CN111002325A

CN111002325A - Simulation robot system suitable for automobile driving behavior research

Info

Publication number: CN111002325A
Application number: CN202010014107.7A
Authority: CN
Inventors: 漆奇; 张建亮; 丁莉萍; 曾文
Original assignee: Chongqing Yumicroelectronics Technology Research Institute Co Ltd
Current assignee: Chongqing Yumicroelectronics Technology Research Institute Co Ltd
Priority date: 2020-01-07
Filing date: 2020-01-07
Publication date: 2020-04-14

Abstract

The invention discloses a simulation robot suitable for automobile driving behavior research, which comprises a head, two arms, a trunk, hands, a flexible actuator, a motion controller of the flexible actuator, a control host and a power supply system, wherein the function of simulating human actions and expressions in a specified environment is realized; the action expression simulation is realized based on the control of a flexible actuator, and each joint part of the simulation robot adopts the flexible actuator to drive a skeleton structure; the motion controller receives the action control signal of the upper computer to control the action of the flexible actuator at each joint part; the head can realize eyelid opening and closing, eyeball rotation, mouth opening and closing, head raising and lowering and/or left and right head turning actions; the double arms can realize arm swinging; the body can rotate; the hand part has a plurality of degrees of freedom, and can realize the functions of grabbing articles and/or holding the steering wheel.

Description

Simulation robot system suitable for automobile driving behavior research

Technical Field

The present disclosure generally relates to the field of driving safety technology detection, and more particularly, to a simulation robot system suitable for automobile driving behavior research.

Background

With the progress of modern technology and the soundness of various traffic laws and regulations, social consensus is formed on the harmfulness of fatigue driving and illegal driving, a large number of auxiliary driving products with various types emerge in China, but the quality is good and uneven, the quality detection means is backward, and manual detection is mainly used. However, the quality is judged by a manual detection mode, a scientific judgment standard is lacked, and the traditional manual driving behavior analysis has a series of defects of low efficiency, poor consistency, low repeatability, large random error and the like and is lacked in a scientific sample support test.

With the soundness of various vehicle traffic laws and regulations, the detection and driving behavior research of various auxiliary driving products adopts the standardability and scientificity which are lacked by the traditional manual operation, and the problem is to be solved. With the advance of science and technology in the automobile industry, the project of the traditional manual real vehicle operation is replaced by more and more robots, especially the test with higher danger coefficient, such as: in view of the application feasibility, the invention aims at the simulation robot for the automobile driving behavior research.

In view of the above, the present invention and embodiments thereof are set forth below.

Disclosure of Invention

In the following description, a brief summary of the disclosure is provided in order to provide a basic understanding of some aspects of the disclosure. It should be understood that this summary is not an exhaustive overview of the disclosure. It is not intended to identify key or critical elements of the present disclosure or to delineate the scope of the present disclosure. Its sole purpose is to present some concepts in a simplified form as a prelude to the more detailed description that is discussed later.

Aiming at the problems, the invention builds a set of simulated driving environment, and utilizes the simulated robot to replace the information of the manual detection auxiliary driving behavior detection equipment, such as accuracy, missing report rate, false report rate, reaction time and the like, so as to judge the quality of the equipment to be detected. The invention can provide scientific means for the quality judgment of the auxiliary driving behavior detection equipment.

The invention adopts the simulation robot with human facial features to realize the actions endangering driving safety, such as eyeball rotation, smiling, beating haar, eye blinking, left-to-right looking, smoking, making a call, separating both hands from a steering wheel and the like, all executive components are controlled by high-precision flexible actuators, the action track is programmable and designed, the simulation robot has extremely high reliability, consistency, repeatability and accuracy, a rich programmable action library can be provided for assisting in driving product detection and driving behavior research, and various defects existing in current manual detection are overcome.

The invention integrates vehicle environment simulation, simulation robot bionic design and software system linkage control, replaces manual detection, and provides scientific basis and reliable guarantee for assisting the quality detection of driving equipment.

The invention designs a simulation robot suitable for automobile driving behavior research, wherein the simulation robot adopts silica gel skin with 1:1 real human face holes, pupils can be captured in an infrared mode, and actions which endanger driving safety, such as eyeball rotation, smiling, beating the breath, blinking eyes, looking ahead, smoking, calling, separation of both hands from a steering wheel and the like, can be realized.

In order to achieve the purpose, the invention provides a simulation robot suitable for automobile driving behavior research, which comprises a head, two arms, a trunk, hands, a flexible actuator, a motion controller of the flexible actuator, a control host and a power supply system, so as to realize the function of simulating human actions and expressions in a specified environment; the action expression simulation is realized based on the control of a flexible actuator, and each joint part of the simulation robot adopts the flexible actuator to drive a skeleton structure; the motion controller receives the action control signal of the upper computer to control the action of the flexible actuator at each joint part; the head can realize eyelid opening and closing, eyeball rotation, mouth opening and closing, head raising and lowering and/or left and right head turning actions; the double arms can realize arm swinging; the body can rotate; the hand part has a plurality of degrees of freedom, and can realize the functions of grabbing articles and/or holding the steering wheel.

