CN110220715B - Parking sensing capability test board electrical control system and working method - Google Patents
Parking sensing capability test board electrical control system and working method Download PDFInfo
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- CN110220715B CN110220715B CN201910504201.8A CN201910504201A CN110220715B CN 110220715 B CN110220715 B CN 110220715B CN 201910504201 A CN201910504201 A CN 201910504201A CN 110220715 B CN110220715 B CN 110220715B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/52004—Means for monitoring or calibrating
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Abstract
The invention provides an electrical control system and a working method of a parking sensing capability test bench, which comprises S1, wherein a parking platform is started to perform signal response on an X-axis beam, a Y-axis beam and a Z-axis beam, S2 a simulated vehicle combined bench is started, CAN bus signals of a headstock sub-platform information acquisition unit and a tailstock sub-platform information acquisition unit are analyzed and loaded, and S3 the corresponding working parameters of the parking platform and the simulated vehicle combined bench are stored and recorded to form a parking test record and are uploaded to an upper computer for data collection and used for safety evaluation of an intelligent automobile parking system.
Description
Technical Field
The invention relates to the field of intelligent automobile detection control, in particular to an electrical control system of a parking sensing capability test board and a working method.
Background
The parking system detects a parking position, draws a parking map and dynamically plans a parking path in real time through the ultrasonic radar, the all-round camera, the forward-looking camera and the corresponding sensor which are arranged on the vehicle body, guides or directly controls the steering wheel to drive into the parking position, eliminates visual blind areas around the vehicle, helps a driver park more accurately and improves parking safety.
Before a vehicle with a parking system is put on the market, the vehicle needs to perform perception test on the parking system, and the perception test comprises the following two tests: 1. and (3) testing the perception capability of the ultrasonic radar: the method comprises the steps of detecting obstacles such as steps and boxes by sensor precision, system reaction time, false report, missing report and the like, and automatically generating a radar sensing envelope chart, a blind area range report and a detection report of an ultrasonic radar to the obstacles by acquiring and comparing data in real time; 2. testing the sensing capability of the camera: the system comprises the steps of around-looking camera calibration, parking space marking recognition, front-looking camera obstacle recognition, real-time data acquisition and comparison, and output of a detection report of the around-looking camera to the obstacles.
Disclosure of Invention
The invention aims to at least solve the technical problems in the prior art, and particularly provides an electrical control system of a parking sensing capability test board and a working method.
In order to achieve the above object, the present invention provides an electrical control system for a parking sensing capability test board, comprising: the first servo motor and the second servo motor are arranged at the left end and the right end of the X-axis beam, the third servo motor of the Y-axis beam, the fourth servo motor of the Z-axis beam, the X-axis beam limit switch, the Y-axis beam limit switch, the Z-axis beam limit switch, the X-axis indicator lamp, the Y-axis indicator lamp, the Z-axis indicator lamp and the PLC;
the signal control end of a first servo motor is connected with a first servo signal sending end of a PLC controller, the signal control end of a second servo motor is connected with a second servo signal sending end of the PLC controller, the signal control end of a third servo motor is connected with a third servo signal sending end of the PLC controller, the signal control end of a fourth servo motor is connected with a fourth servo signal sending end of the PLC controller, X-axis beam limit switches are respectively arranged at four edge positions of an X-axis beam, the signal sending end of the X-axis beam limit switch is connected with the X-axis beam limit signal receiving end of the PLC controller, the Y-axis beam limit switches are arranged at two ends of a Y-axis beam, the signal sending end of the Y-axis beam limit switch is connected with the Y-axis beam limit signal receiving end of the PLC controller, the signal sending end of the Z-axis beam limit switch is connected with the Z-axis beam limit signal receiving end of the PLC controller, y axle pilot lamp signal receiving terminal connects PLC controller Y axle pilot signal sending terminal, and Z axle pilot lamp signal receiving terminal connects PLC controller Z axle pilot signal sending terminal.
Preferably, the method further comprises the following steps: the system comprises a vehicle head sub-platform information acquisition unit, a vehicle tail sub-platform information acquisition unit and a vehicle body length adjusting unit;
the signal sending end of the vehicle head sub-platform information acquisition unit is connected with the vehicle head signal receiving end of the vehicle processor, the signal sending end of the vehicle tail sub-platform information acquisition unit is connected with the vehicle tail signal receiving end of the vehicle processor, and the signal sending end of the vehicle body length adjusting unit is connected with the vehicle body signal receiving end of the vehicle processor.
Preferably, the car head sub-platform information acquisition unit includes: odd number group locomotive support work unit, this odd number more than or equal to three, if there are three group locomotive support work units, first group locomotive support work unit is installed in locomotive sub-platform locomotive position, and second group locomotive support work unit and third group locomotive support work unit are symmetry respectively and are installed in first group locomotive support work unit both sides in addition.
Preferably, the car tail sub-platform information acquisition unit includes: the even number of the vehicle head support working units is more than or equal to four, if four vehicle tail support working units are provided, the first vehicle tail support working unit is arranged at the position of the vehicle tail sub-platform, and the second vehicle tail support working unit and the third vehicle tail support working unit are respectively and symmetrically arranged at two sides of the first vehicle tail support working unit; the fourth group of tailstock bracket working units are arranged at the rear end of the first group of tailstock bracket working units and are surrounded by the first group to the third group of tailstock bracket working units.
