CN112015180B - Intelligent experiment trolley and control system thereof - Google Patents
Intelligent experiment trolley and control system thereof Download PDFInfo
- Publication number
- CN112015180B CN112015180B CN202010885563.9A CN202010885563A CN112015180B CN 112015180 B CN112015180 B CN 112015180B CN 202010885563 A CN202010885563 A CN 202010885563A CN 112015180 B CN112015180 B CN 112015180B
- Authority
- CN
- China
- Prior art keywords
- intelligent
- data
- path
- control
- trolley
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000002474 experimental method Methods 0.000 title claims description 30
- 238000001514 detection method Methods 0.000 claims abstract description 55
- 238000004088 simulation Methods 0.000 claims abstract description 11
- 238000012545 processing Methods 0.000 claims abstract description 8
- 238000005094 computer simulation Methods 0.000 claims description 6
- 238000011156 evaluation Methods 0.000 claims description 6
- 230000008676 import Effects 0.000 claims description 6
- 230000010354 integration Effects 0.000 claims description 6
- 230000002159 abnormal effect Effects 0.000 claims description 3
- 238000011161 development Methods 0.000 claims description 3
- 230000006798 recombination Effects 0.000 claims 2
- 238000005215 recombination Methods 0.000 claims 2
- 230000000694 effects Effects 0.000 abstract description 5
- 238000013480 data collection Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 7
- 230000008521 reorganization Effects 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- SAZUGELZHZOXHB-UHFFFAOYSA-N acecarbromal Chemical compound CCC(Br)(CC)C(=O)NC(=O)NC(C)=O SAZUGELZHZOXHB-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000052 comparative effect Effects 0.000 description 1
Images
Classifications
-
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- 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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Acoustics & Sound (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
本发明公开了一种智能实验小车及其控制系统，包括行车检测平台、数据处理平台、智能控制平台和执行驱动平台：所述行车检测平台用于对智能实验小车进行数据的全面采集；所述数据处理平台用于对智能实验小车采集到的数据整合分析；所述智能控制平台用于对规避智能实验小车行车路径上的障碍和行车路径的准确跟踪，并结合仿真模型预测智能实验小车的未来行车数据；所述执行驱动平台用于接收智能控制平台发出的控制指令，并控制智能实验小车。本发明中，该控制系统采用行车实时动态检测的方式，可以实现智能实验小车路径跟踪效果，并对行车路径上的障碍物进行避障，同时预测评估出智能实验小车未来的行走趋势，提高了智能实验小车的控制效果。
The invention discloses an intelligent experimental trolley and its control system, including a driving detection platform, a data processing platform, an intelligent control platform and an execution drive platform: the driving detection platform is used for comprehensive data collection of the intelligent experimental trolley; The data processing platform is used to integrate and analyze the data collected by the intelligent experimental car; the intelligent control platform is used to avoid obstacles on the driving path of the intelligent experimental car and accurately track the driving path, and combine the simulation model to predict the future of the intelligent experimental car Driving data; the execution drive platform is used to receive control instructions from the intelligent control platform and control the intelligent experimental car. In the present invention, the control system adopts the real-time dynamic detection method of driving, which can realize the path tracking effect of the intelligent experimental car, and avoid obstacles on the driving path, and predict and evaluate the future walking trend of the intelligent experimental car at the same time, which improves the efficiency of the intelligent experimental car. The control effect of the intelligent experimental car.
Description
技术领域technical field
本发明涉及智能控制技术领域，尤其涉及一种智能实验小车及其控制系统。The invention relates to the technical field of intelligent control, in particular to an intelligent experimental trolley and its control system.
背景技术Background technique
现在市场上有很多应用于教育领域的机器人产品，其中智能车是较为常见的一种形式，以轮式机器人底盘为基础，可扩展各类传感器和执行器，智能车是电子计算机等最新科技成果与现代汽车工业相结合的产物，为了帮助学生了解智能控制与智能车之间的控制远离，需要对借助智能控制系统对智能实验小车进行控制，应用于实验仿真平台中，可大大减少人为操作的时间和精力。Now there are many robot products used in the field of education on the market, among which smart cars are a relatively common form, based on wheeled robot chassis, can expand various sensors and actuators, smart cars are the latest scientific and technological achievements such as electronic computers It is a product combined with the modern automobile industry. In order to help students understand the distance between intelligent control and intelligent car control, it is necessary to control the intelligent experimental car with the help of an intelligent control system. It is applied to the experimental simulation platform, which can greatly reduce the labor of human operation. time and energy.