Further, the method comprises the steps of firstly collecting data of a real face, then designing a head mould according to the 3D data information, and finally manufacturing a silica gel skin according to the mould and performing hair implantation and silica gel coloring treatment.

Furthermore, an eyelid opening and closing steering engine, an eyeball rotating steering engine, a mouth opening and closing steering engine, a head pitching steering engine, a neck rotating steering engine, a bionic human vertebra and a bionic human mandible are arranged in the skull in the head.

Furthermore, the upper computer can be controlled by a mobile terminal or a PC (personal computer), and corresponding operation flows and action editions can be compiled according to requirements.

Further, the motion controller adopts a PLC controller.

Further, each joint part comprises a left shoulder joint and a right shoulder joint which are arranged at the shoulder positions; the left upper arm joint and the right upper arm joint are arranged at the upper arm positions; the left and right shoulder joint and the left and right upper arm joint are respectively connected with a left and right shoulder connecting joint; the left and right elbow joints are respectively connected with the left and right forearm joints and the left and right upper arm joints; a left wrist joint and a right wrist joint are arranged between the left hand part and the right hand part of the simulation robot and the left forearm joint and the right forearm joint; the lower end part of the upper half body of the simulation robot limb is provided with a trunk rotating joint.

Furthermore, the left and right shoulder joints can respectively drive the left and right whole arms to realize the rotating action of lifting upwards or lowering downwards, namely rotating around the axis of the shoulder; the left upper arm joint and the right upper arm joint can respectively realize that the left upper arm and the right upper arm rotate towards the inner side and the outer side of the trunk on a plane vertical to the plane of the trunk around the axis of the upper arm; the left and right shoulder connecting joints can respectively drive the left and right whole arms to realize the rotating actions of opening towards the outer side of the trunk and closing towards the inner side of the trunk on the plane of the trunk; the left and right forearm joints can respectively realize that the left and right forearms rotate towards the inner side and the outer side of the trunk on a plane vertical to the plane of the trunk around the forearm axis; the left elbow joint and the right elbow joint can respectively drive the left forearm and the right forearm to realize the rotating motion of lifting upwards or putting downwards, namely to rotate on a plane vertical to the plane of the trunk; each wrist joint of the left wrist joint and the right wrist joint respectively comprises an upper wrist joint and a lower wrist joint, the upper wrist joint can rotate in the same direction as the elbow joint, so that the wrist can move upwards, the lower wrist joint can rotate in the same direction as the shoulder connecting joint, so that the wrist can move like clapping, and the trunk rotating joint can realize the rotation of the upper body of the simulated robot limb around the trunk axial direction.

Furthermore, the reduction ratio 36 and the range of motion of-180 are selected for the left shoulder joint and the right shoulder joint. And (4) ~ 180. The parameters of (1); the reduction ratio 36 and the range of motion-90 are selected for the left upper arm joint and the right upper arm joint. And (4) to + 90. The parameters of (1); the reduction ratio 36 and the range of motion-93 are selected for the left and right shoulder joint. -99.17. The parameters of (1); the reduction ratio of 36 and the range of motion of-90 are selected for the left and right forearm joints. And (4) to + 90. The parameters of (1); the upper wrist joint and the lower wrist joint adopt a reduction ratio 39.015 and a moving range of-42.5. And-42.5. The parameters of (1); the reduction ratio of 80 and the movable range of-97.11 are selected for the trunk rotating joint. (iv) ~ 97.11. The parameter (c) of (c).

Further, wherein, simulation robot hand possesses 6 degrees of freedom respectively, can easily realize snatching cigarette end, cell-phone, mineral water bottle and hand steering wheel function.

Furthermore, the upper computer of the simulation robot can be controlled by a mobile terminal or a PC.

