CN204461780U - Topographic change and restructural comprehensive test device - Google Patents

Abstract

The utility model provides a terrain transformation and reconfigurable comprehensive test device. The test device includes a load-bearing base and a plurality of test units arranged and fixed on the load-bearing base; each test unit includes a test shell and is used to adjust the height of the test shell. Position adjustment mechanism; the cross-section of the test shell is polygonal, the sides of adjacent test shells are in close contact, and the upper surfaces of each test shell are spliced to simulate terrain and road surface. After constructing a test device with a certain scale, it is only necessary to use the surface function model established according to the terrain characteristics, select the position coordinates (X, Y) of the test shell, calculate and obtain the height Z of the test unit, and adjust the height of each test unit to obtain Simulated terrain with different surface characteristics. The transformed and reconstructed terrain and pavement basic data can be recorded and verified. Therefore, the test device does not need to be rebuilt, the universality of the test device is improved, and the test site and test funds are saved.

Description

Terrain transformation and reconfigurable comprehensive test device

technical field

The utility model belongs to the technical field of traveling body testing, in particular to a terrain transformation and reconfigurable comprehensive testing device.

Background technique

Traveling bodies include intelligent traveling bodies and non-intelligent traveling bodies. For intelligent traveling bodies, for example, disaster search and rescue smart traveling bodies are earthquake disaster-oriented applications that can move and detect in the gaps of ruins, and can monitor survivors in ruins. It has become an important research topic today to carry out the intelligent traveling body system for assisting the rescue. Efficient disaster search and rescue intelligent traveling bodies have been developed and widely used in post-disaster rescue work, which can reduce manpower and material resources, reduce accidental casualties in rescue work, and improve rescue efficiency and success rate. The process of disaster capacity is significant.

For the research on intelligent moving bodies for disaster search and rescue, one of the key problems to be solved is: how to improve the movement ability of intelligent moving bodies so that they can adapt to various complex terrain conditions, such as ruins, mud, sand, steps , steep slopes, ditches, curves, etc. Therefore, in the research process of the intelligent traveling body, it is necessary to repeatedly use the test device to test the performance of the intelligent traveling body.

Similarly, for non-intelligent moving objects, such as car models and small vehicles, performance tests are also required for their passing ability, obstacle surmounting ability, turning and anti-overturning capabilities.

In the prior art, when performing performance tests on intelligent and non-intelligent traveling bodies, one of the following two methods is mainly used to simulate uneven road surfaces: (1) laying bricks, wood and other building materials of different heights on the road surface (2) Excavate small ravines of different depths on the dirt road to achieve the effect of simulating the uneven road.

The main problems in the above method are: (1) The test index of the completed test device is single and fixed and cannot be adjusted. Therefore, for different traveling bodies, it is necessary to construct a test device with different test road surface indicators, wherein the road surface indicators include unevenness , slopes, curves and obstacle heights, etc.; therefore, there is a problem that the test device construction process is cumbersome. In addition, due to the need to build multiple independent test devices, it also causes a lot of waste of space and funds. (2) It cannot be a finalized test device, and the test indicators are not fixed, so it is impossible to quantify the comprehensive action ability of the intelligent traveling body.

Utility model content

Aiming at the defects in the prior art, the utility model provides a terrain transformation and reconfigurable comprehensive testing device, which can effectively solve the above problems.

The technical scheme that the utility model adopts is as follows:

The utility model provides a terrain transformation and reconfigurable comprehensive test device, which comprises a load-bearing base (1) and a plurality of test units (2) arranged and fixed on the load-bearing base (1);

Each of the test units (2) includes a test case (4) and an adjustment mechanism for adjusting the height of the test case (4); the cross-section of the test case (4) is polygonal, and The side surfaces adjacent to the test casings (4) are in close contact, and the upper surfaces of each of the test casings (4) are spliced to simulate terrain and road surfaces.

Preferably, the test housing (4) has a rectangular cross section.

