CN106251762A - Intelligent vehicle Simulation Experimental Platform system - Google Patents
Intelligent vehicle Simulation Experimental Platform system Download PDFInfo
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- CN106251762A CN106251762A CN201610887917.7A CN201610887917A CN106251762A CN 106251762 A CN106251762 A CN 106251762A CN 201610887917 A CN201610887917 A CN 201610887917A CN 106251762 A CN106251762 A CN 106251762A
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
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Abstract
The present invention relates to intelligent vehicle Simulation Experimental Platform system, belong to Computer Simulation and automation field.The present invention is the experiment porch of a kind of two-wheel for doing band photographic head upright tracking dolly emulation experiment, is made up of host computer and slave computer.Slave computer includes for showing trolley travelling attitude and being presently in the exhibiting device of orbital position, by one with single-chip microcomputer and by the false car attitude of motor control, LED array display current orbit；Device can control dolly experiment and start, stops and terminate, and trolley travelling state can carry out the control device of variable interval sound description；Connect host computer transceiving data.Host computer machine runs a software, it is possible to the control signal of the experiment that the output attitude information of little vehicle model, running state information, current region orbital data, and receiving device in real time is passed back.Present invention additionally comprises a kind of rules and methods describing whole experiment track.
Description
Technical field
The present invention devises a kind of intelligent vehicle Simulation Experimental Platform system, belongs to Computer Simulation and automation field.
Background technology
Along with the development of computer simulation technique, the automation experiment of colleges and universities' automated laboratory gradually adopts computer to imitate
True experiment platform replaces in kind as experimental subject.Be compared at the bottom of the conventional efficient that full-scale investigation also exists, high cost, student
The shortcomings such as sense of defeat is strong, experiment parameter is unstable, analyticity is poor, computer simulation experiment platform can be with a kind of low cost
Put into, improve and student is done the interest tested and efficiency.And two-wheel vertical balanced tracking dolly, be one popular automatic
Change experimental subject.Full-scale investigation is also required to king-sized space and places track.So designing and developing a set of outstanding intelligent vehicle
Experiment simulation plateform system is the most necessary.
For the two-wheel vertical balanced such experimental subject of tracking dolly, rich in order to test, needs can be flexible
Change control algolithm and control parameter, it is also desirable to the parameters of little vehicle model can be changed flexibly, simultaneously need to permissible
Dolly is made to run on different tracks.Therefore, flexibly, lower coupling, modular system design be the most necessary.With
Time, design a kind of simple and effective model trajectory method for expressing, be also the most necessary.
Summary of the invention
A kind of experiment porch of the two-wheel for doing band photographic head upright tracking dolly emulation experiment, including:
1) for showing trolley travelling attitude and being presently in the exhibiting device of orbital position；
2) control dolly experiment to start, stop and terminate, and trolley travelling state can be carried out variable interval sound description
Control device；
3) above-mentioned exhibiting device and control device being attached and the computer of transceiving data, this computer runs one
Software, it is possible to the output attitude information of little vehicle model, running state information, current region orbital data in real time, and receive device
The control signal of the experiment passed back；
4) a kind of rules and methods describing whole experiment track.
The outside of plateform system is made up of casing, and casing top is LED array plate, and some LED is distributed on LED array plate
The LED array of lamp composition, and there is simple false car centre in an array.Motor, motor and vacation are arranged at the bottom of simple false car
Car is fixed by pole.It is fixed with the button area comprising three control knobs, three controls top LED array plate one jiao simultaneously
Button respectively starts/stops, suspending/continue and power supply.A power line and a data lines is drawn in casing side.?
Casing opposite side is fixed with sound loudspeaker.At box house, comprise single-chip microcomputer region.Single-chip microcomputer is fixed with single-chip microcomputer in region
And LED array drives accordingly.Simultaneously at box bottom, secure the pole for supporting false car.
Exhibiting device is made up of, by a step motor control vacation easy upright false car and foursquare LED array plate
The change at car inclination angle, the state of the orbital data display track that LED array transmits according to computer.
Control device and be fixed on exhibiting device side, control to have on device three buttons: start/terminate, only in/continue and
On and off switch, additionally mounted have Herba Cladoniae verticillatae, and variable interval describes trystate.
Control device and exhibiting device is shown by Single-chip Controlling, the driving signal of single-chip microcomputer output motor, LED array
Signal and the output signal of Herba Cladoniae verticillatae, receive the control signal that button transmits simultaneously, and single-chip microcomputer connects computer by serial ports,
Carry out the transmission of data.
