CN106153348A - Dynamic adjustable restructural terrain generalization test device and integrated test facility - Google Patents
Dynamic adjustable restructural terrain generalization test device and integrated test facility Download PDFInfo
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- CN106153348A CN106153348A CN201510140180.8A CN201510140180A CN106153348A CN 106153348 A CN106153348 A CN 106153348A CN 201510140180 A CN201510140180 A CN 201510140180A CN 106153348 A CN106153348 A CN 106153348A
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Abstract
The present invention provides a kind of dynamic adjustable restructural terrain generalization test device and integrated test facility, and test device includes: master controller and several test cells；On the basis of carrying is fixed in the arrangement of each test cell；Wherein, each test cell all includes actuator and test body；On the basis of carrying is fixed in the bottom of actuator, the top of actuator is fixing with the bottom of test body to be connected；Master controller is connected with the control end of each actuator respectively, for the independent action controlling each actuator, and then controls to be fixed on the height of the test body of actuator.The present invention is after building test device of certain scale, have only to adjust the lifting height instruction sent to each test cell, i.e. can obtain the simulated roadway with different flatness, without rebuilding test device, improve the versatility of test device, save test site and test fund.
Description
Technical field
The invention belongs to intelligence traveling body technical field of measurement and test, be specifically related to a kind of dynamic adjustable restructural ground
Shape comprehensive test device and integrated test facility.
Background technology
Disaster searches and rescues class intelligence traveling body, is that one is applied towards earthquake disaster, can be transported in gap, ruins
Move and detect and the survivor in ruins can be implemented the intelligent traveling system system that auxiliary is rescued, it has also become when
Modern popular research topic.Work out efficient disaster and search and rescue class intelligence traveling body, and make it extensively apply to calamity
In rear rescue work, it is possible to decrease the fortuitous casualty that manpower and materials put into, reduce in rescue work, and raising is rescued
Help efficiency and success rate, resist the process tool significance of natural disaster ability for improving mankind itself.
Disaster being searched and rescued to the research of class intelligence traveling body, one of problem that emphasis need to solve is: how to improve
The motor capacity of intelligence traveling body so that it is can adapt to the orographic condition of various complexity, such as, ruins, mud
Ground, sand ground, step, abrupt slope or trench etc..Therefore, in the research process of intelligence traveling body, need anti-
The performance of intelligence traveling body is tested by multiple use test device.
In prior art, when intelligence traveling body being carried out roughness pavement test, mainly use following two
One of mode simulation roughness pavement: the construction materials such as differing heights fragment of brick, timber are laid in road surface by (1)
On, thus build a roughness pavement temporarily；(2) the small-sized gully of different depth is excavated on earth road surface,
Reach to simulate the effect of roughness pavement.
The subject matter that aforesaid way exists is: the test index of the test device that (1) has built is single solid
Surely can not adjust, therefore, for variety classes intelligence traveling body, need structure to have different test road surface and refer to
Target test device, wherein, road surface index includes irregularity degree and barrier height etc.；Therefore, there is test
The problem that device build process is loaded down with trivial details, further, since need to build multiple independent test device, also results in
A large amount of places and the waste of fund.(2) cannot become and test device qualitatively, test index on-fixed,
The comprehensive ability to act of intelligence traveling body cannot be quantified.
Summary of the invention
The defect existed for prior art, the present invention provides a kind of dynamic adjustable restructural terrain generalization to survey
Electricity testing device and integrated test facility, can effectively solve the problems referred to above.
The technical solution used in the present invention is as follows:
The present invention provides a kind of dynamic adjustable restructural terrain generalization test device, including: master controller and
Several test cells (1)；On the basis of carrying is fixed in the arrangement of each described test cell (1)；Wherein,
Each described test cell (1) all includes actuator (2) and test body (3)；Described actuator (2)
On the basis of described carrying is fixed in bottom, the top of described actuator (2) and the end of described test body (3)
End is fixing to be connected；Described master controller control end with actuator each described (2) respectively is connected, for solely
The vertical action controlling each described actuator (2), and then control to be fixed on the described of described actuator (2)
The height of test body (3).
