CN214896242U

CN214896242U - Many unmanned mine card emulation test system based on VTD

Info

Publication number: CN214896242U
Application number: CN202120779439.4U
Authority: CN
Inventors: 朱旭晖; 王志文; 杨朔; 秦晓驹; 奚小虎
Original assignee: Anhui Haibo Intelligent Technology Co ltd
Current assignee: Anhui Haibo Intelligent Technology Co ltd
Priority date: 2021-04-15
Filing date: 2021-04-15
Publication date: 2021-11-26
Anticipated expiration: 2031-04-15

Abstract

The utility model discloses a VTD-based multi-unmanned mine card simulation test system, which comprises a VTD intelligent scene simulation module, a dynamics model module and a controller module, wherein the VTD intelligent scene simulation module is connected with the dynamics model module and the controller module, and the dynamics model module is connected with the controller module; the controller module comprises a plurality of mine card simulation computers and an unmanned driving logic simulation module; the VTD intelligent scene simulation module comprises a scene simulation module which is connected with the dynamic model module and used for sending road information, and a sensor simulation module which is connected with the mine card simulation computer and used for feeding back. The utility model discloses can realize the joint simulation of many mine cards, need not control the mine card through virtual cockpit. The control algorithm of the vehicle is integrated in the controller, and the vehicle model is integrated in the core dynamics tool, so that the automatic control is completely realized.

Description

Many unmanned mine card emulation test system based on VTD

Technical Field

The utility model relates to an unmanned simulation test technical field, in particular to many unmanned ore deposit card simulation test system based on VTD.

Background

Unmanned mine card driving requires extensive testing to detect functional safety and economy. The real vehicle testing efficiency of the large-scale mine car is low, the testing scenes are few, the economic benefit and the safety are not high, and the coordination and matching testing difficulty of a plurality of mine cards is large. The simulation test has the advantages over the real vehicle test: various different complex traffic scenes can be set, and high-strength repeated tests can be carried out, so that the test efficiency is improved; the limit working condition test which is very difficult to test by using a real vehicle can be carried out, so that the test safety is improved; and a plurality of unmanned mine cards are subjected to simulation test, and the joint debugging test adaptability is improved.

The prior art has the defects that the traditional test mode is that an operation tester controls the operation of a single vehicle through a virtual cockpit, the repeatability and the safety after scene setting are tested through a real vehicle, the test efficiency is low, the test scenes are few, and the difficulty is high when a plurality of mine cards are required to be matched for testing.

SUMMERY OF THE UTILITY MODEL

The utility model discloses a not enough that prior art exists is overcome to the purpose, for purpose more than realizing, adopts a many unmanned mine card emulation test system based on VTD to solve the problem that proposes among the above-mentioned background art.

A simulation test system for multiple unmanned mine cards based on VTD comprises a VTD intelligent scene simulation module, a dynamics model module and a controller module, wherein the VTD intelligent scene simulation module is connected with the dynamics model module and the controller module;

the controller module comprises a plurality of mine card simulation computers and an unmanned driving logic simulation module;

the VTD intelligent scene simulation module comprises a scene simulation module which is connected with the dynamic model module and used for sending road information, and a sensor simulation module which is connected with the mine card simulation computer and used for feeding back.

As a further aspect of the present invention: the VTD intelligent scene simulation module, the dynamics model module and the controller module adopt Ethernet to transmit data signals.

As a further aspect of the present invention: the unmanned driving logic simulation module comprises a virtual accelerator, a virtual brake and a virtual steering wheel.

As a further aspect of the present invention: the unmanned logic simulation module is connected to the dynamic model module and used for feeding back mine card control signals.

As a further aspect of the present invention: the sensor simulation module adopts inertial navigation equipment and a perception sensor.

Compared with the prior art, the utility model discloses there are following technological effect:

by adopting the technical scheme, the road virtual scene required by the test is established by utilizing the VTD intelligent scene simulation module, the related information is collected by the sensor simulation module and is transmitted to the controller module, the logic algorithm is processed by the mine card simulation computer arranged on the controller module, the processed information is transmitted to the dynamic model module, the road information of the VTD intelligent scene simulation module is received, and the signal of the running state of the mine card is fed back and controlled by the Ethernet. Therefore, simulation test of the mine card is realized, high-strength repeated test is carried out in different set complex traffic scenes, and test efficiency is improved. The limit working condition test can be carried out, and the safety is high. And the simulation test of a plurality of unmanned mine cards can be simulated through a plurality of mine card simulation computers.

