CN112146896A - Hump type chassis device and pedestrian simulation system for testing - Google Patents
Hump type chassis device and pedestrian simulation system for testing Download PDFInfo
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- CN112146896A CN112146896A CN202011100253.8A CN202011100253A CN112146896A CN 112146896 A CN112146896 A CN 112146896A CN 202011100253 A CN202011100253 A CN 202011100253A CN 112146896 A CN112146896 A CN 112146896A
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- 238000004088 simulation Methods 0.000 title claims abstract description 14
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- 230000005540 biological transmission Effects 0.000 claims abstract description 19
- 230000006835 compression Effects 0.000 claims abstract description 10
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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
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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Abstract
The invention discloses a hump chassis device and a pedestrian simulation system for testing, wherein the hump chassis device comprises a chassis, a suspension mechanism, a control mechanism and a driving mechanism, wherein a slope plate assembly is arranged around the chassis, and the driving mechanism comprises a Mecanum wheel, a transmission gear and a driven gear; the Mecanum wheel is connected with a transmission gear of a speed reduction direct current motor through a driven gear; the Mecanum wheel is connected with a compression spring; the suspension mechanism is mechanically designed and connected with the frame; the pedestrian simulation system for the test is designed by utilizing the camel-back chassis device, and further comprises a humanoid skeleton, wherein the humanoid skeleton is divided into a trunk skeleton and four limb skeletons; the trunk framework is connected with the four limb frameworks through connecting pieces, the connecting pieces are connected with the four limbs through output shafts of direct current motors, and the direct current motors are respectively arranged on shoulders and hips of the human-like frameworks; the human-like skeleton adopts a telescopic rod.
Description
Technical Field
The invention relates to a chassis and pedestrian simulation system, in particular to a hump type chassis device and a pedestrian simulation system for testing.
Background
At present, automobile intelligent process is actively promoted in all countries in the world. Currently, the automobile intelligent process in the United states, Europe and Japan including China gives great support to policy and fund, but research in the field of automobile intelligent test is less, and a test system is not perfect. Safety is of paramount importance to intelligent vehicles, and therefore each intelligent vehicle requires extensive testing before it can be driven on the road.
The intelligent vehicle testing technology field is mainly divided into a test field closed test and a real road test, the test field closed test scene is single, the test cost is not high, but the one-time investment of the test field and equipment is large, and the vehicle intelligent degree can not be effectively reflected; the real road test has many uncertain factors and great potential safety hazard and is limited by local laws.
Therefore, in order to solve the potential safety hazard problems of single scene and real person participation in the test in the intelligent vehicle test system, it is urgently needed to develop a humpback type chassis device and a pedestrian simulation system for test designed by using the chassis device. The device and the system can ensure the test safety, effectively improve the intelligent degree of the test vehicle and better promote the progress of the test technology of the intelligent vehicle.
Disclosure of Invention
In order to solve the problems in the intelligent vehicle testing system, the invention provides a hump chassis device and a pedestrian simulation system for testing.
One or more embodiments provide a camel-back chassis device, which comprises a chassis, a suspension mechanism 7, a driving mechanism and a control module, wherein a slope plate assembly 9 is arranged around the chassis, the driving mechanism comprises a Mecanum wheel 4, a transmission gear 18 and a driven gear 19, and the Mecanum wheel 4 is connected with the transmission gear 18 of a speed-reducing direct current motor 3 through the driven gear 19; the Mecanum wheel 4 is also connected with a compression spring; the output shaft of the speed reducing direct current motor 3 is connected with a transmission gear 18, a driven gear 19 is connected with the Mecanum wheel 4, and when the speed reducing direct current motor 3 runs, the transmission gear 18 drives the driven gear 19 so as to drive the wheel to move; the suspension mechanism 7 is arranged in the middle of the Mecanum wheel 4 and connected with the camel-back chassis frame; the input of the control module is connected with the detection sensor, and the output of the control module is connected with the driving mechanism.
Aiming at the technical scheme, the driving mechanism further comprises a speed reduction direct current motor 3 and a motor driver 8 which are respectively arranged at four positions of the left front part, the right front part, the left rear part and the right rear part of the chassis; the Mecanum wheels 4 are driven by a speed reducing direct current motor 3, the speed reducing direct current motor 3 is respectively connected with the four Mecanum wheels 4, and an output shaft of the speed reducing direct current motor 3 is connected with the Mecanum wheels 4 through a transmission gear 18 and a driven gear 19; the motor driver 8 is a driving device of the deceleration direct current motor 3; the suspension device is connected with the hump type chassis frame; the suspension areas comprise two sets of suspension devices and compression springs, and the two sets of suspension devices are respectively arranged in the middle of the left front Mecanum wheel 4, the right front Mecanum wheel 4 and the middle of the left rear Mecanum wheel 4 and the right rear Mecanum wheel 4.