在已申请的对比专利，专利号：CN105629978B(智能小车及其控制系统)当中，公开了如何判断并分析智能小车的行走路径，并控制智能小车按照预设的路径行走，但是无法对智能小车在未来的行走趋势和状态进行预测，从而无法准确的评估出智能实验小车可能面临的风险，降低智能实验小车的控制效果。In the comparative patent that has been applied for, patent number: CN105629978B (smart car and its control system), it discloses how to judge and analyze the walking path of the smart car, and control the smart car to walk according to the preset path, but it is impossible to control the smart car in the The future walking trend and state are predicted, so that it is impossible to accurately evaluate the possible risks that the smart experimental car may face, and reduce the control effect of the smart experimental car.
发明内容Contents of the invention
本发明的目的是为了解决现有技术中存在的缺点，而提出在实现智能实验小车路径跟踪和避障的同时，能够预测出未来行走趋势，评估出可能面临风险的一种智能实验小车及其控制系统。The purpose of the present invention is to solve the shortcomings existing in the prior art, and to propose a smart experimental car that can predict the future walking trend and evaluate the risk that may face risks while realizing the path tracking and obstacle avoidance of the intelligent experimental car and its Control System.
为了实现上述目的，本发明采用了如下技术方案：一种智能实验小车控制系统，包括行车检测平台、数据处理平台、智能控制平台和执行驱动平台：In order to achieve the above object, the present invention adopts the following technical solutions: a control system for an intelligent experimental car, including a driving detection platform, a data processing platform, an intelligent control platform and an execution drive platform:
所述行车检测平台包括车辆检测模块和行走检测模块，用于对智能实验小车的车辆性能数据和行走路径数据进行数据的采集，获取智能实验小车行车中的综合数据；The driving detection platform includes a vehicle detection module and a walking detection module, which are used to collect data on vehicle performance data and travel path data of the intelligent experimental car, and obtain comprehensive data in the driving of the intelligent experimental car;
所述数据处理平台包括路径数据整合模块、障碍数据整合模块和行车状态分析模块，用于对智能实验小车采集到的路径数据和障碍物数据进行整合分析，并结合行车状态数据，分析出智能实验小车的当前全面数据；The data processing platform includes a path data integration module, an obstacle data integration module, and a driving state analysis module, which are used to integrate and analyze the path data and obstacle data collected by the smart experimental car, and combine the driving state data to analyze the intelligent experiment data. The current comprehensive data of the car;
所述智能控制平台包括应急避障模块、路径跟踪模块和模型预测模块，用于对规避智能实验小车行车路径上的障碍和行车路径的准确跟踪，并结合仿真模型预测智能实验小车的未来行车数据，评估出存在的异常情况；The intelligent control platform includes an emergency obstacle avoidance module, a path tracking module and a model prediction module, which are used to avoid obstacles on the driving path of the intelligent experimental car and accurately track the driving path, and predict the future driving data of the intelligent experimental car in combination with the simulation model , to assess the existence of abnormal conditions;
所述执行驱动平台用于接收智能控制平台发出的控制指令，并将指令传输给智能实验小车，控制其转向和加减速。The execution driving platform is used to receive the control instructions issued by the intelligent control platform, and transmit the instructions to the intelligent experimental trolley to control its steering, acceleration and deceleration.
作为上述技术方案的进一步描述：As a further description of the above technical solution:
所述车辆检测模块由电池检测单元和车辆定位单元组成；The vehicle detection module is composed of a battery detection unit and a vehicle positioning unit;
通过电池检测单元能够实时的检测智能实验小车当前状态下的电池电量的余量多少，判断智能实验小车的续航里程；The battery detection unit can detect the remaining battery power of the smart experimental car in real time in the current state, and judge the cruising range of the smart experimental car;
通过车辆定位单元能够实时的检测智能实验小车行车状态下的具体位置，判断智能实验小车与预设路径的偏差度。The vehicle positioning unit can detect the specific position of the intelligent experimental car in real-time driving state, and judge the deviation degree between the intelligent experimental car and the preset path.
作为上述技术方案的进一步描述：As a further description of the above technical solution:
所述行走检测模块由路线检测单元和障碍物检测单元组成；The walking detection module is composed of a route detection unit and an obstacle detection unit;
通过路线检测单元能够检测智能实验小车已行走过的路径走向数据，并沿途记录各个路径节点，与预设路径进行温吻合比较；The route detection unit can detect the path direction data that the intelligent experimental car has traveled, and record each path node along the way, and compare it with the preset path for temperature matching;
通过障碍物检测单元能够检测智能实验小车行走路径当中出现的障碍物数据，获取障碍物的图像和视频信息，判断障碍物对智能试验小车的行走路径影响程度。The obstacle detection unit can detect the obstacle data appearing in the walking path of the smart test car, obtain the image and video information of the obstacle, and judge the influence degree of the obstacle on the walking path of the smart test car.
