CN112444405B

CN112444405B - Simulation device and device group capable of adjusting and controlling degree of road surface unevenness

Info

Publication number: CN112444405B
Application number: CN201910816413.XA
Authority: CN
Inventors: 崔艳秋
Original assignee: Dalian Minzu University
Current assignee: Dalian Minzu University
Priority date: 2019-08-30
Filing date: 2019-08-30
Publication date: 2022-10-11
Anticipated expiration: 2039-08-30
Also published as: CN112444405A

Abstract

The simulation device and the device group with the adjustable and controllable road surface concave-convex degree belong to the field of automobile testing, and in order to solve the problem of providing traffic road scenes with various road surfaces with different concave-convex degrees in the simulation of automobile running, a bearing is arranged in a bearing seat supported by a support frame; the circumferential surface of one section of the top end of the sleeve is arranged in an inner ring of the bearing, the inner circumferential surface of the sleeve is provided with internal threads, and the circumferential surface of one section of the bottom end of the sleeve is provided with a gear ring formed by teeth which can be meshed with the gear; the circuit board is laid to screw thread pillar top end face, and its periphery has the external screw thread with telescopic internal thread fit, rotates in two opposite directions through the sleeve and is located the degree of depth in the sleeve because of threaded connection with the adjustment screw thread pillar, and the height of adjustment screw thread pillar between bearing frame and circuit board, and the effect can provide as much as possible way survey environment for unmanned automobile.

Description

Simulation device and device group capable of adjusting and controlling degree of road surface unevenness

Technical Field

The invention belongs to the field of automobile testing, and relates to a device capable of adjusting and controlling road surface obstacles.

Background

In recent years, the development of unmanned vehicles and their corresponding detection techniques has become a hot issue. Along with continuous integration of various technologies in the aspect of unmanned vehicle technology, and higher intelligent degree and complexity of unmanned vehicles, more efficient and more comprehensive detection devices are needed. When the unmanned automobile is used for real road test, the test for dealing with various emergency conditions is an important link. The capabilities of obstacle avoidance and safe road surface emergency handling of the unmanned vehicle are particularly important, the theoretical research of the existing unmanned vehicle road test is very deep, the actual research and development are not mature, and continuous tests are required for verification and improvement. However, a standard field close to a real driving environment is still lacked at present for testing the capabilities of an unmanned automobile in obstacle avoidance and road surface emergency treatment. Therefore, a testing device which can carry out standard obstacle avoidance and road surface emergency processing on unmanned vehicles and is close to a real driving environment is urgently needed. However, this solution also presents some problems: because the real vehicle, the radar, the camera and the like are needed to realize the test, the equipment cost is high, a large number of test sites need to be provided, the real vehicle test has certain danger under the condition that a control algorithm is immature, and the development period is long. The performance, efficiency, reliability, durability and the like of the unmanned automobile can not be determined by only depending on calculation, and the unmanned automobile still needs to be tested in an actual test environment, so that the road test is very important content in the unmanned automobile performance test. Ordinary traffic roads are generally flat, and for unmanned vehicles, the trafficability of different obstacle pavements and the ability to cope with emergency situations sometimes need to be tested. The vehicle road test environment of the existing concave-convex road surface is relatively less, the obstacle environment is fixed, the concave obstacle road surface and the convex obstacle road surface are relatively independent, and the concave-convex degree and the distance between the concave-convex obstacle road surface and the convex obstacle road surface are not controllable. When the unmanned vehicle is tested on the road surfaces with different concave-convex obstacles, only the obstacle simulation devices with corresponding concave-convex degrees can be manufactured respectively, the time and the labor are consumed, the operation is inconvenient, the available vehicle performance data are relatively less, and the actual operation performance of the unmanned vehicle cannot be well tested.

Disclosure of Invention

In order to solve the problem of providing traffic road scenes with various road surfaces with different concave-convex degrees in the simulation of automobile running and provide the unmanned automobile with the road test environment as much as possible, the invention provides the following technical scheme: a simulation device capable of adjusting and controlling the degree of road surface unevenness mainly comprises a bearing, a bearing seat, a support frame, a sleeve, a threaded strut and a circuit board; the bearing is arranged in a bearing seat supported by the support frame; the circumferential surface of one section of the top end of the sleeve is arranged in the inner ring of the bearing, the inner circumferential surface of the sleeve is provided with internal threads, and the circumferential surface of one section of the bottom end of the sleeve is provided with a gear ring formed by teeth which can be meshed with the gear; the top end face of the threaded support is paved with a circuit board, the periphery of the threaded support is provided with external threads matched with the internal threads of the sleeve, the sleeve is rotated in two opposite directions to adjust the depth of the threaded support in the sleeve due to threaded connection, and the height of the threaded support between the bearing seat and the circuit board is adjusted.