The software run on computer, by setting up the model realization emulation to two-wheel balancing trolley, and can be newly-built
With storage dolly basic parameter, reading record dolly basic parameter hereof, it is possible to read and apply record hereof
Test tracks, it is possible to record storage and analyze the experimental data of dolly, and in real time transmit data with single-chip microcomputer.
Computer software defines and the agreement of control algolithm software transmission data, and applies OPC technology, it is achieved that with control
The data transmission interface of algorithm software processed, as long as i.e. control algolithm is write according to agreement, can be to the dolly mould in experiment porch
Type is controlled.
Define and have employed a kind of rules and methods describing whole test tracks: whole track is by by the identical length of width
Square, constitute to inner arc road with to three basic elements in outer arc road, first trip definition width in text, the definition of tail row terminates
Mark, the middle parameter describing certain basic element line by line, model trajectory is spliced the most in order.
Accompanying drawing explanation
Fig. 1 is the general construction schematic diagram of this intelligent vehicle Simulation Experimental Platform system；
Fig. 2 is the whole system Organization Chart of this intelligent vehicle Simulation Experimental Platform system；
Fig. 3 is the example that this intelligent vehicle Simulation Experimental Platform system track describes file.
In figure: 1-vacation car pole, 2-loudspeaker, 3-single-chip microcomputer, 4-LED array, 5-power line, 6-USB data wire, 7-is false
Car, 8-vacation car and pole junction, 9-single-chip microcomputer, 10-pole, 11-motor, 12-motor and false car connect, 13-button
District.
Detailed description of the invention
Below in conjunction with instantiation and accompanying drawing, the present invention is further illustrated:
Fig. 1 shows the population structure of four motorized wheels rover of the present invention, when device powers on and emulates with running
The when that the host computer of model program being connected, LED array region 4 shows the track of dolly current region, and false car 7 is by stepping electricity
The inclination angle of the running display car body of machine 11.Device is the box of a cuboid, and the inside of box is distributed single-chip microcomputer 3, monolithic
Machine uses Freescale IMX6S core board, and motor 11 is Risym motor motor (reducing motor 28BYJ-48-5V).Monolithic
Machine is connected with host computer row data communication of going forward side by side by USB data line 6.
Shown in Fig. 2, originally patrolling intelligent vehicle Simulation Experimental Platform system and be made up of host computer and slave computer, wherein host computer is PC
Machine, slave computer is each control module.Upper and lower computer uses and communicates based on serial ports, and function is to send to upper PC to control
Information, receives the positional information of the dolly of PC, angle of inclination and place orbital region data, it is achieved little to upper PC simultaneously
Representing in real time of vehicle model.The OPC client realized by C++ that host computer runs, obtains from OPC service end and passes to slave computer
Send data.The single-chip microcomputer that slave computer uses is Freescale IMX6S core board, processes the status data that transmits of host computer and controls
The display of LED array and control motor to realize the angle change of false car, and to host computer transmission start and stop, time-out/continuation
Instruction.Slave computer links together modules, becomes an entirety.
Shown in Fig. 3, model trajectory by rectangular rail, three basic element structures of two kinds of arc tracks (inner arc and outer arc)
Become.Model trajectory branch in the text of .map form stores.The first row, with 0 beginning, specifies the width of track and rises
Initial point；Second row starts often to go one element of expression.Represent rectangle with 1 beginning, rear specify its length；Table with 2 beginnings
Show the inner arc drawn to the right, with 3 beginning represent the outer arc being to draw to the right.Interior outer arc refers both to its internal diameter fixed and radian.
