CN211555178U - Unmanned automobile teaching vehicle - Google Patents
Unmanned automobile teaching vehicle Download PDFInfo
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- CN211555178U CN211555178U CN202020268308.5U CN202020268308U CN211555178U CN 211555178 U CN211555178 U CN 211555178U CN 202020268308 U CN202020268308 U CN 202020268308U CN 211555178 U CN211555178 U CN 211555178U
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Abstract
The utility model 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.
Description
Technical Field
The utility model relates to an unmanned teaching technical field especially relates to an unmanned automobile teaching vehicle.
Background
With the development of artificial intelligence technology, unmanned vehicles are becoming increasingly practical. Unmanned automobile teaching also becomes the indispensable course of car specialty, the sensor that conventional unmanned automobile adopted and with electric appliances distribution ratio dispersion and concealment, the visibility is low, the mr can not combine the explanation in kind at the lecture in-process, unable real-time effect and mutual correlation of carrying out interactive explanation sensor, be unfavorable for practice study and observation operation of student, if because dismantle the annex with exposed sensor repeatedly in explanation and testing process, can cause the piece loss.
In addition, most of the current teaching platforms realize the function of the teaching platform by simulating an automatic driving algorithm under a real road environment and transmitting the algorithm into a simulation vehicle, and the teaching platform has the defect that only theoretical learning can be carried out, and actual operation cannot be carried out.
SUMMERY OF THE UTILITY MODEL
The utility model aims at that the sensor to true unmanned vehicle among the prior art with electrical apparatus visibility low, there is the defect of gap in emulation car and true unmanned vehicle, and provide an unmanned automobile teaching vehicle.
For realizing the utility model discloses a technical scheme that the purpose adopted is:
an unmanned automobile teaching vehicle comprises a vehicle body, an unmanned control system and a drawable platform, wherein the unmanned control system is installed on the vehicle body for realizing unmanned driving, and the drawable platform is assembled at the tail part of the vehicle body;
the teaching assembly comprises a central control machine, an inertial navigation system, an inverter and a transformer, wherein the inverter and the transformer are used for converting voltage;
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 at the head of the vehicle body, the laser radar in the unmanned control system is assembled at the top of the vehicle, and the camera, the millimeter wave radar and the laser radar are respectively in communication connection with the central control machine.
In the above technical scheme, but pull platform includes the platform support and the sliding connection that are formed by the repacking of car back-row seat platform backup pad on the platform support, the teaching subassembly is fixed respectively on the platform backup pad.
In the above technical scheme, two slide rails are installed on the platform support, four slide blocks are fixed below the platform support plate, wherein two slide blocks slide in one slide rail, and the other two slide blocks slide in the other slide rail.
In the technical scheme, the teaching input and output module comprises a display for outputting, and a keyboard and a mouse for inputting, and the display, the keyboard and the mouse are respectively in communication connection with the central control computer.
In the technical scheme, a patch board is further fixed on the platform supporting plate, a vehicle-mounted storage battery assembled on the vehicle body is connected with the patch board through a transformer, the patch board is electrically connected with the display and the central control machine for power supply, and the patch board is respectively electrically connected with the inertial navigation device, the laser radar and the millimeter wave radar for power supply through an inverter.
In the above technical solution, the open-type back door is assembled to the tail frame of the vehicle body through two hydraulic rods.
In the technical scheme, the vehicle body is a small-sized passenger car, a household car, a sightseeing vehicle or a large truck, and preferably an electric sightseeing vehicle.
In the above technical scheme, the open-type back door is locked on the tail frame of the vehicle body through the back door lock block.
In the above technical solution, the unmanned control system is a hundred-degree apollo2.5 platform.