Has the beneficial effects that:

1. aiming at the condition that the material and the road surface have ice and snow. The method provides the unmanned automobile with as many obstacle environments as possible, is favorable for perfecting the automation capability of the unmanned automobile in driving, and improves the efficiency of the drive test.

2. The device can be modified at will according to different widths and lengths of the running road surface of the unmanned vehicle, and is very flexible and strong in operability. And can simulate various road surface obstacle scenes, such as cross slope, longitudinal slope, wave type and concave-convex type obstacle road surfaces.

3. The degree of unevenness of the road surface obstacle can be freely adjusted. The unmanned automobile can pass through the condition with different road obstacles as much as possible so as to complete the coverage of more road test scenes.

4. This design device adopts steel material to make, and sturdy and durable and firm compactness can carry out split and equipment, adopts mechanical structure design to build and forms, has reuse's advantage. A large amount of driving data can be obtained in the test in order to make an accurate modification of the driving scheme of the unmanned vehicle.

5. Can fuse unsmooth obstacle and multiple road surface scene to unmanned vehicle when road conditions test, this device provides the device structural design that can dismouting and removal at any time, and each part can be dismantled simultaneously, has reduced the degree of difficulty of transport when using, has convenient and fast, easy operation's advantage. The road surface cleaning device can be arranged under various road conditions, and a large amount of sandy soil is not needed to be used for manufacturing various obstacle environments with different shapes and concave-convex degrees.

6. The device adopts steel products which are common materials on the market and can be recycled. Has the advantages of simple and easy-to-operate structure, low cost, economy, practicality, environmental protection and convenient popularization. The economic cost of road testing when the unmanned vehicle deals with various complex road conditions is reduced.

7. The device adopts the mechanical structure design that the motor drives the gear to rotate so as to enable the threaded strut to be adjusted up and down, and the running track is arranged for the motor, so that a plurality of circuit boards can be adjusted simultaneously, and the device has the advantage of strong controllability.

8. The device structural material is firm and durable, can provide corresponding road scene according to the demand that the unmanned vehicle traveles different road conditions, can adjust the unsmooth obstacle road surface gently a little under the ice and snow environment, provides a relatively safe test environment for the unmanned vehicle.

Drawings

FIG. 1 is a schematic view of the overall structure of the device with raised pavement.

Fig. 2 is a schematic view of the overall structure of the device with a concave road surface.

Fig. 3 is a schematic view of the overall structure of the apparatus.

Fig. 4 is a schematic structural diagram of a motor and a running track in the device.

Fig. 5 is a schematic diagram of the operation of the modules when the device is operating alone.

Fig. 6 is a schematic diagram of the operation of the apparatus in which four modules are operated in combination.

Fig. 7 is a schematic view of the structure of the supporting frame in the device.

1. The structure comprises a threaded strut, 2 sleeves, 3 circuit boards, 4 connecting plates, 5 asynchronous motors, 6 external gears of the motors, 7 motor rails, 8 first-layer supporting frames, 9 second-layer supporting frames, 10 bearings, 11 bearing seats and 12 motor supporting pulley frames.

Detailed Description

Example 1: the invention designs a road surface adjustable control simulation device based on the ice and snow environment. Through the mechanical structure design which is simple, practical and strong in operability, the problem that the existing unmanned automobile is difficult to provide a road test environment based on different concave-convex obstacles under the ice and snow environment condition in the performance test at the present stage is solved. The device is utilized to provide a road test environment with various concave-convex obstacles for the unmanned automobile, and the test efficiency of the unmanned automobile can be greatly improved.

In order to achieve the purpose, the scheme of the invention is as follows: a simulation device capable of adjusting and controlling the degree of unevenness of a road surface mainly comprises a threaded support column 1, a sleeve 2, a circuit board 3, a connecting plate 4, an asynchronous motor 5, a motor external gear 6, a motor track 7, a first-layer support frame 8, a second-layer support frame 9, a bearing 10, a bearing seat 11 and a motor support pulley frame 12, wherein the threaded support column 1 is of a steel metal cylindrical structure, the side surface of the cylindrical structure is provided with threads for the sleeve to rotate up and down, and the upper end of the cylindrical structure is internally connected in a groove of the circuit board.

