CN117890123A - Vehicle attitude test machine and test system - Google Patents

Abstract

The application provides a vehicle gesture test board, the board is along predetermineeing the route removal or be in the position of predetermineeing, vehicle gesture test board includes: a first moving member and a second moving member connected; the projection of the preset path or the preset position on the horizontal plane forms two path projection lines (L1), the projection lines (L1) of the preset paths and the central axis projection line (L2) of the central axis of the bottom of the machine platform projected on the horizontal plane are parallel in the process of moving along the preset path, and the central axis projection line (L2) is positioned at the middle position of the two path projection lines (L1). The test method and the test device can realize the test of the unmanned vehicle in the fixed place.

Description

Vehicle attitude test machine and test system

Technical Field

The embodiment of the application relates to the technical field of vehicle testing, in particular to a vehicle posture testing machine and a testing system.

Background

Whether some unmanned technologies are mature at present or not is reflected in the aspects of environmental adaptability, autonomous planning rationality of a working path, safety and the like, and a common inspection method is to see whether a vehicle can run straight lines on lands with different terrains and geology. The unmanned technique can be combined with the posture changes such as pitching, tilting and the like of the vehicle body to accurately calculate coordinate projection, namely accurately calculate the wheel position. But the difficulty and workload of searching for sites meeting different requirements are very large, and currently, because unmanned vehicles have defects in safety and technical maturity, the verification of unmanned technologies of the vehicles still requires staff to monitor and finish on site, for example, repeated experiments are required to be carried out on appointed single or multiple sites. The verification method is greatly influenced by factors such as vehicle type, site condition, driver level, climate environment and the like, and frequent tests have great loss on the vehicle, seriously consume waste energy and pollute the environment.

In addition, the straightness error of the unmanned vehicle in straight running usually needs to be estimated according to the data of the antenna receiver on the vehicle, and the data of the antenna receiver is not only related to the quality of the unmanned technology of the vehicle, but also influenced by the accuracy of the unmanned vehicle, the accuracy of other devices for detecting the posture of the vehicle body, the relative installation position data of each device and other variables. The existing field test method defaults that the equipment precision meets the requirement, the space position numerical value of each equipment installed on the vehicle is obtained through field manual measurement, single variable cannot be controlled, and the precision is ensured.

In view of this, there is a need for a solution suitable for testing unmanned vehicle technology.

Disclosure of Invention

In view of the above problems, the application provides a vehicle posture testing machine and a testing system, so as to solve the problems that the existing unmanned vehicle technology needs on-site verification and the result is inaccurate.

The embodiment of the application provides a vehicle gesture test machine, the board is along predetermineeing the route removal or be in predetermineeing the position, vehicle gesture test machine includes: a first moving member and a second moving member connected; the projection of the preset path or the preset position on the horizontal plane forms two path projection lines (L1), the projection lines (L1) of the preset paths and the central axis projection line (L2) of the central axis of the bottom of the machine table (100) projected on the horizontal plane are parallel in the process that the first moving member and the second moving member move along the preset path, and the central axis projection line (L2) is positioned at the middle position of the two path projection lines (L1).

Optionally, the first moving member and the second moving member respectively include: the linkage assembly, the first moving piece and the second moving piece are respectively connected with the linkage assembly.

Optionally, the machine has a first mode, when the machine is in the first mode, each of the second moving members moves relative to the first moving member, and each of the linkage assemblies generates linkage.

Optionally, when the vehicle posture test machine is in the first mode, the vehicle posture test machine moves along a first preset path or moves along a second preset path; when the vehicle attitude test machine table moves along a first preset path, each first moving part is inclined relative to each second moving part, and the inclination angles are the same; when the vehicle posture testing machine moves along a second preset path, the first moving part and the second moving part of the second moving member incline relative to the first moving part and the second moving part of the first moving member respectively, and the inclination angles are different.

Optionally, the machine further has a second mode, when the machine is in the second mode, the vehicle posture testing machine moves along a third preset path, and the first moving member and the second moving member of the first moving member are inclined with respect to the first moving member and the second moving member of the second moving member, respectively, and the inclination angles are the same.

Optionally, the machine further has a third mode and a fourth mode, when the machine is in the third mode, the vehicle posture testing machine moves along a fourth preset path, and the first moving member and the second moving member are both lifted or lowered horizontally by the same height; when the machine is in the fourth mode, the vehicle posture testing machine moves along a fifth preset path, and the first moving member and the second moving member are located on the same horizontal plane.

Optionally, the linkage assembly includes: a body; a first joint structure having a first connecting shaft; a second joint structure having a first connecting shaft; the linkage shaft is arranged on the body and can move relative to the body; the first linkage rod is connected with the body in a sliding manner, and is connected with the first moving piece through the first connecting shaft; the second linkage rod is connected with the body in a sliding manner, and is connected with the second moving piece through the first connecting shaft; the first linkage rod and the second linkage rod are arranged on two opposite sides of the linkage shaft, and when the machine table moves along any preset path or is located at any preset position, the first linkage rod, the second linkage rod, the body and the two first connecting shafts always form a rectangle.