Preferably, the adjustment mechanism is a height continuous adjustment mechanism or a height discontinuous adjustment mechanism.

Preferably, the height continuous adjustment mechanism is a screw nut pair adjustment mechanism or a sliding rod adjustment mechanism.

Preferably, the height continuous adjustment mechanism is an automatic drive adjustment mechanism or a non-automatic drive adjustment mechanism.

Preferably, the automatic drive adjustment mechanism includes a drive source; the test case (4) is driven to move up or down by the drive source;

Wherein, the driving source includes a hydraulic driving source, a motor array driving source, and an artificial power driving source.

Preferably, the non-continuous height adjustment mechanism is a rod-and-socket matching adjustment mechanism.

Preferably, it also includes: a fixed fence (5) for limiting the inclination of each of the test housings (4); the bottom end of the fixed fence (5) is fixedly connected to the outer periphery of the bearing base (1) .

The terrain transformation and reconfigurable comprehensive test device provided by the utility model has the following advantages:

After building a test device with a certain scale, you only need to adjust the height of each test unit to obtain terrains and roads with different characteristics without rebuilding the test device, which improves the versatility of the test device and saves the test site and test funds.

Description of drawings

Fig. 1 is a three-dimensional schematic diagram of the assembled reconfigurable terrain comprehensive test device based on the screw nut pair;

Figure 2 is a top view of the assembled reconfigurable terrain comprehensive test device based on the screw nut pair;

Fig. 3 is the assembled side view of the reconfigurable terrain comprehensive test device based on the screw nut pair;

Fig. 4 is the three-dimensional schematic diagram of the mechanical structure of each test unit 2;

Fig. 5 is a structural schematic diagram of driving the screw mandrel to rotate through tools such as an electric drill;

Fig. 6 is a structural schematic diagram when the screw nut moves to the bottom end of the screw thread;

Fig. 7 is a structural schematic diagram when the screw nut moves to the top of the screw thread;

Fig. 8 is the rendering of simulating vertical obstacle type uneven road surface;

Fig. 9 is the rendering of simulating horizontal trench type uneven road surface;

Fig. 10 is the rendering of simulating convex ridge type uneven road surface;

Fig. 11 is the rendering of simulating road ditch type uneven road surface;

Fig. 12 is the rendering of simulating crater type uneven road surface;

Fig. 13 is an effect diagram of simulating complex road type uneven road surface.

Detailed ways

The utility model is described in detail below in conjunction with accompanying drawing:

The utility model provides a terrain transformation and reconfigurable comprehensive test device, which is used to test the mobility of intelligent traveling bodies and non-intelligent traveling bodies, wherein the intelligent traveling bodies can be either disaster search and rescue robots or other intelligent Equipment, such as a car model, is used to test the performance of the car model. The utility model does not limit the specific types of the intelligent traveling body and the non-intelligent traveling body.

As shown in Figure 1, it is a three-dimensional schematic diagram of the assembled terrain transformation and reconfigurable comprehensive test device; Each test unit 2 is arranged and fixed on the load-bearing base 1. Since each test unit is fixed on the load-bearing base, it can avoid the horizontal movement of the test unit when testing the moving body, and improve the test device. connection performance. In addition, a fixed hoarding 5 can also be fixed on the periphery of the load-bearing base 1, and through the joint limiting effect of the load-bearing base 1 and the fixed hoarding 5, each test unit is closely arranged in the rectangular space surrounded by the fixed hoarding 5 , to prevent the test unit from tilting in the horizontal direction when testing the traveling body, and improve the connection performance of the test device. In addition, the cross-section of the test housing 4 of the test unit is rectangular, so that when each test unit is arranged and fixed on the load-bearing base, the adjacent test housings 4 are in close contact without gaps, preventing the gaps from causing Unnecessary interference with the test of the traveling body achieves a more realistic simulation of terrain and road surfaces.