Preferably, the stand working unit includes: the device comprises a lower horizontal shaft servo motor, a vertical shaft servo motor, an upper horizontal shaft servo motor and a holder driving motor;
the signal receiving end of the lower horizontal shaft servo motor is connected with the signal sending end of the lower horizontal shaft of the DSP chip, the signal receiving end of the vertical shaft servo motor is connected with the signal sending end of the vertical shaft of the DSP chip, the signal receiving end of the upper horizontal shaft servo motor is connected with the signal sending end of the upper horizontal shaft of the DSP chip, and the signal receiving end of the holder driving motor is connected with the signal sending end of the holder of the DSP.
Preferably, the stand working unit further includes: the corresponding ultrasonic radar, the all-round looking camera and the front looking camera are arranged on the corresponding support working unit, so that a parking operation instruction is completed.
Preferably, the method further comprises the following steps:
the electric push rod 703 is provided with a first electric push rod servo motor, a second electric push rod servo motor, a first stroke limit switch and a second stroke limit switch; the first electric push rod servo motor signal receiving end is connected with a first push rod signal sending end of a vehicle processor, the second electric push rod servo motor signal receiving end is connected with a second push rod signal sending end of the vehicle processor, the first stroke limit switch signal sending end is connected with a first stroke signal receiving end of the vehicle processor, and the second stroke limit switch signal sending end is connected with a second stroke signal receiving end of the vehicle processor.
The invention also discloses a working method of the parking sensing capability test board electrical control system, which comprises the following steps:
s1, starting a parking platform, carrying out signal response on an X-axis beam, a Y-axis beam and a Z-axis beam, moving the X-axis beam, the Y-axis beam and the Z-axis beam to move a barrier to a response position of a simulated vehicle combination rack to be tested after no abnormal state exists, analyzing and loading CAN bus signals of the X-axis beam, the Y-axis beam and the Z-axis beam through a PLC (programmable logic controller), and sending data to an upper computer through a serial port;
s2, simulating a vehicle combination rack to start, analyzing and loading CAN bus signals of a head sub-platform information acquisition unit and a tail sub-platform information acquisition unit, and sending data to an upper computer through a serial port; after the obstacle test information is input, the ultrasonic radar, the all-round camera and the forward-looking camera which are responded by the vehicle head sub-platform information acquisition unit and the vehicle tail sub-platform information acquisition unit perform data collection to determine the position of the obstacle and the corresponding parameter information,
s2-1, adjusting the size of the vehicle through a first electric push rod servo motor and a second electric push rod servo motor of an electric push rod, after the size of the vehicle is adjusted, enabling obstacles of a parking platform to approach a simulated vehicle combination rack, starting a vehicle head sub-platform information acquisition unit and a vehicle tail sub-platform information acquisition unit, adjusting corresponding working positions by corresponding vehicle head support working units to acquire vehicle head data, and adjusting corresponding positions by the vehicle tail support working units to acquire vehicle tail data;
s2-2, collecting and processing the position of the obstacle through the ultrasonic radar, the all-round looking camera and the forward looking camera of the corresponding headstock bracket working unit and the tailstock bracket working unit, and performing early warning judgment, if corresponding early warning data cannot be obtained in the test process of the headstock or the tailstock, so that corresponding collision is caused, recording the collision position and working parameters of the ultrasonic radar, the all-round looking camera and the forward looking camera, and uploading the working parameters to an upper computer;
and S3, storing and recording corresponding working parameters of the parking platform and the simulated vehicle combined rack in the parking detection process to form a parking test record, uploading the parking test record to an upper computer for data collection, and performing safety evaluation on the intelligent automobile parking system.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
the invention is used for testing the sensing capability of the parking system, has simple structure, stability and reliability, does not need to adopt a real vehicle for testing, reduces the research and development cost, generates an ultrasonic radar sensing envelope chart, a blind area range report and a detection report of an obstacle through real-time data acquisition and comparison, calibrates a look-around camera, tests the parking space line identification capability of the look-around camera and the obstacle identification capability of a front-view camera, and outputs the detection report of the look-around camera on the obstacle. The intelligent operation of the parking system and the receiving and processing of data are realized through corresponding circuit control, and the feedback processing is quickly carried out.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a top view of the present invention;
FIG. 2 is a schematic structural view of a parking platform and a barrier rack;
FIG. 3 is a schematic structural diagram of a combination rack for a simulated vehicle;
FIG. 4 is a schematic structural view of a stent;
FIG. 5 is a schematic diagram of an XYZ-axis beam circuit;
FIG. 6 is a general schematic view of a parking test station;
FIG. 7 illustrates a method for controlling a testing platform.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
As shown in fig. 1 to 4, a sensing test bed for a parking system mainly comprises a parking platform 1, a barrier rack and a simulated vehicle combination rack, wherein a parking space line is arranged on a platform surface of the parking platform 1 and used for testing the recognition capability of a panoramic camera on the parking space line, the parking space line with various specifications and sizes can be set according to actual requirements in order to meet the test requirements of different vehicles, the parking space line can be set into common parallel parking spaces, vertical parking spaces or inclined parking spaces in the shape of the parking space, and the parking space line is adopted for ground pasting in order to reduce the complexity of the parking platform 1; the simulated vehicle combined rack is arranged on the parking platform 1 and can move freely, a parking system for simulating vehicle arrangement is arranged on the simulated vehicle combined rack, and the parking system at least comprises an ultrasonic radar, a panoramic camera and a forward-looking camera; the barrier rack comprises two X-axis beams 2 which are respectively arranged on the front side and the rear side of the parking platform 1 and extend left and right, a Y-axis beam 3 which extends front and rear is arranged between the two X-axis beams 2, the front end and the rear end of the Y-axis beam 3 are respectively supported by the two X-axis beams 2, the Y-axis beam 3 can move left and right along the X-axis beams 2 under the driving of power, a Z-axis beam 4 which extends up and down is arranged on the Y-axis beam 3, the Z-axis beam 4 can move up and down and move back and forth along the Y-axis beams 3 under the driving of the respective power, a barrier fixing frame 5 is arranged at the lower end of the Z-axis beam 4, the barrier fixing frame 5 is positioned above the parking platform 1, the barrier fixing frame 5 is used for fixing various barriers, and the barriers can.