Optionally, the linkage assembly further includes a transmission structure that is circumferentially and drivingly disposed on the body, the first linkage rod and the second linkage rod are connected to the transmission structure, when the first moving member is lifted relative to the second moving member or the second moving member is lifted relative to the first moving member, the first linkage rod and the second linkage rod slide along the body in a direction away from the linkage shaft, and the first linkage rod and the second linkage rod rotate relative to the first joint structure and the second joint structure; when the first moving member descends relative to the second moving member or the second moving member descends relative to the first moving member, the first linkage rod and the second linkage rod slide along the body in a direction approaching to the linkage shaft respectively, and the first linkage rod and the second linkage rod rotate relative to the first joint structure and the second joint structure.

Optionally, the first joint structure and the second joint structure respectively include: the first joint piece comprises two first limiting pieces, the first connecting shaft is connected with the two first limiting pieces, the first joint piece and the first linkage rod or the second linkage rod are rotatably connected with the first connecting shaft, so that the body can move relative to the first moving piece or the second moving piece along a first plane perpendicular to the first connecting shaft, and the first connecting shaft and the linkage shaft are on the same straight line; the second joint piece comprises two second limiting pieces and a second connecting shaft connected with the two second limiting pieces, the second joint piece and the first moving piece or the second moving piece are rotatably connected with the second connecting shaft, so that the body can move relative to the first moving piece or the second moving piece along a second plane perpendicular to the second connecting shaft, and the second plane is perpendicular to the first plane.

Optionally, the body is provided with a plurality of adjustment holes, the linkage shaft is selectively rotatably connected to a pivot point with at least one of the plurality of adjustment holes, and the linkage shaft is inserted into one of the adjustment holes when any one of the first moving member and the second moving member is moved.

Optionally, the machine further includes: a first guide rail slidably connected to each of the first moving members; a second guide rail slidably connected to each of the second moving members; the second guide rail is arranged on the back surface of the first guide rail and the back surface of the second guide rail respectively; the two first driving rods are respectively connected with the first guide rail and the second guide rail in a rotating way; the second driving rods are respectively connected with the second guide rails in a rotating and sliding manner; the driving mechanism is electrically connected with the two first driving rods and the two second driving rods respectively, and can change the states of the first guide rail and the second guide rail by driving the two first driving rods and the two second driving rods to rise or fall so as to limit the preset path.

Optionally, the machine further includes: the first driving rods are respectively connected with the first moving piece and the second moving piece of the first moving component; two second driving rods respectively connected with the first moving piece and the second moving piece of the second moving member; the driving mechanism is electrically connected with the two first driving rods and the two second driving rods respectively, and can change the state of the first moving piece and/or the second moving piece by driving the two first driving rods and the two second driving rods to rise or fall, so that the preset position of the machine table is limited.

Another aspect of the present application also provides a vehicle attitude test system, including: a sensor provided on the vehicle posture test machine according to any one of claims 1 to 7 for acquiring coordinate data and posture data of the machine at each detection time; the computing unit is used for executing fitting according to the coordinate data and the gesture data of the machine table at each detection time to obtain a vehicle yaw angle of the machine table at each detection time; and the analysis unit is used for comparing the yaw angle of the vehicle at each detection time of the machine with the actual moving path of the machine to obtain a vehicle posture analysis result.

Optionally, the sensor includes at least one of a gyroscope and a locator.

In summary, in the embodiments of the present application, when the first moving member and the second moving member move along the preset path or are located at the preset position, the path projection lines (L1) and the central axis projection line (L2) of the central axis of the vehicle posture testing machine platform projected on the horizontal plane are kept parallel to each other, and the central axis projection line (L2) is located at the middle position of the two path projection lines (L1), so that the vehicle is simulated indoors or in a fixed place, and the method can be used for verifying the algorithm of the unmanned vehicle. Through setting up test board and test system, realized the test of indoor unmanned vehicle. The algorithm of the unmanned vehicle is reversely verified by ensuring that the simulated vehicle (first moving member + second moving member) runs along a fixed straight line, or that the posture of the simulated vehicle is changed anyway, always ensuring that the simulated vehicle stays in a fixed straight line.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following description will briefly introduce the drawings that are required to be used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are only some embodiments described in the embodiments of the present application, and other drawings may also be obtained according to these drawings for a person having ordinary skill in the art.

Fig. 1 is a schematic diagram of a vehicle posture test machine according to an exemplary embodiment of the present application.

Fig. 2 is a schematic diagram of a portion of an unmanned system according to an exemplary embodiment of the present application.

Fig. 3 is a schematic view of a rail and its underlying components according to an exemplary embodiment of the present application.

