CN113160691A - Unmanned automatic driving vehicle for education and training - Google Patents
Unmanned automatic driving vehicle for education and training Download PDFInfo
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- CN113160691A CN113160691A CN202110496320.0A CN202110496320A CN113160691A CN 113160691 A CN113160691 A CN 113160691A CN 202110496320 A CN202110496320 A CN 202110496320A CN 113160691 A CN113160691 A CN 113160691A
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
Abstract
The invention relates to an unmanned automatic driving vehicle for education and training, which comprises a wire control chassis and an outer vehicle body decoration which is positioned above the wire control chassis and is detachably connected with the wire control chassis, wherein an automatic driving system and education accessories are arranged on the outer vehicle body decoration; the platform adopts a modular design and has full-line control capability and an automatic driving function; the system can be matched with an automatic driving experiment course, realizes related requirements of automatic driving research, teaching and training, and can be used as a professional platform for automatic driving technology research and teaching.
Description
Technical Field
The invention relates to the field of automatic driving vehicle devices for teaching and training, in particular to an unmanned automatic driving vehicle for education and training.
Background
The automatic driving technology is the current popular research direction and is also a necessary technology for realizing unmanned logistics, unmanned environmental sanitation, unmanned disinfection and the like in the future. The teaching vehicle of the many unmanned vehicles is disclosed in the prior art:
for example, the chinese utility model patent CN211555178U discloses an unmanned automobile teaching vehicle, which comprises a vehicle body, an unmanned control system and a drawable platform, wherein a teaching component in the unmanned control system is assembled on the drawable platform; the teaching assembly comprises a central control machine with high failure frequency, inertial navigation, an inverter for converting voltage and a transformer, the inertial navigation is in communication connection with the central control machine, an open type rear tail door is arranged at the tail part of the vehicle body, and when the open type rear tail door is opened, the drawable platform is driven to extend to the outside of the vehicle body; the camera and the millimeter wave radar in the unmanned control system are assembled on the head of the vehicle body, and the laser radar in the unmanned control system is assembled on the roof of the vehicle. The visibility of parts in the unmanned automobile is greatly improved, students can learn intuitively, and meanwhile, teachers can conveniently add obstacles in the parts without disassembling. The state of the automobile can be observed in real time through the display, obstacles can be found out, the obstacles can be removed through the operation of the keyboard and the mouse, and the practical ability of students can be investigated and exercised.
Still like chinese patent CN212624468U discloses an automatic real teaching aid of keeping away barrier parking of unmanned automobile, this real teaching aid of instructing includes operation chassis, teaching aid car, the operation base includes base, swiveling wheel module, front axle, rear axle, belt, the base is frame construction, and the teaching aid car includes electrical power generating system, traveling system, actuating system, control system. This real standard teaching aid can be as real standard platform in new energy automobile's chassis at ordinary times, let the student observe the structure of each part in new energy pure electric vehicles chassis, when the teacher taught unmanned automobile's automation and kept away barrier parking principle, transfer the teaching aid car into the automatic mode of cruising, make the student closely observe the automatic working process of dodging the barrier of unmanned automobile, cooperation teacher's theoretical explanation, make teaching work more directly perceived, lively, thereby student's study enthusiasm has been transferred, and then teacher's teaching quality and student's learning effect have been improved, let the student master the principle that unmanned automobile dodges the barrier automatically.
In the prior art, the research about the automatic driving technology is generally modified from the mature vehicle type, and the vehicle type specially designed for the education and training of the automatic driving technology is not available; and most of the existing vehicles are demonstration models, and the complete actual automatic driving function cannot be realized.
Disclosure of Invention
The invention aims to solve the technical problem of providing an unmanned automatic driving vehicle for education and training, and aims to overcome the defects in the prior art.
