An unmanned lidar training device

Abstract

The present invention discloses a training device for driverless lidar. The training device includes a base, a model component located on the base, and an all-in-one computer; the model component includes a housing, a wheel module, a slide rail module, a 16-line lidar, and a single-line lidar; a solid-state laser data collector, a voltage converter, a 16-line laser data collector, a single-line laser data collector, a switch, and a solid-state lidar are installed on the housing. The present invention simulates the distance detection of obstacles by the 16-line lidar, the single-line lidar, and the solid-state lidar in a real driverless vehicle, enabling students to more intuitively and clearly understand the connection relationship, working process, and working principle between the lidar and the electrical components inside the vehicle. It is applicable to the field of vehicle teaching technology.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle teaching equipment, and more specifically, to an unmanned lidar training device. Background Art

[0002] Unmanned technology integrates many high technologies such as artificial intelligence, computer vision, integrated navigation, information fusion, automatic control, and architecture. It is the product of the highly developed computer science and automation technology, and is also an important symbol to measure a country's scientific and technological strength and industrial level. Because it has incomparable advantages over ordinary vehicles in improving vehicle driving performance, reducing the labor intensity of drivers, reducing the incidence of traffic accidents, and operating under harsh and extreme conditions, it has become a key high-tech project that many countries, well-known automobile companies, and construction machinery manufacturers compete to develop;

[0003] Lidar is a radar system that detects the position, speed, and other characteristic quantities of a target by emitting laser beams. Its working principle is to emit a detection signal (laser beam) to the target, and then compare the received signal (target echo) reflected from the target with the emitted signal. After appropriate processing, relevant information about the target can be obtained, such as parameters of the target distance, azimuth, altitude, speed, attitude, and even shape, so as to detect, track, and identify targets such as airplanes and missiles. It consists of a laser transmitter, an optical receiver, a turntable, and an information processing system, etc. The laser transmitter converts an electrical pulse into an optical pulse and emits it, and the optical receiver then restores the optical pulse reflected from the target into an electrical pulse and sends it to the display; Lidar is currently mainly applied in the field of unmanned driving. In this field, lidar can scan the information of the surrounding environment, and by using relevant algorithms to compare the changes in the environment between the previous frame and the next frame, it can relatively easily detect vehicles and pedestrians in the surrounding environment.

[0004] In vehicle training teaching, in the teaching of the application of 16-line lidar, single-line lidar, and solid-state lidar in unmanned driving, students can only see the application of lidar in unmanned vehicles through videos and pictures, and cannot directly see the components of lidar in unmanned driving, the connection relationship between components, and the working principle, which greatly reduces the teaching quality of teachers. Students cannot directly understand the application principle of lidar in cars, resulting in poor learning effects for students. Therefore, we propose an unmanned lidar training device. Summary of the Invention

[0005] The present invention provides an unmanned lidar training device to solve the above-mentioned technical problems.

[0006] To achieve the above object, the technical solutions adopted by the present invention are as follows:

[0007] An unmanned lidar training device. The key points are that the training device includes a base, and a model component and an all-in-one computer located on the base. Among them: the all-in-one computer is located in the front of the model component, and the all-in-one computer is fixed on the base through a column; the model component includes a housing, a slide rail module, a sixteen-line lidar, and a single-line lidar. The housing is fixed on the base through a column. The housing is equipped with a voltage converter, a sixteen-line lidar data collector, a single-line lidar data collector, a solid-state lidar data collector, a switch, and a solid-state lidar. The voltage converter is electrically connected to the sixteen-line lidar data collector, the single-line lidar data collector, the solid-state lidar data collector, and the switch through connecting wires respectively. The switch is electrically connected to the sixteen-line lidar data collector, the single-line lidar data collector, the solid-state lidar data collector, and the all-in-one computer through connecting wires respectively. The sixteen-line lidar data collector is electrically connected to the sixteen-line lidar. The single-line lidar data collector is electrically connected to the single-line lidar. The solid-state lidar data collector is electrically connected to the solid-state lidar; on the upper sides of the left and right sides of the housing, a left side plate and a right side plate are respectively arranged. The slide rail module is fixed on the left side plate and the right side plate through a cross bar. The single-line lidar is installed on the cross bar located at the rear side. The sixteen-line lidar is installed on the slide rail module through a mounting seat. The sixteen-line lidar can move in four directions of front, back, left, and right along with the slide rail module.