作为上述技术方案的进一步描述：As a further description of the above technical solution:
所述应急避障模块由特征识别单元和路线重组单元组成；The emergency obstacle avoidance module is composed of a feature recognition unit and a route reorganization unit;
通过特征识别单元能够识别障碍物的特征，并标记障碍物在行车路径中的影响区域，判断障碍物与行车路径的重合度；The feature recognition unit can identify the characteristics of the obstacle, mark the influence area of the obstacle in the driving path, and judge the overlap between the obstacle and the driving path;
通过路线重组单元能够重新规划智能实验小车的行车路线，使其避开障碍物，并在避开障碍物后重新回到预设路径上。Through the route reorganization unit, the driving route of the intelligent experimental car can be replanned to avoid obstacles, and return to the preset path after avoiding obstacles.
作为上述技术方案的进一步描述：As a further description of the above technical solution:
所述路径跟踪模块由路径匹配单元和节点定位单元组成；The path tracking module is composed of a path matching unit and a node positioning unit;
通过路径匹配单元能够对智能实验小车已行走过的路径与预设路径进行一致性的对比，判断智能实验小车行走路径的准确度；The path matching unit can compare the consistency of the path that the intelligent experimental car has traveled with the preset path, and judge the accuracy of the walking path of the intelligent experimental car;
通过节点定位单元能够对智能实验小车行走过路径上进行数据采集点的标记，并定位标记点在路径上所对应的位置。The node positioning unit can mark the data collection points on the path of the intelligent experimental car, and locate the corresponding position of the marked point on the path.
作为上述技术方案的进一步描述：As a further description of the above technical solution:
所述模型预测模块由仿真建模单元、数据导入单元和预测评估单元组成；The model prediction module is composed of a simulation modeling unit, a data import unit and a forecast evaluation unit;
通过仿真建模单元能够将智能实验小车在已行走路径上采集到的所有信息进行整合，并结合三维建模技术建立符合智能实验小车行走状态的仿真模型；Through the simulation modeling unit, all the information collected by the intelligent experimental car on the walking path can be integrated, and combined with the three-dimensional modeling technology, a simulation model conforming to the walking state of the intelligent experimental car can be established;
通过数据导入单元能够将所采集到的数据逐一的导入三维仿真模型内，并标记各个数据的位置；Through the data import unit, the collected data can be imported into the 3D simulation model one by one, and the position of each data can be marked;
通过预测评估单元能够根据之前智能实验小车所行走的采集数据，分析出数据的发展趋势，评估出智能实验小车后续的行走状态。The prediction and evaluation unit can analyze the development trend of the data and evaluate the subsequent walking state of the intelligent experimental car based on the collected data of the previous intelligent experimental car.
作为上述技术方案的进一步描述：As a further description of the above technical solution:
所述执行驱动平台包括横向控制模块和纵向控制模块；The execution drive platform includes a horizontal control module and a vertical control module;
所述横向控制模块用于接收智能控制平台内产生的横向控制指令，并控制智能实验小车进行左右转向；The lateral control module is used to receive lateral control instructions generated in the intelligent control platform, and control the intelligent experimental car to turn left and right;
所述纵向控制模块用于接收智能控制平台内产生的纵向控制指令，并控制智能实验小车进行前后移动和加减速。The longitudinal control module is used to receive longitudinal control instructions generated in the intelligent control platform, and control the intelligent experimental car to move forward and backward and accelerate and decelerate.
一种智能实验小车，该智能实验小车包括权利要求1至7任意一项所述的智能实验小车控制系统，智能实验小车还包括检测机构、控制机构、横向控制机构和纵向控制机构，其中，检测机构获取采集数据传输至控制机构，控制机构分析数据并生成控制指令，传输至横向控制机构和纵向控制机构。An intelligent experimental car, the intelligent experimental car includes the intelligent experimental car control system described in any one of claims 1 to 7, the intelligent experimental car also includes a detection mechanism, a control mechanism, a lateral control mechanism and a longitudinal control mechanism, wherein the detection The mechanism acquires and transmits the collected data to the control mechanism, and the control mechanism analyzes the data and generates control instructions, which are transmitted to the horizontal control mechanism and the vertical control mechanism.