Preferably, each described actuator (2) is hydraulic actuator, all includes: cylinder, driver,
Hydraulic power source, piston rod and displacement transducer；
Described cylinder is fixture, and described carrying basis is fixed in its bottom surface；
Described piston rod is movement parts, and it is arranged at the inside of described cylinder, and the bottom of described piston rod leads to
Cross described hydraulic power source and be connected with the outfan of described driver, the top of described piston rod and described test body
(3) fixing connection；Under the driving of described driver, described piston rod is driven to carry out rising or falling action,
And then drive described test body (3) to carry out rising or falling action；
Institute's displacement sensors is connected with described piston rod, for gather described piston rod rise or fall away from
From；
The outfan of described master controller is connected with the input of described driver, the input of described master controller
End is connected with the outfan of institute's displacement sensors, thus constitutes closed-loop control system.
Preferably, the cross section of described test body (3) is rectangle.
Preferably, when the arrangement of each described test cell (1) is fixed on the basis of carrying, adjacent described test
It is in close contact between body (3).
The present invention provides a kind of dynamic adjustable restructural terrain generalization method of testing, comprises the following steps:
S1, on the basis of n test cell (1) arrangement is fixed on carrying, makes neighboring test cell (1)
Test body (3) is in close contact；Wherein, n is natural number；
Time initial, the end face of n test body (3) is concordant with ground；
S2, at place, carrying basis, plane sets up two-dimensional direct angle coordinate system, obtains each described test cell (1)
Position coordinates；
S3, the initial parameter of configuration master controller；Position coordinates, every including: n test cell (1)
The road surface parameter that the length value of individual test cell and width value and needs are simulated；
S4, described master controller, based on described initial parameter, is calculated each described test cell (1)
Rise distance value ideally, and according to the described distance value that rises ideally, generate and each described test cell respectively
(1) unique corresponding control instruction, then, is sent to the described test of correspondence by each described control instruction
The driver of unit (1), rises certain by the piston rod in the actuator (2) that driver drives is corresponding
Distance, and then drive be fixed on piston rod test body (3) rise a certain distance；It is achieved in each
Test body (3) rises different distances, then the upper surface of each test body (3) is then spliced into satisfied described
Need the simulated roadway of the road surface parameter of simulation.
Preferably, in S4, also include:
S41, after described piston rod rises a certain distance, is installed on the position sensor inspection of described piston rod
Survey the actually liter distance value of described piston rod, and the actually liter distance value of described piston rod is sent to institute
State master controller；
S42, described master controller judge described piston rod actually rise distance value whether with presetting ideal
Climb value is consistent, if it is inconsistent, perform S43；If consistent, then perform S44；
S43, described master controller be calculated described in actually rise distance value and described ideally rise distance value it
Between deviation, and generate correspondence adjustment instruction；Then, described master controller adjusts instruction by described again
Give the driver for driving described piston rod movement, by described driver, adjust described piston rod
Actually rise distance value, and return S41；
S44, the actually liter distance value of described piston rod is consistent with the presetting distance value of liter ideally, terminates
The process that the motion of described piston rod is controlled.
The present invention provide dynamic adjustable restructural terrain generalization test device and integrated test facility have with
Lower advantage:
After building test device of certain scale, it is only necessary to adjust to each test cell send upper
Rise instructs, and i.e. can obtain the simulated roadway with different flatness, without rebuilding test dress
Put, improve the versatility of test device, saved test site and test fund.