Each test unit 2 includes a test case 4 and an adjustment mechanism for adjusting the height of the test case 4; the position of the upper surface of the test case is regulated by the adjustment mechanism, so that the upper surfaces of each test case 4 are spliced into a simulation terrain and pavement.

In the utility model, the adjustment mechanism for adjusting the height of the test housing 4 can be flexibly set according to actual needs. The utility model does not limit the specific structural form of the adjustment mechanism. Any structure that can adjust the height of the test housing 4 can Within the protection scope of the utility model.

On the whole, the adjustment mechanism can be divided into two categories: one is the height continuous adjustment mechanism, which is used to continuously adjust the height of the test shell; the other is the height discontinuous adjustment mechanism, which can only adjust the test shell The high and low positions can be adjusted non-continuously. Here, the meaning of continuous adjustment is: the height of the test case can be made to belong to any position in a certain adjustment range. For example, if the height adjustment range of the test case is 0-30 mm, the test case can be located at 0 Any value in ~30 mm, for example, 27 mm, 28 mm or 28.5 mm, etc. The meaning of non-continuous adjustment is: the height of the test case cannot be adjusted arbitrarily in a certain adjustment interval, and can only belong to a specific position of an adjustment interval at fixed intervals or non-fixed intervals, for example, assuming a fixed interval, and fixed If the interval is 3 mm, then: when the height adjustment interval is 0-30 mm, the height of the test case can be adjusted to 0 mm, 3 mm, 6 mm.... And it is impossible to make the height of the test case 1 mm, 2 mm, etc.

In practical applications, the height continuous adjustment mechanism can adopt a screw nut pair adjustment mechanism or a sliding rod adjustment mechanism. The non-continuous height adjustment mechanism is a rod-and-socket matching adjustment mechanism. Moreover, for the height continuous adjustment mechanism, both manual adjustment and automatic adjustment can be adopted, for example, automatic adjustment through a motor driver or a hydraulic driver, which is not limited by the present invention.

As a specific implementation, for the convenience of understanding, the following introduces an embodiment of a terrain transformation and reconfigurable comprehensive test device based on the screw nut pair adjustment mechanism:

As shown in Figure 1, it is a three-dimensional schematic diagram of the assembled terrain transformation and reconfigurable comprehensive test device based on the screw nut pair; as shown in Figure 2, it is the terrain transformation and reconfigurable comprehensive test device based on the screw nut pair The top view after assembly, as shown in Figure 3, is a side view after the assembly of the terrain transformation and reconfigurable comprehensive test device based on the screw nut pair; as shown in Figure 4, it is a three-dimensional schematic diagram of the mechanical structure of each test unit 2 , both include a lifting mechanism 3 and a test case 4;

The lifting mechanism 3 includes a screw rod 3.1, a screw nut 3.2, a fixed sleeve 3.3 and a bearing 3.4; the fixed sleeve 3.3 is vertically and fixedly installed on the load-bearing foundation 1, and can be fixed by welding or screws; the inner part of the fixed sleeve 3.3 is provided with a bearing 3.4; the screw rod 3.1 is set vertically, and the bottom end of the screw rod 3.1 is sleeved on the bearing 3.4, so that the screw rod 3.1 is rotatably connected with the fixed sleeve 3.3 through the bearing 3.4; the screw nut 3.2 is sleeved on the screw rod 3.1 , and the screw nut 3.2 is placed in the cavity of the test case 4, and the outer wall of the screw nut 3.2 is fixed to the inner wall of the test case 4. Therefore, when the screw is rotated clockwise or counterclockwise, the screw nut can be driven to move up or down in a straight line, thereby driving the test case to move up and down, so as to adjust the height of the test case and simulate different terrains and road surfaces. Purpose.

In the above structure, the test case and the screw nut are fixed, and the screw nut and the screw rod form a screw nut pair, which can convert the rotational motion of the screw rod into the linear motion of the nut; the screw rod can be moved through the bearing and the fixed sleeve Rotational connection, and the fixed sleeve is fixed on the load-bearing foundation. Therefore, while the fixed sleeve ensures that the screw can rotate freely in the sleeve, the fixed sleeve also has a lateral support effect on the entire test device to ensure the upper part of the test. The vertical state of the shell.