[0008] In a possible implementation manner, the model component further includes simulation wheels. The number of the simulation wheels is four and they are respectively located at the four corners of the housing. The simulation wheels are fixed on the base through columns.

[0009] In a possible implementation manner, the voltage converter, the sixteen-line lidar data collector, the single-line lidar data collector, the solid-state lidar data collector, the switch, and the solid-state lidar are all installed on the bottom plate of the housing. Among them, the voltage converter, the sixteen-line lidar data collector, the single-line lidar data collector, the solid-state lidar data collector, and the switch are located in the middle of the bottom plate of the housing. The solid-state lidar is located at the rear of the bottom plate of the housing; among them, the sixteen-line lidar data collector is located on the left side of the switch. The switch is located on the left side of the single-line lidar data collector. The single-line lidar data collector is located in the front of the solid-state lidar data collector. The solid-state lidar data collector is located on the right side of the voltage converter.

[0010] In a possible implementation, the left side plate and the right side plate are symmetrical to each other, and both the left side plate and the right side plate are made of transparent acrylic material.

[0011] In a possible implementation, the slide rail module includes a lower rail, a lower slider, an upper rail and an upper slider. The lower rail is fixed on the cross bar. The lower slider is installed in the lower rail and can move left and right within the lower rail. The upper rail is fixed on the lower slider. The upper slider is installed in the upper rail and can move back and forth within the upper rail.

[0012] In a possible implementation, the slide rail module further includes a lower hand wheel and an upper hand wheel. The lower hand wheel is installed on the lower slider. By shaking the lower hand wheel, the lower slider is driven to move left and right on the lower rail. The upper hand wheel is installed on the upper slider. By shaking the upper hand wheel, the upper slider is driven to move back and forth on the upper rail.

[0013] In a possible implementation, the slide rail module further includes a slider circuit board, a slider remote control, a first motor and a second motor. The slider circuit board is installed on the housing. The slider circuit board is electrically connected to the voltage converter through a connecting wire. The receiver of the slider circuit board is wirelessly connected to the transmitter in the slider remote control. The slider circuit board is electrically connected to the first motor and the second motor respectively through connecting wires. The first motor is installed on the lower slider. By the first motor, the lower slider is driven to move left and right on the lower rail. The second motor is installed on the upper slider. By the second motor, the upper slider is driven to move on the upper rail.

[0014] In a possible implementation, the wheel module further includes a fixing plate, a motor plate and bearing seats. The fixing plate is fixed on the base through fasteners. The motor plate is fixed on the fixing plate. The simulation motor is installed on one side of the motor plate. The bearing seats are fixed on the fixing plate. The simulation motor is installed on the bearing seats. The number of the bearing seats is two and they are respectively located on the left and right sides of the wheel speed sensor.

[0015] In a possible implementation, the base includes a seat body and a seat plate. The seat plate is installed above the seat body. Lane lines are engraved on the seat plate.

[0016] In a possible implementation, the base further includes casters. The number of the casters is four and they are respectively fixed at the four corners of the lower end of the seat body.

[0017] Beneficial effects:

[0018] The present invention provides a driverless lidar training device. In vehicle training teaching, the position of the 16-line lidar is controlled by a slide rail module, which can show students the 16-line lidar at different positions, improving the teaching quality. The present invention simulates the distance detection of obstacles by the 16-line lidar, single-line lidar and solid-state lidar in a real driverless car, and transmits the detected distance data to the 16-line lidar data collector, single-line lidar data collector and solid-state lidar collector for data processing respectively, and then transmits the data to an all-in-one computer through a switch. The present invention enables students to more intuitively and clearly understand the connection relationship, working process and working principle between the lidar and the electrical components inside the car in driverless driving, making the teaching more vivid and lively, fully mobilizing the enthusiasm of students, allowing students to intuitively and clearly master the connection principle, working principle and working process of the driverless lidar and the car, and improving the teaching effect of teachers.

[0019] The present invention provides a driverless lidar training device. The left side plate and the right side plate are symmetrical to each other, and both the left side plate and the right side plate are made of transparent acrylic material. By designing the materials of the left side plate and the right side plate as acrylic material, students can clearly see the structure of the parts inside the housing.

[0020] The present invention provides a driverless lidar training device. The working principle diagram is engraved on the left side plate, and the name of the training device is engraved on the right side plate, enabling students to clearly understand the principle of the driverless lidar and the name of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings are used to provide a further understanding of the present invention, and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention, and do not constitute a limitation to the present invention.