Claims (3)
1. intelligent vehicle Simulation Experimental Platform system, it is characterised in that: this plateform system is a kind of two-wheel for doing band photographic head
The experiment porch of upright tracking dolly emulation experiment, including:
1) for showing trolley travelling attitude and being presently in the exhibiting device of orbital position；
2) control dolly experiment to start, stop and terminate, and trolley travelling state can be carried out the control of variable interval sound description
Device processed；
3) above-mentioned exhibiting device and control device being attached and the computer of transceiving data, this computer operation one is soft
Part, it is possible to the output attitude information of little vehicle model, running state information, current region orbital data in real time, and receive device biography
The control signal of the experiment returned；
4) a kind of rules and methods describing whole experiment track；
The outside of plateform system is made up of casing, and casing top is LED array plate, and some LED group is distributed on LED array plate
The LED array become, and there is simple false car centre in an array；The bottom of simple false car has motor, motor and false car to lead to
Cross pole to fix；It is fixed with the button area comprising three control knobs, three control knobs top LED array plate one jiao simultaneously
Respectively start/stop, suspending/continue and power supply；A power line and a data lines is drawn in casing side；At casing
Opposite side is fixed with sound loudspeaker；At box house, comprise single-chip microcomputer region；Single-chip microcomputer region is fixed with single-chip microcomputer and
Corresponding LED array drives；Simultaneously at box bottom, secure the pole for supporting false car；
Exhibiting device is made up of easy upright false car and foursquare LED array plate, a step motor control vacation car incline
The change at angle, the state of the orbital data display track that LED array transmits according to computer；
Control device and be fixed on exhibiting device side, control to have on device three buttons: start/terminate, only in/continue and power supply
Switch, additionally mounted have Herba Cladoniae verticillatae, and variable interval describes trystate；
Control device and exhibiting device by Single-chip Controlling, the driving signal of single-chip microcomputer output motor, LED array display signal
And the output signal of Herba Cladoniae verticillatae, receiving the control signal that button transmits simultaneously, single-chip microcomputer connects computer by serial ports, carries out
The transmission of data；
The software run on computer, by setting up the model realization emulation to two-wheel balancing trolley, and can be newly-built and deposit
Storage dolly basic parameter, reading record dolly basic parameter hereof, it is possible to read and apply record examination hereof
Test track, it is possible to record storage and the experimental data of analysis dolly, and real-time and single-chip microcomputer transmission data.
Intelligent vehicle Simulation Experimental Platform system the most according to claim 1, it is characterised in that: computer software define with
The agreement of control algolithm software transmission data, and apply OPC technology, it is achieved that with the data transmission interface of control algolithm software,
As long as i.e. control algolithm is write according to agreement, the little vehicle model in experiment porch can be controlled.
Intelligent vehicle Simulation Experimental Platform system the most according to claim 1, it is characterised in that: define and have employed one and retouch
State the rules and methods of whole test tracks: whole track is by by the identical rectangle of width, to inner arc road with to outer arc road three
Individual basic element is constituted, first trip definition width in text, and the definition of tail row terminates mark, and centre describes certain basic element line by line
Parameter, model trajectory is spliced the most in order.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610887917.7A CN106251762B (en) | 2016-10-11 | 2016-10-11 | Intelligent vehicle simulation experiment platform system |
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|---|---|---|---|
| CN201610887917.7A CN106251762B (en) | 2016-10-11 | 2016-10-11 | Intelligent vehicle simulation experiment platform system |
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| CN106251762A true CN106251762A (en) | 2016-12-21 |
| CN106251762B CN106251762B (en) | 2020-09-25 |
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| CN203232600U (en) * | 2013-03-19 | 2013-10-09 | 长安大学 | Intelligent cooperative vehicle infrastructure system simulation model platform based on vehicle networking |
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| CN105005206A (en) * | 2014-04-16 | 2015-10-28 | 上海交通大学 | AGV motion control semi-physical simulation system |
| CN105825744A (en) * | 2016-05-05 | 2016-08-03 | 桂林理工大学 | Somatosensory control two-wheeled balance vehicle teaching aid system |
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2016
- 2016-10-11 CN CN201610887917.7A patent/CN106251762B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1926594A (en) * | 2004-02-03 | 2007-03-07 | 拽牫特格有限公司 | Apparatus for simulated driving of a motor vehicle |
| US20060004516A1 (en) * | 2004-07-01 | 2006-01-05 | Pioneer Corporation | Method and apparatus for displaying information for vehicle, and computer product |
| CN101051423A (en) * | 2007-05-11 | 2007-10-10 | 北京工业大学 | Electric multifunction teaching test vehicle of intelligent mixed power |
| US20100207750A1 (en) * | 2007-09-14 | 2010-08-19 | Sharp Kabushiki Kaisha | Information generating device, control device provided with the same, information providing system for mobile body, module for driver's seat, and mobile body |
| CN102890890A (en) * | 2012-10-24 | 2013-01-23 | 长安大学 | Upright self-balancing intelligent vehicle |
| CN203232600U (en) * | 2013-03-19 | 2013-10-09 | 长安大学 | Intelligent cooperative vehicle infrastructure system simulation model platform based on vehicle networking |
| CN105005206A (en) * | 2014-04-16 | 2015-10-28 | 上海交通大学 | AGV motion control semi-physical simulation system |
| CN103970141A (en) * | 2014-05-30 | 2014-08-06 | 芜湖蓝宙电子科技有限公司 | Miniature intelligent upright vehicle embedded control system and method for teaching |
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