CN110686903B - Wheel active retraction system of unmanned system test platform false vehicle - Google Patents
Wheel active retraction system of unmanned system test platform false vehicle Download PDFInfo
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- CN110686903B CN110686903B CN201910807847.3A CN201910807847A CN110686903B CN 110686903 B CN110686903 B CN 110686903B CN 201910807847 A CN201910807847 A CN 201910807847A CN 110686903 B CN110686903 B CN 110686903B
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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
- 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
- G01M17/0078—Shock-testing of vehicles
Abstract
The invention discloses a wheel active retraction system of a dummy car of an unmanned system test platform, which comprises: the pneumatic control system adjusts the telescopic state of the wheel through a double-acting cylinder, and the high-pressure supply mechanism inflates the pneumatic control system. The invention can actively control the telescopic state of the wheels, so that the test platform false car has better obstacle-crossing driving performance when the unmanned system test is carried out, and the height of the test platform false car can be reduced when the test platform false car collides with other test real cars, thereby avoiding direct collision impact and protecting the core components of the unmanned system.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a wheel active retraction system of a dummy car of an unmanned system test platform.
Background
The unmanned system test platform vehicle generally adopts a simplified vehicle body model to simulate the running state of a real vehicle, but once the traditional test platform vehicle collides with the test real vehicle, the core components of the unmanned system are easily damaged.
With the development of unmanned technology, a driving system is integrated on a chassis, and a detachable soft structure is adopted to simplify a vehicle body so as to form a test platform false vehicle, so that the method is attracted by people.
Disclosure of Invention
In view of the above, the invention provides an active wheel retraction system for a platform dummy car tested by an unmanned system, so that the height of a chassis of the platform dummy car is actively reduced when the platform dummy car collides, and further core components of the unmanned system are protected.
In order to achieve the purpose, the invention adopts the following technical scheme:
the active wheel retraction system of the dummy car of the unmanned system test platform comprises a retraction mechanism, a pneumatic control system and a high-pressure supply mechanism, wherein the retraction mechanism is fixed on a frame of the dummy car:
the retraction mechanism comprises a wheel, the wheel is fixedly connected with a middle bearing shaft through a bearing arm, and a rocker arm is fixedly connected to the middle bearing shaft;
the pneumatic control system comprises a double-acting cylinder, an electromagnetic valve, an electronic control unit and a collision sensor, wherein a piston head of the double-acting cylinder is connected with the rocker arm, a control end of the electromagnetic valve is connected with the double-acting cylinder, a signal output end of the collision sensor is connected with a signal input end of the electronic control unit, and a signal output end of the electronic control unit is connected with a signal input end of the electromagnetic valve;
and the high-pressure supply mechanism is connected with the input port of the electromagnetic valve and drives the piston of the double-acting cylinder to move through the electromagnetic valve.
Preferably, both ends of the middle bearing shaft are provided with a bearing and a flange for fixing.
Preferably, the rocker arm is connected to the piston head of the double-acting cylinder by a connecting block.
Preferably, the high-pressure supply mechanism comprises a pressure-stabilizing gas tank, a non-return gas nozzle and a high-pressure gas source which are connected in sequence, and the pressure-stabilizing gas tank is connected with the input port of the electromagnetic valve.
More preferably, the high-pressure air source is a portable high-pressure inflator or an electric high-pressure air pump.
More preferably, the high-pressure supply mechanism further includes a pressure limiting valve.
Preferably, the collision sensors are distributed at the front, middle and rear of the vehicle body.
The invention has the beneficial effects that: (1) the wheel can be actively expanded, the ground clearance of the chassis of the test platform false car is improved, and therefore better obstacle crossing driving performance is achieved when the unmanned driving system test is carried out. (2) The wheels can be retracted actively, the ground clearance of the chassis of the dummy car is reduced when the dummy car of the test platform collides with other real test cars in the test, the contact area between the chassis and the road surface is increased, collision impact is prevented from acting on moving parts of the integrated chassis, and core parts of the unmanned system are protected.