As shown in fig. 1 and 2, the X-axis beam 2 is of a continuous beam structure and is not easy to deform, the X-axis beam 2 is provided with an X-axis guide rail and an X-axis rack which are parallel to each other, two ends of the Y-axis beam 3 are respectively provided with a first servo motor and an X-axis slider matched with the X-axis guide rail, an output shaft of the first servo motor is sleeved with a first gear meshed with the X-axis rack, and the first servo motor drives the Y-axis beam 3 to move along the X-axis guide rail through the meshing of the first gear and the X-axis rack. The Y-axis beam 3 adopts a simple beam structure and consists of two Y-axis sub-beams 301 which are parallel to each other and arranged at left and right intervals, the same ends of the two Y-axis sub-beams 301 are respectively connected through a connecting block, Y-axis guide rails which extend forwards and backwards are respectively arranged on the two Y-axis sub-beams 301, a Y-axis rack which is parallel to the Y-axis guide rails is arranged on one Y-axis sub-beam 301, a sliding table 6 which can slide along the Y-axis guide rails is arranged on the two Y-axis sub-beams 301, a second servo motor is arranged on the sliding table 6, a second gear which is meshed with the Y-axis rack is sleeved on an output shaft of the second servo motor, the second servo motor drives the sliding table 6 to move along the Y-axis guide rails through the meshing of the second gear and the Y-axis rack, and the torsion moment can be ignored due to the close distance between the two Y-axis sub-beams 301, so that the driving is adopted, a single, the left side and the right side of the through hole are respectively provided with a Z-axis sliding block, the left side and the right side of the Z-axis beam 4 are respectively provided with a Z-axis guide rail which extends up and down and is matched with the Z-axis sliding block, the Z-axis beam 4 is arranged between the two Z-axis sliding blocks of the sliding table 6 in a penetrating mode through the Z-axis guide rail, and the Z-axis beam 4 is located between the two Y-axis sub-beams 301. A ball screw pair with a screw rod extending up and down is arranged on the sliding table 6, the Z-axis beam 4 is arranged on a screw nut of the ball screw pair, and the ball screw pair drives the Z-axis beam 4 to move up and down through a third servo motor.
As shown in fig. 2, a dummy, a curb dummy, a step-like barrier, a box dummy, an L-shaped corner dummy, a white PVC pole or a smooth PVC pole is mounted on the barrier mount 5.
As shown in fig. 2, the Z-axis beam 4 has a smaller load, so the Z-axis beam 4 adopts a small-section profile, which reduces the processing difficulty and cost while ensuring higher strength and rigidity, and the surface of the Z-axis beam 4 is coated with a sound-absorbing material, which is a polyester fiber sound-absorbing cotton felt.
As shown in fig. 1 and 3, the simulated vehicle combination rack includes a support platform 7 capable of horizontally extending and retracting, a headstock sub-platform 701 and a tailstock sub-platform 702 are horizontally arranged in front of and behind the support platform 7 at intervals, and supports 8 corresponding to the ultrasonic radar, the looking-around camera and the front-view camera are respectively arranged on the headstock sub-platform 701 and the tailstock sub-platform 702. In this embodiment, the supporting platform 7 is made of an aluminum alloy plate due to a small load, so that the supporting platform 7 is convenient to move and stretch, the height of the supporting platform 7 is reduced as much as possible, and the universal ball is arranged at the lower part of the supporting platform 7.
As shown in fig. 1, fig. 3 and fig. 4, the support 8 is composed of a three-axis linear module and a pan/tilt head 12, the three-axis linear module includes a lower horizontal shaft 9, a vertical shaft 10 and an upper horizontal shaft 11, the lower horizontal shaft 9 is horizontally movably installed on the vehicle head sub-platform 701 and the vehicle tail sub-platform 702 along the extending direction thereof, the lower end of the vertical shaft 10 is fixed on the lower horizontal shaft 9, in the present embodiment, the vertical shaft 10 is fixed on one side of the lower horizontal shaft 9 near the edge of the supporting platform 7 through a connecting block, an upwardly extending backup plate is arranged on the connecting block, the backup plate abuts against the inner side of the vertical shaft 10 to play a supporting role, so that the vertical shaft 10 is kept in a vertical state, the upper horizontal shaft 11 is vertically movably installed on the vertical shaft 10, and the upper horizontal shaft 11 is perpendicular to the lower horizontal shaft 9, the pan/tilt head 12, The vertical shaft 10 and the pan/tilt head 12 are both mounted towards the outside of the support platform 7, the ultrasound radar, the panoramic camera and the forward looking camera being mounted respectively on the corresponding pan/tilt head 12. Through 8 adjustment ultrasonic radar of support, look around the position of camera and foresight camera, need not to change supporting platform or support, can simulate ultrasonic radar promptly, look around the arrangement of camera and foresight camera in the different positions of automobile body, and verify the perception ability under this arrangement, the operation is simple and convenient, greatly reduced the research and development cost, ultrasonic radar, look around camera and foresight camera adopt same 8 installations of support, the processing equipment degree of difficulty of support 8 has been reduced, can adjust ultrasonic radar according to actual test needs simultaneously, look around the mounted position of camera and foresight camera, and convenient use.
