CN113515118A - Movable teaching platform - Google Patents
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- CN113515118A CN113515118A CN202110432484.7A CN202110432484A CN113515118A CN 113515118 A CN113515118 A CN 113515118A CN 202110432484 A CN202110432484 A CN 202110432484A CN 113515118 A CN113515118 A CN 113515118A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B19/00—Teaching not covered by other main groups of this subclass
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Abstract
The application relates to the technical field of robots, in particular to a movable teaching platform, which comprises: a platform body; the system comprises a platform body, a plurality of sensors and a control module, wherein the plurality of sensors are integrated on the platform body and are used for acquiring road condition information and motion information of the platform body; the processor is integrated on the platform body, connected with the sensors and used for carrying out information fusion on the road condition information and the motion information to obtain an information fusion result; the controller is integrated on the platform body, connected with the processor and used for controlling the braking module according to the information fusion result; and the braking module is integrated on the platform body, is connected with the controller and is used for controlling the motion state of the platform body under the control of the controller. According to the embodiment of the application, the problems that in the related technology, the movable range is narrow, the integration level is low, and the teaching platform can be used by only part of people, so that the universality of the teaching platform is poor can be solved.
Description
Technical Field
The application relates to the technical field of robots, in particular to a movable teaching platform.
Background
With the development and application of modern technologies such as mobile internet, more and more teaching platforms are applied to teaching.
At present, in order to ensure the mobility of the teaching platform, the carrier of the teaching platform is usually a movable carrier. However, in the prior art, the movable teaching platform is obtained by simply splicing the processor and the carrier with wheels, has a simple structure, a narrow movable range and low integration level, and can only be provided for partial personnel, so that the teaching platform is poor in universality.
Disclosure of Invention
The embodiment of the application provides a movable teaching platform, which can solve the problems that in the related art, the movable range is narrow, the integration level is low, and only part of personnel can be provided for use, so that the universality of the teaching platform is poor.
In a first aspect, an embodiment of the present application provides a movable teaching platform, including:
a platform body;
the system comprises a platform body, a plurality of sensors and a control module, wherein the plurality of sensors are integrated on the platform body and are used for acquiring road condition information and motion information of the platform body;
the processor is integrated on the platform body, connected with the sensors and used for carrying out information fusion on the road condition information and the motion information to obtain an information fusion result;
the controller is integrated on the platform body, connected with the processor and used for controlling the braking module according to the information fusion result;
and the braking module is integrated on the platform body, is connected with the controller and is used for controlling the motion state of the platform body under the control of the controller.
In one possible implementation manner, the road condition information includes distance information between the platform body and the object, position information of the object, lane information and traffic light information; the plurality of sensors includes:
the millimeter wave radar is positioned at the target height above the horizontal plane of the platform body and used for acquiring motion information of the platform body, first distance information in the distance information and first position information in the position information, the first distance information is the distance information between a first object in the objects and the platform body, and the first position information is the position information of the first object;
the laser radar is parallel to the horizontal plane of the platform body and is used for acquiring second distance information in the distance information and second position information in the position information, the second distance information is the distance information between a second object in the object and the platform body, and the second position information is the position information of the second object;
and the camera is positioned between the laser radar and the millimeter wave radar and is used for detecting road conditions to obtain lane information and traffic signal lamp information.
In one possible implementation, the lidar is a single line lidar.
In one possible implementation, a plurality of holes are provided on the platform body for the user to mount, dismount and position the plurality of sensors.
In one possible implementation, the millimeter wave radar is disposed directly behind the laser radar.
In one possible implementation, the braking module includes:
the wheels are connected with the platform body;
and the motor is integrated on the platform body, is respectively connected with the wheels and the controller, and is used for controlling the wheels under the control of the controller.
In one possible implementation, a suspension spring system is provided between the wheel and the platform body.
In one possible implementation, the motor is a dc geared motor.
In a possible implementation manner, the platform body comprises a plurality of package plates, and the package plates are connected through a locking device to form a package housing.