Fig. 4 is a schematic view of a vehicle body system according to an exemplary embodiment of the present application.

5-6 are exploded and perspective views, respectively, of a first or second moving member according to an exemplary embodiment of the present application;

FIG. 7 is a schematic view of another embodiment of a first or second moving member of the present application;

FIG. 8 is a schematic diagram illustrating a movement of a machine along a first predetermined path when the machine is in a first mode;

FIGS. 9A-9B are schematic diagrams illustrating movement of a machine along a second predetermined path when the machine is in a first mode;

Fig. 10 is a schematic diagram illustrating movement of the machine along a third preset path when the machine is in the second mode.

Reference numerals and signs

A first moving member 102; a second moving member 103; a path projection line L1; a central axis projection line L2; first displacements 106a,106b; second moving members 108a,108b; a body 110; a linkage shaft 112; a first linkage bar 114; a second linkage rod 116; a transmission structure 1102; a first joint structure 130; a second joint structure 131; a first articular component 132; a second joint member 133; a first connection shaft 1301; a first connecting shaft 1311; an adjustment aperture 1101; a first rail 120; a second guide rail 121; a third rail 122; a first driving rod 123; a second driving lever 124; a driving mechanism 140; a power supply 201, a switch 202, a microcomputer system 203, a steering wheel 204, an antenna receiver 205; a driving controller 206, a push rod motor 207, a main frame 208 and a placing table 209; a vehicle body system 210; a simple frame 301; a first restriction 1321; a second limiter 1331; and second connecting shafts 1332, 1333.

Detailed Description

China is a large agricultural country, the modern agricultural mechanization rate is higher and higher, but the automation rate of agricultural machinery is not high enough, and many aspects still depend on manpower. The rapid development and wide application of the unmanned technology of the agricultural machinery bring profound effects and great benefits to agriculture, and the active research and development of the unmanned technology of the agricultural machinery has great significance.

Whether the unmanned technique of the agricultural machinery is mature or not is reflected in the aspects of environmental adaptability, autonomous planning rationality of an operation path, safety and the like, the most basic requirement is to grasp and control the position, the course, the gesture and other data of the agricultural machinery with high precision, and a common inspection method is to see whether the agricultural machinery can run straight lines on lands with different terrains and geology or not. The unmanned technique can be combined with posture changes such as pitching, tilting and the like of the agricultural machinery vehicle body to accurately calculate coordinate projection, namely accurately calculate the positions of wheels or agricultural tools. But the difficulty and the workload of searching for sites meeting different requirements are very large, and at present, the unmanned agricultural machinery has defects in safety and technical maturity, so that the verification of unmanned agricultural machinery technology still needs to be completed by personnel in site monitoring. In particular to the need to manually dispatch single or multiple agricultural machinery to a designated single or multiple land areas for trial and error. The verification method is greatly influenced by factors such as the type of the agricultural machine, the site condition, the level of a driver, the climate environment and the like, and the frequent test has great loss on the agricultural machine, seriously consumes waste energy and pollutes the environment.

In addition, the straightness error of the unmanned agricultural machine in straight going usually needs to be evaluated according to the data of the antenna receiver on the agricultural machine, and the data of the antenna receiver is not only related to the quality of unmanned technology of the agricultural machine, but also is influenced by the accuracy of the unmanned agricultural machine, the accuracy of other equipment for detecting the posture of a vehicle body and the like, the relative installation position data of each equipment and the like. The precision of the default equipment of the existing field test method meets the requirement, the spatial position values of all equipment installed on the agricultural machinery are obtained through field manual measurement, single variable cannot be controlled, and the precision is ensured.

In order to better understand the technical solutions in the embodiments of the present application, the following descriptions will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the embodiments of the present application shall fall within the scope of protection of the embodiments of the present application.

Embodiments of the present application will be described in detail below with reference to the accompanying drawings.

FIG. 1 illustrates a schematic diagram of an embodiment of a vehicle attitude test bench of the present application. A vehicle posture test stand 100 moves along a preset path or is at a preset position, the vehicle posture test stand 100 comprising: a first moving member 102 and a second moving member 103 connected; the projection of the preset path or the preset position on the horizontal plane forms two path projection lines L1, the projection line L1 of each preset path and a central axis projection line L2 of the central axis of the bottom of the machine 100 projected on the horizontal plane are parallel in the process of moving along the preset path by the first moving member 102 and the second moving member 103, and the central axis projection line L2 is located at the middle position of the two path projection lines L1.

In an embodiment, the first moving member 102 and the second moving member 103 each include: the linkage assembly 104, the first moving member 106 and the second moving member 108, wherein the first moving member 106 and the second moving member 108 are respectively connected with the linkage assembly 104.

In one embodiment, as shown in fig. 8, the machine 100 has a first mode, when the machine 100 is in the first mode, each of the second moving members 108a,108b is lifted upwards, the first moving members 106a,106b are fixed or lowered, the second moving members 108a,108b move relative to the first moving members 106a,106b, and each of the linkage assemblies 104 generates linkage, such as the first linkage rod 114 and the second linkage rod 116 of each of the linkage assemblies 104 rotate relative to the first joint member 132, respectively.