[0022] In the drawings:

[0023] Figure 1 are the structural schematic diagrams of Embodiment 1 and Embodiment 2 of the present invention;

[0024] Figure 2 are the front views of Embodiment 1 and Embodiment 2 of the present invention;

[0025] Figure 3 are the rear views of Embodiment 1 and Embodiment 2 of the present invention;

[0026] Figure 4 are the left views of Embodiment 1 and Embodiment 2 of the present invention;

[0027] Figure 5 are the right views of Embodiment 1 and Embodiment 2 of the present invention;

[0028] Figure 6It is the top view of Embodiment 1 and Embodiment 2 of the present invention;

[0029] Figure 7 It is the circuit connection schematic diagram of the external power supply in Embodiment 1 and Embodiment 2 of the present invention.

[0030] Labeled components: 1 - all-in-one computer, 2 - column, 3 - housing, 4 - 16-line lidar, 5 - solid-state laser data collector, 6 - voltage converter, 7 - 16-line laser data collector, 8 - single-line laser data collector, 9 - left side plate, 10 - right side plate, 11 - cross bar, 12 - mounting seat, 13 - transmission shaft, 14 - simulation wheel, 15 - seat body, 16 - seat plate, 17 - single-line lidar, 18 - name, 19 - slide rail module, 20 - upper hand wheel, 21 - solid-state lidar, 22 - switch. Specific embodiments

[0031] The following is a description of the preferred embodiments of the present invention with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only for the purpose of illustrating and explaining the present invention, and are not intended to limit the present invention.

[0032] Embodiment 1

[0033] This embodiment discloses an unmanned lidar training device, as Figures 1-7As shown in the figure, the training device includes a base, and a model component and an all-in-one computer 1 located on the base. Specifically: The all-in-one computer 1 is located on the front side of the model component. The all-in-one computer 1 is fixed to the base via a column 2. Specifically, the angle between the display screen of the all-in-one computer 1 and the horizontal plane is α, where 15° ≤ α ≤ 50°. The model component includes a housing 3, a wheel module, a slide rail module, a 16-line lidar 4, and a single-line lidar 17. The housing 3 is fixed to the base via a column 2. The housing 3 is equipped with a solid-state laser data collector 5, a voltage converter 6, a 16-line laser data collector 7, a single-line laser data collector 8, a switch 22, and a solid-state lidar 21. The voltage converter 6 is electrically connected to the 16-line laser data collector 7, the single-line laser data collector 8, the solid-state laser data collector 5, and the switch 22 respectively through connecting wires. The switch 22 is electrically connected to the 16-line laser data collector 7, the single-line laser data collector 8, the solid-state laser data collector 5, and the all-in-one computer 1 respectively through connecting wires. The 16-line laser data collector 7 is electrically connected to the 16-line lidar 4. The single-line laser data collector 8 is electrically connected to the single-line lidar 17. The solid-state laser data collector 5 is electrically connected to the solid-state lidar 21. On the upper sides of the left and right of the housing 3, a left side plate 9 and a right side plate 10 are respectively provided. The slide rail module 19 is fixed to the left side plate 9 and the right side plate 10 via a cross bar 11. The single-line lidar 17 is installed on the cross bar 11 at the rear side. The 16-line lidar 4 is installed on the slide rail module 19 via a mounting seat 12. The 16-line lidar 4 can move in four directions of front, back, left, and right along with the slide rail module 19. The number of wheel modules is four and they are respectively located at the four corners of the housing 3. The wheel module includes a simulation motor and a transmission shaft 13. The rotating shaft of the simulation motor is connected to one end of the transmission shaft 13 through a coupling. A simulation wheel 14 is installed at the other end of the transmission shaft 13. In this embodiment, the simulation motor is used to drive the simulation wheel 14 to simulate the rolling of real car wheels. In the vehicle training teaching of this embodiment, by controlling the position of the 16-line lidar 4 through the slide rail module 19, the 16-line lidar 4 at different positions can be shown to students, improving the teaching quality. In this embodiment, it simulates the distance detection of obstacles by the 16-line lidar 4, the single-line lidar 17, and the solid-state lidar 21 in a real unmanned vehicle, and transmits the detected distance data to the 16-line laser data collector 7, the single-line laser data collector 8, and the solid-state laser data collector 5 respectively for data processing, and then transmits the data to the all-in-one computer 1 through the switch 22. This embodiment enables students to more intuitively and clearly understand the connection relationship, working process, and working principle between the lidar and the electrical components inside the car in unmanned driving, making the teaching more vivid and lively, fully mobilizing the enthusiasm of students, and enabling students to intuitively and clearly master the connection principle, working principle, and working process between the unmanned driving lidar and the car, improving the teaching effect of teachers;The base in this embodiment includes a base body 15 and a base plate 16. The base plate 16 is installed above the base body 15. Lane lines are engraved on the base plate 15. The base also includes casters. The number of casters is four, and they are respectively fixed at the four corners of the lower end of the base body 15. By setting the casters, it is convenient to move this embodiment, which is convenient for teachers to move this embodiment during practical teaching, enabling students to see the structure of this training device without blind spots and improving the teaching quality.