The sleeve 2 is a steel metal hollow cylinder structure, and the thread carved on the inner surface of the sleeve is matched with the thread of the support, so that the problem that the circuit board is driven to lift by vertically adjusting the threaded support is solved. The upper end of the sleeve is provided with a layer of supporting frame, a bearing and a bearing seat device. A gear is arranged at a certain distance from the lower end of the sleeve and is matched with an external gear of the motor, and the gear is mainly used for providing an external force connection point for the sleeve to rotate. The circuit board 3 is a square steel metal plate, a round groove which is matched with the threaded support column and has a fixed depth is arranged below the circuit board, the round groove is buckled on the threaded support column 1, a road surface material required by vehicle road measurement is covered on the circuit board, and the circuit board are connected through a connecting plate. The connecting plate 4 is a rectangular steel metal plate, and one long side of the connecting plate is used for connecting a circuit board, but the length of the connecting plate and the length of the circuit board are set to be a certain proportion. The device is provided with the following components in proportion of 6. The asynchronous motor 5 is mainly responsible for driving the external gear 8 of the motor to rotate. The motor external gear 6 is meshed with the gear 3, and the motor drives the motor external gear to rotate, so that the gear 3 rotates. The motor track 7 is mainly responsible for the running track of the motor during working. The first layer of support frame 8 is fixed outside the bearing seat and is mainly responsible for fixing the bearing and the bearing seat. The two-layer supporting frame 9 acts on the lower part of the one-layer supporting frame, and the problem that the motor needs enough space when in operation is mainly solved. The bearing 10 is mainly responsible for fixing the sleeve, so that the sleeve does not change position, and a device for rotating the sleeve can be realized. The bearing housing 11 mainly functions as a fixed bearing. The motor pulley support frame 12 is a device similar to a trolley structure and is provided with four pulleys, and a motor acts on the pulley support frame. The device is mainly responsible for providing certain height for the motor to make it mesh with the gear on the sleeve, and can make the motor move on the motor track.

When the device is installed in a conventional road test environment, a test road needs to be set into a road pit with a certain size and depth, and the device is installed inside the road pit. The road surface simulation device comprises a motor, a motor track, a threaded strut, a sleeve, a bearing, a support frame, a circuit board and the like. The bearing seat is connected to the upper end of the sleeve, the bearing is installed in the bearing seat, the bearing seat is nested in the first layer of support frame and acts on the second layer of support frame, the first layer of support frame is mainly responsible for fixing the sleeve, the second layer of support frame is mainly responsible for providing a working space for the motor, a gear is arranged at the position of two centimeters at the lower end of the sleeve and is matched with an external gear of the motor, the external gear of the motor is installed on the motor, the motor acts on a motor supporting pulley frame, and the motor pulley frame is a device similar to a trolley and runs on a motor track. The sleeve is internally provided with threads matched with the threaded strut, and the upper end of the threaded strut is designed into a device 22 with a larger cross section area, which mainly plays a role in supporting the circuit board and enables the circuit board to be in a relatively stable state. The connecting plate is used for connecting each circuit board, solves the difference in height problem that produces between each circuit board when the circuit board takes place to go up and down.

One of the modules of the road simulator is operated alone, further illustrating the device, as shown in fig. 5. The asynchronous motor is connected with an external power supply to start working, the motor is fixed on a motor supporting pulley frame, a motor rail is arranged at the lower end of the motor supporting pulley frame, and the motor does not move on the rail if the motor works in situ. Then the motor drives the motor external gear to rotate, the motor external gear acts on the gear of the sleeve to drive the sleeve to rotate, the sleeve is fixed in the bearing, the bearing is fixed in the bearing seat, and the bearing seat is fixed on the support frame, so that the sleeve does not change position and only rotates in situ. The screw thread matched with the screw thread strut is arranged in the sleeve, and the screw thread strut is nested in the sleeve, so that only the screw thread strut in the sleeve is adjusted to lift, and finally the circuit board is lifted.