The first mode simulates a roll of the vehicle body, and the first moving members 106a,106b may be raised upward, while the second moving members 108a,108b are stationary or lowered. In this embodiment, the vehicle posture testing machine 100 moves along a first preset path, one of the first guide rail 120 and the second guide rail 121 is lifted relative to the other, and when the vehicle posture testing machine 100 moves along the first preset path, each of the first moving members 106 is inclined relative to each of the second moving members 108, and the inclination angle θ is the same, and the inclination angle θ is an angle between the first moving member 106 and the second moving member 108 of the first moving member 102 or an angle between a line connecting the first moving member 106 and the second moving member 108 of the first moving member 102 of the second moving member 103 and a horizontal plane.

In another embodiment, as shown in fig. 9A-9B, the vehicle posture test machine 100 is in a first mode, and the vehicle posture test machine 100 moves along a second preset path; when the vehicle posture testing machine 100 moves along the second preset path, the first moving member 106 and the second moving member 108 of the second moving member 103 are respectively inclined with respect to the first moving member 106 and the second moving member 108 of the first moving member 102, and the inclination angles are different, at this time, the first guide rail 120 and the second guide rail 121 intersect with each other, and at this time, a state in which the wheels of the vehicle are not at the same height is simulated.

As shown in fig. 10, in another embodiment, the machine 100 further has a second mode, when the machine 100 is in the second mode, the vehicle posture test machine 100 moves along a third preset path, and the first moving member 106 and the second moving member 108 of the first moving member 102 are respectively inclined with respect to the first moving member 106 and the second moving member 108 of the second moving member 103, and the inclination angles are the same, and a state of forward tilting or backward tilting is simulated at this time.

In another embodiment, the machine 100 further has a third mode and a fourth mode, when the machine 100 is in the third mode, the vehicle posture test machine 100 moves along a fourth preset path, and the first moving member 102 and the second moving member 103 are both raised or lowered horizontally by the same height; when the machine 100 is in the fourth mode, the vehicle posture test machine 100 moves along a fifth preset path, and the first moving member 102 and the second moving member 103 are located at the same horizontal plane.

In one embodiment, as shown in FIG. 1, linkage assembly 104 includes: a body 110; a first joint structure 130 having a first connection shaft 1301; a second joint structure 131 having a first joint shaft 1311; a coupling shaft 112 provided on the body 110 as a central axis of a bottom portion thereof, and movable with respect to the body 110; a first link lever 114 slidably connected to the body 110, and the first link lever 114 is connected to the first moving member 106 through a first connection shaft 1301; a second link lever 116 slidably connected to the body 110, and the second link lever 116 is connected to the second moving member 108 through a first connecting shaft 1311; the first linkage rod 114 and the second linkage rod 116 are disposed on opposite sides of the linkage shaft 112, and when the machine 100 moves along any preset path or is at any preset position, the first linkage rod 114, the second linkage rod 116, the body, the first connection shaft 1301 and the first connection shaft 1311 always form a rectangle.

In an alternative embodiment, the linkage assembly 104 further includes a transmission structure 1102 that is circumferentially drivingly disposed on the body 110, and the first linkage rod 114 and the second linkage rod 116 are connected to the transmission structure 1102.

In one embodiment, the transmission structure 1102 may be a belt 1112+pulley 1113, or a chain similar to a bicycle chain+gear combination. As shown in fig. 6, the first linkage rod 114 is fixedly connected to the lower part of the belt 1112, the second linkage rod 116 is fixedly connected to the upper part of the belt 1112, when the first moving member 106 is lifted relative to the second moving member 108 or the second moving member 108 is lifted relative to the first moving member 106, the first linkage rod 114 and the second linkage rod 116 slide along the body 110 in a direction away from the linkage shaft 112, and the first linkage rod 114 and the second linkage rod 116 rotate relative to the first joint structure and the second joint structure, respectively; when the first moving member 106 descends relative to the second moving member 108 or the second moving member 108 descends relative to the first moving member 106, the first link lever 114 and the second link lever 116 slide along the body 110 in a direction approaching the link shaft 112, and the first link lever 114 and the second link lever 116 rotate relative to the first joint structure and the second joint structure, respectively.

In another embodiment, as shown in fig. 7, the transmission structure 1102 may be two racks 410 and a gear 420, and the gear 420 is disposed between the two racks 410. The first linkage rod 114 is fixedly connected to the lower rack 410, the second linkage rod 116 is fixedly connected to the upper rack 410, when the first moving member 106 is lifted relative to the second moving member 108 or the second moving member 108 is lifted relative to the first moving member 106, the first linkage rod 114 and the second linkage rod 116 slide along the body 110 in a direction away from the linkage shaft 112, and the first linkage rod 114 and the second linkage rod 116 rotate relative to the first joint structure and the second joint structure; when the first moving member 106 descends relative to the second moving member 108 or the second moving member 108 descends relative to the first moving member 106, the first link lever 114 and the second link lever 116 slide along the body 110 in a direction approaching the link shaft 112, and the first link lever 114 and the second link lever 116 rotate relative to the first joint structure and the second joint structure, respectively.