本发明提供了一种智能实验小车及其控制系统。具备以下有益效果：The invention provides an intelligent experimental trolley and its control system. Has the following beneficial effects:
该控制系统采用行车实时动态检测的方式，可以对智能实验小车行走前、中、后期的行车数据进行全面的采集分析，准确的判断出智能实验小车行走路径的准确度，在实现智能实验小车路径跟踪的同时，对行车路径上的障碍物进行避障，并结合建模预测技术评估智能实验小车未来的行走趋势和状态，从而控制智能实验小车准确、安全的完整预设路径，提高智能实验小车的控制效果。The control system adopts the method of real-time dynamic detection of driving, which can comprehensively collect and analyze the driving data of the intelligent experimental car before, during and after the operation, and accurately judge the accuracy of the walking path of the intelligent experimental car. While tracking, avoid obstacles on the driving path, and evaluate the future walking trend and state of the intelligent experimental car in combination with modeling and forecasting technology, so as to control the accurate and safe complete preset path of the intelligent experimental car, and improve the accuracy of the intelligent experimental car. control effect.
附图说明Description of drawings
图1为本发明提出的一种智能实验小车控制系统的示意图；Fig. 1 is the schematic diagram of a kind of intelligent experiment dolly control system that the present invention proposes;
图2为本发明中车辆检测模块的示意图；Fig. 2 is the schematic diagram of vehicle detection module in the present invention;
图3为本发明中行走检测模块的示意图；Fig. 3 is the schematic diagram of walking detection module in the present invention;
图4为本发明中应急避障模块的示意图；Fig. 4 is the schematic diagram of emergency obstacle avoidance module in the present invention;
图5为本发明中路径跟踪模块的示意图；Fig. 5 is the schematic diagram of path tracking module in the present invention;
图6为本发明中模型预测模块的示意图；Fig. 6 is the schematic diagram of model prediction module in the present invention;
图7为本发明提出的一种智能实验小车的结构示意图。Fig. 7 is a schematic structural diagram of an intelligent experimental car proposed by the present invention.
具体实施方式detailed description
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention.
如图1所示，一种智能实验小车控制系统，包括行车检测平台、数据处理平台、智能控制平台和执行驱动平台：As shown in Figure 1, an intelligent experimental car control system includes a driving detection platform, a data processing platform, an intelligent control platform and an execution drive platform:
行车检测平台包括车辆检测模块和行走检测模块，用于对智能实验小车的车辆性能数据和行走路径数据进行数据的采集，获取智能实验小车行车中的综合数据；The driving detection platform includes a vehicle detection module and a walking detection module, which are used to collect data on the vehicle performance data and travel path data of the intelligent experimental car, and obtain comprehensive data during the driving of the intelligent experimental car;
数据处理平台包括路径数据整合模块、障碍数据整合模块和行车状态分析模块，用于对智能实验小车采集到的路径数据和障碍物数据进行整合分析，并结合行车状态数据，分析出智能实验小车的当前全面数据；The data processing platform includes a route data integration module, an obstacle data integration module and a driving status analysis module, which are used to integrate and analyze the route data and obstacle data collected by the smart experimental car, and combine the driving status data to analyze the status of the smart experimental car. current comprehensive data;
智能控制平台包括应急避障模块、路径跟踪模块和模型预测模块，用于对规避智能实验小车行车路径上的障碍和行车路径的准确跟踪，并结合仿真模型预测智能实验小车的未来行车数据，评估出存在的异常情况；The intelligent control platform includes an emergency obstacle avoidance module, a path tracking module and a model prediction module, which are used to avoid obstacles on the driving path of the intelligent experimental car and accurately track the driving path, and combine the simulation model to predict the future driving data of the intelligent experimental car, and evaluate the existence of abnormal conditions;
执行驱动平台用于接收智能控制平台发出的控制指令，并将指令传输给智能实验小车，控制其转向和加减速。The execution drive platform is used to receive the control instructions issued by the intelligent control platform, and transmit the instructions to the intelligent experimental car to control its steering, acceleration and deceleration.