The teaching method of the unmanned automobile teaching vehicle comprises static state teaching and driving state teaching;
during static state teaching, the automobile body is static, and the student takes in the automobile body or stands outside the automobile body, will open the formula back tail door and open, but pulling pull platform makes it be located the automobile body outside, the teacher explains each part theoretically, perhaps: a teacher sets a fault on a teaching component, a camera, a millimeter wave radar and/or a laser radar, or inputs a simulated fault signal through a teaching input and output module, and students remove the fault through a display or other testing instruments in the teaching input and output module;
during the state teaching of traveling, the automobile body is in unmanned state, and the student takes in the automobile body:
drawing a lane reference line and then sending the reference line through a command to realize unmanned driving, and a teacher carries out theoretical explanation on each part, or: the teacher sets up the trouble through on teaching subassembly, camera, millimeter wave radar and/or laser radar, or inputs simulation fault signal through teaching input/output module, and the student is through the travel state troubleshooting of the display in the teaching input/output module, other testing instrument or automobile body.
Compared with the prior art, the beneficial effects of the utility model are that:
1. the utility model provides a unmanned automobile teaching vehicle fixes the higher part of frequency of failure in the unmanned module in the platform backup pad to with camera and millimeter wave radar setting in front windshield department, the student of being convenient for learns directly perceived, makes things convenient for the mr to add the obstacle and need not to dismantle in above-mentioned part simultaneously.
2. The utility model provides a display and key mouse have been add to unmanned automobile teaching vehicle, and the accessible display observes the state of each part among the unmanned control system in real time, finds out the obstacle, and the obstacle is relieved in the operation of accessible key mouse in addition, investigates and tempers student's hands-on ability.
3. The utility model discloses improve on sightseeing vehicle's basis, utilize the high characteristic of sightseeing vehicle visibility, stand the output module in the classmate that the car was out of the car also can watch the car, many people teaching can be realized to especially the display, optimizes the teaching effect.
Drawings
FIG. 1 is a schematic diagram of a schematic structure of an unmanned automotive teaching vehicle.
Fig. 2 is an external view of the sightseeing vehicle used in example 2.
Fig. 3 is a schematic diagram of a part of the structure of the teaching platform.
Fig. 4 is a circuit connection relationship of the teaching component.
In the figure: 1-display, 2-keyboard, 3-mouse, 4-central control machine, 5-inertial navigation, 6-inverter, 7-transformer, 8-platform support plate, 9-camera, 10-millimeter wave radar, 11-patch board, 12-platform support, 13-slide rail, 14-slide block and 15-laser radar.
Detailed Description
The present invention will be described in further detail with reference to specific examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the following examples, the types of components used are as follows:
| name of component | Model number |
| Central control machine | Nuvo-6108GC |
| Inertial navigation | Space network space reaches M2 |
| Transformer device | Mingwei S-250-12V20A |
| Inverter with a voltage regulator | Anli Ju 1000 |
| Display device | JOHNWILL |
| Millimeter wave radar | ARS408S |
| Camera head | LI-USB30-AR023ZWDRB |
| Laser radar | Leishen 16 lines |
Example 1
An unmanned automobile teaching vehicle, as shown in fig. 1, comprises a vehicle body, an unmanned control system installed on the vehicle body for realizing unmanned driving, and a drawable platform assembled at the tail part of the vehicle body, wherein teaching components in the unmanned control system are assembled on the drawable platform;
the teaching assembly comprises a central control machine, an inertial navigation system, an inverter and a transformer, wherein the inverter and the transformer are used for converting voltage;
the unmanned control system includes: the system comprises a positioning module, a sensing module, a prediction module, a planning module and a control module;
the positioning module is mainly used for positioning by inertial navigation, the sensing module is mainly used for sensing by a camera and a laser radar, the prediction module is mainly used for predicting, planning and controlling by a millimeter wave radar and mainly combines the sensors to learn a code level, and the main advantage of the patent is that the sensors which are involved and easily break down can be conveniently tested.
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 so as to be convenient for teachers to explain and students to observe;
the camera and the millimeter wave radar in the unmanned control system are assembled at the head of the vehicle body, the laser radar in the unmanned control system is assembled at the top of the vehicle body, the camera, the millimeter wave radar and the laser radar are respectively in communication connection with the central control machine, and the camera is connected with the central control machine through a USB connector.