In an embodiment, the first joint structure and the second joint structure each include: a first joint member including two first limiting members 1321, the first connecting shafts 1301, 1311 connecting the two first limiting members 1321, the first joint member 132 rotatably connected to the first connecting shafts 1301, 1311 with the first linkage rod 114 or the second linkage rod 116 such that the body 110 can move relative to the first moving member 106 or the second moving member 108 along a first plane perpendicular to the first connecting shafts 1301, 1311, and the first connecting shafts 1301, 1311 are on the same line with the linkage shaft 112; the second joint member includes two second limiting members 1331 and second connecting shafts 1332 and 1333 connecting the second limiting members 1331, and the second joint member 133 and the first moving member 106 or the second moving member 108 are rotatably connected to the second connecting shafts 1332 and 1333, so that the body 110 can move relative to the first moving member 106 or the second moving member 108 along a second plane perpendicular to the second connecting shafts 1332 and 1333, and the second plane is perpendicular to the first plane. In an embodiment, the first joint member 132 may include pins 1301, 1311, support plates 1321 provided on both sides of the pins 1301, 1311, and through holes 402 provided on the support plates 1321. The second knuckle 133 may include pins 1332, 1333, support plates 1331 provided on both sides of the pins 1332, 1333, and through holes 404 provided on the support plates 1331. The pins 1301, 1311 may be perpendicular to the pins 1332, 1333.

In an embodiment, the body 110 is provided with a plurality of adjustment holes 1101, the linkage shaft 112 is selectively rotatably connected to a pivot point with at least one adjustment hole 1101 of the plurality of adjustment holes 1101, and the linkage shaft 112 is inserted into one of the adjustment holes 1101 when any one of the first moving member 102 and the second moving member 103 is moved.

In an embodiment, the machine further includes: a first guide rail 120 slidably connected to each of the first moving members 106; a second guide rail 121 slidably connected to each of the second moving members 108; two third guide rails 122 respectively provided on the back surfaces of the first guide rail 120 and the second guide rail 121; two first driving rods 123 rotatably connected to the first rail 120 and the second rail 121, respectively; two second driving rods 124 respectively rotatably and slidably connected to the two third rails 122, for example, the second driving rods 124 may be connected to the third rails 122 through a pivot shaft and a slider that may slide along the third rails 122; the driving mechanism is electrically connected to the two first driving rods 123 and the two second driving rods 124, and the driving mechanism can change the states of the first guide rail 120 and the second guide rail 121 by driving the two first driving rods 123 and the two second driving rods 124 to rise or fall, so as to define the preset path.

In another embodiment, the machine may also have no first guide rail 120 and no second guide rail 121, and each first moving member 106 and each second moving member 108 may be movably connected or fixedly connected with the first driving rod 123 or the second driving rod 124.

In an embodiment, the machine further includes: two first driving rods 123 connected to the first moving member 106 and the second moving member 108 of the first moving member 102, respectively; two second driving rods 124 connected to the first mover 106 and the second mover 108 of the second moving member 103, respectively; the driving mechanism is electrically connected to the two first driving rods 123 and the two second driving rods 124, and the driving mechanism can change the state of the first moving member 106 and/or the second moving member 108 by driving the two first driving rods 123 and the two second driving rods 124 to rise or fall, so as to define the preset position of the machine 100. The drive mechanism may include a drive controller 206, a push rod motor 207, and the like.

The machine may further include a main frame 208, where the main frame 208 may be formed by welding or fastening high-strength structural members such as a section bar or a metal plate, and has a main function of supporting the whole device, firmly fixing the plurality of push rod motors 40, and ensuring that each push rod motor is always vertical.

In this embodiment, a plurality of wheels 10 are installed under the main frame 208 to facilitate the movement of the whole equipment, and a mute universal wheel with brake is optionally used to ensure the stable running of the device. Meanwhile, the device can be sunk below the ground surface by a square groove pit, so that the height of the whole device is reduced, but the sunk depth needs to be calculated to ensure that the push rod motor 40 stretches and contracts to drive the first guide rail 120; the second rail 121 does not interfere with the ground surface when moving. The lower part of the main frame 208 is equipped with a loading table 209, and can house the power supply 201, the driving controller 206, and other devices and cables. These devices do not need to be operated at ordinary times and are therefore placed at the very bottom lowering the centre of gravity of the device.

The power supply 201 can be independently powered by a storage battery or can be externally connected with a power supply, and if the voltage is not adapted, an adapter is needed to be connected.