[0034] In this embodiment, the voltage converter 6, the sixteen-line laser data collector 7, the single-line laser data collector 8, the solid-state laser data collector 5, the switch 22, and the solid-state lidar 21 are all installed on the bottom plate of the housing 3. Among them, the voltage converter 6, the sixteen-line laser data collector 7, the single-line laser data collector 8, the solid-state laser data collector 5, and the switch 22 are located in the middle of the bottom plate of the housing 3, and the solid-state lidar 21 is located at the rear of the bottom plate of the housing 3; among them, the sixteen-line laser data collector 7 is located on the left side of the switch 22, the switch 22 is located on the left side of the single-line laser data collector 8, the single-line laser data collector 8 is located on the front side of the solid-state laser data collector 5, and the solid-state laser data collector 5 is located on the right side of the voltage converter 6; the left side plate 9 and the right side plate 10 are symmetrical to each other. The left side plate 9 and the right side plate 10 are both made of transparent acrylic material. By designing the materials of the left side plate 9 and the right side plate 10 as acrylic materials, students can clearly see the structure of the parts inside the housing 3; the working principle diagram is engraved on the left side plate 9, and the name 18 of the training device is engraved on the right side plate 10, enabling students to clearly understand the principle of the driverless lidar and the name of this training device.

[0035] The specific structure of the slide rail module 19 in this embodiment is that the slide rail module 19 includes a lower rail, a lower slider, an upper rail, and an upper slider. The lower rail is fixed on the cross bar 11. The lower slider is installed in the lower rail and can move left and right in the lower rail. The upper rail is fixed on the lower slider. The upper slider is installed in the upper rail and can move back and forth in the upper rail. The slide rail module 19 also includes a lower hand wheel and an upper hand wheel 20. The lower hand wheel is installed on the lower slider. By shaking the lower hand wheel, the lower slider is driven to move left and right on the lower rail; the upper hand wheel 20 is installed on the upper slider. By shaking the upper hand wheel 20, the upper slider is driven to move back and forth on the upper rail. By moving the sixteen-line lidar 4 back and forth and left and right, the position of the sixteen-line lidar 4 can be adjusted according to actual installation requirements.

[0036] The specific structure of the wheel module in this embodiment is that the wheel module further includes a fixing plate, a motor plate, and a bearing seat. The fixing plate is fixedly connected to the base through fasteners. The motor plate is fixedly connected to the fixing plate. The simulation motor is installed on one side of the motor plate. The bearing seat is fixedly connected to the fixing plate. The simulation motor is installed on the bearing seat. The number of bearing seats is two and they are respectively located on the left and right sides of the wheel speed sensor. In this embodiment, the simulation motor drives the transmission shaft 13 to rotate, and the transmission shaft 13 drives the wheel speed sensor and the simulation wheel 14 to rotate, so as to simulate the driving of a real car, and the speed of the simulation wheel 14 is monitored in real time through the wheel speed sensor.

[0037] Embodiment 2

[0038] Based on the concept of the sliding module in Embodiment 1, this embodiment discloses an unmanned lidar training device. The sliding module includes a lower track, a lower slider, an upper track, and an upper slider. The lower track is fixed on the cross bar 11. The lower slider is installed in the lower track and can move left and right in the lower track. The upper track is fixed on the lower slider. The upper slider is installed in the upper track and can move back and forth in the upper track. The sliding rail module further includes a slider circuit board, a slider remote control, a first motor, and a second motor. The slider circuit board is installed on the housing 3. The slider circuit board is electrically connected to the voltage converter 6 through a connecting wire. The receiver of the slider circuit board is wirelessly connected to the transmitter in the slider remote control. The slider circuit board is electrically connected to the first motor and the second motor through connecting wires respectively. The first motor is installed on the lower slider. In this embodiment, the first motor drives the lower slider to move left and right on the lower track. The second motor is installed on the upper slider. The second motor drives the upper slider to move back and forth on the upper track. The difference from Embodiment 1 is that in this embodiment, the first motor drives the lower slider to drive the 16-line lidar 4 to move, and the second motor drives the upper slider to drive the 16-line lidar 4 to move, without using a manual method, which is more convenient and practical.