Drawings
FIG. 1 is a side view of a wheel active retraction system of a dummy vehicle of an unmanned aerial vehicle testing platform of the present invention in a retraction mechanism shaft;
FIG. 2 is a schematic diagram of the overall hardware system upon which the active wheel retraction system of the drone system test platform vehicle of the present invention is based;
fig. 3 is a schematic diagram illustrating the working state triggering principle of the active wheel retraction device of the dummy car of the unmanned system test platform in the invention.
Detailed Description
The invention will now be described in further detail with reference to the accompanying drawings, it being understood that the following examples are illustrative of the invention and are not intended to limit the invention thereto.
As shown in fig. 1-3, an active wheel retraction system for a drone system test platform false car, the system comprises a retracting mechanism, a pneumatic control system and a high-pressure supply mechanism which are fixed on a frame of the fake car, wherein the retracting mechanism comprises a wheel 1, the wheel 1 is an assembled wide tyre, two sides of the wheel 1 are both arranged on a bearing arm 2 by using bolts, the other ends of the two bearing arms 2 are fixedly connected with the middle bearing shaft 5, the two ends of the middle bearing shaft 5 are respectively provided with a bearing 4 and are fixed on a frame of the false car through the bearing 4 and a flange 3, the middle bearing shaft 5 is fixedly connected with a rocker arm 6, preferably, the bearing arms 2 and the rocker arms 6 are fixed on the middle bearing shaft 5 in a welding mode, the bearing arms 2, the rocker arms 6 and the middle bearing shaft 5 form a fixed whole, and the wheel 1 and the middle bearing shaft 5 can rotate around an axis together.
The pneumatic control system comprises a double-acting cylinder 8, an electromagnetic valve 9, a collision sensor 12 and an Electronic Control Unit (ECU)13, wherein the double-acting cylinder 8 and the electromagnetic valve 9 are fixed on the bottom plate of the frame of the fake vehicle; the piston head of the double-acting cylinder 8 is connected with one end, far away from the middle bearing shaft 5, of the rocker arm 6 in the retraction mechanism through a connecting block 7, the double-acting cylinder 8 comprises an upper chamber and a lower chamber, and the position of the piston head is determined by the air pressure difference between the upper chamber and the lower chamber of the double-acting cylinder 8; the electromagnetic valve 9 is provided with two gas output ports which are respectively connected with the upper cavity and the lower cavity of the double-acting cylinder 8 through pipelines, and the gas input port of the electromagnetic valve 9 is connected with the high-pressure supply mechanism; the collision sensors 12 are uniformly distributed around the vehicle body, the signal output ends of the collision sensors 12 are electrically connected with the signal input end of the electronic control unit 13, and the signal output end of the electronic control unit 13 is electrically connected with the electromagnetic valve 9; the pneumatic control system controls the working state of the electromagnetic valve 9 by reading signals sent by a collision sensor 12 arranged on the test platform dummy car, changes the air pressure values in the upper chamber and the lower chamber, controls the working position of the piston head, and further controls the rotating state of the wheel axis relative to the middle bearing shaft 5.
And the high-pressure supply mechanism is connected with a gas input port of the electromagnetic valve and provides air pressure for the upper cavity and the lower cavity of the double-acting cylinder 8 through the electromagnetic valve. The high-pressure supply mechanism comprises a pressure-stabilizing gas tank 10, a non-return gas nozzle 11 and a high-pressure gas source, two ends of the pressure-stabilizing gas tank 10 are respectively communicated with a middle gas input port and the non-return gas nozzle 11 of the electromagnetic valve 9 through pipelines, the high-pressure gas source is a portable high-pressure inflator or an electric high-pressure gas pump, and the high-pressure gas source is further connected with a pressure limiting valve. Before the test platform fake car starts working, the pressure limiting valve and the high-pressure gas source are connected well, high-pressure gas is input into the pressure stabilizing gas tank, and when the test platform fake car starts working after inflation is completed, the pressure limiting valve and the high-pressure gas source need to be taken down. The purpose of setting the pressure limiting valve is as follows: the maximum inflation pressure is accurately controlled, and the pressure value in the inflation process is displayed in real time.