The driving controller 206 can receive the instruction of the microcomputer system 203, drive and control the plurality of push rod motors 207 to move, and the telescopic state of the push rod motor 207 push rod determines the state of the guide rail so as to determine the movement state of the car body system 210 of the machine. In addition, the vehicle body system 210 may include the first moving member 102 and the second moving member 103, and the vehicle body system 210 may be externally connected with a power device, and the driving controller 206 controls the vehicle body to move back and forth on the first rail 120 and the second rail 121, so that the power device is not identified in the example, and the front and rear axle connecting rod 210 may be directly held to move.

Further, in this example, the push rod motor 207 is used as a guide rail control device, and other devices such as an elevator, a cylinder, an oil cylinder, and the like may be used. In addition, the distance between the push rod motors 207 will affect the stress condition of the guide rail and the maximum change value of the pitching angle, and the voltage, stroke, thrust, waterproof level, whether the push rod motor 207 has specification selections such as push rod position feedback, etc. will have an effect on the testing device, and needs to be defined according to the instance condition.

Further, the first rail 120 and the second rail 121 may be straight rails disposed parallel to each other for limiting the advancing direction of the vehicle body, that is, the advancing direction of the vehicle body is attached to the first rail 120 and the second rail 121. In order to meet the above requirements and ensure that the first guide rail 120 and the second guide rail 121 are easy to synchronously operate, four push rod motors can be selected to enable the two first driving rods 123 and the two second driving rods 124 to form a rectangle. In the case of a fixed stroke of the push rod motors 207, the distance between two push rod motors 207 under the same guide rail will affect the maximum pitch angle value of the guide rail; in addition, if the device is required to simulate the vehicle bodies with different wheel base and axle base, the fixing structure of the push rod motor 207 can be designed in an adjustable mode, so that the interval between the push rod motors 207 can be synchronously adjusted.

Specifically, the first displacement members 106a,106b; the second movable members 108a,108b may be used in place of the wheels of the agricultural machine to allow the vehicle body system 210 to move on the first rail 120, the second rail 121 in place of the agricultural machine to move linearly on the ground. The first guide rail 120 and the second guide rail 121 are used for replacing the road surface actually tested by the agricultural machinery, and the guide rails can be adjusted through the push rod motor 207 at the bottom. Under the condition of fixed space between the push rod motors 207, the telescopic length of the push rod motors 207 can enable the first guide rail 120 and the second guide rail 121 to have various height, gradient, position and the like, so that various complex road conditions can be simulated to obtain various postures of the vehicle body on the road surface.

Another embodiment of the present application provides a vehicle attitude test system 200, comprising: the sensor is arranged on the vehicle posture testing machine 100 and is used for acquiring coordinate data and posture data of the machine 100 at each detection moment; a calculating unit, configured to perform fitting according to the coordinate data and the posture data of the machine 100 at each detection time, and obtain a yaw angle of the vehicle of the machine 100 at each detection time; and an analysis unit for obtaining a vehicle posture analysis result according to the comparison between the yaw angle of the vehicle at each detection time of the machine 100 and the actual movement path of the machine 100.

The sensor comprises at least one of a gyroscope and a locator.

Referring to fig. 2, in one embodiment, the unmanned system 300 of the vehicle posture test system 200 mainly includes a power source 201, a switch 202, a microcomputer system 203, a steering device, an antenna receiver 205, and a beidou positioning system. The sensor may be provided on the antenna receiver 205, and the calculation unit and the analysis unit may be provided on the microcomputer system 203. The vehicle may be an agricultural or other vehicle. In practical application, the unmanned technique of the agricultural machinery utilizes the positioning signals of the Beidou positioning system to design the running track of the agricultural machinery, integrates the information of the position, the gesture, the course angle, the sensors and the like of the agricultural machinery in the operation process, and finally achieves the purpose of controlling the steering of the agricultural machinery and running according to a designed path by controlling the electric steering wheel.

In this example, the antenna receiver 350 is a single antenna receiver mounted on top of the simple frame 301 to obtain the best signal and to ensure that the signal is unobstructed. The structural design enables the spatial position of the antenna receiver to be adjusted so as to simulate the installation condition on different agricultural machinery, and other detection equipment can be built in or externally connected to obtain the posture of the vehicle body. Furthermore, the common antenna can be used for receiving a double-antenna receiver with more mature technology, and the heading and pitch angles can be accurately output. For the course, roll, pitch angle and other data which are fused and output by the single antenna receiver and the sensor, the device can level and fix the positions of all the devices, and then the accuracy is verified one by changing a single variable one by one.