Aiming at the technical scheme, the center of the chassis is further provided with a central groove 1.
Aiming at the technical scheme, the chassis central groove 1 is designed in a layered mode, and small holes are formed in the periphery of a central layer.
To further limit the technical solution, the control module includes a processor, a power circuit, a detection circuit and a driving circuit; the drive circuit is connected with the motor driver 8, the power circuit provides power for the motor controller 2, and the control module is provided with a communication interface.
To further limit the technical scheme, the slope plate is made of rigid material, and a flexible enclosure protection layer 10 is arranged on the periphery of the slope plate assembly 9.
To further limit the technical solution, the control module further includes a differential GPS module 5.
One or more embodiments provide a pedestrian simulation system for testing using the hump chassis device, comprising a doll model, the doll model comprising a humanoid skeleton, a filling module 20 and a control mechanism; the chassis is connected with the doll model through a support rod 15.
To further limit the technical scheme, the human-like skeleton comprises a trunk skeleton 12 and four limb skeletons 16; the trunk framework 12 and the four-limb frameworks 16 are connected through connecting pieces 13, the connecting pieces 13 are connected with four limbs through output shafts of direct current motors, and the direct current motors are respectively arranged on shoulders and hips of the human-like frameworks; the human-like skeleton adopts a telescopic rod.
The technical scheme is further limited, the filling modules 20 surround the human-like skeleton, the filling modules 20 are connected with each other through a pasting structure, and anti-collision materials are arranged in the filling blocks.
The invention provides a hump chassis device and a pedestrian simulation system for testing, wherein the hump chassis has the characteristic of low height, is not easy to be sensed by a tested vehicle in the testing process, has the compression-resistant buffer characteristic of a doll model, can simulate the motion state of four limbs when a pedestrian walks, better simulates the walking posture of the pedestrian, can retract the mecanum wheels of the hump chassis to the bottom of a vehicle frame when the testing fails, has a slope, has a better protection effect on the tested vehicle, has the characteristic of quick assembly of the doll model, and has the advantage of quick assembly and repeated testing.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious to those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a structural view of a chassis according to an embodiment of the present invention;
FIG. 2 is a diagram of a Mecanum wheel configuration in accordance with an embodiment of the present invention;
FIG. 3 is a three-view diagram of a doll model according to an embodiment of the present invention;
FIG. 4 is a diagram of an avatar model according to an embodiment of the present invention;
fig. 5 is an external view of a suspension mechanism according to an embodiment of the present invention.
Wherein,
1. the device comprises a central groove, 2 parts of a controller, 3 parts of a speed reduction direct current motor, 4 parts of a Mecanum wheel, 5 parts of a differential GPS module, 6 parts of a driving power supply, 7 parts of a suspension mechanism, 8 parts of a motor driver, 9 parts of a slope plate assembly, 10 parts of a soft surrounding protective layer, 11 connectors, 12 parts of a trunk framework, 13 parts of a connecting piece, 14 parts of a driving motor, 15 parts of a supporting rod, 16 parts of a four-limb framework, 17 parts of a telescopic hole, 18 parts of a transmission gear, 19 parts of a driven gear and 20 parts of a filling module.
Detailed Description
The present disclosure is further described with reference to the following drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.
Example 1
As shown in fig. 1, the camel-back chassis device comprises a chassis, a suspension mechanism 7, a control mechanism and a driving mechanism, wherein a slope plate assembly 9 is arranged around the chassis, and the driving mechanism comprises mecanum wheels 4, a transmission gear 18 and a driven gear 19; mecanum wheels 4, as shown in fig. 2, may be moved in all directions, including but not limited to pivot, turn, advance, and retreat; the Mecanum wheel 4 is connected with a transmission gear 18 of the speed reducing direct current motor 3 through a driven gear 19; the Mecanum wheel 4 filters part of road surface bump through a compression spring; as shown in fig. 5, the output shaft of the deceleration dc motor 3 is connected with the transmission gear 18, the driven gear 19 is connected with the mecanum wheel 4, and when the deceleration dc motor 3 runs, the transmission gear 18 drives the driven gear 19 to drive the wheel to move. The suspension mechanism 7 is arranged in the middle of the Mecanum wheel 4 and connected with the camel-back chassis frame. When the chassis is rolled in a test failure, the compression spring enters a maximum compression state, meanwhile, the suspension device moves downwards through the hinge rotating shaft, and the suspension device is connected with the chassis frame, so that the chassis is driven to move downwards, and wheels are retracted into the frame. The camel back chassis can withstand a single wheel (about 300kg) crush of the vehicle, beyond which weight the mecanum wheels 4 can be compressed into the chassis frame.