The technical scheme for solving the technical problems is as follows:
an unmanned automatic driving vehicle for education training comprises a wire control chassis and an exterior vehicle body decoration which is positioned above the wire control chassis and detachably connected with the wire control chassis, wherein an automatic driving system and education accessories are arranged on the exterior vehicle body decoration, the automatic driving system collects information around the automatic driving vehicle and generates a control command, and the wire control chassis can control the automatic driving vehicle to drive to a specified position according to the control command; the education accessory comprises a vehicle-mounted display, an interactive system and a fault setting and diagnosing system, wherein the vehicle-mounted display is a touch screen, and the fault setting and diagnosing system is used for setting faults of the automatic driving vehicle and acquiring and displaying fault information through the vehicle-mounted display;
the interactive system comprises an interactive host and a human-computer interface; the man-machine interface is operated through a touch screen, transmits an instruction to the interactive host to execute fault setting and acquisition, and comprises a fault setting interface and a fault display interface, wherein the fault setting interface comprises a set sensor fault, and key parts in the drive-by-wire chassis and the automatic driving system of the automatic driving vehicle are provided with power supply open circuit, signal short circuit, signal mutual short circuit and signal ground short circuit fault types; the fault setting and diagnosing system can be controlled to set one or more faults by clicking a fault setting interface; the fault display interface acquires hardware circuit signals and analyzes and processes the hardware circuit signals by controlling the fault setting and diagnosing system so as to display the set faults; the fault setting and diagnosing system comprises an MCU controller, a fault setting point, a state acquisition point and a diagnosing panel; the MCU controller is connected with the interactive system and receives a fault setting instruction and feedback state information, and processes fault setting and acquisition logic, a fault setting point realizes setting and recovery of the fault state of the key parts of the automatic driving vehicle, and a state acquisition point realizes acquisition of the state information of the key parts of the automatic driving vehicle; jacks are arranged on the diagnosis panel corresponding to each state acquisition point for a universal meter to acquire signals;
further, the automatic driving system comprises a laser radar, a binocular camera, an upper computer, a millimeter wave radar, an ultrasonic radar and a combined inertial navigation system; the laser radar, the binocular camera, the upper computer, the millimeter wave radar, the ultrasonic radar and the combined inertial navigation system are all provided with signal detection sensors; the upper computer collects information of a laser radar, a binocular camera, a millimeter wave radar and an ultrasonic radar and combines environment information, high-precision positioning and navigation to realize the functions of path navigation and automatic obstacle avoidance;
furthermore, the drive-by-wire chassis comprises a chassis controller, a steering-by-wire system, a brake-by-wire system, a parking-by-wire system and a drive-by-wire system, wherein signal detection sensors are arranged among the chassis controller, the steering-by-wire system, the brake-by-wire system and the parking-by-wire system and used for detecting signal states; the middle part of the frame is provided with a battery for providing power for a drive-by-wire chassis and a battery management system, and the chassis controller is connected with an upper computer and used for receiving a control instruction to realize the functions of route navigation and automatic arm obstacle avoidance of the logistics vehicle;
further, the interactive system is connected with the MCU controller through the CAN bus to perform data transmission; the MCU controller comprises a digital quantity output interface and a digital quantity input interface, and the digital quantity input interface is respectively connected with state acquisition points arranged at the input end and the output end of the signal detection sensor; the digital quantity output interface is respectively connected with a fault setting point, and the fault setting point can realize the on-off of the input end and the output end of the sensor by setting the 'off' and 'on' states through the interface module, so that the setting and the recovery of the fault are realized;
further, the vehicle body exterior trim can be made of glass, plastic, metal, resin or carbon fiber materials;
furthermore, a charging port is arranged on the vehicle body exterior trim and used for charging a battery and the battery in a battery management system; an emergency stop button is arranged on the surface of the outer decoration of the automobile body and connected with a chassis controller on the wire control chassis, and the signal priority of the emergency stop button is higher than the priority of an instruction of an upper computer in the automatic driving system; a power supply main switch control battery and a battery management system are also arranged;
furthermore, a support is arranged above the car body exterior trim, the support comprises a lifting rod positioned below and a three-dimensional universal adjustable support fixedly connected with the lifting rod, the lifting rod is connected with a binocular camera through an L-shaped support, and the three-dimensional universal adjustable support is provided with a laser radar; wherein the L-shaped bracket can be adjusted up and down on the lifting rod through the notch;
the invention has the beneficial effects that: the invention is a brand-new automatic driving low-speed vehicle platform which is oriented to the automatic driving technology research, teaching, training and landing application services and integrates functional modules such as a full-line control chassis, a vehicle gauge-level controller, a sensing/positioning/planning/control system and the like; the platform adopts a modular design and has full-line control capability and an automatic driving function; the system can be matched with an automatic driving experiment course, realizes related requirements of automatic driving research, teaching and training, and can be used as a professional platform for automatic driving technology research and teaching.