In this example, the microcomputer system 203 is a core processor of the unmanned technology, and is used for analyzing and processing data of each device, controlling each motor, and also is a main device for interaction between the device and the tester, and the installation position of the microcomputer system is on a fixing frame of the push rod motor 207, so that the tester can operate conveniently. When the vehicle body system is detected to deviate from the preset track, the microcomputer system 203 controls the steering motor of the steering device to steer, a tester intuitively observes that the steering wheel 204 continuously rotates, and relevant motion parameter data are stored in the microcomputer system 203 or synchronously uploaded to the cloud for further analysis and confirmation, for example, when the steering wheel 204 rotates beyond a preset angle, the algorithm indicating the unmanned agricultural machinery needs to be adjusted.

In summary, in the embodiments of the present application, when the first moving member and the second moving member move along the preset path or are located at the preset position, the path projection lines L1 and the central axis projection line L2 of the central axis of the vehicle posture testing machine projected on the horizontal plane are kept parallel to each other, and the central axis projection line L2 is located at the middle position of the two path projection lines L1, so that the vehicle is simulated indoors or in a fixed place, and the method can be used for verifying the algorithm of the unmanned vehicle. Through setting up test board and test system, realized the test of indoor unmanned vehicle. The algorithm of the unmanned vehicle is reversely verified whether it is correct by ensuring that the simulated vehicle first moving member + second moving member runs along a fixed straight line, or that the simulated vehicle is always ensured to stay in a fixed straight line regardless of the change of the posture of the simulated vehicle.

It should be noted that, according to implementation requirements, each component/step described in the embodiments of the present invention may be split into more components/steps, or two or more components/steps or part of operations of the components/steps may be combined into new components/steps, so as to achieve the objects of the embodiments of the present invention.

The methods according to embodiments of the present invention described above may be implemented in hardware, firmware, or as software or computer code storable in a recording medium, or as computer code originally stored in a remote recording medium or a non-transitory machine-readable medium and to be stored in a local recording medium downloaded through a network, so that the methods described herein may be processed by such software stored on a recording medium using a general-purpose computer, a special-purpose processor, or programmable or dedicated hardware. It is understood that a computer, processor, microprocessor controller, or programmable hardware includes a memory component that can store or receive software or computer code.

Those of ordinary skill in the art will appreciate that the elements and method steps of the examples described in connection with the embodiments disclosed herein can be implemented as electronic hardware, or as a combination of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the embodiments of the present invention.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solutions of the embodiments of the present application, and are not limited thereto; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.

Claims (14)

1. A vehicle attitude test machine (100), characterized in that the machine (100) moves along a preset path or is in a preset position, the machine (100) comprising: a first moving member (102) and a second moving member (103) connected to each other;

the projection of the preset path or the preset position on the horizontal plane forms two path projection lines (L1), the projection lines (L1) of the preset paths and the central axis projection line (L2) of the central axis of the bottom of the machine table (100) projected on the horizontal plane are parallel to each other in the process of moving along the preset path by the first moving component (102) and the second moving component (103), and the central axis projection line (L2) is positioned at the middle position of the two path projection lines (L1).

2. The machine according to claim 1, wherein the first moving member (102) and the second moving member (103) respectively comprise: the linkage assembly (104), the first moving piece (106) and the second moving piece (108), wherein the first moving piece (106) and the second moving piece (108) are respectively connected with the linkage assembly (104).

3. The machine according to claim 1 or 2, wherein the machine (100) has a first mode, and when the machine (100) is in the first mode, each of the second moving members (108) moves relative to the first moving member (106), and each of the linkage assemblies (104) is linked.

4. A machine according to claim 3, wherein when the vehicle attitude test machine (100) is in the first mode, the vehicle attitude test machine (100) moves along a first preset path or along a second preset path;

when the vehicle posture testing machine (100) moves along a first preset path, each first moving part (106) is inclined relative to each second moving part (108) respectively, and the inclination angles are the same;

when the vehicle posture test machine (100) moves along a second preset path, the first moving part (106) and the second moving part (108) of the second moving member (103) are inclined relative to the first moving part (106) and the second moving part (108) of the first moving member (102) respectively, and the inclination angles are different.

5. The machine according to claim 1 or 2, wherein the machine (100) further has a second mode, and when the machine (100) is in the second mode, the vehicle posture test machine (100) moves along a third preset path, and the first moving member (106) and the second moving member (108) of the first moving member (102) are inclined with respect to the first moving member (106) and the second moving member (108) of the second moving member (103), respectively, and the inclination angles are the same.

6. The machine according to claim 1 or 2, wherein the machine (100) further has a third mode and a fourth mode, the vehicle attitude test machine (100) moves along a fourth preset path when the machine (100) is in the third mode, the first moving member (102) and the second moving member (103) both rise or fall horizontally by the same height; when the machine (100) is in the fourth mode, the vehicle posture test machine (100) moves along a fifth preset path, and the first moving member (102) and the second moving member (103) are located on the same horizontal plane.