Specifically, as shown in fig. 3, the drawable platform includes a platform support 12 formed by refitting a rear seat of an automobile and a platform support plate 8 slidably connected to the platform support 12, and the teaching components are respectively fixed on the platform support plate 8. The platform support 12 is formed by refitting a rear seat in the vehicle body. The convenient back tail door of opening from the rear of a vehicle takes out in order to make things convenient for the student to observe, reserves operating position for middle display and keyboard mouse simultaneously. The specific modification is to remove the rear row of seats and then mount the platform support 12 with the platform support plate 8 slidably attached to it on a support under the seats.
As shown in fig. 3, two slide rails 13 are installed on the platform support 12, and four slide blocks 14 are fixed below the platform support plate 8, wherein two of the slide blocks 14 slide in one of the slide rails 13, and the other two of the slide blocks 14 slide in the other slide rail 13. The cooperation of the four sliders 14 and the two slide rails 13 enables the platform support plate 8 to stably slide.
Build unmanned control system on the automobile body, it is higher and need not to put specific position to go out the fault frequency among the unmanned control system, for example the locomotive, the part fix on teaching platform as the teaching subassembly, set up camera and millimeter wave radar at the automobile body head simultaneously, improve unmanned automobile's part visibility, the student of being convenient for observes the study, the mr need not to dismantle when setting up the trouble simultaneously, avoids dismantling the damage many times.
The method for modifying the unmanned automobile teaching vehicle comprises the following steps:
step 1, modifying a rear seat of a vehicle body to arrange a platform support and a platform support plate in sliding connection;
step 1: building an unmanned control system on the vehicle body, and fixing a central control machine, an inertial navigation system, an inverter and a transformer with higher failure frequency in the unmanned control module on the platform support plate obtained by the refitting in the step 1; in the embodiment, the vehicle body is an electric sightseeing vehicle, and the configured intelligent unmanned control system adopts a hundred-degree apollo2.5 platform;
and step 3: and calibrating main sensors in the unmanned system equipment, wherein the main sensors comprise a camera, inertial navigation, millimeter radar waves and a laser radar. Corresponding size debugging specifications are given according to different Apollo platforms of the vehicle, and the calibration method is carried out according to the specifications of the sensor.
The specific debugging parameters comprise the distance from the head edge of the sightseeing vehicle to the center of a rear shaft, the distance from the tail edge of the sightseeing vehicle to the center of the rear shaft, the distance from the left side edge to the center of the rear shaft, the distance from the right side edge to the center of the rear shaft, the length of the vehicle body, the width of the vehicle body, the height of the vehicle body, the minimum turning radius, the maximum acceleration, the maximum deceleration, the maximum turning angle of a steering wheel, the maximum turning rate of the steering wheel, the axle distance, the rolling radius of tires and the. And the parameters are configured to a positioning module, a perception module, a prediction module, a planning module and a control module in the unmanned system. The main sensor is fused and matched with the vehicle body and the unmanned control system.
Example 2
The present embodiment is described with reference to embodiment 1, in which the teaching input/output module and the vehicle body are provided.
Specifically, the teaching input and output module comprises a display for outputting, a keyboard and a mouse for inputting, and the display, the keyboard and the mouse are respectively in communication connection with the central control computer. The teaching input and output module is arranged in the middle of the vehicle body, can observe the state of the unmanned vehicle in real time through the display, find out obstacles and operate through the keyboard and the mouse to relieve the obstacles, and investigate and train the practical ability of students.
Still be fixed with the wiring board in the platform backup pad, the assembly is in 48V car storage battery on the automobile body passes through the transformer convert 220V back with the wiring board is connected, the wiring board does display in the teaching input output module with well accuse machine power supply, the wiring board passes through the dc-to-ac converter and converts 220V electricity into 12V electricity, gives inertial navigation, millimeter wave radar and laser radar power supply.