Accompanying drawing explanation
Solid after Fig. 1 assembles for the dynamic adjustable restructural terrain generalization test device that the present invention provides is shown
It is intended to；
Fig. 2 tests the top view after device assembles for the dynamic adjustable restructural terrain generalization that the present invention provides；
Fig. 3 tests the left view after device assembles for the dynamic adjustable restructural terrain generalization that the present invention provides；
Fig. 4 tests the right view after device assembles for the dynamic adjustable restructural terrain generalization that the present invention provides；
Fig. 5 is the frame for movement schematic perspective view of each test cell 1；
Fig. 6 is the structural representation of test body 3；
Fig. 7 is the structural representation of actuator 2.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in detail:
The present invention provides a kind of dynamic adjustable restructural terrain generalization test device and integrated test facility, uses
In testing intelligence traveling body ability to act, wherein, intelligence traveling body both can be that disaster searches and rescues class machine
Device people, it is also possible to for other smart machines, such as, Che Mo etc., be used for car mould is carried out performance test, this
Invent the particular type to intelligence traveling body to be not limiting as.As it is shown in figure 1, be dynamic adjustable restructural landform
Schematic perspective view after comprehensive test device assembling；As shown in Figure 2, Figure 3 and Figure 4, the most adjustable
Top view, left view and right view after the test device assembling of restructural terrain generalization, including: master controller
With several test cells 1；On the basis of each test cell 1 arranges and is fixed on carrying；Due to each test
On the basis of unit is both secured to carrying, can avoid when intelligence traveling body examination is tried, test cell occurred level
Moving in direction, improves the switching performance of test device.
As it is shown in figure 5, be the frame for movement schematic perspective view of each test cell 1, all include actuator 2 and survey
Examination body 3；
As shown in Figure 6, for the structural representation of test body 3；The cross section of test body 3 is rectangle, thus the most permissible
Ensure, when each test cell 1 arranges and is fixed on the basis of carrying, to be in close contact between adjacent test body 3,
There is not gap, prevent from causing the unnecessary interference to intelligence traveling body examination examination because of gap, reach more to force
Really simulate the effect of roughness pavement.
As it is shown in fig. 7, be the structural representation of actuator 2；On the basis of carrying is fixed in the bottom of actuator 2,
The top of actuator 2 is fixing with the bottom of test body 3 to be connected；Master controller respectively with the control of each actuator 2
End connects, and for the independent action controlling each actuator 2, and then controls to be fixed on the test body 3 of actuator 2
Height.Wherein, actuator can use all kinds of form, the most only uses as a example by hydraulic actuator by actuator
Being introduced, concrete, actuator can use following structure:
Each actuator 2 all includes: cylinder, driver, hydraulic power source, piston rod and displacement transducer；
Cylinder is fixture, and carrying basis is fixed in its bottom surface；
Piston rod is movement parts, and it is arranged at the inside of cylinder, the bottom of piston rod by hydraulic power source with
The outfan of driver connects, and the top of piston rod is fixing with test body 3 to be connected；Under the driving of driver,
Drive piston rod to carry out rising or falling action, and then drive test body 3 to carry out rising or falling action；
Displacement transducer is connected with piston rod, rises or falls distance for gather piston rod；
The outfan of master controller is connected with the input of driver, the input of master controller and displacement sensing
The outfan of device connects, and thus constitutes closed-loop control system, it is achieved the precision to each test body climb
Control.
The present invention also provides for a kind of dynamic adjustable restructural terrain generalization method of testing, comprises the following steps:
S1, on the basis of carrying is fixed in n test cell 1 arrangement, concrete arrangement mode and the survey of selection
The quantity of examination unit, sets flexibly according to testing requirement, only need to ensure that the test body 3 of neighboring test cell 1 is tight
Contiguity is touched；
Time initial, the end face of n test body 3 is concordant with ground；
S2, at place, carrying basis, plane sets up two-dimensional direct angle coordinate system, obtains the position of each test cell 1
Coordinate；
S3, the initial parameter of configuration master controller；Including: the position coordinates of n test cell 1, each survey
The road surface parameter that the length value of examination unit and width value and needs are simulated；Road surface parameter includes each position, road surface
The irregularity degree put, angle etc.；
S4, master controller, based on initial parameter, uses certain algorithm, is calculated each test cell 1
Rise distance value ideally, and according to rising distance value ideally, generate the most corresponding with each test cell 1 respectively
Control instruction, then, each control instruction is sent to the driver of test cell 1 of correspondence, by driving
Dynamic device drives the piston rod in corresponding actuator 2 to rise a certain distance, and then piston rod is fixed in drive
Test body 3 rises a certain distance；It is achieved in each test body 3 and rises different distances, then each test
The upper surface of body 3 is then spliced into the simulated roadway of the road surface parameter meeting needs simulation.Additionally, test body 3
Upper surface can select different materials according to actual testing requirement, and unlike material has different coefficient of frictions,
Such that it is able to simulation obtains the simulated roadway with different coefficients of friction, meet traveling body at differentiated friction degree
The demand of road surface traveling aptitude tests.
