, test cell occurred level is shifted, and this improves the analog capability to roughness pavement;
(3) by regulating the height of test housing, convertible and reconstruct various typical terrain environment, for the test by performance, obstacle performance, resistance to capsizing etc. of ground mobile robot, car model, other ground moving body, there is provided different, adjustable landform and road environment condition, and this adjustment both can have continuity, also continuity can not be had.This device also can be computing machine road environment design of Simulation and supplies a model and test basis.
(4) for a kind of easy, sizing and intelligence adjustable are flexibly advanced body topographic change and restructural comprehensive test device, there is fixing test index, intelligence can be quantized and to advance the comprehensive ability to act of body and non intelligent body of advancing; And, can according to actual testing requirement, adjustment testing apparatus is to the testing complex difficulty of advance body and non intelligent body ability to act of advancing flexibly, the testing requirement of satisfied body ability to act of advancing to intelligence.
(5) landform after conversion, reconstruct and road bed data, recorded by scale marker device, laser measuring device for measuring, electromagnetic wave measuring device, displacement sensing etc. and checked.
The above is only preferred implementation of the present utility model; it should be pointed out that for those skilled in the art, under the prerequisite not departing from the utility model principle; can also make some improvements and modifications, these improvements and modifications also should look protection domain of the present utility model.
Claims (8)
1. topographic change and a restructural comprehensive test device, is characterized in that, comprises multiple test cells (2) that described carrying basic (1) is fixed in carrying basis (1) and arrangement;
Each described test cell (2) includes test housing (4) and for regulating the governor motion of described test housing (4) high and low position; The xsect of described test housing (4) is polygon, and close contact between the side of adjacent described test housing (4), the upper surface testing housing (4) described in each is spliced into artificially generated terrain and road surface.
2. topographic change according to claim 1 and restructural comprehensive test device, is characterized in that, the xsect of described test housing (4) is rectangle.
3. topographic change according to claim 1 and restructural comprehensive test device, is characterized in that, described governor motion is height continuous regulation mechanism or highly discontinuous governor motion.
4. topographic change according to claim 3 and restructural comprehensive test device, is characterized in that, described height continuous regulation mechanism is feed screw nut pair governor motion or slide bar governor motion.
5. topographic change according to claim 4 and restructural comprehensive test device, is characterized in that, described height continuous regulation mechanism is automatically drive governor motion or non-automatic driving governor motion.
6. topographic change according to claim 5 and restructural comprehensive test device, is characterized in that, described automatic driving governor motion comprises drive source; Described test housing (4) is driven to carry out rising or descending motion by described drive source;
Wherein, described drive source comprises hydraulic drive source, motor array drive source, man power drive source.
7. topographic change according to claim 3 and restructural comprehensive test device, is characterized in that, the discontinuous governor motion of described height is inserted link and jack formula governor motion.
8. topographic change according to claim 1 and restructural comprehensive test device, is characterized in that, also comprise: for limiting the fixing coaming plate (5) tested housing (4) described in each and tilt; The bottom of described fixing coaming plate (5) is fixedly connected with the described periphery carrying basis (1).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520176721.8U CN204461780U (en) | 2015-03-27 | 2015-03-27 | Topographic change and restructural comprehensive test device |
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| CN201520176721.8U CN204461780U (en) | 2015-03-27 | 2015-03-27 | Topographic change and restructural comprehensive test device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106153358A (en) * | 2015-03-27 | 2016-11-23 | 胡卫建 | Topographic change and restructural comprehensive test device and method of testing |
| CN109060287A (en) * | 2016-01-20 | 2018-12-21 | 北京师范大学 | It is a kind of for simulating the six degree of freedom earthquake simulation vibration device of earthquake vibration |
| CN110926746A (en) * | 2019-11-28 | 2020-03-27 | 嘉兴日正五金制造有限公司 | Household electric appliance anti-falling performance detection device |
-
2015
- 2015-03-27 CN CN201520176721.8U patent/CN204461780U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106153358A (en) * | 2015-03-27 | 2016-11-23 | 胡卫建 | Topographic change and restructural comprehensive test device and method of testing |
| CN106153358B (en) * | 2015-03-27 | 2018-11-13 | 胡卫建 | Topographic change and restructural comprehensive test device and test method |
| CN109060287A (en) * | 2016-01-20 | 2018-12-21 | 北京师范大学 | It is a kind of for simulating the six degree of freedom earthquake simulation vibration device of earthquake vibration |
| CN110926746A (en) * | 2019-11-28 | 2020-03-27 | 嘉兴日正五金制造有限公司 | Household electric appliance anti-falling performance detection device |
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Granted publication date: 20150708 |