Drawings

The above and other objects, features and advantages of the present disclosure will be more readily understood from the following detailed description of the present disclosure with reference to the accompanying drawings. The drawings are only for purposes of illustrating the principles of the present disclosure. The dimensions and relative positioning of the elements in the figures are not necessarily drawn to scale. In the drawings:

FIG. 1 illustrates a system framework diagram of a driving assistance device quality detection system according to the present disclosure;

FIG. 2 illustrates an event detection performance diagram of a driver assistance device quality detection system according to the present disclosure;

FIG. 3 illustrates a schematic diagram of the overall structure of a solar simulator 2000 apparatus according to the present disclosure;

FIG. 4 illustrates a schematic view of the illumination source and its angular support portion of the solar simulator 2000 apparatus according to the present disclosure;

FIG. 5 illustrates a schematic view of the lifting stand 2600 and a chassis portion of a solar simulator 2000 apparatus according to the present disclosure;

FIG. 6 shows a schematic layout of modules within a chassis of a solar simulator 2000 apparatus according to the present disclosure;

FIG. 7 illustrates a schematic structural view of a railcar 2910 and a track portion of a solar simulator 2000 apparatus according to the present disclosure;

FIG. 8 shows a schematic exterior view of a simulated robot according to the present disclosure;

FIG. 9 illustrates a control schematic of a flexible actuator single node of a simulated robot according to the present disclosure;

FIG. 10 is a schematic diagram illustrating a face generation process for a simulated robot according to the present disclosure;

FIG. 11 illustrates an upper body limb structure view of a simulated robot according to the present disclosure;

FIG. 12 illustrates a schematic upper body effector distribution diagram for a simulated robot in accordance with the present disclosure;

FIG. 13 shows a hand configuration diagram of a simulated robot according to the present disclosure.

Reference numerals:

a solar simulator 2000;

an illumination light source 2100;

angle bracket 2200, field 2210, "<" 2220;

an angle electric cylinder 2300;

a triangular bracket 2400;

an illumination source base 2500;

a lifting support 2600;

the lifting electric cylinder 2700;

chassis 2800

An electronic ballast 2810, a servo control unit 2820, a control board 2830, a relay 2840, a control host 2850 and a power supply system 2860;

railcar 2910, circular track 2920 electric motor 2930, anti-skid rubber wheels 2940.

Detailed Description

Exemplary disclosures of the present disclosure will be described hereinafter with reference to the accompanying drawings. In the interest of clarity and conciseness, not all features of an actual disclosure are described in the specification. It will be appreciated, however, that in the development of any such actual disclosure, numerous implementation-specific decisions may be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which will vary from one implementation to another.

Here, it should be further noted that, in order to avoid obscuring the disclosure of the present invention with unnecessary details, only the device structure closely related to the scheme according to the present disclosure is shown in the drawings, and other details not so related to the present disclosure are omitted.

It is to be understood that the present disclosure is not limited to the described embodiments, as described below with reference to the drawings. Herein, features between different implementations may be replaced or borrowed where feasible, and one or more features may be omitted in one implementation.

It is also understood that references to "vertical", "horizontal" and "parallel" in this disclosure are defined as: including ± 10% of cases based on the standard definition. For example, perpendicular generally refers to an angle of 90 degrees relative to a reference line, but within the present disclosure, perpendicular refers to an angle in the range of 80-100 degrees.

The present disclosure will be described below with reference to the accompanying drawings.

[ integral System framework ]

One aspect of the present disclosure relates to a driving assistance apparatus quality detection system. FIG. 1 is a system block diagram of a driving assistance device quality detection system according to the present disclosure. Referring to fig. 1, the quality detection system of the driving assistance equipment comprises a simulation robot, an automobile driving simulator (in the figure, a large-sized vehicle simulator is exemplified), a dynamic platform (not shown), a sunlight simulator, a driving assistance product to be detected (in the figure, a product to be detected), a voice recognition module (not shown), and a central integrated measurement and control system; the simulation robot simulates various behaviors of a driver; the dynamic platform drives the automobile driving simulator to move to simulate the movement postures of various road terrains; the sunlight simulator simulates a sunlight environment and performs surrounding illumination with adjustable height, angle and irradiation power on the automobile driving simulator; the auxiliary driving product to be detected captures dangerous actions of the simulation robot in the automobile driving simulator, which endanger driving safety, and gives corresponding voice prompt; the voice recognition module detects voice broadcast contents of the to-be-detected assistant driving product; the central integrated measurement and control system integrates functions of each module of the simulation robot, the automobile driving simulator, the dynamic platform, the sunlight simulator, the auxiliary driving product to be detected and the voice recognition module, and can synchronously control each module in real time so as to realize quality detection of the auxiliary driving product to be detected.

The central integrated measurement and control system mainly comprises a central control host for controlling the modules, and the central control host synchronously controls the simulation robot, the automobile driving simulator, the dynamic platform, the sunlight simulator 2000, the auxiliary driving product to be detected and the voice recognition module.

The simulation robot adopts a method of generating a silica gel simulation head part based on a virtual portrait, and the design process comprises the following steps: selecting and establishing a human database, generating a standard human face model, generating a face 3D database, generating head 3D data, printing and molding a head 3D, manufacturing a head mold to be generated, manufacturing a silica gel head model and implanting hair; the simulation robot can simulate the behavior of a driver, such as: actions endangering driving safety, such as making a breath, blinking eyes, looking ahead, smoking, making a call, and disengaging hands from a steering wheel.