Drawings
FIG. 1 is a first schematic structural diagram of the present invention;
FIG. 2 is a second schematic structural view of the present invention;
FIG. 3 is a schematic diagram of the circuit principle of the diagnosis panel of the present invention;
the reference numerals are explained below:
1. the system comprises a wire control chassis, 2, an automobile body exterior trim, 3, a vehicle-mounted display, 4, an emergency stop switch, 5, a binocular camera, 6, an L-shaped support, 7, a notch, 8, a three-dimensional universal adjustable support, 9, a millimeter wave radar, 10, an ultrasonic radar, 11, a laser radar, 12, a diagnosis panel, 13, an upper computer, 14, a monocular camera, 15, a chassis controller, 16, a combined inertial navigation device, 17 and jacks;
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1 and 2, an unmanned automatic driving vehicle for educational training comprises a drive-by-wire chassis and an exterior vehicle body located above the drive-by-wire chassis and detachably connected with the drive-by-wire chassis, wherein an automatic driving system and educational accessories are arranged on the exterior vehicle body, the automatic driving system collects information around the automatic driving vehicle and generates a control instruction, and the drive-by-wire chassis can control the automatic driving vehicle to drive to a specified position according to the control instruction; the education accessory comprises a vehicle-mounted display, an interactive system and a fault setting and diagnosing system, wherein the vehicle-mounted display is a touch screen, and the fault setting and diagnosing system is used for setting faults of the automatic driving vehicle and acquiring and displaying fault information through the vehicle-mounted display;
the interactive system comprises an interactive host and a human-computer interface; the man-machine interface is operated through a touch screen, transmits an instruction to the interactive host to execute fault setting and acquisition, and comprises a fault setting interface and a fault display interface, wherein the fault setting interface comprises a set sensor fault, and key parts in the drive-by-wire chassis and the automatic driving system of the automatic driving vehicle are provided with power supply open circuit, signal short circuit, signal mutual short circuit and signal ground short circuit fault types; the fault setting and diagnosing system can be controlled to set one or more faults by clicking a fault setting interface; the fault display interface acquires hardware circuit signals and analyzes and processes the hardware circuit signals by controlling the fault setting and diagnosing system so as to display the set faults; the fault setting and diagnosing system comprises an MCU controller, a fault setting point, a state acquisition point and a diagnosing panel; the MCU controller is connected with the interactive system and receives a fault setting instruction and feedback state information, and processes fault setting and acquisition logic, a fault setting point realizes setting and recovery of the fault state of the key parts of the automatic driving vehicle, and a state acquisition point realizes acquisition of the state information of the key parts of the automatic driving vehicle; jacks are arranged on the diagnosis panel corresponding to each state acquisition point for a universal meter to acquire signals;
fig. 3 is a schematic diagram of a schematic circuit structure of a diagnostic panel of an autopilot system, but it should be noted that the key components corresponding to the diagnostic panel include, but are not limited to, a drive-by-wire system on a drive-by-wire chassis, a steering-by-wire system, a parking-by-wire system, a brake-by-wire system, a charging and discharging system, a chassis controller, a laser radar in the autopilot system, a combined inertial navigation system, a millimeter wave radar, a monocular/binocular camera, an ultrasonic radar, etc.; when the method is implemented, a fault set point can be arranged on a signal transmission line of any part of the automatic driving vehicle to set the on-off of the fault and a signal detection sensor to detect the signal;
when the teaching device is used specifically, a teacher can set two modes for teaching, one mode is a demonstration mode, the automatic driving system is controlled to work through the control terminal, the automatic driving vehicle sends an instruction to the online control chassis under the instruction control of the automatic driving system, automatic driving is achieved, students can observe the working process of the unmanned vehicle for automatically avoiding obstacles in a short distance, and the teaching device is matched with theoretical explanation of the teacher, so that teaching work is more visual and vivid; a is the diagnostic mode of the trouble, come the make-and-break of setting up the trouble set point of the interactive host computer of control through the man-machine interface by the teacher at first, at this moment, the automatic driving car stops going, the student uses the universal meter to detect the diagnosis panel, analyze and judge where the automatic driving car breaks down according to the signal of the state acquisition point detected, and give the judged result, then the teacher comes the automatic acquisition of signal of the state acquisition point of control interactive host computer and judges where to break down through the man-machine interface, verify the answer of oneself by the student against the man-machine interface, through the combination of theory and practice, make the teaching effect better.