In addition, in the present invention, the thread height of the screw rod is the height adjustment range of the test case. For example, if the thread height of the screw rod is 50 cm, the height adjustment range of the test case is 0-50 cm. As shown in Figure 6, it is a schematic diagram of the structure when the screw nut moves to the bottom end of the screw thread, and as shown in Figure 7, it is a structural schematic diagram when the screw nut moves to the top end of the screw thread. To achieve the above effects, the following design parameters need to be met: the inner diameter of the test case 4 is larger than the outer diameter of the fixed sleeve 3.3 so that the fixed sleeve 3.3 can be completely placed in the cavity of the test case 4 . Through the above structure, on the premise of reducing the cost of the entire test device as much as possible, the height adjustment range of the test case is maximized.

In the present invention, various structural forms can be adopted to apply external force to the screw rod, thereby driving the screw rod to rotate, and further adjusting the height of the test case 4 . The following only introduces two specific structural forms:

(1) Non-automatic drive structure

This example is an example of using a tool such as an electric drill to drive the screw to rotate.

As shown in Figure 5, it is a structural schematic diagram of driving the screw mandrel to rotate through tools such as an electric drill; the top surface of the screw mandrel 3.1 is provided with a screw mandrel adjustment unit 6, for example, a screw mandrel adjustment cross groove or a screw mandrel adjustment square hole; A screw adjusting tool penetration hole 7 is provided on the top end surface of the body 4 and at a position directly above the screw adjusting unit 6 . When a certain type of ground parameter needs to be simulated, the height value of each test shell is calculated, and then, a tool such as a cross-head electric drill 8 is used to pass through the hole of the screw adjustment tool to act on the screw to adjust the cross groove or square. On the hole, the electric drill drives the screw to rotate clockwise or counterclockwise, and the rotating force of the screw acts on the screw nut, thereby giving the test case a vertical upward or downward force, and finally realizing the upward or downward movement of the test case , and this rise or fall is continuously adjustable. Since the hole diameter of the threaded screw adjustment tool penetration hole 7 provided at the top of the test housing is very small, it will not affect the test performance of the simulated road surface. Of course, for occasions that require fine simulation of the road surface, a penetration hole cover can also be provided; the penetration hole cover is placed in the hole of the penetration hole of the screw adjustment tool. By penetrating the hole cover, the smoothness of the upper surface of the test case is ensured and the test effect is improved.

(2) Automatic drive structure

This example is an example of using a motor to automatically drive the screw to rotate.

Each test unit 2 also includes a driving motor; the driving motor is built in the fixed sleeve 3.3, and the driving motor is linked with the bottom end of the screw rod 3.1 to drive the screw rod 3.1 to rotate clockwise or counterclockwise.

It also includes a general controller; the general controller is respectively connected with the driving motors of each test unit 2, and the driving motors are automatically controlled to rotate through the general controller. The above-mentioned hardware structure can solve the relevant problems existing in the background technology. As a further improvement of the above-mentioned hardware structure, a test method based on the general controller is introduced below, including the following steps:

S1, arrange and fix n test units 2 on the load-bearing base 1, so that the test shells 4 of adjacent test units 2 are in close contact; wherein, n is a natural number;

S2, establishing a two-dimensional Cartesian coordinate system on the plane where the bearing foundation 1 is located, to obtain the position coordinates of each test unit 2;

S3, configure the initial parameters of the total controller; including: the position coordinates of n test units 2, the length and width values of the cross-section of the test case 4 of each test unit 2, the road surface parameters obtained from the previous simulation, and The road surface parameters that need to be simulated this time;