The central groove 1 is arranged in the center of the chassis and is a connecting groove for a doll model supporting rod 15, the supporting rod 15 is embedded into the central groove 1 of the chassis and a doll model connecting port 11, the supporting rod 15 is connected with the hump type chassis and the doll model, the central groove 1 is designed in a layered mode, and a hole is reserved in the central layer to facilitate connection of the doll model and the hump type chassis.
Example 2
As shown in fig. 5, the output shaft of the deceleration dc motor 3 is connected with the transmission gear 18, the driven gear 19 is connected with the mecanum wheel 4, and when the deceleration dc motor 3 runs, the transmission gear 18 drives the driven gear 19 to drive the wheel to move. The controller 2 controls the motor driver 8, so that the effect of controlling the deceleration direct current motor 3 and further controlling the chassis to move is achieved. The motor driver 8 drives the deceleration dc motor 3.
The slope plate assembly 9 is made of rigid materials, and a soft surrounding protection layer 10 is arranged on the periphery of the slope plate assembly 9. When the chassis is rolled by the test vehicle in the test failure, the slope plate component 9 can provide a buffer surface for the test vehicle, has a buffer effect, and is made of rigid materials to bear enough pressure without deformation; the soft surrounding protection layer 10 is adopted around the test vehicle, so that the test vehicle tire can be protected when the vehicle rolls, and objects around the test vehicle tire can be protected when the humped chassis moves.
The doll model comprises a humanoid skeleton, a filling module 20, a support rod 15 and the like; the figure model human-shaped framework comprises a trunk framework 12 and four limb frameworks 16; the trunk framework 12 and the four-limb frameworks 16 are connected through connecting pieces 13; the connecting piece 13 is connected with a four-limb framework 16 through an output shaft of a driving motor 14; the driving motors 14 are respectively arranged on the shoulder and the hip of the human-like skeleton; in the embodiment, the pedestrian simulation system connects the connecting port 11 with the central groove 1 of the humped chassis through the supporting rod 15, and the doll model is placed above the humped chassis. The doll model is driven by a motor, and the four limbs swing gesture when walking of a real person is simulated in the operation process.
Example 3
As shown in fig. 1, the hump chassis is an ultra-low platform with low profile and low center of gravity; the hump chassis is designed in a modularized partition mode and is divided into a control area, a driving area, a suspension area, a sensing area and the like. The doll model comprises a humanoid skeleton, a filling module 20 and a control mechanism, wherein the humanoid skeleton comprises a trunk skeleton 12, a four-limb skeleton 16 and the humanoid skeleton covered by the filling module 20. The trunk skeleton 12 and the limb skeletons 16 are connected by the connecting pieces 13. One end of the connecting piece 13 is connected with the four-limb framework 16, the other end of the connecting piece is connected with an output shaft of the driving motor 14, and the driving motor 14 is arranged on the shoulder and hip of the human-like framework. The four-limb framework 16 is used for simulating four-limb actions when the pedestrian walks; the human-like skeleton adopts a telescopic rod structure, and the length of the human-like skeleton is adjusted through the telescopic holes 17, so that pedestrians with different heights and body types can be simulated; the filling module 20 has a buffer material built therein.
When the test fails, the automobile impacts the doll model, the filling module 20 is internally provided with a buffer material which can absorb energy, weaken the impact force and protect the test automobile and the doll model. The doll model needs to be guaranteed not to be destructively damaged after being impacted, so the human-like skeleton is divided into a trunk skeleton 12 and a four-limb skeleton 16, the limbs of the human-like skeleton are easy to separate after being impacted, and meanwhile, the skeletons of the doll model are connected through a connecting piece 13, so that the doll model is simple in structure, can be spliced quickly, and can be tested for multiple times in a short time.
In the embodiment, the humpback chassis drives the motor driver 8 through the controller 2, so that all motors are controlled to operate, and the limbs and the chassis move; the chassis and the doll model are cooperatively controlled in the movement process, the controller 2 is shared, and the four limb swing amplitude and frequency of the doll model are automatically adjusted through the movement speed of the camel-back chassis; the differential GPS module 5 of the camel-back chassis can position the chassis position in real time, so that the collision time can be debugged conveniently.
When the test failure test vehicle rolls and strikes the doll model to the chassis, the chassis ramp plate assembly 9 firstly gives a buffer surface of the test vehicle, and protects the vehicle through the soft surrounding protective layer 10, and meanwhile, the compression spring and the suspension mechanism 7 are stressed to press the wheels back to the vehicle frame, and the doll model is subjected to dismemberment after collision. After the test is finished, the worker quickly assembles and connects the limb relief doll model through the connecting piece 13 so as to quickly and repeatedly test.