Wherein, it is preferred, the auttombilism simulator can adopt the repacking of true motorcycle type locomotive, adopt the three-dimensional simulation technique of home and abroad advanced, six degrees of freedom motion platform can be chooseed for use to the motion platform, drive the locomotive chassis by six degrees of freedom electric cylinder, thereby directly drive the locomotive motion, and can read the force feedback data in driving in real time, and with data dynamic response to the emulation robot on one's body, can realize the centrifugal force of real car, push away the back, rock, jolt, the state of various road conditions is restoreed, let the driver can feel in the cockpit of department of one's body, experience vision and the touch impact that various different road conditions effects brought when driving. The six-degree-of-freedom motion platform can simulate the motion postures of various road terrains by simulating the translation and rotation of an object in three directions, namely front-back translation, left-right translation, up-down vertical motion, pitching, rolling, yawing and compound motion.

Optionally, the automobile driving simulator may be used without using the automobile driving simulator, as long as the requirement of quality detection of the product to be detected can be met, for example, the motion posture of various road terrains is simulated by the motion platform and is directly fed back to the simulation robot, and then the same detection analysis is performed by each of the other modules.

The sunlight simulator simulates a sunlight environment by adopting a metal halide lamp 2 x 2 array, and has the advantages of 360-degree surrounding illumination of an automobile driving simulator, adjustable illumination height of 1000-2200 mm away from the ground, adjustable illumination angle of 0-45 degrees and adjustable illumination power of 50-100 percent.

But the dangerous action of infrared seizure simulation robot's of waiting to detect product endangers driving safety to give corresponding pronunciation and remind, possess the ADAS function simultaneously, can report driving situation early warning information such as lane pedestrian, violation lane change, careful collision.

The voice recognition module detects the voice broadcast content of the product to be detected in an online mode/offline mode, can achieve 98% accuracy under the condition of the existence or the absence of a network, delays within 800ms, and can feed back a detection result in real time. The voice recognition module collects voice alarm information of a product to be detected, the system can compare the collected result with the current action executed by the simulation robot, so that the accuracy rate and the false alarm rate of the detection result are analyzed, the missing report rate is counted according to the comparison of the action execution times and the voice alarm times of the simulation robot, and the positive detection rate is counted according to the total action times and the correct detection times of the simulation robot.

Optionally, the protocol recognition module can be used for recognizing the alarm information of the auxiliary driving equipment to be detected instead of the voice recognition module.

Referring to fig. 2, the detection rate of the driving assistance apparatus quality detection system is set as:

detection rate = positive detection number/number of true events 100%;

wherein the positive detection number is the number of times that the dangerous actions of the simulation robot are correctly detected by the product to be detected; the number of real events is the number of dangerous actions actually taken by the simulation robot, namely the sum of the number of positive detections and the number of missing dangerous actions (number of missed detections) which are not detected and actually taken by the simulation robot.

The accuracy of the driving assistance device quality detection system is set as follows:

accuracy = number of positive detections/number of detected events 100%;

the number of detected events is the number of times that all the dangerous actions of the simulation robot are detected by the product to be detected, namely the sum of the number of times that the dangerous actions of the simulation robot are correctly detected (positive detection number) and the number of times that the dangerous actions of the simulation robot are wrongly detected (false detection number, namely the simulation robot does not actually make dangerous actions).

In addition:

false alarm rate = positive detection number/number of detected events 100%;

the missing report rate = number of missed detections/number of detected events 100%.

Preferably, the system also comprises a projector and an annular projection wall (see figure 1); the annular projection wall is arranged right in front of the automobile driving simulator, the projector is used for projecting the road condition of a first visual angle of the automobile, and then the dynamic platform drives the automobile driving simulator to move according to the road condition to simulate the movement postures of various road terrains.

Preferably, referring to fig. 1, the central control host may further include a control device, such as a wired touch screen, an IPAD device connected through a wireless route, a notebook computer, a desktop computer, or a voice control device.

The central integrated measurement and control system synchronously controls the central control host of each module to realize the detection, statistics and analysis of information such as the accuracy, the missing report rate, the false alarm rate, the response time and the like of the auxiliary driving product to be detected.

Preferably, the driving assistance apparatus quality detection method may include the form:

1. the automobile driving simulator is set to be in an automatic driving mode, the three-channel projector projects road surface information to the annular projection wall, and the dynamic platform feeds back the driving limb sense of imminence of the automobile in the advancing process of the automobile in real time; 2. setting a sunlight simulator to be linked with a scene, and simulating sunlight under the current road condition along with the road condition; 3. opening an auxiliary driving product to be detected; 4. setting a simulation robot to execute a driving dangerous action which endangers driving safety in a process; 5. voice (or protocol) recognition of alarm information of the auxiliary driving product to be detected; 6. and the system software counts the information of the detected assistant driving product, such as the detection rate, the accuracy rate, the false alarm rate, the missing report rate, the reaction time and the like according to the action executed by the simulation robot and the voice (or protocol) alarm information.