S4, the total controller calculates the ideal distance adjustment value of each test unit 1 based on the initial parameters, and generates a control command uniquely corresponding to each test unit 2 according to the ideal distance adjustment value; wherein, the control command includes driving the motor ID, the direction of rotation of the drive motor and the number of rotations of the drive motor; the ideal distance adjustment value includes the ideal distance rise value or the ideal distance drop value;

S5, the master controller sends each control command to the drive motor of the corresponding test unit 2, so that the drive motor rotates clockwise or counterclockwise according to the number of rotations; wherein, when the drive motor rotates, the drive motor drives the screw rod 3.1 to rotate , the rotational motion of the screw 3.1 is converted into the linear motion of the screw nut 3.2 rising or falling, and since the screw nut 3.2 is fixedly connected with the test case 4, the rising or falling motion of the screw nut 3.2 is the test case The rising or falling movement of the body 4, thereby realizing the test shell 4 of each test unit 2 rising or falling to the required distance, and then the upper surface of each test shell 4 is spliced to meet the simulation of the road surface parameters that need to be simulated this time. pavement.

The utility model also provides a comprehensive test method for terrain transformation and reconfigurability, which includes the following steps:

S1, constructing a mathematical model of a terrain surface;

S2, the cross-section of the test case 4 of each test unit 2 is rectangular, and its length is A0, and its width is B0;

S3, select the A*B field range, that is: the length value of the field is A, and the width value is B; m*n test units are arranged on the field to form a test unit array; wherein, m=A/A0; n=B /B0;

S4, establish a Cartesian coordinate system X-Y-Z on the site; wherein, the X-axis and the Y-axis are coordinate axes perpendicular to each other on the horizontal plane; the Z-axis is a plumb line;

S5, obtain the horizontal plane position coordinates X, Y of the m*n test units in the Cartesian coordinate system; input the horizontal plane position coordinates of the m*n test units and the terrain surface parameters to be reconstructed into the terrain surface mathematical model, the terrain surface The mathematical model is calculated to obtain the ideal height value Z1 of each test unit;

S6, according to the ideal height value Z1 of each test unit, obtain the current actual height value Z2 of the corresponding test unit, and then adjust the actual height value of each test unit to make it rise and fall to a position tending to the ideal height value Z, therefore, lift The upper surface of the test unit to different heights is transformed or reconstructed into the terrain surface to be simulated. In this step, the methods of obtaining the current actual height value of the corresponding test unit can be: scale calibration method, laser measurement method, electromagnetic wave measurement method, or a miniature displacement sensor can be installed on the top of each test unit, through which the displacement sensor can automatically Measure the actual height value of the test unit. The utility model does not limit the specific measurement method of the actual height value of the test unit.

After that, also include:

S7, detecting the adjusted actual height value Z3 of the test unit;

Then, judge whether the deviation between the actual height value Z3 obtained by detection and the ideal height value Z1 is within the allowable range, if it is, it shows that the height adjustment of each test unit is in line with expectations, and the height of the test unit is further adjusted; if If not, execute S8;

S8, further adjusting the actual height value of the test unit, and so on, until the deviation between the adjusted actual height value and the ideal height value Z1 is within the allowable range. The terrain surface formed by splicing the upper surfaces of each test unit is continuously approaching the terrain surface to be simulated.

In the utility model, according to the established surface function model, by selecting the position coordinates (X, Y) of the test shell, the height (Z) of the test unit is calculated and obtained, and the flexible adjustment of the height of various test units can be simulated or reconstructed Various complex terrains and road surfaces are provided, and a device for testing the ability of intelligent and non-intelligent vehicles to move under different terrain and road conditions is provided. For example, as shown in Figure 8, it is an effect diagram for simulating a vertical obstacle-type uneven road; as shown in Figure 9, it is an effect diagram for simulating a horizontal trench-type uneven road; The effect diagram of the smooth road surface; as shown in Figure 11, it is the effect diagram of simulating the road ditch type uneven road surface; as shown in Figure 12, it is the effect diagram of simulating the crater type uneven road surface; Rendering of pavement-type uneven pavement. Of course, various complex road surfaces can be flexibly combined according to actual needs, and Figs. 8-13 are only specific examples.