As shown in fig. 1 and 3, a group of brackets 8 distributed in a V shape is respectively arranged at the front end of the headstock platform 701 and the rear end of the tailstock platform 702, the number of each group of brackets 8 is five, the V-shaped openings of the two groups of brackets 8 are opposite, and the lower horizontal shafts 9 of the two groups of brackets 8 extend forwards and backwards; two ends of the headstock platform 701 corresponding to the V shape are respectively provided with a bracket 8 with a lower horizontal shaft 9 extending left and right; two supports 8 extending left and right of a lower horizontal shaft 9 are respectively arranged at two ends of the tail platform 702 corresponding to the V shape, the four supports 8 are symmetrically arranged in pairs, wherein the distance between the two supports 8 positioned in front is larger than the distance between the two supports 8 positioned in back; a bracket 8 with a lower horizontal shaft 9 extending forward and backward is also provided in the middle of the rear sub-platform 702, and the position corresponds to the rear windshield of the vehicle. The arrangement mode of the support 8 is suitable for most vehicle types, and the application range is wide.
As shown in fig. 4, the lower horizontal shaft 9, the vertical shaft 10 and the upper horizontal shaft 11 are respectively moved by a ball screw nut mechanism, a mounting sliding table 14 and a servo motor which are respectively equipped, an L-shaped pan-tilt bracket 15 is arranged on the mounting sliding table 14 of the upper horizontal shaft 11, and the pan-tilt 12 is mounted on a horizontal section of the pan-tilt bracket 15, so that the mounting structure is stable and reliable. The pan-tilt 12 is a two-axis pan-tilt, which can realize the angle adjustment in the pitching and horizontal directions, and meet the requirements of the installation angles of the ultrasonic radar, the panoramic camera and the forward-looking camera.
As shown in fig. 1 and 3, the headstock platform 701 and the tailstock platform 702 are connected through an electric push rod 703, so that the support platform 7 can be extended and retracted to simulate various vehicles. In this embodiment, the vehicle head sub-platform 701 and the vehicle tail sub-platform 702 are connected through two electric push rods 703 which are parallel to each other, and a reinforcing plate 16 is connected between the two electric push rods 703 which are close to the vehicle tail sub-platform 702, so that the structure of the supporting platform 7 is more stable due to the fact that the number of the upper supports 8 of the vehicle tail sub-platform 702 is larger, and the reinforcing plate 16 is additionally arranged.
As shown in fig. 5, the parking platform working unit includes: the first servo motor and the second servo motor are arranged at the left end and the right end of the X-axis beam, the third servo motor of the Y-axis beam, the fourth servo motor of the Z-axis beam, the X-axis beam limit switch, the Y-axis beam limit switch, the Z-axis beam limit switch, the X-axis indicator lamp, the Y-axis indicator lamp, the Z-axis indicator lamp and the PLC;
the signal control end of a first servo motor is connected with a first servo signal sending end of a PLC controller, the signal control end of a second servo motor is connected with a second servo signal sending end of the PLC controller, the signal control end of a third servo motor is connected with a third servo signal sending end of the PLC controller, the signal control end of a fourth servo motor is connected with a fourth servo signal sending end of the PLC controller, X-axis beam limit switches are respectively arranged at four edge positions of an X-axis beam, the signal sending end of the X-axis beam limit switch is connected with the X-axis beam limit signal receiving end of the PLC controller, the Y-axis beam limit switches are arranged at two ends of a Y-axis beam, the signal sending end of the Y-axis beam limit switch is connected with the Y-axis beam limit signal receiving end of the PLC controller, the signal sending end of the Z-axis beam limit switch is connected with the Z-axis beam limit signal receiving end of the PLC controller, y axle pilot lamp signal receiving terminal connects PLC controller Y axle pilot signal sending terminal, and Z axle pilot lamp signal receiving terminal connects PLC controller Z axle pilot signal sending terminal. In the parking process, the PLC is used for realizing the simulation of the reaction conditions of different positions of the obstacles by the parking platform, so that the simulated vehicle combined rack is accurately tested.
The parking platform work unit further includes: the system comprises a vehicle head sub-platform information acquisition unit, a vehicle tail sub-platform information acquisition unit and a vehicle body length adjusting unit;
the signal sending end of the vehicle head sub-platform information acquisition unit is connected with the vehicle head signal receiving end of the vehicle processor, the signal sending end of the vehicle tail sub-platform information acquisition unit is connected with the vehicle tail signal receiving end of the vehicle processor, and the signal sending end of the vehicle body length adjusting unit is connected with the vehicle body signal receiving end of the vehicle processor. The cooperative cooperation of the three units realizes the collection of parking data and the feedback to an upper computer or a cloud end, wherein the vehicle head information acquisition unit acquires the vehicle head information during parking, the vehicle tail information acquisition unit acquires the vehicle tail information during parking, and the vehicle body length is adjusted through the vehicle body length adjusting unit, so that the parking test work of vehicles with different vehicle body lengths is met.
As shown in fig. 6, the PLC controllers in the parking platform working unit are interconnected through the RS485 bus, and the data are interacted with the upper computer through the PLC controllers.