The various specific devices used in the above-described methods are exemplary and are not to be considered as limiting the scope of the disclosure.

The quality detection system of the driving assistance equipment in the disclosure is mainly used for indoor detection, and can be used for outdoor detection.

[ solar simulator 2000]

Referring to fig. 3-7, there are shown a schematic overall structure of the solar simulator 2000 apparatus, a schematic partial structure of the illumination source 2100 and its angle bracket 2200, a schematic partial structure of the lifting bracket 2600 and the chassis 2800, a schematic layout of modules in the chassis 2800, a schematic layout of the rail car 2910, and a schematic partial structure of the rail according to the present disclosure.

Referring to fig. 3 to 7, the solar simulator 2000 apparatus includes an illumination light source 2100, an electronic ballast 2810, a lifting electric cylinder 2700, a lifting bracket 2600, an angle electric cylinder 2300, an angle bracket 2200, a servo control unit 2820, a control host 2850, and a power supply system 2860.

Specifically, referring to fig. 3, the solar simulator 2000 device sequentially comprises, from bottom to top: an annular track 2920, which may optionally be an arcuate track; a railcar 2910 positioned on an annular track 2920; a chassis located on the railcar 2910, in which modules such as an electronic ballast 2810, a servo control unit 2820, a control host 2850, a power supply system 2860 and the like are integrated; a lifting bracket 2600 and an electric lifting cylinder 2700 on the ground; an illumination source base 2500 on the lifting support 2600; a triangular bracket 2400 and an angle electric cylinder 2300 which are positioned on the illumination light source base 2500; an angle bracket 2200 rotatably coupled to the top of the triangular bracket 2400; an illumination source 2100 mounted on the angled bracket 2200.

Referring to fig. 4, the illumination light source 2100 is composed of 4 sets of xenon lamps or metal halide lamps, the parameters such as light intensity and the like are controlled by the electronic ballast 2810, so that the outdoor sunlight illumination spectrum and light intensity can be simulated more truly, and the high-power xenon lamp (or metal halide lamp) lamp array is used as the illumination light source and has the spectrum distribution and the illumination intensity which are closer to the sunlight. Wherein, the angle bracket 2200 comprises a main body structure shaped like a Chinese character 'tian' and two '<' shaped structures 2220; the 4 groups of xenon lamps or metal halide lamps are respectively fixed in the Chinese character tian-shaped structure 2210 and can be fixed on the inner side of the Chinese character tian-shaped structure 2210 in conventional fixing modes such as welding, riveting, screws and the like; the main structure of the angle bracket 2200 can be formed by splicing materials with certain hardness or integrally forming; two '<' -shaped structures 2220 are respectively formed backwards (in the direction opposite to the light emitting direction of the light source) at the left side and the right side of the middle part of the field-shaped structure 2210, and each '<' -shaped structure 2220 is hinged and fixed with one end of one of the two angle electric cylinders 2300; the lower end of each "<" -shaped structure 2220 is fixedly connected with the connecting part of the "cross" structure and the "square" structure at the left side and the right side of the middle part of the field-shaped structure 2210, and the upper end of each "<" -shaped structure 2220 is fixed at the position, which is about one third of the length of the side edge of the field-shaped structure 2210 from the top of the field-shaped structure 2210, at the left side and the right side of the field-shaped structure 2210; the lighting source base 2500 is arranged below the angle bracket 2200, the other end of each of the two angle electric cylinders 2300 is hinged and fixed on the lighting source base 2500, optionally, the other end of the angle electric cylinder 2300 is fixed by a triangular projection formed on the lighting source base 2500, a triangular bracket 2400 is respectively formed on each of two sides of the lighting source base 2500, the left side and the right side of the middle of the angle bracket 2200 are respectively and rotatably connected to the tops of the two triangular brackets 2400, so that the angle bracket 2200 is rotated by pushing the 'minus' shaped structure 2220 through the angle electric cylinders 2300, horizontal lighting and/or lighting at a certain angle with the horizontal plane are obtained, and optionally, the lighting at a certain angle with the horizontal plane is 45-degree depression lighting.

