CN216332000U - Fault setting and detecting system for automatic driving vehicle technical training - Google Patents

Abstract

The invention relates to a fault setting and detecting system for technical training of an automatic driving vehicle, which comprises an automatic driving system, a line control chassis, a fault setting and detecting system and an interactive system, wherein the automatic driving system, the line control chassis, the fault setting and detecting system and the interactive system are arranged on the automatic driving vehicle; in the face of the demand of automatic driving education and training, the automatic driving vehicle for education and training is designed with a fault setting and diagnosing function, and the system comprises an interactive system, a fault setting system, a fault detecting system, an automatic driving system, a drive-by-wire chassis and the like, so that the fault diagnosis and maintenance training of the automatic driving vehicle are facilitated.

Description

Fault setting and detecting system for automatic driving vehicle technical training

Technical Field

The invention relates to the field of unmanned trolley training devices, in particular to a fault setting and detecting system for automatic trolley technical 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; particularly, in the aspect of maintenance and maintenance of the automatic driving vehicle, no special equipment for trainees to set and detect faults of a sensor, a host, a chassis and the like exists, and the fault setting and quick recovery of the automatic driving vehicle cannot be realized.

Disclosure of Invention

The invention aims to solve the technical problem of providing a fault setting and detecting system for the technical training of an automatic driving vehicle, so as to solve the defects in the prior art.

The technical scheme for solving the technical problems is as follows:

a fault setting and detecting system for technical training of an automatic driving vehicle comprises the automatic driving system, a line control chassis, a fault setting and detecting system and an interactive system, wherein the automatic driving system, the line control chassis, the fault setting and detecting system and the interactive system are arranged on the automatic driving vehicle; the automatic driving system collects the surrounding information of the automatic driving vehicle and generates a control instruction, and the drive-by-wire chassis can control the automatic driving vehicle to run to a specified position according to the control instruction; the fault setting and collecting system is used for setting faults of the automatic driving vehicle and collecting fault information;

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 detection system can be controlled to set one or more faults by clicking a fault setting interface; the fault display interface acquires hardware circuit signals by controlling the fault setting detection system and analyzes and processes the signals so as to display the set faults;

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 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 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 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 invention has the beneficial effects that: in the face of the demand of automatic driving education and training, the automatic driving vehicle for education and training is designed with a fault setting and diagnosing function, and the system comprises an interactive system, a fault setting system, a fault detecting system, an automatic driving system, a drive-by-wire chassis and the like, so that the fault diagnosis and maintenance training of the automatic driving vehicle are facilitated.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic diagram of the principle structure of the fault setting detection system of the present invention;

FIG. 3 is a schematic diagram of a power circuit fault setting circuit according to the present invention;

FIG. 4 is a schematic diagram of a signal circuit fault setting circuit according to the present invention;

the reference numerals are explained below:

1. the system comprises an automatic driving vehicle, 2, a fault setting detection system, 21, an MCU (microprogrammed control Unit) controller, 22, fault setting points, 23, a state acquisition point, 24, a digital quantity output interface, 25, a digital quantity input interface, 3, an interaction system, 31, an interaction host, 32, a human-computer interface, 33, a touch screen, 4, a CAN (controller area network) bus, 5, sensors 1 and 6 and a sensor 2;

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, a fault setting and detecting system for technical training of an automatic driving vehicle comprises an automatic driving system arranged on the automatic driving vehicle 1, a drive-by-wire chassis, a fault setting and detecting system 2 and an interactive system 3; the automatic driving system collects the surrounding information of the automatic driving vehicle and generates a control instruction, and the drive-by-wire chassis can control the automatic driving vehicle to run to a specified position according to the control instruction; the fault setting and collecting system 2 is used for setting faults of the automatic driving vehicle and collecting fault information;

the interactive system 3 comprises an interactive host 31, a human-computer interface 32 and a touch screen 33; the man-machine interface 32 is operated through the touch screen 33, transmits instructions 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 detection system can be controlled to set one or more faults by clicking a fault setting interface; the fault display interface acquires hardware circuit signals by controlling the fault setting detection system and analyzes and processes the signals so as to display the set faults;

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;

as a preferred embodiment of the above technical solution, the fault setting detection system includes an MCU controller 21, a fault setting point 22, a status collection point 23, and a diagnosis 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;

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.