The car head sub-platform information acquisition unit includes: the odd number of the head support working units is more than or equal to three, if three groups of the head support working units exist, the first group of the head support working units are arranged at the head position of the head sub-platform, and the other second group of the head support working units and the third group of the head support working units are respectively and symmetrically arranged at two sides of the first group of the head support working units;
if five groups of head support working units exist, the first group of head support working units are arranged at the head position of the head sub-platform, and the other second group of head support working units, the third group of head support working units, the fourth group of head support working units and the fifth group of head support working units are respectively and symmetrically arranged at two sides of the first group of head support working units; when the number of the corresponding odd-number groups of the locomotive support working units is increased, the locomotive support working units are arranged according to the rule; therefore, corresponding ultrasonic sensors, a look-around camera and a look-ahead camera are mounted subsequently, and corresponding position layout can be provided.
The car tail sub-platform information acquisition unit includes: the even number of the vehicle head support working units is more than or equal to four, if four vehicle tail support working units are provided, the first vehicle tail support working unit is arranged at the position of the vehicle tail sub-platform, and the second vehicle tail support working unit and the third vehicle tail support working unit are respectively and symmetrically arranged at two sides of the first vehicle tail support working unit; the fourth group of tailstock bracket working units are arranged at the rear ends of the first group of tailstock bracket working units and are surrounded by the first group of tailstock bracket working units to the third group of tailstock bracket working units;
if six groups of tail support working units exist, the first group of tail support working units are arranged at the tail positions of the tail sub-platform, and in addition, the second group of tail support working units, the third group of tail support working units, the fourth group of tail support working units and the fifth group of tail support working units are respectively and symmetrically arranged at two sides of the first group of tail support working units; the sixth group of tailstock working units are arranged at the rear ends of the first group of tailstock working units and are surrounded by the first to fifth groups of tailstock working units; when the number of corresponding even group of tailstock working units is increased, the tailstock working units are arranged according to the rule; therefore, corresponding ultrasonic sensors, a look-around camera and a look-ahead camera are mounted subsequently, and corresponding position layout can be provided.
The locomotive support working unit and/or the tailstock support working unit are respectively as follows: the device comprises a lower horizontal shaft servo motor, a vertical shaft servo motor, an upper horizontal shaft servo motor and a holder driving motor;
a signal receiving end of a lower horizontal shaft servo motor is connected with a signal sending end of a lower horizontal shaft of a DSP chip, a signal receiving end of a vertical shaft servo motor is connected with a signal sending end of a vertical shaft of the DSP chip, a signal receiving end of an upper horizontal shaft servo motor is connected with a signal sending end of an upper horizontal shaft of the DSP chip, and a signal receiving end of a holder driving motor is connected with a signal sending end of a holder of the DSP; and the DSP chip is used for carrying out signal control on the corresponding motor, so that the signal receiving angle and height during parking test or the width of the vehicle body from a parking line are adjusted.
The X-axis is supposed to adopt a double-motor synchronous pushing mode to communicate with the integral upper computer through an RS485 serial port or an LAN-TCP protocol;
in order to ensure the safety of the testing personnel and the testing device in the testing process, the rack is provided with various safety devices and sets corresponding safe operation test specifications.
An independent emergency stop switch is arranged in a control system of the whole rack, and when the emergency stop switch is pressed down, the whole rack is powered off and keeps still;
a multi-layer and multi-color status lamp is arranged at the upper part of one corner of the rack and is used for displaying the normal, fault, maintenance and other statuses of the rack;
limit switches are arranged at the tail ends of the strokes of the beams in all directions, so that the damage to the rack due to over-stroke in the test process is prevented;
protective covers are additionally arranged on all transmission parts, so that the transmission mechanism is prevented from entering sundries to influence the service life, and meanwhile, the personnel are prevented from being accidentally touched to cause injury;
the parking system operation unit includes: the corresponding ultrasonic radar, the all-round camera and the front-view camera are arranged on the corresponding head support working unit and the corresponding tail support working unit, so that a parking operation instruction is completed.
According to preferred scheme, adopt seven groups of locomotive support work units and ten groups of rear of a vehicle support work units, wherein seven groups of locomotive support work units include:
the first group of head support working units are arranged at the head position of the head sub-platform, the first group of head support working units are provided with a head front-view camera, in addition, the second group of head support working units, the third group of head support working units and the fourth group of head support working units are arranged on one side of the first group of head support working units, the fifth group of head support working units, the sixth group of head support working units and the seventh group of head support working units are arranged on the other side of the first group of head support working units, and the second group of head support working units and the fifth group of head support working units are respectively provided with a first head ultrasonic sensor and a second head ultrasonic sensor; the third group of head support working units and the sixth group of head support working units are respectively provided with a first head panoramic camera and a second head panoramic camera; the fourth group of headstock support working units and the seventh group of headstock support working units are respectively provided with a third headstock ultrasonic sensor and a fourth headstock ultrasonic sensor;
wherein ten groups of rear of a vehicle support work units include:
the first group of tailstock working units are arranged at the tailstock position of the tailstock sub-platform, the first group of tailstock working units are provided with a tailstock front-view camera, in addition, the second group of tailstock working units, the third group of tailstock working units, the fourth group of tailstock working units and the fifth group of tailstock working units are arranged on one side of the first group of tailstock working units, the sixth group of tailstock working units, the seventh group of tailstock working units, the eighth group of tailstock working units and the ninth group of tailstock working units are arranged on the other side of the first group of tailstock working units, and the second group of tailstock working units and the sixth group of tailstock working units are respectively provided with a first tailstock ultrasonic sensor and a second tailstock ultrasonic sensor; the third group of tail support working units and the seventh group of tail support working units are respectively provided with a first tail looking around camera and a second tail looking around camera; the fourth group of tailstock working units and the eighth group of tailstock working units are respectively provided with a third tailstock ultrasonic sensor and a fourth tailstock ultrasonic sensor; the fifth group of the tailstock working units and the ninth group of the tailstock working units are respectively provided with a third tailstock looking around camera and a fourth tailstock looking around camera;
the parking system working unit installed through the layout can optimally realize parking, and can realize accurate acquisition of parking data.