该控制系统采用行车实时动态检测的方式，可以对智能实验小车行走前、中、后期的行车数据进行全面的采集分析，准确的判断出智能实验小车行走路径的准确度，在实现智能实验小车路径跟踪的同时，对行车路径上的障碍物进行避障，并结合建模预测技术评估智能实验小车未来的行走趋势和状态，从而控制智能实验小车准确、安全的完整预设路径，提高智能实验小车的控制效果。The control system adopts the method of real-time dynamic detection of driving, which can comprehensively collect and analyze the driving data of the intelligent experimental car before, during and after the operation, and accurately judge the accuracy of the walking path of the intelligent experimental car. While tracking, avoid obstacles on the driving path, and evaluate the future walking trend and state of the intelligent experimental car in combination with modeling and forecasting technology, so as to control the accurate and safe complete preset path of the intelligent experimental car, and improve the accuracy of the intelligent experimental car. control effect.
如图2所示，车辆检测模块由电池检测单元和车辆定位单元组成；As shown in Figure 2, the vehicle detection module is composed of a battery detection unit and a vehicle positioning unit;
通过电池检测单元能够实时的检测智能实验小车当前状态下的电池电量的余量多少，判断智能实验小车的续航里程；通过车辆定位单元能够实时的检测智能实验小车行车状态下的具体位置，判断智能实验小车与预设路径的偏差度；The battery detection unit can detect in real time the remaining battery power of the smart experimental car in the current state, and judge the cruising range of the smart experimental car; The degree of deviation between the experimental car and the preset path;
车辆检测模块对应的检测设备包括温度传感器、电池电量传感器等设备，实现对车辆性能参数相关数据的采集检测。The detection equipment corresponding to the vehicle detection module includes temperature sensors, battery power sensors and other equipment to realize the collection and detection of data related to vehicle performance parameters.
如图3所示，行走检测模块由路线检测单元和障碍物检测单元组成；As shown in Figure 3, the walking detection module is composed of a route detection unit and an obstacle detection unit;
通过路线检测单元能够检测智能实验小车已行走过的路径走向数据，并沿途记录各个路径节点，与预设路径进行温吻合比较；通过障碍物检测单元能够检测智能实验小车行走路径当中出现的障碍物数据，获取障碍物的图像和视频信息，判断障碍物对智能试验小车的行走路径影响程度；The route detection unit can detect the path direction data that the intelligent experimental car has traveled, and record each path node along the way, and compare it with the preset path; the obstacle detection unit can detect obstacles that appear in the walking path of the intelligent experimental car Data, obtain images and video information of obstacles, and judge the degree of influence of obstacles on the walking path of the intelligent test car;
行走检测模块对应的检测设备包括红外摄像机、超声波测距仪等设备，实现对路径和障碍物相关数据的采集检测。The detection equipment corresponding to the walking detection module includes infrared cameras, ultrasonic range finders and other equipment to realize the collection and detection of path and obstacle related data.
如图4所示，应急避障模块由特征识别单元和路线重组单元组成；As shown in Figure 4, the emergency obstacle avoidance module is composed of a feature recognition unit and a route reorganization unit;
通过特征识别单元能够识别障碍物的特征，并标记障碍物在行车路径中的影响区域，判断障碍物与行车路径的重合度；通过路线重组单元能够重新规划智能实验小车的行车路线，使其避开障碍物，并在避开障碍物后重新回到预设路径上。The characteristics of obstacles can be identified through the feature recognition unit, and the influence area of the obstacle in the driving path can be marked, and the coincidence degree between the obstacle and the driving path can be judged; the driving route of the intelligent experimental car can be replanned through the route reorganization unit to avoid Open obstacles, and return to the preset path after avoiding obstacles.
如图5所示，路径跟踪模块由路径匹配单元和节点定位单元组成；As shown in Figure 5, the path tracking module is composed of a path matching unit and a node positioning unit;
通过路径匹配单元能够对智能实验小车已行走过的路径与预设路径进行一致性的对比，判断智能实验小车行走路径的准确度；通过节点定位单元能够对智能实验小车行走过路径上进行数据采集点的标记，并定位标记点在路径上所对应的位置。The path matching unit can compare the consistency of the path that the intelligent experimental car has traveled with the preset path, and judge the accuracy of the walking path of the intelligent experimental car; the node positioning unit can collect data on the path that the intelligent experimental car has traveled Mark the point, and locate the corresponding position of the marked point on the path.