The support frame device structure is shown in fig. 7. One of the layers of support frame is composed of a layer of support plate 81, a layer of connecting plate 82 and a vertical frame 83. The one deck backup pad is located bearing frame bearing mounted position department, sets up a hollow circle that accords with the sleeve size in its inside, and the bearing frame is with bolt fastening for the one deck backup pad, and the bearing frame is connected with internally mounted's bearing with the screw, strengthens the steadiness that bearing and bearing frame are connected, and one deck backup pad four corners department is equipped with the square fixed orifices, and one deck connecting plate both ends are equipped with the square fixed orifices the same with one deck backup pad size, erects a frame top and one outstanding square entity the same with one deck backup pad size, and the three is connected with the concatenation mode. The second layer of support frame is composed of a second layer of support plate 91, a second layer of connecting plate 92 and a vertical frame 93. Square fixing holes with the same size as the entity of the square protruding from the top of the vertical frame are arranged at the two ends of the two-layer supporting plate and are used for being fixed on the two-layer vertical frame; a square solid body with the same size as the square solid body recessed from the bottom of the vertical frame is protruded and is used for connecting other two layers of support frames; two ends of the two-layer connecting plate are hollowed to form a square hollow body with the same size as the concave square solid at the bottom of the vertical frame, and the two-layer connecting plate, the vertical frame and the square hollow body are connected in a splicing mode. Has the advantages of stable structure, simple operation, convenience and quickness.

The road simulator is further described by taking four modules as units, as shown in fig. 6. Each module is provided with a support frame with a fixing function, a first layer of support frame and a second layer of support frame, and the two layers of support frames are connected with each other. A motor track is arranged below each row of modules, the track acts on the lower portion of the two layers of supporting frames, and a motor is arranged on each track. Because the step is set to four modules, two motor tracks and two motors are arranged, and the motors run on the tracks simultaneously, so that the step has the characteristic of synchronous displacement. The external power supply is connected, the two motors work simultaneously, the circuit board 3A is controlled by the motor 51 to be unchanged, and the circuit board 3D is controlled by the motor 52 to be descended by 5cm; after the motor sets the heights of the circuit board 3a and the circuit board 3D, the motor simultaneously moves to the front track, the circuit board 3B and the circuit board 3C are continuously set to lift, the motor 51 controls the circuit board 3B to lift for 5cm, and the motor 52 controls the circuit board 3C to be stationary. The circuit boards are connected by the connecting board, so that the height difference generated among the circuit boards can be clearly seen, and the circuit boards and the connecting board form a frame to provide a support frame for paving a real test pavement material above the frame.

The device can be assembled according to the length and the width on road surface at will, sets up 6 with the horizontal row in this patent, and the vertical row sets up 6, further explains the concrete operation process of the device when simulating real road test, the concrete implementation scheme of convex obstacle now is exemplified. The test road is set to a road pit with a certain size and depth, and the device is installed inside. The six motors simultaneously run to the first transverse row and control the circuit boards not to change, and the step can well connect a real road surface, so that the unmanned automobile can run stably. The six motors continue to move towards the front track of the track to control the second transverse row of the device, the motors control the third four circuit boards to rise by 10cm, and the second circuit boards and the fifth circuit boards rise by 5cm; the motor continues to operate to a third transverse row, the left third fourth circuit board is controlled to ascend by 15cm, the left second circuit board and the left fifth circuit board ascend by 10cm, and the left first circuit board and the left sixth circuit board ascend by 5cm; the six motors synchronously run to the fourth transverse row, the left third four circuit boards are controlled to ascend by 20cm, the left second circuit boards and the left fifth circuit boards ascend by 15cm, and the left first circuit boards and the left sixth circuit boards ascend by 10cm; the rising heights on the two sides are in a symmetrical state by taking the fourth horizontal row as a symmetrical axis, as shown in figure 1.

Specific embodiments of concave obstacles will now be illustrated. The test road is set to a road pit with a certain size and depth, and the device is installed inside. The six motors simultaneously run to the first transverse row and control the circuit boards not to change, and the step can well connect a real road surface, so that the unmanned automobile can run stably. The six motors continue to move towards the front of the track to control a second transverse row of the device, the motors control a third four circuit boards from the left to descend by 5cm, and the other circuit boards in the transverse row are not changed; the motor continues to operate to the third transverse row, the left fourth circuit board is controlled to descend by 10cm, and the left second circuit board and the left fifth circuit board descend by 5cm; the six motors synchronously run to the fourth transverse row, the two circuit boards in the middle are controlled to descend by 15cm, the second circuit board and the fifth circuit board from the left descend by 10cm, and the first circuit board and the sixth circuit board from the left descend by 5cm; the descending heights at both sides are symmetrical by taking the fourth horizontal row as a symmetrical axis, as shown in fig. 2.