Preferably, the automatic driving system comprises a laser radar, a binocular camera, an upper computer, a millimeter wave radar, an ultrasonic radar and a combined inertial navigation system; the laser radar, the binocular camera, the upper computer, the millimeter wave radar, the ultrasonic radar and the combined inertial navigation system are all provided with signal detection sensors; the upper computer collects information of a laser radar, a binocular camera, a millimeter wave radar and an ultrasonic radar and combines environment information, high-precision positioning and navigation to realize the functions of path navigation and automatic obstacle avoidance;
preferably, the drive-by-wire chassis comprises a chassis controller, a steering-by-wire system, a brake-by-wire system, a parking-by-wire system and a drive-by-wire system, wherein signal detection sensors are arranged among the chassis controller, the steering-by-wire system, the brake-by-wire system and the parking-by-wire system for detecting signal states; the middle part of the frame is provided with a battery for providing power for a drive-by-wire chassis and a battery management system, and the chassis controller is connected with an upper computer and used for receiving a control instruction to realize the functions of route navigation and automatic arm obstacle avoidance of the logistics vehicle;
preferably, the interactive system is connected with the MCU controller through the CAN bus to perform data transmission; the MCU controller comprises a digital quantity output interface and a digital quantity input interface, and the digital quantity input interface is respectively connected with state acquisition points arranged at the input end and the output end of the signal detection sensor; the digital quantity output interface is respectively connected with a fault setting point, and the fault setting point can realize the on-off of the input end and the output end of the sensor by setting the 'off' and 'on' states through the interface module, so that the setting and the recovery of the fault are realized;
the automatic driving system is provided with functional modules including perception positioning, planning decision, control execution and the like on the system software level. The sensing part realizes the acquisition of environmental information and the target recognition, utilizes sensors such as laser radar, millimeter wave radar, single/double-eye camera, ultrasonic radar and the like, combines the advantages and the disadvantages of the sensors, supplements each other, realizes the environment sensing capabilities of 360-degree omnibearing obstacle detection, traffic light recognition and the like of the automatic driving vehicle, and ensures the driving safety of the vehicle. The positioning part adopts the data fusion of various sensors such as a global positioning system (GNSS), an inertial navigation unit (IMU), a laser radar and the like to realize the high-precision positioning of the vehicle, and even if the automatic driving vehicle is seriously shielded by GNSS signals and cannot provide positioning information with stable precision, the automatic positioning part still has the high-precision autonomous positioning capability by utilizing the supplement of the IMU and the laser radar.
And the planning decision module makes a decision on how to drive by combining the self state, the peripheral obstacle information, the map and other data obtained by the perception and positioning module, and determines whether the vehicle keeps a lane, changes the lane or parks. And then, the path planner is used for finishing the output of the planned track, so that the automatic driving vehicle can know how to walk. The control execution module is used as the tail end of the automatic driving system and is connected with the drive-by-wire chassis, and the control over the systems of vehicle power, braking, steering and the like is completed according to the planned track, so that the automatic driving vehicle can smoothly and safely complete the automatic driving function.
As further optimization of the technical scheme of the invention, the vehicle body exterior trim can be made of glass, plastic, metal, resin or carbon fiber materials;
preferably, the vehicle body exterior is provided with a charging port for charging a battery and a battery in a battery management system; an emergency stop button is arranged on the surface of the outer decoration of the automobile body and connected with a chassis controller on the wire control chassis, and the signal priority of the emergency stop button is higher than the priority of an instruction of an upper computer in the automatic driving system; a power supply main switch control battery and a battery management system are also arranged;
preferably, a support is arranged above the vehicle body exterior trim, the support comprises a lifting rod positioned below and a three-dimensional universal adjustable support fixedly connected with the lifting rod, the lifting rod is connected with a binocular camera through an L-shaped support, and the three-dimensional universal adjustable support is provided with a laser radar; wherein the L-shaped bracket can be adjusted up and down on the lifting rod through the notch;
the above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (7)
1. The utility model provides an education and training is with unmanned autopilot car which characterized in that: the automatic driving system comprises a wire control chassis and an automobile body exterior trim which is positioned above the wire control chassis and is detachably connected with the wire control chassis, wherein an automatic driving system and education accessories are arranged on the automobile body exterior trim, the automatic driving system collects surrounding information of the automatic driving automobile and generates a control instruction, and the wire control chassis can control the automatic driving automobile to run to a specified position according to the control instruction; the education accessory comprises a vehicle-mounted display, an interactive system and a fault setting and diagnosing system, wherein the vehicle-mounted display is a touch screen, and the fault setting and diagnosing system is used for setting faults of the automatic driving vehicle and acquiring and displaying fault information through the vehicle-mounted display;
the interactive system comprises an interactive host and a human-computer interface; the man-machine interface is operated through a touch screen, transmits an instruction to the interactive host to execute fault setting and acquisition, and comprises a fault setting interface and a fault display interface, wherein the fault setting interface comprises a set sensor fault, and key parts in the drive-by-wire chassis and the automatic driving system of the automatic driving vehicle are provided with power supply open circuit, signal short circuit, signal mutual short circuit and signal ground short circuit fault types; the fault setting and diagnosing system can be controlled to set one or more faults by clicking a fault setting interface; the fault display interface acquires hardware circuit signals and analyzes and processes the hardware circuit signals by controlling the fault setting and diagnosing system so as to display the set faults; the fault setting and diagnosing system comprises an MCU controller, a fault setting point, a state acquisition point and a diagnosing panel; the MCU controller is connected with the interactive system and receives a fault setting instruction and feedback state information, and processes fault setting and acquisition logic, a fault setting point realizes setting and recovery of the fault state of the key parts of the automatic driving vehicle, and a state acquisition point realizes acquisition of the state information of the key parts of the automatic driving vehicle; jacks are arranged on the diagnosis panel corresponding to each state acquisition point for a universal meter to acquire signals.