如图6所示，模型预测模块由仿真建模单元、数据导入单元和预测评估单元组成；As shown in Figure 6, the model prediction module is composed of a simulation modeling unit, a data import unit and a prediction evaluation unit;
通过仿真建模单元能够将智能实验小车在已行走路径上采集到的所有信息进行整合，并结合三维建模技术建立符合智能实验小车行走状态的仿真模型；通过数据导入单元能够将所采集到的数据逐一的导入三维仿真模型内，并标记各个数据的位置；通过预测评估单元能够根据之前智能实验小车所行走的采集数据，分析出数据的发展趋势，评估出智能实验小车后续的行走状态。Through the simulation modeling unit, all the information collected by the intelligent experimental car on the walking path can be integrated, and combined with the three-dimensional modeling technology to establish a simulation model that conforms to the walking state of the intelligent experimental car; through the data import unit, the collected The data is imported into the 3D simulation model one by one, and the position of each data is marked; the prediction and evaluation unit can analyze the development trend of the data based on the collected data of the previous smart experimental car, and evaluate the subsequent walking status of the smart experimental car.
如图1所示，执行驱动平台包括横向控制模块和纵向控制模块；As shown in Figure 1, the execution drive platform includes a horizontal control module and a vertical control module;
横向控制模块用于接收智能控制平台内产生的横向控制指令，并控制智能实验小车进行左右转向；纵向控制模块用于接收智能控制平台内产生的纵向控制指令，并控制智能实验小车进行前后移动和加减速。The horizontal control module is used to receive the horizontal control instructions generated in the intelligent control platform, and control the intelligent experimental car to turn left and right; the longitudinal control module is used to receive the longitudinal control instructions generated in the intelligent control platform, and control the intelligent experimental car to move forward and backward. Acceleration and deceleration.
如图7所示，一种智能实验小车，该智能实验小车包括智能实验小车控制系统，智能实验小车还包括检测机构、控制机构、横向控制机构和纵向控制机构，其中，检测机构获取采集数据传输至控制机构，控制机构分析数据并生成控制指令，传输至横向控制机构和纵向控制机构。As shown in Figure 7, an intelligent experimental car, the intelligent experimental car includes an intelligent experimental car control system, the intelligent experimental car also includes a detection mechanism, a control mechanism, a horizontal control mechanism and a vertical control mechanism, wherein the detection mechanism obtains and collects data and transmits To the control mechanism, the control mechanism analyzes the data and generates control instructions, which are transmitted to the horizontal control mechanism and the vertical control mechanism.
在本说明书的描述中，参考术语“一个实施例”、“示例”、“具体示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。In the description of this specification, descriptions with reference to the terms "one embodiment", "example", "specific example" and the like mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment of the present invention. In an embodiment or example. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
以上所述，仅为本发明较佳的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，根据本发明的技术方案及其发明构思加以等同替换或改变，都应涵盖在本发明的保护范围之内。The above is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto, any person familiar with the technical field within the technical scope disclosed in the present invention, according to the technical solution of the present invention Any equivalent replacement or change of the inventive concepts thereof shall fall within the protection scope of the present invention.
Claims (7)
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210933835.7A CN115268452A (en) | 2020-08-28 | 2020-08-28 | Intelligent control system |
| CN202210941173.8A CN115237136A (en) | 2020-08-28 | 2020-08-28 | Intelligent experiment control system |
| CN202010885563.9A CN112015180B (en) | 2020-08-28 | 2020-08-28 | Intelligent experiment trolley and control system thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010885563.9A CN112015180B (en) | 2020-08-28 | 2020-08-28 | Intelligent experiment trolley and control system thereof |
Related Child Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210941173.8A Division CN115237136A (en) | 2020-08-28 | 2020-08-28 | Intelligent experiment control system |
| CN202210933835.7A Division CN115268452A (en) | 2020-08-28 | 2020-08-28 | Intelligent control system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112015180A CN112015180A (en) | 2020-12-01 |
| CN112015180B true CN112015180B (en) | 2022-12-16 |
Family
ID=73502881
Family Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210933835.7A Pending CN115268452A (en) | 2020-08-28 | 2020-08-28 | Intelligent control system |
| CN202210941173.8A Pending CN115237136A (en) | 2020-08-28 | 2020-08-28 | Intelligent experiment control system |
| CN202010885563.9A Active CN112015180B (en) | 2020-08-28 | 2020-08-28 | Intelligent experiment trolley and control system thereof |