When the device is applied to actual road testing, a real driving road surface needs to be laid on the surface of the device. The invention provides an actual driving road for the unmanned automobile test by adopting the driving road surface made of the polyurethane material. The polyurethane is a high polymer material, has the advantages of wide performance adjustable range, strong adaptability, good wear resistance, high mechanical strength, good bonding performance, good elasticity and good resilience, can be used for dynamic joints, and has good low-temperature flexibility, good weather resistance, long service life of 15-20 years, good oil resistance, biological aging resistance, moderate price and the like. When the device is set to be a concave-convex obstacle, the problem of deformation generated by the device can be well solved by using a driving road surface made of a polyurethane material.

Example 2: a simulation device capable of adjusting and controlling the degree of road surface unevenness mainly comprises a bearing, a bearing seat, a support frame, a sleeve, a threaded strut and a circuit board; the bearing is arranged in a bearing seat supported by the support frame; the circumferential surface of one section of the top end of the sleeve is arranged in an inner ring of the bearing, the inner circumferential surface of the sleeve is provided with internal threads, and the circumferential surface of one section of the bottom end of the sleeve is provided with a gear ring formed by teeth which can be meshed with the gear; the top end face of the threaded support is paved with a circuit board, the periphery of the threaded support is provided with external threads matched with the internal threads of the sleeve, the sleeve is rotated in two opposite directions to adjust the depth of the threaded support in the sleeve due to threaded connection, and the height of the threaded support between the bearing seat and the circuit board is adjusted.

Further, analogue means with unsmooth degree in adjustable control road surface, still include pillar height adjustment device, it includes track, motor, pulley cart and external gear, the pivot and the external gear coupling of motor, the motor is located pulley cart above that, and pulley cart slides in the track, has laid the track near the ring gear of sleeve bottom to make pulley cart stop near the ring gear so that external gear and ring gear meshing.

Furthermore, the support frame comprises a layer of support frame, the layer of support frame consists of a layer of support plate, a layer of connecting plate and a layer of vertical frame, the layer of support plate is an integral plate, a hollow circle matched with the diameter of the sleeve is arranged in the center of the layer of support plate, bolt holes for fixing the bearing seat and the layer of support plate are arranged around the hollow circle, and the bearing seat can be fixed on the layer of support plate through bolts; the one deck backup pad four corners department is equipped with the fixed orifices, and the one deck connecting plate has two of relative setting, and every both ends be equipped with one deck backup pad assorted fixed orifices, the one deck erects the frame and has four, its top all has the outstanding entity with one deck backup pad fixed orifices assorted, one deck connecting plate is vertically lieing in between one deck backup pad and the one deck erects the frame top, and two one deck connecting plates set up in the relative both sides side of one deck backup pad to cooperate through fixed orifices and outstanding entity and fix as the support frame.

Furthermore, the support frame still include two layers of support frames, it mainly by two layers of backup pads, two layers of connecting plates and two layers of perpendicular framves are constituteed, two layers of backup pads have two of relative setting, two layers of connecting plates have two of relative setting, two layers of backup pads and two layers of connecting plates both ends be equipped with the protruding entity assorted fixed orifices at two layers of perpendicular frame tops, four two liang of relative settings of piece form the rectangle frame, two layers of perpendicular frame have four, each protruding entity in its top runs through two layers of connecting plates, the corresponding fixed orifices of two layers of backup pads from bottom to top to the entity recess phase-match in one deck perpendicular frame bottom concave yield.

A simulation device group with adjustable and controllable road surface concave-convex degree is mainly formed by arranging a plurality of simulation obstacle devices, circuit boards of two adjacent simulation obstacle devices are connected through a connecting plate, the connecting plate is hinged (such as hinged) with the circuit boards, a track is used for connecting gear rings among the simulation obstacle devices, a pulley vehicle can slide among different gear rings to enable external gears of a motor to be meshed with different gear rings at different moments, and the height of different threaded struts between a bearing seat and the circuit boards is adjusted.

Furthermore, four obstacle simulation devices are arranged and distributed in a square shape, a motor track is arranged below the two obstacle simulation devices in the same row, and a pulley trolley and a motor are arranged on each track.

Further, an external power supply is connected, the motor starts to work, the motor is fixed on a frame of the trolley, and the trolley slides on the laid track and stays at a position close to the sleeve gear ring; the motor drives external gear and rotates, and external gear of motor and telescopic ring gear meshing drive the sleeve and take place to rotate, and the sleeve is fixed in the bearing, and the bearing is fixed in the bearing frame, and the bearing frame is fixed on the support frame, and the sleeve is inside have with screw thread pillar assorted screw thread, and the screw thread pillar nestification is inside the sleeve to the screw thread in the adjusting sleeve makes the pillar take place to go up and down, makes the circuit board take place to go up and down.