Referring to fig. 5, the left and right sides of the lower portion of the illumination light source base 2500 are respectively provided with a square projection and a bar projection, and a slot is disposed at the middle position of the bar projection. The lifting support 2600 is a scissor-type lifting support 2600 (the scissor-type lifting support 2600 may have a conventional general structure, and detailed structure thereof is not described herein), and can achieve a lifting height of about 2 m. Fork hinges on the left side and the right side of the scissor-type lifting support 2600 are correspondingly connected to the left side and the right side of the lower portion of the illumination light source base 2500 respectively, and upper end portions of the fork hinges are hinged to the square bumps and the grooves in the middle of the strip-shaped bumps respectively in a sliding mode, so that stable lifting of the scissor-type lifting support 2600 is achieved.

The bottom of the scissor type lifting support 2600 is also provided with a chassis, and the lower ends of the fork type hinges are hinged and fixed on the chassis respectively; the electric lifting cylinder 2700 has one end hinged to a middle hinge of a fork hinge of the scissor lifting bracket 2600 and the other end hinged to the chassis, and optionally, the other end of the electric lifting cylinder 2300 may be hinged and fixed by a triangular protrusion formed on the chassis. Therefore, the middle hinge of scissor lift support 2600 is pushed by electric lift cylinder 2700 to realize vertical lift of scissor lift support 2600, controlling the height adjustment of lift support 2600.

Therefore, the lifting electric cylinder 2700 is adopted to drive the scissor-type lifting support 2600 to lift the illumination light source 2100, and the angle electric cylinder 2300 is adopted to drive the angle support 2200 to adjust the illumination angle of the illumination light source 2100, so that light irradiation at different heights and angles of the automobile driving simulator is realized.

Optionally, a lighting scene such as mottled light may be realized by arranging a diaphragm, a shading pattern sheet, and the like on the exit surface of each lamp of the lighting source 2100, for example, a high-power xenon (or metal halide) lamp array.

An electronic ballast 2810, a servo control unit 2820, a control host 2850 and a power supply system 2860 are integrated in the chassis, the chassis is divided into a front accommodating space and a rear accommodating space, one accommodating space accommodates the electronic ballast 2810, and optionally, the electronic ballast 2810 is in 4 groups; another accommodating space, see fig. 6, accommodates the servo control unit 2820, the control host 2850, the power supply system 2860, and the like, optionally, accommodates the servo control unit 2820 and includes 4 groups, wherein 2 groups control the lifting, and the remaining 2 groups control the angle; optionally, the number of the control hosts 2850 is 2, and the control can be realized by a PLC; optionally, a relay 2840 for implementing high power conversion and a control board 2830 for implementing signal conversion may be further included.

The electronic ballast 2810, the servo control unit 2820, the control host 2850 and the power supply system 2860 are integrated in the chassis, so that the whole machine can move more conveniently and conveniently, and the integrated control cabinet is different from a traditional mode that a control cabinet is arranged outside a support structure and is independently made into the control cabinet, and the integrated external cable only needs one 220V power supply cable, so that the rotation of the integral lighting source 2100360 around the automobile driving simulator can be realized.

Referring to fig. 7, the lifting support 2600 is disposed on the rail car 2910, the rail car 2910 is disposed on the circular track 2920 or the arc-shaped track, the rail car 2910 is driven by an electric motor 2930 to move, an anti-slip rubber wheel 2940 is disposed at the bottom of the rail car 2930 and can run along the laid circular track 2920 or the arc-shaped track, and the movement speed of the rail car 2910 can be controlled remotely or controlled by software, so that the light source can be adjusted at any position of 360 degrees around the car driving simulator.

Optionally, a device for real-time collection of outdoor ambient light intensity may be included, and the solar simulator 2000 apparatus may adjust the illumination light source 2100 according to the collected outdoor light intensity information so as to keep the same as the outdoor light intensity.

[ simulation robot ]

Referring to fig. 8-13, a schematic diagram of an appearance of a simulation robot, a schematic diagram of a single-node control of a flexible actuator, a schematic diagram of a face generation process of the simulation robot, a schematic diagram of an upper half limb structure, a schematic diagram of an upper half actuator distribution, and a schematic diagram of a hand structure of the simulation robot according to the present disclosure are respectively shown.

Referring to fig. 8-13, the simulation robot includes a head, two arms, a trunk, hands, a flexible actuator and its motion controller, a simulation robot control host and a simulation robot power supply system, so as to realize the function of simulating human actions and expressions in a specified environment; the action expression simulation is realized based on the control of a flexible actuator, and each joint part adopts the flexible actuator to drive a skeleton structure; the motion controller receives the action control signal of the upper computer to control the action of the flexible actuator at each joint part; the head can realize eyelid opening and closing, eyeball rotation, mouth opening and closing, head raising and lowering and/or left and right head turning actions; the double arms can realize arm swinging; the body can rotate; the hand part has a plurality of degrees of freedom, and can realize the functions of grabbing articles and/or holding the steering wheel.