In this step, for realizing the finest simulated roadway, also include:
S41, after rising a certain distance on the piston rod, is installed on the position sensor detection piston rod of piston rod
Actually liter distance value, and the actually liter distance value of piston rod is sent to master controller；
S42, master controller judge piston rod actually rise distance value whether with presetting preferable climb
Value is consistent, if it is inconsistent, perform S43；If consistent, then perform S44；
S43, master controller is calculated and actually rises distance value and rise the deviation between distance value ideally, and
Generate corresponding adjustment instruction；Then, adjustment instruction is sent to for driving piston rod to transport by master controller again
Dynamic driver, by driver, adjusts the actually liter distance value of piston rod, and returns S41；
S44, the actually liter distance value of piston rod is consistent with the presetting distance value of liter ideally, terminates work
The process that the motion of stopper rod is controlled.
As can be seen here, the dynamic adjustable restructural terrain generalization that the present invention provides tests device and integration test
Method has the advantage that
(1) after building test device of certain scale, it is only necessary to adjust and send to each test cell
Lifting height instruction, i.e. can obtain the simulation complex road surface with different flatness, without structure again
Build test device, improve the versatility of test device, saved test site and test fund；
(2), on the basis of each test cell is both secured to carrying, the fixation to test cell is effectively reached,
Improve the switching performance of test cell, prevent when intelligence traveling body is tested, test cell generation water
Translational shifting, this improves the analog capability to roughness pavement；
(3) this device uses Design of Closed-Loop Control, has test index multiple dimensioned, that become more meticulous and flexibly
Adjustment capability, each test cell lifting height can quantify, thus realizes intelligence traveling body ability to act
Qualitative test；And test equipment can be adjusted flexibly to intelligence traveling body action energy according to actual testing requirement
The test component difficulty of power, meets the testing requirement to intelligence traveling body ability to act.
The above is only the preferred embodiment of the present invention, it is noted that common for the art
For technical staff, under the premise without departing from the principles of the invention, it is also possible to make some improvements and modifications,
These improvements and modifications also should regard protection scope of the present invention.
Claims (6)
1. a dynamic adjustable restructural terrain generalization test device, it is characterised in that including: master control
Device and several test cells (1)；On the basis of carrying is fixed in the arrangement of each described test cell (1)；Its
In, each described test cell (1) all includes actuator (2) and test body (3)；Described actuator (2)
Bottom be fixed on described carrying on the basis of, the top of described actuator (2) and described test body (3)
Bottom is fixing to be connected；Described master controller control end with actuator each described (2) respectively is connected, and is used for
The independent action controlling each described actuator (2), and then control to be fixed on the institute of described actuator (2)
State the height of test body (3).
Dynamic adjustable restructural terrain generalization the most according to claim 1 test device, its feature exists
In, each described actuator (2) is hydraulic actuator, all includes: cylinder, driver, hydraulic power source,
Piston rod and displacement transducer；
Described cylinder is fixture, and described carrying basis is fixed in its bottom surface；
Described piston rod is movement parts, and it is arranged at the inside of described cylinder, and the bottom of described piston rod leads to
Cross described hydraulic power source and be connected with the outfan of described driver, the top of described piston rod and described test body
(3) fixing connection；Under the driving of described driver, described piston rod is driven to carry out rising or falling action,
And then drive described test body (3) to carry out rising or falling action；
Institute's displacement sensors is connected with described piston rod, for gather described piston rod rise or fall away from
From；
The outfan of described master controller is connected with the input of described driver, the input of described master controller
End is connected with the outfan of institute's displacement sensors, thus constitutes closed-loop control system.