The upper computer software is divided into three layers, and the function of each layer is described as follows:
the first layer is responsible for signal input/output processing, including analysis and loading of CAN and RS485 signals;
the second layer is a function or configuration layer and is responsible for configuring parameters such as the movement track and the speed of the barrier rack or storing and loading the configuration parameters, configuring the length and the width of the rack of the combined rack and the type, the number, the X/Y/Z direction and the angle of each sensor or storing and loading the configuration parameters, and calibrating the position sensors of the barrier rack and the combined rack. In addition, the layer also completes the processing of the CAN signals related to the parking ECU and the anti-interference early warning of moving parts;
and the third layer is an application layer and is responsible for editing the test cases and automatically generating a parking test report.
In addition, the upper computer software has a test start button, a test stop button and a test end state display mark. After the system parameter configuration is finished, once the test start button is pressed, the system starts to perform the test, if the stop button is pressed in the middle of the test, all the systems in the parking system stop running, and if the start button is pressed again, the system continues to run. When the test is finished, the upper computer software displays that the test is finished.
Seventeen groups of supports are used, wherein seven groups of supports 8 are used for the head sub platform 701 to form a head support working unit, and ten groups of supports 8 are used for the tail sub platform 702 to form a tail support working unit;
the electric push rod 703 is provided with a first electric push rod servo motor, a second electric push rod servo motor, a first stroke limit switch and a second stroke limit switch; first electric putter servo motor signal receiving terminal connects the first push rod signal sending terminal of vehicle treater, the second electric putter servo motor signal receiving terminal connects the second push rod signal sending terminal of vehicle treater, the first stroke signal receiving terminal of vehicle treater is connected to first stroke limit switch signal sending terminal, the second stroke limit switch signal sending terminal connects vehicle treater second stroke signal receiving terminal, through electric putter adjustment simulation vehicle combination rack length, thereby the measurement size is changeed, in order to satisfy the demand of the test of parking of different motorcycle types.
As shown in fig. 7, the parking system operating method includes:
s1, starting a parking platform, carrying out signal response on an X-axis beam, a Y-axis beam and a Z-axis beam, moving the X-axis beam, the Y-axis beam and the Z-axis beam to move a barrier to a response position of a simulated vehicle combination rack to be tested after no abnormal state exists, analyzing and loading CAN bus signals of the X-axis beam, the Y-axis beam and the Z-axis beam through a PLC (programmable logic controller), and sending data to an upper computer through a serial port;
s2, simulating a vehicle combination rack to start, analyzing and loading CAN bus signals of a head sub-platform information acquisition unit and a tail sub-platform information acquisition unit, and sending data to an upper computer through a serial port; after the obstacle test information is input, the ultrasonic radar, the all-round camera and the forward-looking camera which are responded by the vehicle head sub-platform information acquisition unit and the vehicle tail sub-platform information acquisition unit perform data collection to determine the position of the obstacle and the corresponding parameter information,
s2-1, adjusting the size of the vehicle through a first electric push rod servo motor and a second electric push rod servo motor of an electric push rod, after the size of the vehicle is adjusted, enabling obstacles of a parking platform to approach a simulated vehicle combination rack, starting a vehicle head sub-platform information acquisition unit and a vehicle tail sub-platform information acquisition unit, adjusting corresponding working positions by corresponding vehicle head support working units to acquire vehicle head data, and adjusting corresponding positions by the vehicle tail support working units to acquire vehicle tail data;
s2-2, collecting and processing the position of the obstacle through the ultrasonic radar, the all-round looking camera and the forward looking camera of the corresponding headstock bracket working unit and the tailstock bracket working unit, and performing early warning judgment, if corresponding early warning data cannot be obtained in the test process of the headstock or the tailstock, so that corresponding collision is caused, recording the collision position and working parameters of the ultrasonic radar, the all-round looking camera and the forward looking camera, and uploading the working parameters to an upper computer;
and S3, storing and recording corresponding working parameters of the parking platform and the simulated vehicle combined rack in the parking detection process to form a parking test record, uploading the parking test record to an upper computer for data collection, and performing safety evaluation on the intelligent automobile parking system.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (8)
1. An electric control system of a parking sensing capability test bench is characterized by comprising: the first servo motor and the second servo motor are arranged at the left end and the right end of the X-axis beam, the third servo motor of the Y-axis beam, the fourth servo motor of the Z-axis beam, the X-axis beam limit switch, the Y-axis beam limit switch, the Z-axis beam limit switch, the X-axis indicator lamp, the Y-axis indicator lamp, the Z-axis indicator lamp and the PLC;