Specifically, refer to fig. 8, which is a schematic diagram of a final appearance of the simulation robot after steps of manufacturing a silicone skin, implanting hair, wearing a coat, and the like are performed, and the simulation robot is mainly implemented to simulate human actions and expressions in a specified environment. Referring to fig. 9, the action expression simulation is realized based on the control of a flexible actuator, and each joint part adopts the flexible actuator to drive a skeleton structure. Optionally, the system can adopt a PLC as a motion control unit, receive the action control signal of the upper computer and control the action of the flexible actuator at each joint part.

Fig. 10 is a schematic diagram illustrating a face generation process of a simulation robot according to the present disclosure, which includes first collecting face data of a real person, then designing a head mold according to 3D data information, and finally making a silica gel skin according to the mold, and performing hair implantation and silica gel coloring treatment.

The head of the simulation robot can be directly purchased and manufactured in the market, and the internal structure of the simulation robot comprises a built-in eyelid opening and closing steering engine for the head skull, an eyeball rotating steering engine, a mouth opening and closing steering engine, a head pitching steering engine, a neck rotating steering engine, a bionic human spine and a bionic human mandible. Can realize the actions of opening and closing eyelids, eyeball rotation, mouth opening and closing, raising head and lowering head, left and right turning head and the like.

Fig. 11-13 are a diagram of the upper body limb structure, the upper body actuator distribution, and the hand structure of the simulation robot. The simulation robot limb is the upper half body and comprises a trunk and two arms, and actions such as arm swinging, body rotating and the like can be realized. Specifically, because each joint part adopts a flexible actuator to drive a skeleton structure, the upper half body limb of the simulation robot respectively comprises a left shoulder joint and a right shoulder joint (joints 1 and 9 in fig. 12) which are arranged at the shoulder positions, the upper half body limb and the lower half body limb can respectively drive the left arm and the right arm to realize the rotating motion of lifting upwards or putting downwards, namely rotating around the axis of the shoulder, and the reduction ratio 36 and the moving range of-180 can be selected. And (4) ~ 180. The parameters of (1); the left and right upper arm joints (joints 3 and 11 in fig. 12) arranged at the upper arm positions can respectively realize that the left and right upper arms rotate towards the inner side and the outer side of the trunk on a plane vertical to the plane of the trunk around the axis of the upper arm, and the reduction ratio 36 and the moving range-90 can be selected. And (4) to + 90. The parameters of (1); the left and right shoulder joints (joints 2, 10 in fig. 12) are respectively connected with the left and right shoulder joints and the left and right upper arm joints, can respectively drive the left and right whole arms to realize the rotary motion of opening towards the outer side of the trunk and closing towards the inner side of the trunk on the plane where the trunk is located, and can select the reduction ratio 36 and the moving range of-93. -99.17. The parameters of (1); the left and right forearm joints (joints 5 and 13 in fig. 12) arranged at the positions of the forearms can respectively realize that the left and right forearms rotate towards the inner side and the outer side of the trunk on a plane vertical to the plane of the trunk around the forearm axis, and the reduction ratio 36 and the movement range of-90 can be selected. And (4) to + 90. The parameters of (1); the left and right elbow joints (joints 4 and 12 in fig. 12) respectively connected with the left and right forearm joints and the left and right upper arm joints can respectively drive the left and right forearms to realize the rotating motion of lifting upwards or lowering downwards, namely, the rotation on a plane vertical to the plane of the trunk, and the reduction ratio 36 and the moving range of-92.54 can be selected. And-38.79. The parameters of (1); left and right wrist joints are arranged between the left and right hands and the left and right forearm joints of the simulation robot, each wrist joint respectively comprises an upper wrist joint (joints 6 and 14 in fig. 12) and a lower wrist joint (joints 7 and 15 in fig. 12), the upper wrist joint can rotate in the same direction as the elbow joint, so that the wrist can move upwards and upwards, and the reduction ratio 39.015 and the moving range of-42.5 can be selected. And-42.5. And the lower wrist joint can rotate in the same direction as the shoulder joint so that the wrist can perform a clapping motion, and the reduction ratio 39.015 and the range of motion-42.5 can be selected. And-42.5. The parameters of (1); the lower end part of the upper body of the simulated robot limb is provided with a trunk rotating joint (joint 8 in figure 12), the upper body of the simulated robot limb can rotate around the axial direction of the trunk, and the reduction ratio 80 and the moving range of-97.11 can be selected. (iv) ~ 97.11. The parameter (c) of (c).

Referring to fig. 13, the hand of the simulation robot can be directly purchased or manufactured by self, the left hand and the right hand of the simulation robot have 6 degrees of freedom respectively, and the functions of grabbing cigarette ends, a mobile phone, a mineral water bottle and a hand-held steering wheel can be easily realized.