The specific working process of the system is as follows:
(1) when the test platform is driven normally, the electronic control unit ECU controls the electromagnetic valve to open the output port connected with the lower chamber of the air cylinder, gas with the air pressure of 8bar is input into the lower chamber of the double-acting air cylinder, and the gas in the upper chamber is discharged. After high-pressure gas enters the lower chamber, the piston jacks up, the wheels stretch outwards, and the false car chassis and the car body of the test platform are integrally lifted up, so that better obstacle-crossing driving capability is realized;
(2) the collision sensors are respectively arranged at the front part, the middle part and the rear part of the vehicle body, when the test platform false vehicle collides with other test real vehicles, the impact force generated by collision triggers the collision sensors to work, the control unit ECU receives a collision signal and then controls the electromagnetic valve to open an output port connected with the upper chamber of the air cylinder, gas with the air pressure of 8bar is input into the upper chamber of the double-acting air cylinder, and the gas in the lower chamber of the air cylinder is discharged. After the air enters the upper chamber, the piston descends under the air pressure, the wheels contract inwards, the height of the chassis is reduced, and the test real vehicle is directly rolled on the chassis of the test platform false vehicle; after the collision is finished for a period of time, the control unit ECU controls the electromagnetic valve to open the output port connected with the lower cavity of the air cylinder, and the wheels are opened again.
It should be noted that the above-mentioned embodiments are only for illustrating the technical concept and features of the present invention, and the purpose of the present invention is to enable those skilled in the art to understand the content of the present invention and implement the present invention accordingly, and not to limit the protection scope of the present invention accordingly. Any variations or modifications made in accordance with the teachings of the present invention are intended to be covered by the scope of the present invention.
Claims (5)
1. The active wheel retraction system of the dummy car of the unmanned system test platform is characterized by comprising a retraction mechanism, a pneumatic control system and a high-pressure supply mechanism which are fixed on a frame of the dummy car:
the retraction mechanism comprises a wheel (1), the wheel (1) is fixedly connected with a middle bearing shaft (5) through a bearing arm (2), and a rocker arm (6) is fixedly connected to the middle bearing shaft (5); both ends of the middle bearing shaft (5) are provided with a bearing (4) and a flange (3) for fixing, and the flange (3) is fixedly connected to the frame;
the pneumatic control system comprises a double-acting cylinder (8), an electromagnetic valve (9), an electronic control unit (13) and a collision sensor (12), a piston head of the double-acting cylinder (8) is connected with the rocker arm (6) through a connecting block (7), a control end of the electromagnetic valve (9) is connected with the double-acting cylinder (8), a signal output end of the collision sensor (12) is connected with a signal input end of the electronic control unit (13), and a signal output end of the electronic control unit (13) is connected with a signal input end of the electromagnetic valve (9);
and the high-pressure supply mechanism is connected with an input port of the electromagnetic valve (9), and drives a piston of the double-acting cylinder (8) to move through the electromagnetic valve (9).
2. The active wheel retraction system of the unmanned system test platform false car as claimed in claim 1, wherein the high pressure supply mechanism comprises a pressure-stabilizing gas tank (10), a check gas nozzle (11) and a high pressure gas source which are connected in sequence, and the pressure-stabilizing gas tank is connected with the input port of the electromagnetic valve (9).
3. The active wheel retraction system of an unmanned system test platform false car of claim 2, wherein the high pressure air source is a portable high pressure air pump or an electric high pressure air pump.
4. The active wheel retraction system of an unmanned aerial vehicle test platform false car of claim 2, wherein the high pressure supply mechanism further comprises a pressure limiting valve.
5. The active wheel retraction system for an unmanned aerial vehicle test platform false car according to claim 1, wherein the collision sensors (12) are distributed in the front, middle and rear of the car body.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910807847.3A CN110686903B (en) | 2019-08-29 | 2019-08-29 | Wheel active retraction system of unmanned system test platform false vehicle |
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| CN201910807847.3A CN110686903B (en) | 2019-08-29 | 2019-08-29 | Wheel active retraction system of unmanned system test platform false vehicle |
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| CN110686903B true CN110686903B (en) | 2021-09-14 |
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| CN111380699B (en) * | 2020-03-31 | 2022-01-07 | 重庆广播电视大学重庆工商职业学院 | Unmanned test platform car |
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