Family Applications Before (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210933835.7A Pending CN115268452A (en) | 2020-08-28 | 2020-08-28 | Intelligent control system |
| CN202210941173.8A Pending CN115237136A (en) | 2020-08-28 | 2020-08-28 | Intelligent experiment control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (3) | CN115268452A (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113805580A (en) * | 2021-07-09 | 2021-12-17 | 北京京东乾石科技有限公司 | Equipment control method, system, device and storage medium thereof |
| CN114281048B (en) * | 2021-12-28 | 2024-07-09 | 长三角哈特机器人产业技术研究院 | AGV intelligent management system based on industry internet |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101231797A (en) * | 2008-01-03 | 2008-07-30 | 上海交通大学 | Hardware-in-the-loop smart car teaching and scientific research experiment platform |
| CN106383515A (en) * | 2016-09-21 | 2017-02-08 | 哈尔滨理工大学 | Wheel-type moving robot obstacle-avoiding control system based on multi-sensor information fusion |
| CN109991972A (en) * | 2017-12-29 | 2019-07-09 | 长城汽车股份有限公司 | Control method, apparatus, vehicle and the readable storage medium storing program for executing of vehicle driving |
| CN110147098A (en) * | 2019-04-30 | 2019-08-20 | 杭州飞步科技有限公司 | Control method, device, equipment and the readable storage medium storing program for executing of automatic driving vehicle |
| JP2019194572A (en) * | 2018-03-23 | 2019-11-07 | 西安理工大学 | Data collection method and collection device |
Family Cites Families (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100228427A1 (en) * | 2009-03-05 | 2010-09-09 | Massachusetts Institute Of Technology | Predictive semi-autonomous vehicle navigation system |
| CN101847270B (en) * | 2010-05-14 | 2013-07-03 | 东南大学 | Virtual prototype-based suspension system control simulation method of four-axle heavy truck |
| EP2677966B1 (en) * | 2011-02-25 | 2019-12-04 | Corin Limited | A computer-implemented method for providing alignment information data for the alignment of an orthopaedic implant for a joint of a patient |
| US9024970B2 (en) * | 2011-12-30 | 2015-05-05 | Here Global B.V. | Path side image on map overlay |
| CN106564495B (en) * | 2016-10-19 | 2018-11-06 | 江苏大学 | The intelligent vehicle safety for merging space and kinetic characteristics drives envelope reconstructing method |
| CN106737693B (en) * | 2017-03-02 | 2023-05-16 | 安徽农业大学 | Transplanting robot control system and control method based on GPS and inertial navigation |
| CN107168319B (en) * | 2017-06-01 | 2020-07-28 | 同济大学 | Unmanned vehicle obstacle avoidance method based on model predictive control |
| CN108021861A (en) * | 2017-10-30 | 2018-05-11 | 哈尔滨理工大学 | A kind of intelligent vehicle right-hand bend object detection method based on machine vision |
| CN107867290B (en) * | 2017-11-07 | 2019-07-12 | 长春工业大学 | A Hierarchical Control Method for Vehicle Emergency Collision Avoidance Considering Moving Obstacles |
| CN108268036A (en) * | 2018-01-19 | 2018-07-10 | 刘晋宇 | A kind of novel robot intelligent barrier avoiding system |
| CN108407808A (en) * | 2018-04-23 | 2018-08-17 | 安徽车鑫保汽车销售有限公司 | Intelligent automobile running prediction system |
| US10564643B2 (en) * | 2018-05-31 | 2020-02-18 | Nissan North America, Inc. | Time-warping for autonomous driving simulation |
| CN110568841A (en) * | 2019-08-05 | 2019-12-13 | 西藏宁算科技集团有限公司 | Automatic driving decision method and system |
| CN110782530B (en) * | 2019-08-28 | 2022-07-22 | 腾讯科技（深圳）有限公司 | Method and device for displaying vehicle information in automatic driving simulation system |
| CN110941274A (en) * | 2019-11-30 | 2020-03-31 | 的卢技术有限公司 | Control method and control system for automatically driving away from parking space |
| CN111391595B (en) * | 2020-03-02 | 2021-10-29 | 南京林业大学 | Model Predictive Control Method for Vehicle Rollover Prevention Active Tilting |
-
2020
- 2020-08-28 CN CN202210933835.7A patent/CN115268452A/en active Pending
- 2020-08-28 CN CN202210941173.8A patent/CN115237136A/en active Pending
- 2020-08-28 CN CN202010885563.9A patent/CN112015180B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101231797A (en) * | 2008-01-03 | 2008-07-30 | 上海交通大学 | Hardware-in-the-loop smart car teaching and scientific research experiment platform |
| CN106383515A (en) * | 2016-09-21 | 2017-02-08 | 哈尔滨理工大学 | Wheel-type moving robot obstacle-avoiding control system based on multi-sensor information fusion |
| CN109991972A (en) * | 2017-12-29 | 2019-07-09 | 长城汽车股份有限公司 | Control method, apparatus, vehicle and the readable storage medium storing program for executing of vehicle driving |
| JP2019194572A (en) * | 2018-03-23 | 2019-11-07 | 西安理工大学 | Data collection method and collection device |