In a possible implementation manner, the platform further comprises a power supply, which is integrated on the platform body, is respectively connected with the plurality of sensors, the processor, the controller and the braking module, and is used for respectively supplying power to the plurality of sensors, the processor, the controller and the braking module.
In a possible implementation manner, the system further comprises a wireless communication module, which is integrated on the platform body, and is respectively connected with the plurality of sensors, the processor, the controller and the brake module, and is used for communicating with the remote control system.
The portable teaching platform that this application embodiment provided can integrate a plurality of sensors to can gather the motion information of road conditions information and platform body, and integrated treater, controller and braking module, and then can make portable teaching platform can automatic control motion state, so, the portable teaching platform that this application embodiment provides is integrated highly, make portable teaching platform can autopilot, the moving range of portable teaching platform has been improved, thereby the use universality of portable teaching platform has been improved.
Drawings
Fig. 1 is a schematic structural diagram of a movable teaching platform provided in an embodiment of the present application;
FIG. 2 is a schematic structural diagram of a plurality of sensors provided in an embodiment of the present application;
fig. 3 is a structural diagram of a brake module according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings. It is to be understood that the embodiments described are only a few embodiments of the present disclosure, and not all embodiments.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the specification. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise.
In the description of the embodiments of the present specification, "a plurality" means two or more than two.
In the description of the present specification, the terms "first", "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.
Generally, a teaching platform is usually integrated on a fixed carrier, for example, a desk such as a teacher desk of a computer or an industrial personal computer can be integrated, so that students can conveniently operate the teaching platform. However, such teaching platforms cannot be moved and have low flexibility in use. In order to facilitate the use of the teaching platform, the teaching platform and the movable carrier are simply spliced in the related art, for example, the teaching platform is integrated on a table with wheels, so that the teaching platform is flexible to use. However, the movable teaching platform in the related art has a narrow movable range and low integration level, and cannot be used by a large number of people, so that the application universality of the movable teaching platform is reduced.
Based on this, this application embodiment provides a portable teaching platform, its portable teaching platform can integrate a plurality of sensors, thereby can gather road conditions information and the motion information of platform body, and integrated treater, controller and brake module, and then can make portable teaching platform can automatic control motion state, so, the portable teaching platform integrated level that this application embodiment provided is higher, make portable teaching platform can autopilot, the moving range of portable teaching platform has been improved, thereby the use universality of portable teaching platform has been improved.
It should be noted that, in the embodiment of the present application, a teaching system, which may be a device with computing and processing capabilities, is further integrated in the movable teaching platform. The equipment can be a mobile phone, a tablet personal computer, a notebook computer, an industrial personal computer and the like, and also can be large-scale computing equipment such as a server, a distributed computing center and the like.
Next, with reference to fig. 1, in different embodiments, an example of a movable teaching platform provided in the embodiments of the present application is described.
Fig. 1 is a schematic structural diagram of a movable teaching platform 100 provided in an embodiment of the present application. As shown in fig. 1, a movable teaching platform 100 provided by the embodiments of the present application may include a platform body 101, a plurality of sensors 102, a processor 103, a controller 104, and a brake module 105.
A platform body 101;
the sensors 102 are integrated on the platform body and used for acquiring road condition information and motion information of the platform body;
the processor 103 is integrated on the platform body 101, connected with the plurality of sensors, and configured to perform information fusion on the road condition information and the motion information to obtain an information fusion result;
the controller 104 is integrated on the platform body, connected with the processor and used for controlling the brake module according to the information fusion result;
the braking module 105 is integrated on the platform body 101, connected to the controller 104, and configured to control a motion state of the platform body 101 under the control of the controller 104.
Each module is described in detail below.
The platform body 101 may be a carrier for various components in the movable teaching platform, and components such as a processor, a controller, and the like are integrated on the platform body 101.
In some embodiments, the platform body 101 is a package enclosure made up of multiple package boards, such that the connection lines between the various components in the movable teaching platform are packaged inside the platform body. Wherein, for the convenience of the dismantlement of subassembly, installation and change encapsulation board in the portable teaching platform, can connect through locking device between the encapsulation board to form the encapsulation shell, so, can improve the stability of platform body, the dismouting of the subassembly of installation in also being convenient for platform body and the platform body.