The open type rear tail door is assembled on a tail frame of the vehicle body through two hydraulic rods. The back support is conveniently opened and the formula back tail door is opened. The open type rear tail door is locked on the tail frame of the vehicle body through a rear door locking block. The back door lock piece adopts the lockpin, and when opening the lockpin, two hydraulic stems are opened the convenient teaching platform that pulls out of formula back tail-gate jack-up and are taught.
The vehicle body is a small-sized passenger car, a household car, an electric sightseeing vehicle or a large truck, preferably the electric sightseeing vehicle. The teaching device can be used for sightseeing in schools after teaching activities, and the utilization rate is improved.
In the embodiment, as shown in fig. 2, an electric sightseeing vehicle is standard-equipped with 11 seats of 48V (a 11F). The main parameters are as follows: rated occupant 11, traveling speed: 28-35km/h (adjustable), driving range: 80-90km, safe climbing gradient: less than or equal to 20 percent.
The electrical parameters are: the electric control-Inpower high-efficiency separately-excited intelligent controller has the functions of anti-back-slip and downhill speed limiting, the motor-direct-current separately-excited high-efficiency copper winding motor power is 5kw, the battery-special customized deep-cycle lead-acid battery capacity is 210AH 6V/block and total 8 blocks, the charger-computer intelligent high-frequency charger input voltage is 220V and outputs 48V/25A, and the charging time is-8-9 hours.
The vehicle configuration parameters are: the roof-automobile engineering material injection molding, the automobile body-whole automobile full injection molding material modularized structural design can be replaced in a split mode, the maintenance cost is saved, a support-aluminum alloy support, a seat-high-grade leather-like seat, an instrument desk-plastic molding instrument desk (a voltmeter, an ammeter, an electricity meter, a speedometer, an instrument indicator, an electric lock switch, high-grade automobile audio and radio are provided with a USB interface, a storage box and a water cup seat), a light and signal-integrated LED headlamp (a steering lamp, a high beam lamp and a dipped headlight) integrated rear tail lamp (a steering lamp and a brake lamp), the energy and electricity are saved, the running and backing reminding horn is convenient to disassemble and assemble, the steering system-a gear rack steering system automatic clearance compensation function, the brake system-a front disc and rear drum double-loop hydraulic brake + hand brake parking, a front axle and a suspension-front axle Macpherson type independent suspension spiral spring + barrel type hydraulic shock absorption, The automobile rear axle comprises a rear axle, a suspension-integral rear axle steel plate spring, a cylinder type hydraulic shock absorber, a tire hub, an automobile radial tire aluminum alloy hub, a detachable door, 8 toughened glass doors, 1 tail door, an automobile handle type design (two forward and reverse gears), three movable steering wheels, an aluminum alloy hub and an intelligent power-off protection plug.
The unmanned control module comprises a camera 9 and a millimeter wave radar 10 which are assembled at the front part of the vehicle body and are arranged in front of the vehicle body. The camera 9, the millimeter wave radar 10 and the laser radar 15 exposed outside are convenient to disassemble, assemble and maintain, and are suitable for teaching.
Example 3
The teaching method of the unmanned automobile teaching vehicle described in embodiment 1 or embodiment 2 includes stationary state teaching and driving state teaching;
the method comprises static state teaching and driving state teaching;
during static state teaching, the automobile body is static, and the student takes in the automobile body or stands outside the automobile body, will open the formula back tail door and open, the pulling but pull platform makes it be located the automobile body outside, the teacher carries out theoretical explanation to each part, perhaps: the teacher sets up the trouble through on teaching subassembly, camera, millimeter wave radar and/or laser radar, or inputs simulation fault signal through teaching input/output module, and the student gets rid of the trouble through display or other test instrument among the teaching input/output module.