| CN110147098A (en) * | 2019-04-30 | 2019-08-20 | 杭州飞步科技有限公司 | Control method, device, equipment and the readable storage medium storing program for executing of automatic driving vehicle |
Non-Patent Citations (2)
| Title |
|---|
| 基于模型预测的智能客车路径跟踪控制研究;陈振国等;《客车技术与研究》;20200422(第02期);第8-11页 * |
| 智能探测车避障转向控制;沈峘等;《重庆工学院学报(自然科学版)》;20090515;第23卷(第05期);第1-6页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112015180A (en) | 2020-12-01 |
| CN115268452A (en) | 2022-11-01 |
| CN115237136A (en) | 2022-10-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111462481B (en) | Cloud Brain Intelligent Transportation System Including Multifunctional Unmanned Vehicles | |
| WO2020192000A1 (en) | Livestock and poultry information perception robot based on autonomous navigation, and map building method | |
| WO2021217420A1 (en) | Lane tracking method and apparatus | |
| CN112015180B (en) | Intelligent experiment trolley and control system thereof | |
| CN112650272B (en) | 5G-based UAV inspection information perception method and perception system in coal mines | |
| WO2023109589A1 (en) | Smart car-unmanned aerial vehicle cooperative sensing system and method | |
| CN113552867A (en) | Planning method of motion trail and wheel type mobile equipment | |
| CN113741384A (en) | Method and device for detecting automatic driving system | |
| EP4134769A1 (en) | Method and apparatus for vehicle to pass through boom barrier | |
| CN116700249A (en) | A shunting automatic driving method, system, device, storage medium and products thereof | |
| US20230111354A1 (en) | Method and system for determining a mover model for motion forecasting in autonomous vehicle control | |
| Qiao et al. | Av4ev: Open-source modular autonomous electric vehicle platform for making mobility research accessible | |
| CN119356331A (en) | A method and device for identifying obstacle status in an automatic driving environment of a tourist park | |
| Saad et al. | Research on the internet of vehicles assisted traffic management systems for observing traffic density | |
| CN118918552A (en) | Rail train anti-collision recognition device and method in unmanned state | |
| CN113110449A (en) | Simulation system of vehicle automatic driving technology | |
| Rezaei et al. | A deep learning-based approach for vehicle motion prediction in autonomous driving | |
| CN112417661B (en) | Data acquisition and analysis system for unmanned equipment packaging test | |
| Yang et al. | Cdrp3: Cascade deep reinforcement learning for urban driving safety with joint perception, prediction, and planning | |
| Xie et al. | Reduced-scale mobile robots for autonomous driving research | |
| CN115071731A (en) | A method for establishing an unmanned vehicle model based on a big data platform and an unmanned vehicle system | |
| EP4556853A1 (en) | Method for constructing autonomous routes based on sensor perceived information and device for assisting autonomous driving | |
| CN116652973B (en) | Analog traffic director system with V2X function | |
| CN118664622B (en) | Unmanned track inspection robot | |
| US20250171033A1 (en) | Method and system for planning a trajectory for an at least partially automated vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20220804 Address after: No. 18, Mudan Road, High-tech Zone, Zhengzhou City, Henan Province, 450000 Applicant after: Tian Lulu Address before: 150080 No. 52, Xuefu Road, Nangang District, Heilongjiang, Harbin Applicant before: HARBIN University OF SCIENCE AND TECHNOLOGY |
|
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20221125 Address after: 224700 South Jingsi Road West, Yanqiao Road, High tech Zone, Jianhu County, Yancheng City, Jiangsu Province Applicant after: Runda photovoltaic Yancheng Co.,Ltd. Address before: No. 18, Mudan Road, High-tech Zone, Zhengzhou City, Henan Province, 450000 Applicant before: Tian Lulu |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20201201 Assignee: Runda Energy Power (Yancheng) Co.,Ltd. Assignor: Runda photovoltaic Yancheng Co.,Ltd. Contract record no.: X2024980021331 Denomination of invention: An intelligent experimental car and its control system Granted publication date: 20221216 License type: Common License Record date: 20241029 |
|
| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20201201 Assignee: JIANGSU RUNDA PV Co.,Ltd. Assignor: Runda photovoltaic Yancheng Co.,Ltd. Contract record no.: X2024980022057 Denomination of invention: An intelligent experimental car and its control system Granted publication date: 20221216 License type: Common License Record date: 20241101 |
|
| EE01 | Entry into force of recordation of patent licensing contract |