In some embodiments, to ensure convenience for the user to use the movable teaching platform, the length of the platform main body 101 may be set to be less than 1 meter, the width is less than 0.5 meter, and the height is less than 0.3 meter, for example, the length, the width and the height of the platform main body 101 may be set to be 0.6m by 0.3m by 0.22 m.
In some embodiments, in order to ensure the stability of the package housing, an aluminum profile may be used to connect the package plates into the package housing, for example, a euro 1515 square tube aluminum profile.
The plurality of sensors 102 may be integrated by a plurality of sensors. Wherein, a plurality of sensors 102 are arranged on the platform body 101. In order to enable the mobile teaching platform to be capable of automatically driving, the plurality of sensors 102 can sense environmental information around the platform body, namely the plurality of sensors 102 are used for acquiring road condition information and motion information of the platform body 101, and therefore a processor and a controller in the mobile teaching platform can perform navigation planning according to the road condition information and the motion information, and automatic driving of the mobile teaching platform is achieved.
In some embodiments, the traffic information includes distance information between the platform body and the object, position information of the object, lane information, and traffic light information. Here, the object may be an obstacle in front of the movable teaching platform, and may also be other moving objects, such as a person, a vehicle, and the like. The object includes a first object and a second object, wherein the first object may be an object having a height greater than a preset height threshold, and the second object may be an object having a height less than the preset height threshold. The distance information comprises first distance information of the platform body and the first object and second distance information of the platform body and the second object. The motion information may include a motion speed of the platform body and a motion direction of the platform body. Here, as shown in fig. 2, in order to improve the automatic driving function of the movable teaching platform, the plurality of sensors may include sensors such as a millimeter wave radar 21, a laser radar 22, and a camera 23. Each sensor is described in detail below.
The millimeter wave radar is located at a target height above the horizontal plane of the platform body, for example, the millimeter wave radar may be 0.25m above the horizontal plane. Here, the target height may be set as needed, and is not particularly limited herein. Because millimeter wave radar's position is higher, consequently, first object and the first distance information of platform body and the first position information of first object can be gathered to millimeter wave radar, and simultaneously, millimeter wave radar can also gather the motion information of platform body, the speed of motion and the direction of motion of platform body promptly.
In some embodiments, the orientation of the millimeter wave radar may coincide with the advancing direction of the platform body.
Under the external conditions of rain fog, smoke, dust and over-dark and over-bright, the movable teaching platform can start the millimeter wave radar to carry out long-distance and medium-distance detection on the advancing environment. Under the condition that laser radar and camera receive the interference, can adopt the millimeter wave radar to navigate, can improve the detection accuracy to carry out the fusion of multidimension degree information.
The laser radar is parallel to the horizontal plane of the platform body and used for collecting second distance information of the second object and the platform body and position information of the second object.
In some embodiments, the laser radar may be a single line laser radar, which has a function of instant positioning and mapping (SLAM), and can actively detect and modify a closed loop, thereby implementing a hundred thousand square meter-level high-precision map building and positioning function, and further improving the driving precision of the movable teaching platform.
The camera is positioned between the laser radar and the millimeter wave radar and is used for detecting road conditions so as to obtain lane information and traffic signal lamp information. Here, the collected traffic information may be picture information, for example, the camera may collect picture information of lane information in a preset range.
In some embodiments, the millimeter wave radar sets up directly behind laser radar, and laser radar and millimeter wave radar can mutually support, can detect not co-altitude barrier respectively, carry out the information fusion to the distance information of the not co-altitude barrier of gathering and the platform body and the positional information of barrier, realize the information fusion of multidimension degree to improve portable teaching platform's driving precision.
In some embodiments, in order to facilitate the detachment and installation of each of the plurality of sensors, a plurality of hole locations are further provided on the platform body, so that a user can detach and position the sensor based on the hole locations, for example, the millimeter wave radar needs to be installed at a position of 250mm above the horizontal plane of the platform body, and then the position of 250mm above the horizontal plane of the platform body can be positioned according to the hole locations.