7. The machine according to claim 1, wherein the linkage assembly (104) comprises:

A body (110);

a first joint structure (130) having a first connection shaft (1301);

a second joint structure (131) having a first connecting shaft (1311);

a coupling shaft (112) provided on the body (110) and movable relative to the body (110);

a first link lever (114) slidably connected to the body (110), the first link lever (114) being connected to the first moving member (106) via the first connection shaft (1301);

a second link lever (116) slidably connected to the body (110), the second link lever (116) being connected to the second moving member (108) through the first connecting shaft (1311);

the first linkage rod (114) and the second linkage rod (116) are arranged on two opposite sides of the linkage shaft (112), and when the machine table (100) moves along any preset path or is located at any preset position, the first linkage rod (114), the second linkage rod (116), the body, the first connecting shaft (1301) and the first connecting shaft (1311) always form a rectangle.

8. The machine according to claim 7, wherein the linkage assembly (104) further comprises a transmission structure (1102) that is circumferentially and drivingly disposed on the body (110), the first linkage rod (114) and the second linkage rod (116) are connected to the transmission structure (1102), when the first moving member (106) is lifted relative to the second moving member (108) or the second moving member (108) is lifted relative to the first moving member (106), the first linkage rod (114) and the second linkage rod (116) slide along the body (110) in a direction away from the linkage shaft (112), respectively, and the first linkage rod (114) and the second linkage rod (116) rotate relative to the first joint structure and the second joint structure; when the first moving member (106) descends relative to the second moving member (108) or the second moving member (108) descends relative to the first moving member (106), the first linkage rod (114) and the second linkage rod (116) slide along the body (110) in a direction approaching the linkage shaft (112), and the first linkage rod (114) and the second linkage rod (116) rotate relative to the first joint structure and the second joint structure.

9. The machine according to claim 7, wherein the first joint structure (130) and the second joint structure (131) respectively comprise:

a first joint member (132) including two first restriction members (1321), the first connection shafts (1301, 1311) being connected to the two first restriction members (1321), the first joint member (132) being rotatably connected to the first connection shafts (1301, 1311) with the first link lever (114) or the second link lever (116) such that the body (110) is movable with respect to the first movable member (106) or the second movable member (108) along a first plane perpendicular to the first connection shafts (1301, 1311), and the first connection shafts (1301, 1311) being on the same straight line as the link shaft (112);

a second joint member (133) including two second restriction members (1331) and second connection shafts (1332, 1333) connecting the two second restriction members (1331), the second joint member (133) and the first movable member (106) or the second movable member (108) being rotatably connected to the second connection shafts (1332, 1333) such that the body (110) is movable relative to the first movable member (106) or the second movable member (108) along a second plane perpendicular to the second connection shafts (1332, 1333), the second plane being perpendicular to the first plane.

10. The machine according to claim 5, wherein the body (110) is provided with a plurality of adjustment holes (1101), the linkage shaft (112) being selectively rotatably connected to at least one adjustment hole (1101) of the plurality of adjustment holes (1101) at a pivot point, the linkage shaft (112) being inserted into one of the adjustment holes (1101) when any one of the first moving member (102) and the second moving member (103) is moved.

11. The machine of claim 1, further comprising:

a first rail (120) slidably connected to each of the first moving members (106);

a second guide rail (121) slidably connected to each of the second moving members (108);

two third guide rails (122) provided on the back surfaces of the first guide rail (120) and the second guide rail (121), respectively;

two first driving rods (123) which are respectively connected with the first guide rail (120) and the second guide rail (121) in a rotating way;

two second driving rods (124) which are respectively connected with the two third guide rails (122) in a rotating and sliding way;

the driving mechanism is electrically connected with the two first driving rods (123) and the two second driving rods (124), and can change the states of the first guide rail (120) and the second guide rail (121) by driving the two first driving rods (123) and the two second driving rods (124) to rise or fall so as to further limit the preset path.

12. The machine of claim 1, further comprising:

two first driving rods (123) connected to the first moving element (106) and the second moving element (108) of the first moving member (102), respectively;

two second driving rods (124) connected to the first moving element (106) and the second moving element (108) of the second moving member (103), respectively;

the driving mechanism is electrically connected with the two first driving rods (123) and the two second driving rods (124), and can change the state of the first moving piece (106) and/or the second moving piece (108) by driving the two first driving rods (123) and the two second driving rods (124) to rise or fall so as to limit the preset position of the machine table (100).

13. A vehicle attitude test system (200), comprising:

a sensor provided on the vehicle posture test machine (100) as claimed in any one of claims 1 to 7, for acquiring coordinate data and posture data of the machine (100) at respective detection times;

the computing unit is used for executing fitting according to the coordinate data and the attitude data of the machine (100) at each detection time to obtain a vehicle yaw angle of the machine (100) at each detection time;

And the analysis unit is used for comparing the yaw angle of the vehicle of the machine (100) at each detection time with the actual moving path of the machine (100) to obtain a vehicle posture analysis result.

14. The system of claim 8, wherein the sensor (202) includes at least one of a gyroscope, a locator.