During the state teaching of traveling, the automobile body is in unmanned state, and the student takes in the automobile body:
drawing a lane reference line and then sending the reference line through a command to realize unmanned driving, and a teacher carries out theoretical explanation on each part, or: the teacher sets up the trouble through on teaching subassembly, camera, millimeter wave radar and/or laser radar, or inputs simulation fault signal through teaching input/output module, and the student is through the travel state troubleshooting of the display in the teaching input/output module, other testing instrument or automobile body.
When theoretical explanation is carried out, relevant theoretical knowledge is explained by combining an intelligent unmanned control system, and phenomena corresponding to problems which can occur in each module and how to detect and process the problems are explained, so that a learner can master the realization mode and the detection problems of the intelligent driving theory skillfully.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of improvements and decorations can be made without departing from the principle of the present invention, and these improvements and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. An unmanned automobile teaching vehicle is characterized by comprising a vehicle body, an unmanned control system and a drawable platform, wherein the unmanned control system is installed on the vehicle body for realizing unmanned driving, the drawable platform is assembled at the tail part of the vehicle body, and teaching components in the unmanned control system are assembled on the drawable platform;
the teaching assembly comprises a central control machine, an inertial navigation system, an inverter and a transformer, wherein the inverter and the transformer are used for converting voltage;
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 at the head of the vehicle body, the laser radar in the unmanned control system is assembled at the top of the vehicle, and the camera, the millimeter wave radar and the laser radar are respectively in communication connection with the central control machine.
2. The unmanned automotive teaching vehicle of claim 1 wherein said retractable platform comprises a platform support modified from a rear seat of the vehicle and a platform support plate slidably attached to said platform support, said teaching components being secured to said platform support plate, respectively.
3. The unmanned vehicle for teaching of claim 2 wherein two slide rails are mounted on said platform support, four slide blocks are fixed below said platform support plate, two of said slide blocks slide within one of said slide rails, and two of said slide blocks slide within the other of said slide rails.
4. The unmanned automotive teaching vehicle of claim 2 wherein said teaching input output module includes a display for output and a keyboard and a mouse for input, said display, keyboard and mouse being communicatively coupled to said central control unit, respectively.
5. The unmanned vehicle for teaching of claim 4, wherein a patch panel is further fixed to the platform support plate, and a vehicle-mounted battery mounted on the vehicle body is connected to the patch panel through the transformer.
6. The unmanned vehicle for teaching of claim 5 wherein said patch panel is electrically connected to said display and said central control unit for power supply, said patch panel being electrically connected to said inertial navigation unit, said lidar and said millimeter wave radar through inverters for power supply, respectively.
7. The unmanned automotive teaching vehicle of claim 1 wherein said open rear door is mounted to a rear frame of said vehicle body by two hydraulic rams.
8. The unmanned automotive teaching vehicle of claim 7 wherein said open rear door is latched to a rear frame of said vehicle body by a rear door latch.
9. The unmanned automotive teaching vehicle of claim 1 wherein the body is a minibus, a family car, an electric sightseeing vehicle or a van, preferably an electric sightseeing vehicle.
10. The unmanned automotive teaching vehicle of claim 1 wherein the unmanned control system is a hundred degree apollo2.5 platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020268308.5U CN211555178U (en) | 2020-03-06 | 2020-03-06 | Unmanned automobile teaching vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020268308.5U CN211555178U (en) | 2020-03-06 | 2020-03-06 | Unmanned automobile teaching vehicle |
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| CN211555178U true CN211555178U (en) | 2020-09-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202020268308.5U Expired - Fee Related CN211555178U (en) | 2020-03-06 | 2020-03-06 | Unmanned automobile teaching vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113160691A (en) * | 2021-05-07 | 2021-07-23 | 思博智能科技(中山)有限公司 | Unmanned automatic driving vehicle for education and training |
-
2020
- 2020-03-06 CN CN202020268308.5U patent/CN211555178U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113160691A (en) * | 2021-05-07 | 2021-07-23 | 思博智能科技(中山)有限公司 | Unmanned automatic driving vehicle for education and training |
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Granted publication date: 20200922 |