The upper computer of the simulation robot can be controlled by a mobile terminal or a PC (personal computer), and corresponding operation flows and action editions can be compiled according to requirements.

The following table shows data of quality detection of a certain product driving assistance device:

it will be understood that the terms "comprises" and/or "comprising," when used herein, specify the presence of stated features, integers, or components, but do not preclude the presence or addition of one or more other features, integers, or components.

It is to be understood that the features described and/or illustrated with respect to the other features may be combined with or substituted for the other features in the same or similar manner without departing from the spirit of the present disclosure.

The present disclosure has been described above with reference to the accompanying drawings, but it should be clear to a person skilled in the art that the description is illustrative and not limiting of the scope of the present disclosure. Various modifications and alterations of this disclosure will become apparent to those skilled in the art from the spirit and principles of this disclosure, and such modifications and alterations are also within the scope of this disclosure.

Claims

1. A simulation robot suitable for the research of automobile driving behaviors,

the device comprises a head, two arms, a trunk, hands, a flexible actuator, a motion controller of the flexible actuator, a control host and a power supply system, so as to realize the function of simulating human actions and expressions in a specified environment;

the action expression simulation is realized based on the control of a flexible actuator, and each joint part of the simulation robot adopts the flexible actuator to drive a skeleton structure;

the motion controller receives the action control signal of the upper computer to control the action of the flexible actuator at each joint part;

the head can realize eyelid opening and closing, eyeball rotation, mouth opening and closing, head raising and lowering and/or left and right head turning actions;

the double arms can realize arm swinging;

the body can rotate;

the hand part has a plurality of degrees of freedom, and can realize the functions of grabbing articles and/or holding the steering wheel.

2. The simulation robot of claim 1, wherein the data of the real human face is collected first, then the head mold is designed according to the 3D data information, and finally the silicone skin is made according to the mold and the hair implantation and silicone coloring are performed.

3. The emulation robot of claim 1, wherein an eyelid opening and closing steering engine, an eyeball rotating steering engine, a mouth opening and closing steering engine, a head pitching steering engine, a neck rotating steering engine, a bionic human spine and a bionic human mandible are arranged in the skull inside the head.

4. The simulation robot of claim 1, wherein the upper computer can be controlled by a mobile terminal or a PC, and can compile corresponding operation procedures and action editions according to requirements.

5. The emulation robot of claim 1, wherein the motion controller employs a PLC controller.

6. The simulated robot of claim 1 wherein said joint locations comprise two shoulder joints disposed at the shoulder location; the left upper arm joint and the right upper arm joint are arranged at the upper arm positions; the left and right shoulder joint and the left and right upper arm joint are respectively connected with a left and right shoulder connecting joint; the left and right elbow joints are respectively connected with the left and right forearm joints and the left and right upper arm joints; a left wrist joint and a right wrist joint are arranged between the left hand part and the right hand part of the simulation robot and the left forearm joint and the right forearm joint; the lower end part of the upper half body of the simulation robot limb is provided with a trunk rotating joint.

7. The simulation robot as claimed in claim 6, wherein the left and right shoulder joints respectively drive the left and right whole arms to perform a rotating motion of lifting up or lowering down, i.e. rotating around the shoulder axis; the left upper arm joint and the right upper arm joint can respectively realize that the left upper arm and the right upper arm rotate towards the inner side and the outer side of the trunk on a plane vertical to the plane of the trunk around the axis of the upper arm; the left and right shoulder connecting joints can respectively drive the left and right whole arms to realize the rotating actions of opening towards the outer side of the trunk and closing towards the inner side of the trunk on the plane of the trunk; the left and right forearm joints can respectively realize that the left and right forearms rotate towards the inner side and the outer side of the trunk on a plane vertical to the plane of the trunk around the forearm axis; the left elbow joint and the right elbow joint can respectively drive the left forearm and the right forearm to realize the rotating motion of lifting upwards or putting downwards, namely to rotate on a plane vertical to the plane of the trunk; each wrist joint of the left wrist joint and the right wrist joint respectively comprises an upper wrist joint and a lower wrist joint, the upper wrist joint can rotate in the same direction as the elbow joint, so that the wrist can move upwards, the lower wrist joint can rotate in the same direction as the shoulder connecting joint, so that the wrist can move like clapping, and the trunk rotating joint can realize the rotation of the upper body of the simulated robot limb around the trunk axial direction.

8. The simulation robot of claim 1, wherein the simulation robot hand has 6 degrees of freedom, respectively, and can easily perform functions of grasping cigarette ends, a mobile phone, a mineral water bottle, and a hand steering wheel.

9. The simulation robot of claim 1, wherein the upper computer of the simulation robot can be controlled by a mobile terminal or a PC.