Dynamic adjustable restructural terrain generalization the most according to claim 1 test device, its feature exists
In, the cross section of described test body (3) is rectangle.
Dynamic adjustable restructural terrain generalization the most according to claim 2 test device, its feature exists
When the arrangement of, each described test cell (1) is fixed on the basis of carrying, adjacent described test body (3)
Between be in close contact.
5. a dynamic adjustable restructural terrain generalization method of testing, it is characterised in that comprise the following steps:
S1, on the basis of n test cell (1) arrangement is fixed on carrying, makes neighboring test cell (1)
Test body (3) is in close contact；Wherein, n is natural number；
Time initial, the end face of n test body (3) is concordant with ground；
S2, at place, carrying basis, plane sets up two-dimensional direct angle coordinate system, obtains each described test cell (1)
Position coordinates；
S3, the initial parameter of configuration master controller；Position coordinates, every including: n test cell (1)
The road surface parameter that the length value of individual test cell and width value and needs are simulated；
S4, described master controller, based on described initial parameter, is calculated each described test cell (1)
Rise distance value ideally, and according to the described distance value that rises ideally, generate and each described test cell respectively
(1) unique corresponding control instruction, then, is sent to the described test of correspondence by each described control instruction
The driver of unit (1), rises certain by the piston rod in the actuator (2) that driver drives is corresponding
Distance, and then drive be fixed on piston rod test body (3) rise a certain distance；It is achieved in each
Test body (3) rises different distances, then the upper surface of each test body (3) is then spliced into satisfied described
Need the simulated roadway of the road surface parameter of simulation.
Dynamic adjustable restructural terrain generalization method of testing the most according to claim 5, its feature exists
In, in S4, also include:
S41, after described piston rod rises a certain distance, is installed on the position sensor inspection of described piston rod
Survey the actually liter distance value of described piston rod, and the actually liter distance value of described piston rod is sent to institute
State master controller；
S42, described master controller judge described piston rod actually rise distance value whether with presetting ideal
Climb value is consistent, if it is inconsistent, perform S43；If consistent, then perform S44；
S43, described master controller be calculated described in actually rise distance value and described ideally rise distance value it
Between deviation, and generate correspondence adjustment instruction；Then, described master controller adjusts instruction by described again
Give the driver for driving described piston rod movement, by described driver, adjust described piston rod
Actually rise distance value, and return S41；
S44, the actually liter distance value of described piston rod is consistent with the presetting distance value of liter ideally, terminates
The process that the motion of described piston rod is controlled.
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| Application Number | Priority Date | Filing Date | Title |
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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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| 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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| Publication Number | Publication Date |
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| CN106153348A true CN106153348A (en) | 2016-11-23 |
| CN106153348B CN106153348B (en) | 2018-07-10 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107655701A (en) * | 2017-09-08 | 2018-02-02 | 绔ユ兜 | New-energy automobile comprehensive performance test device |
| CN113252369A (en) * | 2021-06-24 | 2021-08-13 | 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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| US20030183023A1 (en) * | 2000-06-23 | 2003-10-02 | Kusters Leonardus Johannes J | System for performing tests on intelligent road vehicles |
| 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 |
| 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 |
| 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 |
| CN204461765U (en) * | 2015-03-27 | 2015-07-08 | 张涛 | Dynamically adjustable restructural terrain generalization proving installation |
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2015
- 2015-03-27 CN CN201510140180.8A patent/CN106153348B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030183023A1 (en) * | 2000-06-23 | 2003-10-02 | Kusters Leonardus Johannes J | System for performing tests on intelligent road vehicles |
| 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 |
| 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 |
| 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 |
| CN204461765U (en) * | 2015-03-27 | 2015-07-08 | 张涛 | Dynamically adjustable restructural terrain generalization proving installation |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107655701A (en) * | 2017-09-08 | 2018-02-02 | 绔ユ兜 | New-energy automobile comprehensive performance test device |
| CN113252369A (en) * | 2021-06-24 | 2021-08-13 | 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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| Publication number | Publication date |
|---|---|
| CN106153348B (en) | 2018-07-10 |
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