the signal control end of a first servo motor is connected with a first servo signal sending end of a PLC controller, the signal control end of a second servo motor is connected with a second servo signal sending end of the PLC controller, the signal control end of a third servo motor is connected with a third servo signal sending end of the PLC controller, the signal control end of a fourth servo motor is connected with a fourth servo signal sending end of the PLC controller, X-axis beam limit switches are respectively arranged at four edge positions of an X-axis beam, the signal sending end of the X-axis beam limit switch is connected with the X-axis beam limit signal receiving end of the PLC controller, the Y-axis beam limit switches are arranged at two ends of a Y-axis beam, the signal sending end of the Y-axis beam limit switch is connected with the Y-axis beam limit signal receiving end of the PLC controller, the signal sending end of the Z-axis beam limit switch is connected with the Z-axis beam limit signal receiving end of the PLC controller, the Y-axis indicator light signal receiving end is connected with a Y-axis indicator signal sending end of the PLC, and the Z-axis indicator light signal receiving end is connected with a Z-axis indicator signal sending end of the PLC;
a parking line is arranged on the table top of the parking platform (1), the parking line is attached to the ground, the simulated vehicle combined rack is arranged on the parking platform (1) and can move freely, a parking system for simulating vehicle arrangement is arranged on the simulated vehicle combined rack, and the parking system at least comprises an ultrasonic radar, a look-around camera and a front-view camera; the barrier rack comprises two X-axis beams (2) which are respectively arranged at the front side and the rear side of the parking platform (1) and extend leftwards and rightwards, a Y-axis beam (3) extending forwards and backwards is arranged between the two X-axis beams (2), the front end and the back end of the Y-axis beam (3) are respectively supported by the two X-axis beams (2), and the Y-axis beam (3) can move left and right along the X-axis beam (2) under the driving of power, a Z-axis beam (4) extending up and down is arranged on the Y-axis beam (3), the Z-axis beam (4) can move up and down and move back and forth along the Y-axis beam (3) under the drive of respective power, the lower end of the Z-axis beam (4) is provided with a barrier fixing frame (5), the barrier fixing frame (5) is positioned above the parking platform (1), the barrier fixing frame (5) is used for fixing various barriers, and the barriers can be driven to move in any direction through the barrier rack;
the X-axis beam (2) adopts a continuous beam structure and is not easy to deform, an X-axis guide rail and an X-axis rack which are parallel to each other are arranged on the X-axis beam (2), a first servo motor and an X-axis sliding block matched with the X-axis guide rail are respectively arranged at two ends of the Y-axis beam (3), a first gear meshed with the X-axis rack is sleeved on an output shaft of the first servo motor, and the first servo motor drives the Y-axis beam (3) to move along the X-axis guide rail through the meshing of the first gear and the X-axis rack; the Y-axis beam (3) adopts a simple beam structure and consists of two Y-axis sub-beams (301) which are parallel to each other and arranged at left and right intervals, the same ends of the two Y-axis sub-beams (301) are respectively connected through connecting blocks, Y-axis guide rails which extend forwards and backwards are respectively arranged on the two Y-axis sub-beams (301), a Y-axis rack which is parallel to the Y-axis guide rails is arranged on one Y-axis sub-beam (301), a sliding table (6) which can slide along the Y-axis guide rails is arranged on the two Y-axis sub-beams (301), a second servo motor is arranged on the sliding table (6), a second gear which is meshed with the Y-axis rack is sleeved on an output shaft of the second servo motor, the second servo motor drives the sliding table (6) to move along the Y-axis guide rails through the meshing of the second gear and the Y-axis rack, and the torsion moment is negligible because the two Y-axis sub-beams (301) are close to each other, a through hole for the Z-axis beam (4) to pass through is formed in the sliding table (6), a Z-axis sliding block is arranged on each of the left side and the right side of the through hole, a Z-axis guide rail which extends up and down and is matched with the Z-axis sliding block is arranged on each of the left side and the right side of the Z-axis beam (4), the Z-axis beam (4) penetrates between the two Z-axis sliding blocks of the sliding table (6) through the Z-axis guide rail, and the Z-axis beam (4) is positioned between the two Y-axis sub-beams (301); a ball screw pair with a screw rod extending up and down is arranged on the sliding table (6), a Z-axis beam (4) is arranged on a screw rod nut of the ball screw pair, and the ball screw pair drives the Z-axis beam (4) to move up and down through a third servo motor;
a group of V-shaped distributed brackets (8) are respectively arranged at the front end of the headstock platform and the rear end of the tailstock platform, the number of each group of brackets (8) is five, the V-shaped openings of the two groups of brackets (8) are opposite, and the lower horizontal shafts (9) of the two groups of brackets (8) extend forwards and backwards; two ends of the headstock platform corresponding to the V shape are respectively provided with a bracket (8) with a lower horizontal shaft (9) extending left and right; two supports (8) extending left and right of a lower horizontal shaft (9) are respectively arranged at two ends of the vehicle tail sub-platform corresponding to the V shape, the four supports (8) are arranged in pairwise symmetry, wherein the distance between the two supports (8) positioned in front is greater than the distance between the two supports (8) positioned in back; a bracket (8) extending from the front to the back of a lower horizontal shaft (9) is also arranged in the middle of the tail platform, and the position corresponds to the rear windshield of the vehicle;
the lower horizontal shaft (9), the vertical shaft (10) and the upper horizontal shaft (11) move through a ball screw nut mechanism, an installation sliding table (14) and a servo motor which are respectively equipped, an L-shaped holder support (15) is arranged on the installation sliding table (14) of the upper horizontal shaft (11), a holder (12) is installed on the horizontal section of the holder support (15), and the holder (12) is a two-shaft holder, so that the angle adjustment in the pitching and horizontal directions can be realized.