In this embodiment of the application, information collected by each sensor forms multidimensional information, such as road condition information and motion information, where the road condition information includes first distance information between the platform body and the first object, second distance information between the platform body and the second object, first position information of the first object and second position information of the second object, and the motion information includes a motion speed of the platform body and a motion direction of the platform body. In order to improve the driving accuracy of the movable teaching platform, the processor 103 may fuse the multidimensional information, thereby obtaining an information fusion result. In the method, the multi-dimensional information can be fused by adopting a deep learning method to obtain the characteristics of the multi-dimensional information, so that the motion state and the like of an object in a certain range of the movable teaching platform can be obtained, and accurate navigation driving is completed. Here, the processor 103 is integrated on the platform body 101 and connected to the plurality of sensors 102, so that the processor can obtain the road condition information collected by the plurality of sensors 102 and the motion information of the platform body.
In some embodiments, in order to ensure the accuracy of information fusion and further ensure the navigation accuracy, the processor 103 has a heterogeneous processing function, and can combine multidimensional information and underlying logic acceleration, so that the fusion of multidimensional information can be completed more accurately and the navigation accuracy is ensured.
The controller 104 is integrated on the platform body and connected with the processor 103, so as to obtain the information fusion result generated by the processor, and control the brake module according to the information fusion result, so as to control the motion state of the platform body.
The brake module 105 is integrated on the platform body and connected with the controller 104, and the brake module 105 can control the motion state of the platform body under the control of the controller 104.
In some embodiments, as shown in fig. 3, the brake module includes a wheel 31 and a motor 32. Wherein, the wheel is connected with the platform body. The motor is integrated on the platform body and is respectively connected with the wheel and the controller, so that the wheel can be controlled to rotate or be static under the control of the controller.
Here, in order to ensure the driving flexibility of the movable teaching platform, mecanum wheels may be used as the wheels. The motor may be a dc gear motor, for example, a 12V dc gear motor with an adjustable gear ratio. The reduction ratio may be set as appropriate, for example, 1: 60. 1: 90. 1: 150, the larger the reduction ratio value is, the larger the torque is, and the starting speed of the movable teaching platform is ensured. The direct current gear motor can also be provided with a Hall encoder, thereby being capable of detecting the rotating speed of the motor when the rotating speed is lower.
In some embodiments, jolting can be generated in the driving process, so that the components in the movable teaching platform are subjected to vibration of different degrees, the service life of the components is influenced, and therefore a suspension spring system is further arranged between the wheels and the platform body, the vibration of the components in the driving process of the movable teaching platform is reduced, the service life of the components is prolonged, and the cost is saved.
In this application embodiment, in order to guarantee portable teaching platform's scalability, portable teaching platform still includes routing equipment to can make portable teaching platform can expand the processing integrated circuit board, and then improve portable teaching platform's arithmetic speed. The processor can detect the calculated amount in real time, when the calculated amount is larger than a preset calculated amount threshold value, the processing board card can be expanded through the routing equipment, the calculated amount is transferred to the expanded processing board card for operation, and the operation speed is improved.
In some embodiments, the movable teaching platform further comprises a power supply. The power supply is integrated on the platform body, is respectively connected with the plurality of sensors, the processor, the controller and the braking module, and is used for respectively supplying power to the plurality of sensors, the processor, the controller and the braking module. The power supply can comprise a battery and a power panel, and the power panel can support multi-path adjustable voltage output and guarantee power supply stability. For example, the power supply board can be formed by 12V model airplane lithium batteries.
In some embodiments, the movable teaching platform further comprises a wireless communication module respectively connected to the plurality of sensors, the processor, the controller and the brake module for communicating with a remote control system. The remote control system may be a device with computing, processing capabilities. The equipment can be a mobile phone, a tablet personal computer, a notebook computer, wearable equipment, an industrial personal computer and the like, and also can be large-scale computing equipment such as a server, a distributed computing center and the like.