The same and similar parts in the various embodiments in this specification may be referred to each other.
The foregoing is directed to embodiments of the present invention, and it is understood that various modifications and improvements can be made by those skilled in the art without departing from the spirit of the invention.
Claims (10)
1. A camel-back chassis device comprises a chassis, a suspension mechanism (7), a driving mechanism and a control module, and is characterized in that a slope plate assembly (9) is arranged around the chassis, the driving mechanism comprises a Mecanum wheel (4), a transmission gear (18) and a driven gear (19), and the Mecanum wheel (4) is connected with the transmission gear (18) of a speed-reducing direct current motor (3) through the driven gear (19); the Mecanum wheel (4) is also connected with a compression spring; the output shaft of the speed reducing direct current motor (3) is connected with a transmission gear (18), a driven gear (19) is connected with the Mecanum wheel (4), and when the speed reducing direct current motor (3) runs, the transmission gear (18) drives the driven gear (19) to drive the wheel to move; the suspension mechanism (7) is arranged in the middle of the Mecanum wheel (4) and connected with the camel-back chassis frame; the input of the control module is connected with the detection sensor, and the output of the control module is connected with the driving mechanism.
2. A hump chassis device according to claim 1, characterized in that said driving mechanism further comprises a deceleration dc motor (3) and a motor driver (8) respectively disposed at four positions of left front, right front, left rear and right rear of the chassis; the Mecanum wheels (4) are driven by a speed reduction direct current motor (3), the speed reduction direct current motor (3) is respectively connected with the four Mecanum wheels (4), and an output shaft of the speed reduction direct current motor (3) is connected with the Mecanum wheels (4) through a transmission gear (18) and a driven gear (19); the motor driver (8) is a driving device of a deceleration direct current motor (3); the suspension device is connected with the hump type chassis frame; the suspension area comprises two sets of suspension devices and compression springs, and the two sets of suspension devices are respectively arranged in the middle of the left front Mecanum wheel (4), the right front Mecanum wheel (4) and the middle of the left rear Mecanum wheel (4) and the right rear Mecanum wheel (4).
3. A hump chassis device according to claim 1, characterized in that said chassis is provided with a central slot (1) in its centre.
4. The hump chassis device according to claim 1, characterized in that the central slot (1) of the chassis is of a layered design and the periphery of the central layer is provided with small holes.
5. The hump chassis device according to claim 1, wherein the control module comprises a processor, a power circuit, a detection circuit and a driving circuit; the drive circuit is connected with a motor driver (8), the power circuit provides power for the motor controller (2), and the control module is provided with a communication interface.
6. The hump chassis device according to claim 1, wherein the slope plate is made of rigid material and a soft surrounding protection layer (10) is arranged on the periphery of the slope plate component (9).
7. A camelback chassis device according to claim 1, wherein the control module further comprises a differential GPS module (5).
8. A pedestrian simulation system for testing by using the hump chassis device as claimed in claim 1, characterized by further comprising a doll model, wherein the doll model comprises a humanoid skeleton, a filling module (20) and a control mechanism; the chassis is connected with the doll model through a support rod (15).
9. The test pedestrian simulation system of claim 8, wherein the humanoid skeleton comprises a torso skeleton (12) and a limb skeleton (16); the trunk framework (12) is connected with the four limb frameworks (16) through connecting pieces (13), the connecting pieces (13) are connected with four limbs through output shafts of direct current motors, and the direct current motors are respectively arranged on shoulders and hips of the human-like frameworks; the human-like skeleton adopts a telescopic rod.
10. The pedestrian simulation system for testing as defined in claim 8, wherein the filling modules (20) surround the skeleton, the filling modules (20) are connected to each other by a bonding structure, and the filling modules are filled with the anti-collision material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011100253.8A CN112146896A (en) | 2020-10-15 | 2020-10-15 | Hump type chassis device and pedestrian simulation system for testing |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011100253.8A CN112146896A (en) | 2020-10-15 | 2020-10-15 | Hump type chassis device and pedestrian simulation system for testing |
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| CN112146896A true CN112146896A (en) | 2020-12-29 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113752935A (en) * | 2021-08-26 | 2021-12-07 | 中汽研（天津）汽车工程研究院有限公司 | Intelligent network-connected automobile field test flat car |
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2020
- 2020-10-15 CN CN202011100253.8A patent/CN112146896A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113752935A (en) * | 2021-08-26 | 2021-12-07 | 中汽研（天津）汽车工程研究院有限公司 | Intelligent network-connected automobile field test flat car |
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