2. The electrical control system for a parking sensing capability test stand according to claim 1, further comprising: the system comprises a vehicle head sub-platform information acquisition unit, a vehicle tail sub-platform information acquisition unit and a vehicle body length adjusting unit;
the signal sending end of the vehicle head sub-platform information acquisition unit is connected with the vehicle head signal receiving end of the vehicle processor, the signal sending end of the vehicle tail sub-platform information acquisition unit is connected with the vehicle tail signal receiving end of the vehicle processor, and the signal sending end of the vehicle body length adjusting unit is connected with the vehicle body signal receiving end of the vehicle processor.
3. The electrical control system for the parking sensing capability test bench according to claim 2, wherein the car head sub-platform information acquisition unit comprises: odd number group locomotive support work unit, this odd number more than or equal to three, if there are three group locomotive support work units, first group locomotive support work unit is installed in locomotive sub-platform locomotive position, and second group locomotive support work unit and third group locomotive support work unit are symmetry respectively and are installed in first group locomotive support work unit both sides in addition.
4. The electrical control system for the parking sensing capability test bench according to claim 2, wherein the car tail sub-platform information collecting unit comprises: the even number of the vehicle head support working units is more than or equal to four, if four vehicle tail support working units are provided, the first vehicle tail support working unit is arranged at the position of the vehicle tail sub-platform, and the second vehicle tail support working unit and the third vehicle tail support working unit are respectively and symmetrically arranged at two sides of the first vehicle tail support working unit; the fourth group of tailstock bracket working units are arranged at the rear end of the first group of tailstock bracket working units and are surrounded by the first group to the third group of tailstock bracket working units.
5. The electrical control system for a parking sensing capability test stand according to any one of claims 3 to 4, wherein the cradle working unit includes: the device comprises a lower horizontal shaft servo motor, a vertical shaft servo motor, an upper horizontal shaft servo motor and a holder driving motor;
the signal receiving end of the lower horizontal shaft servo motor is connected with the signal sending end of the lower horizontal shaft of the DSP chip, the signal receiving end of the vertical shaft servo motor is connected with the signal sending end of the vertical shaft of the DSP chip, the signal receiving end of the upper horizontal shaft servo motor is connected with the signal sending end of the upper horizontal shaft of the DSP chip, and the signal receiving end of the holder driving motor is connected with the signal sending end of the holder of the DSP.
6. The electrical control system for a parking sensing capability test stand according to any one of claims 3 to 4, wherein said cradle working unit further comprises: the corresponding ultrasonic radar, the all-round looking camera and the front looking camera are arranged on the corresponding support working unit, so that a parking operation instruction is completed.
7. The electrical control system for a parking sensing capability test stand according to claim 1, further comprising:
the electric push rod (703) is provided with a first electric push rod servo motor, a second electric push rod servo motor, a first travel limit switch and a second travel limit switch; the first electric push rod servo motor signal receiving end is connected with a first push rod signal sending end of a vehicle processor, the second electric push rod servo motor signal receiving end is connected with a second push rod signal sending end of the vehicle processor, the first stroke limit switch signal sending end is connected with a first stroke signal receiving end of the vehicle processor, and the second stroke limit switch signal sending end is connected with a second stroke signal receiving end of the vehicle processor.
8. A method for operating the electrical control system of the parking sensing capability test stand according to claim 1, comprising the steps of:
s1, starting a parking platform, carrying out signal response on an X-axis beam, a Y-axis beam and a Z-axis beam, moving the X-axis beam, the Y-axis beam and the Z-axis beam to move a barrier to a response position of a simulated vehicle combination rack to be tested after no abnormal state exists, analyzing and loading CAN bus signals of the X-axis beam, the Y-axis beam and the Z-axis beam through a PLC (programmable logic controller), and sending data to an upper computer through a serial port;
s2, simulating a vehicle combination rack to start, analyzing and loading CAN bus signals of a head sub-platform information acquisition unit and a tail sub-platform information acquisition unit, and sending data to an upper computer through a serial port; after the obstacle test information is input, the ultrasonic radar, the all-round camera and the forward-looking camera which are responded by the vehicle head sub-platform information acquisition unit and the vehicle tail sub-platform information acquisition unit perform data collection to determine the position of the obstacle and the corresponding parameter information,
s2-1, adjusting the size of the vehicle through a first electric push rod servo motor and a second electric push rod servo motor of an electric push rod, after the size of the vehicle is adjusted, enabling obstacles of a parking platform to approach a simulated vehicle combination rack, starting a vehicle head sub-platform information acquisition unit and a vehicle tail sub-platform information acquisition unit, adjusting corresponding working positions by corresponding vehicle head support working units to acquire vehicle head data, and adjusting corresponding positions by the vehicle tail support working units to acquire vehicle tail data;
s2-2, collecting and processing the position of the obstacle through the ultrasonic radar, the all-round looking camera and the forward looking camera of the corresponding headstock bracket working unit and the tailstock bracket working unit, and performing early warning judgment, if corresponding early warning data cannot be obtained in the test process of the headstock or the tailstock, so that corresponding collision is caused, recording the collision position and working parameters of the ultrasonic radar, the all-round looking camera and the forward looking camera, and uploading the working parameters to an upper computer;
and S3, storing and recording corresponding working parameters of the parking platform and the simulated vehicle combined rack in the parking detection process to form a parking test record, uploading the parking test record to an upper computer for data collection, and performing safety evaluation on the intelligent automobile parking system.
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