Drawings

The following detailed description of the embodiments of the present invention is made with reference to the accompanying drawings:

fig. 1 is a schematic structural diagram of a plurality of unmanned mine card simulation test systems according to some embodiments disclosed herein.

In the figure: 1. a VTD intelligent scene simulation module; 11. a scene simulation module; 12. a sensor simulation module; 2. a dynamics model module; 3. a controller module; 31. a mine card simulation computer; 32. the unmanned driving logic simulation module; 321. a virtual throttle; 322. virtual braking; 323. a virtual steering wheel.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1, in an embodiment of the present invention, a VTD-based multi-unmanned mine card simulation test system includes a VTD intelligent scene simulation module 1, a dynamic model module 2, and a controller module 3.

In some embodiments, the controller module 3 includes a plurality of mine card simulation computers 31, and the mine card simulation computers 31 are used for simulating the mine cards. Wherein, a single mine card simulation computer 31 is equivalent to an unmanned mine card, and a plurality of mine card simulation computers 31 can realize the joint simulation of a plurality of unmanned mine cards. The mine card simulation computer 31 specifically adopts a computer and a server. And a drone logic simulation module 32, the drone logic simulation module 32 including a virtual throttle 321, a virtual brake 322, and a virtual steering wheel 323. And the dynamic model module 2 is connected for feeding back the mine card control signal. And the signals for feeding back the throttle, brake and steering of the virtual mine card of the mine card simulation computer 31 are transmitted to the dynamic model module 2. The actual feedback state of the vehicle is transmitted to the VTD intelligent scene simulation module 1 through the Ethernet, and the running state of the current mine card can be displayed. And the Ethernet is adopted for data signal transmission between the modules.

The dynamic model module 2 is connected with the controller module 3, the dynamic model module 2 is connected with the VTD intelligent scene simulation module 1, the throttle, brake and corner signals are transmitted to the dynamic model module 2, and the running state of the mine card is controlled by outputting x and y coordinates of the wheels.

Specifically, the VTD intelligent scene simulation module 1 is established by VTD software through simulation, and is used to provide a simulation environment for testing multiple unmanned mine cards. And the VTD intelligent scene simulation module 1 includes a scene simulation module 11 connected to the dynamic model module 2 for sending road information, including friction, elevation, etc., and a sensor simulation module 12 connected to the mine card simulation computer 31 for feedback.

In some embodiments, the sensor simulation module 12 employs an inertial navigation device and a sensing sensor.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents, all of which are intended to be encompassed within the scope of the invention.

Claims

1. A simulation test system for multiple unmanned mine cards based on VTD is characterized by comprising a VTD intelligent scene simulation module (1), a dynamics model module (2) and a controller module (3), wherein the VTD intelligent scene simulation module is connected with the dynamics model module and the controller module, and the dynamics model module is connected with the controller module;

the controller module comprises a plurality of mine card simulation computers (31) and an unmanned driving logic simulation module (32);

the VTD intelligent scene simulation module comprises a scene simulation module (11) connected with the dynamic model module and used for sending road information, and a sensor simulation module (12) connected with the mine card simulation computer and used for feeding back.

2. The VTD-based multi-unmanned mine card simulation test system according to claim 1, wherein the VTD intelligent scene simulation module, the dynamics model module and the controller module all use Ethernet for data signal transmission.

3. The VTD-based multi-unmanned mine card simulation test system according to claim 1, wherein the unmanned logic simulation module comprises a virtual throttle (321), a virtual brake (322), and a virtual steering wheel (323).

4. The VTD-based multi-unmanned mine card simulation test system according to claim 3, wherein the unmanned logic simulation module is connected to the dynamic model module for feeding back mine card control signals.

5. The VTD-based multi-unmanned mine card simulation test system according to claim 1, wherein the sensor simulation module employs an inertial navigation device and a sensing sensor.