A method for simulating concave-convex obstacles on a road surface in an unmanned automobile drive test experiment is characterized in that an external power supply is connected, a motor starts to work, the motor is fixed on a frame of a trolley, and the trolley slides on a laid track and stays at a position close to a sleeve gear ring; the motor drives external gear and rotates, and external gear of motor and telescopic ring gear meshing drive the sleeve and take place to rotate, and the sleeve is fixed in the bearing, and the bearing is fixed in the bearing frame, and the bearing frame is fixed on the support frame, and the sleeve is inside have with screw thread pillar assorted screw thread, and the screw thread pillar nestification is inside the sleeve to the screw thread in the adjusting sleeve makes the pillar take place to go up and down, makes the circuit board take place to go up and down.

Claims

1. The utility model provides a simulation device with unsmooth degree of adjustable control road surface which characterized in that: the simulation device comprises a bearing, a bearing seat, a support frame, a sleeve, a threaded strut and a circuit board; the bearing is arranged in a bearing seat supported by the support frame; the circumferential surface of one section of the top end of the sleeve is arranged in an inner ring of the bearing, the inner circumferential surface of the sleeve is provided with internal threads, and the circumferential surface of one section of the bottom end of the sleeve is provided with a gear ring formed by teeth which can be meshed with the gear; a circuit board is laid on the top end face of the threaded support, external threads matched with the internal threads of the sleeve are arranged on the periphery of the threaded support, the sleeve is rotated in two opposite directions to adjust the depth of the threaded support in the sleeve due to threaded connection, and then the height of the threaded support between the bearing seat and the circuit board is adjusted;

the simulation device also comprises a strut height adjusting device, wherein the strut height adjusting device comprises a rail, a motor, a pulley trolley and an external gear, a rotating shaft of the motor is in shaft coupling with the external gear, the motor is positioned on the pulley trolley, the pulley trolley slides on the rail, the rail is laid near a gear ring at the bottom end of the sleeve, so that the pulley trolley stays near the gear ring to enable the external gear to be meshed with the gear ring;

the supporting frames comprise a first layer of supporting frames and a second layer of supporting frames, the first layer of supporting frames are composed of a first layer of supporting plates, a first layer of connecting plates and a first layer of vertical frames, the first layer of supporting plates are integral plates, a hollow circle matched with the diameter of the sleeve is arranged in the center of the first layer of supporting plates, bolt holes for fixing the bearing seat and the first layer of supporting plates are arranged around the hollow circle, and the bearing seat is fixed on the first layer of supporting plates through bolts; the four corners of the first layer of supporting plates are provided with fixing holes, the first layer of connecting plates are provided with two oppositely arranged plates, two ends of each plate are provided with fixing holes matched with the first layer of supporting plates, the first layer of vertical frame is provided with four vertical frames, the tops of the first layer of vertical frames are provided with protruding entities matched with the fixing holes, the first layer of connecting plates are longitudinally positioned between the first layer of supporting plates and the tops of the first layer of vertical frames, and the two first layer of connecting plates are arranged on two opposite sides of the first layer of supporting plates and are fixed as first layer of supporting frames through the matching of the fixing holes and the protruding entities;

the second layer of supporting frame mainly comprises a second layer of supporting plate, a second layer of connecting plate and a second layer of vertical frame, wherein the second layer of supporting plate is provided with two plates which are oppositely arranged, the second layer of connecting plate is provided with two plates which are oppositely arranged, the four plates are oppositely arranged in pairs to form a rectangular frame, two ends of the second layer of supporting plate and two ends of the second layer of connecting plate are respectively provided with a fixing hole which is matched with a protruding entity at the top of the second layer of vertical frame, the second layer of vertical frame is provided with four plates, and each protruding entity at the top penetrates through the corresponding fixing holes of the second layer of connecting plate and the second layer of supporting plate from bottom to top and is matched with a recessed entity groove at the bottom of the first layer of vertical frame;

the simulation devices are arranged to form a simulation device group capable of adjusting and controlling the concave-convex degree of the road surface, the road boards of two adjacent simulation devices are connected through a connecting plate, the connecting plate is hinged with the road boards, the rails are used for connecting gear rings among the simulation devices, so that the pulley trolley can slide among different gear rings to enable an external gear of a motor to be meshed with different gear rings at different moments, the heights of different threaded struts between a bearing seat and the road boards are adjusted, and the road boards are lifted.