The functional blocks shown in the above-described structural block diagrams may be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, it may be, for example, an electronic circuit, an Application Specific Integrated Circuit (ASIC), suitable firmware, plug-in, function card, or the like. When implemented in software, the elements of the present application are the programs or code segments used to perform the required tasks. The program or code segments may be stored in a machine-readable medium or transmitted by a data signal carried in a carrier wave over a transmission medium or a communication link. A "machine-readable medium" may include any medium that can store or transfer information. Examples of a machine-readable medium include electronic circuits, semiconductor memory devices, ROM, flash memory, Erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, Radio Frequency (RF) links, and so forth. The code segments may be downloaded via computer networks such as the internet, intranet, etc.
It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, the present application is not limited to the order of the above-described steps, that is, the steps may be performed in the order mentioned in the embodiments, may be performed in an order different from the order in the embodiments, or may be performed simultaneously.
Aspects of the present application are described above with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions/acts specified in the flowchart and/or block diagram block or blocks. Such a processor may be, but is not limited to, a general purpose processor, a special purpose processor, an application specific processor, or a field programmable logic circuit. It will also be understood that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware for performing the specified functions or acts, or combinations of special purpose hardware and computer instructions.
As described above, only the specific embodiments of the present application are provided, and it can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the system, the module and the unit described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again. It should be understood that the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the present application, and these modifications or substitutions should be covered within the scope of the present application.
Claims (10)
1. A movable teaching platform, comprising:
a platform body;
the sensors are integrated on the platform body and used for acquiring road condition information and motion information of the platform body;
the processor is integrated on the platform body, connected with the sensors and used for carrying out information fusion on the road condition information and the motion information to obtain an information fusion result;
the controller is integrated on the platform body, connected with the processor and used for controlling the braking module according to the information fusion result;
the braking module is integrated on the platform body, is connected with the controller and is used for controlling the motion state of the platform body under the control of the controller.
2. The movable teaching platform according to claim 1, wherein the road condition information comprises distance information between the platform body and an object, position information of the object, lane information and traffic light information; the plurality of sensors includes:
the millimeter wave radar is positioned at a target height above a horizontal plane of the platform body and used for acquiring motion information of the platform body, first distance information in the distance information and first position information in the position information, the first distance information is the distance information between a first object in the objects and the platform body, and the first position information is the position information of the first object;
the laser radar is parallel to the horizontal plane of the platform body and is used for acquiring second distance information in the distance information and second position information in the position information, the second distance information is the distance information between a second object in the object and the platform body, and the second position information is the position information of the second object;
and the camera is positioned between the laser radar and the millimeter wave radar and is used for detecting road conditions and obtaining the lane information and the traffic signal lamp information.
3. The movable teaching platform of claim 2 wherein the lidar is a single line lidar.
4. The movable teaching platform of claim 1 wherein the platform body is provided with a plurality of holes for user access to the plurality of sensors and positioning thereof.
5. The movable teaching platform of claim 2 wherein the millimeter wave radar is disposed directly behind the lidar.
6. The movable teaching platform of claim 1 wherein the brake module comprises:
the wheels are connected with the platform body;
and the motor is integrated on the platform body, is respectively connected with the wheel and the controller, and is used for controlling the wheel under the control of the controller.
7. The movable teaching platform of claim 6 wherein a suspension spring system is provided between the wheel and the platform body.
8. The movable teaching platform of claim 6 wherein the motor is a dc gear motor.
9. The movable teaching platform of claim 1 wherein the platform body comprises a plurality of package boards connected by a locking device to form a package enclosure.
10. The movable teaching platform of claim 1, further comprising a power supply integrated on the platform body and connected to the plurality of sensors, the processor, the controller and the braking module, respectively, for supplying power to the plurality of sensors, the processor, the controller and the braking module, respectively.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110432484.7A CN113515118A (en) | 2021-04-21 | 2021-04-21 | Movable teaching platform |
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| CN202110432484.7A CN113515118A (en) | 2021-04-21 | 2021-04-21 | Movable teaching platform |
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