Further, the interactive system is connected with the MCU controller through the CAN bus 7 for data transmission; the MCU controller comprises a digital output interface (DO)24 and a digital input interface (DI)25, and the digital input interfaces are respectively connected with state acquisition points arranged at the input end and the output end of the 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;

it should be noted that the sensor is a generalized concept, and covers a signal detection sensor in a drive-by-wire chassis, a laser radar in an automatic driving system, a binocular camera, an upper computer, a millimeter wave radar, an ultrasonic radar, and a signal detection sensor arranged in a combined inertial navigation system;

during specific implementation, the MCU controller receives a fault setting instruction and feeds back fault state information through the CAN bus. When fault setting is carried out, the MCU controller sends out a fault setting instruction through a digital quantity output interface (DO), a fault setting point is set to be in states of 'off' and 'on', and the like, the two ends of the fault setting point, namely the on-off of the input end of the sensor and the output end of the sensor, are realized, and therefore the setting and the recovery of the fault are realized.

For the positive and negative of the power supply, the connection and disconnection can be realized by the method, and for the signal line, another setting is provided, namely mutual short, the connection and disconnection between the two lines are realized by setting the circuit state between the positive and negative of the signal, so that the mutual short state of the signal line is simulated. And the state acquisition point is used for acquiring the level states of the power supply and the signal wire, and transmitting the level states to the interactive system after the logic calculation of the MCU, so that the acquisition and the display of state information are realized.

It should be noted that, as shown in fig. 2, the sensors are divided into two types according to the difference of signals of corresponding parts acquired by the sensors, wherein, the corresponding interfaces of the sensor 1 have 4 lines, which are respectively a power supply positive, a power supply negative, a signal positive (D +), and a signal negative (D-); the corresponding interface of the sensor 2 is provided with six wires which are respectively a power supply positive wire, a power supply negative wire, a receiving signal positive wire (RD plus) and a receiving signal negative wire (RD-); signaling positive (TD +), signaling negative (TD-); the skilled person in the art can select sensor 1 or sensor 2 according to the type of signal acquisition for different components of the autonomous vehicle, which is well known in the art and will not be described in detail herein.

For the power circuit, as shown in fig. 3, by setting DO1, the positive ends of the power can be disconnected, so as to realize the function of "breaking" the power; by arranging DO2, the negative two ends of the power supply can be disconnected, so that the function of 'breaking off' of the negative power supply is realized;

for the signal circuit, as shown in fig. 4, the DO3 is set to be off, so that the positive (D +) signal can be turned off, the DO2 is set to be on, so that the D + "short to ground" function can be realized, the DO1 is set to be on, so that the mutual short between D + and D-can be realized, and the operation on the negative terminal of the signal is the same as the above. By the operation of different DO and the combined operation among the DO, the on-off operation of different circuits can be realized, so that the simulation of the fault and normal state of each sensor is realized.

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 (5)

1. The utility model provides a be used for automatic driving car technical training to set up and detecting system with trouble which characterized in that: the system comprises an automatic driving system, a drive-by-wire chassis, a fault setting detection system and an interaction system, wherein the automatic driving system, the drive-by-wire chassis, the fault setting detection system and the interaction system are arranged on an automatic driving vehicle;

the automatic driving system collects the surrounding information of the automatic driving vehicle and generates a control instruction, and the drive-by-wire chassis can control the automatic driving vehicle to run to a specified position according to the control instruction; the fault setting and collecting system is used for setting faults of the automatic driving vehicle and collecting fault information;

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 detection system can be controlled to set one or more faults by clicking a fault setting interface; and the fault display interface acquires hardware circuit signals and analyzes and processes the hardware circuit signals by controlling the fault setting detection system so as to display the set faults.

2. The fault setting and detection system for the technical training of the automatic driving vehicle as claimed 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 fault setting and detection system for the technical training of the automatic driving vehicle as claimed in 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 drive-by-wire 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 logistics vehicle path navigation and automatic arm obstacle avoidance are realized.

4. The fault setting and detection system for the technical training of the automatic driving vehicle as claimed in claim 3, wherein: 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.

5. The fault setting and detection system for the technical training of the automatic driving vehicle as claimed in claim 4, 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 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.

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