It can be seen that the terrain transformation and reconfigurable comprehensive test device provided by the utility model has the following advantages:

(1) After constructing a test device with a certain scale, it is only necessary to use the surface function model established according to the terrain characteristics to adjust the height of each test unit to obtain different surface features, as well as different flatness, slope, inclination, Simulate the terrain and road surface of trenches, curves, steps, ravines and other features without rebuilding the test device, which improves the versatility of the test device and saves the test site and test funds;

(2) Each test unit is fixed on the load-carrying foundation, which effectively achieves the fixing effect on the test unit, improves the connection performance of the test unit, and prevents the horizontal displacement of the test unit when testing the intelligent traveling body. Improved ability to simulate uneven road surfaces;

(3) By adjusting the height of the test shell, various typical terrain environments can be transformed and reconstructed, providing a test for the passing performance, obstacle surmounting performance, anti-overturning ability, etc. of ground mobile robots, car models, and other ground mobile objects. Different, adjustable terrain and road surface environmental conditions, and this adjustment may or may not be continuous. The device can also provide a model and a test basis for the simulation design of the computer road surface environment.

(4) It is a simple, stereotyped, flexible and adjustable intelligent traveling body terrain transformation and reconfigurable comprehensive test device, which has fixed test indicators and can quantify the comprehensive action capabilities of intelligent traveling bodies and non-intelligent traveling bodies; and According to the actual test requirements, the test equipment can flexibly adjust the complexity and difficulty of testing the mobility of moving objects and non-intelligent moving objects, so as to meet the testing requirements for the mobility of intelligent moving objects.

(5) The transformed and reconstructed terrain and basic road surface data can be recorded and checked through scale marking devices, laser measuring devices, electromagnetic wave measuring devices, displacement sensors, etc.

The above is only a preferred embodiment of the utility model, it should be pointed out that for those of ordinary skill in the art, without departing from the principle of the utility model, some improvements and modifications can also be made, these improvements and Retouching should also be considered within the protection scope of the present utility model.

Claims (8)

1. topographic change and a restructural comprehensive test device, is characterized in that, comprises multiple test cells (2) that described carrying basic (1) is fixed in carrying basis (1) and arrangement;

Each described test cell (2) includes test housing (4) and for regulating the governor motion of described test housing (4) high and low position; The xsect of described test housing (4) is polygon, and close contact between the side of adjacent described test housing (4), the upper surface testing housing (4) described in each is spliced into artificially generated terrain and road surface.

2. topographic change according to claim 1 and restructural comprehensive test device, is characterized in that, the xsect of described test housing (4) is rectangle.

3. topographic change according to claim 1 and restructural comprehensive test device, is characterized in that, described governor motion is height continuous regulation mechanism or highly discontinuous governor motion.

4. topographic change according to claim 3 and restructural comprehensive test device, is characterized in that, described height continuous regulation mechanism is feed screw nut pair governor motion or slide bar governor motion.

5. topographic change according to claim 4 and restructural comprehensive test device, is characterized in that, described height continuous regulation mechanism is automatically drive governor motion or non-automatic driving governor motion.

6. topographic change according to claim 5 and restructural comprehensive test device, is characterized in that, described automatic driving governor motion comprises drive source; Described test housing (4) is driven to carry out rising or descending motion by described drive source;

Wherein, described drive source comprises hydraulic drive source, motor array drive source, man power drive source.

7. topographic change according to claim 3 and restructural comprehensive test device, is characterized in that, the discontinuous governor motion of described height is inserted link and jack formula governor motion.

8. topographic change according to claim 1 and restructural comprehensive test device, is characterized in that, also comprise: for limiting the fixing coaming plate (5) tested housing (4) described in each and tilt; The bottom of described fixing coaming plate (5) is fixedly connected with the described periphery carrying basis (1).