2. The unmanned autonomous vehicle for educational training as set forth in claim 1, wherein: the automatic driving system comprises a laser radar, a binocular camera, an upper computer, a millimeter wave radar, an ultrasonic radar and a combined inertial navigation system; the laser radar, the binocular camera, the upper computer, the millimeter wave radar, the ultrasonic radar and the combined inertial navigation system are all provided with signal detection sensors; the upper computer collects information of the laser radar, the binocular camera, the millimeter wave radar and the ultrasonic radar and combines environment information, high-precision positioning and navigation to achieve the functions of path navigation and automatic obstacle avoidance.
3. The unmanned automatic vehicle for educational training according to claim 2, wherein: the drive-by-wire chassis comprises a chassis controller, a drive-by-wire steering system, a drive-by-wire brake system, a drive-by-wire parking system and a drive-by-wire driving system, wherein signal detection sensors are arranged among the chassis controller, the drive-by-wire steering system, the drive-by-wire brake system and the drive-by-wire parking system and are used for detecting signal states; the middle part of the frame is provided with a battery for providing a power supply for the wire control chassis and a battery management system, and the chassis controller is connected with the upper computer and used for receiving a control instruction, so that the functions of route navigation and automatic arm obstacle avoidance of the logistics vehicle are realized.
4. The unmanned automatic vehicle for educational training according to claim 3, wherein: the interactive system is connected with the MCU controller through the CAN bus to perform data transmission; the MCU controller comprises a digital quantity output interface and a digital quantity input interface, and the digital quantity input interface is respectively connected with state acquisition points arranged at the input end and the output end of the signal detection sensor; the digital quantity output interface is respectively connected with a fault set point, and the fault set point can realize the on-off of the input end and the output end of the sensor by setting the 'off' and 'on' states through the interface module, thereby realizing the setting and the recovery of the fault.
5. The unmanned automatic vehicle for educational training according to claim 4, wherein: the vehicle body exterior trim can be made of glass, plastic, metal, resin or carbon fiber materials.
6. The unmanned autonomous vehicle for educational training, according to claim 5, wherein: the car body outer decoration is provided with a charging port for charging a battery and the battery in the battery management system; an emergency stop button is arranged on the surface of the outer decoration of the automobile body and connected with a chassis controller on the wire control chassis, and the signal priority of the emergency stop button is higher than the priority of an instruction of an upper computer in the automatic driving system; the battery management system is also provided with a power supply main switch control battery.
7. The unmanned autonomous vehicle for educational training, according to claim 6, wherein: a bracket is arranged above the outer decoration of the vehicle body, the bracket comprises a lifting rod positioned below and a three-dimensional universal adjustable bracket fixedly connected with the lifting rod, the lifting rod is connected with a binocular camera through an L-shaped bracket, and the three-dimensional universal adjustable bracket is provided with a laser radar; wherein the L-shaped bracket can be adjusted up and down on the lifting rod through the notch.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110496320.0A CN113160691A (en) | 2021-05-07 | 2021-05-07 | Unmanned automatic driving vehicle for education and training |
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| CN202110496320.0A CN113160691A (en) | 2021-05-07 | 2021-05-07 | Unmanned automatic driving vehicle for education and training |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113706964A (en) * | 2021-07-30 | 2021-11-26 | 山东星科智能科技股份有限公司 | Intelligent driving teaching training system and automatic driving vehicle control method |
| CN114475856A (en) * | 2021-12-21 | 2022-05-13 | 东风悦享科技有限公司 | A many drive mode autopilot dolly for teaching |
-
2021
- 2021-05-07 CN CN202110496320.0A patent/CN113160691A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113706964A (en) * | 2021-07-30 | 2021-11-26 | 山东星科智能科技股份有限公司 | Intelligent driving teaching training system and automatic driving vehicle control method |
| CN114475856A (en) * | 2021-12-21 | 2022-05-13 | 东风悦享科技有限公司 | A many drive mode autopilot dolly for teaching |
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