[0039] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the scope of protection of the claims of the present invention.

Claims

1. An unmanned laser radar training device, characterized by: The training device comprises a base, a model assembly and an all-in-one computer (1) located on the base, wherein: the all-in-one computer (1) is located at the front side of the model assembly, and the all-in-one computer (1) is fixed to the base via a column (2); the model assembly comprises a shell (3), a slide rail module (19), a sixteen-line laser radar (4), and a single-line laser radar (17); the shell (3) is fixed to the base via a column (2); the shell (3) is equipped with a solid-state laser data collector (5), a voltage converter (6), a sixteen-line laser data collector (7), a single-line laser data collector (8), a switch (22), and a solid-state laser radar (21); the voltage converter (6) is electrically connected to the sixteen-line laser data collector (7), the single-line laser data collector (8), the solid-state laser data collector (5), and the switch (22) via a connecting line; the switch (22) is electrically connected to the sixteen-line laser data collector (7), the single-line laser data collector (8), the solid-state laser data collector (5), and the switch (22) via a connecting line. The optical data collector (7), the single-line laser data collector (8), the solid-state laser data collector (5) and the all-in-one computer (1) are electrically connected, the sixteen-line laser data collector (7) is electrically connected to the sixteen-line laser radar (4), the single-line laser data collector (8) is electrically connected to the single-line laser radar (17), and the solid-state laser data collector (5) is electrically connected to the solid-state laser radar (21); a left side plate (9) and a right side plate (10) are respectively provided above the left and right sides of the shell (3), the slide rail module (19) is fixed to the left side plate (9) and the right side plate (10) via a cross bar (11), the single-line laser radar (17) is installed on the cross bar (11) located at the rear side, the sixteen-line laser radar (4) is installed on the slide rail module (19) via a mounting seat (12), and the sixteen-line laser radar (4) can move in four directions of front, back, left and right along with the slide rail module (19); The model assembly further comprises simulation wheels (14), the number of the simulation wheels (14) being four and respectively located at the four corners of the housing (3), and the simulation wheels (14) being fixed to the base via the columns (2); The model assembly also includes a fixing plate, a motor plate, and a bearing seat. The fixing plate is fixed to the base via fasteners, the motor plate is fixed to the fixing plate, the simulation motor is installed on one side of the motor plate, the bearing seat is fixed to the fixing plate, and the simulation motor is installed on the bearing seat. There are two bearing seats, which are respectively located on the left and right sides of the wheel speed sensor.

2. The unmanned driving laser radar training device according to claim 1, characterized in that: The voltage converter (6), the sixteen-line laser data collector (7), the single-line laser data collector (8), the solid-state laser data collector (5), the switch (22) and the solid-state laser radar (21) are all mounted on the bottom plate of the housing (3), wherein the voltage converter (6), the sixteen-line laser data collector (7), the single-line laser data collector (8), the solid-state laser data collector (5) and the switch (22) are located in the middle of the bottom plate of the housing (3), and the solid-state laser radar (21) is located at the rear of the bottom plate of the housing (3); wherein the sixteen-line laser data collector (7) is located on the left side of the switch (22), the switch (22) is located on the left side of the single-line laser data collector (8), the single-line laser data collector (8) is located in front of the solid-state laser data collector (5), and the solid-state laser data collector (5) is located on the right side of the voltage converter (6).

3. The unmanned driving laser radar training device according to claim 2, characterized in that: The left side panel (9) and the right side panel (10) are symmetrical to each other. Both the left side panel (9) and the right side panel (10) are made of transparent acrylic material. A working principle diagram is printed on the left side panel (9), and the name (18) of the training device is printed on the right side panel (10).

4. The unmanned driving laser radar training device according to claim 1, characterized in that: The slide rail module (19) includes a lower rail, a lower slider, an upper rail and an upper slider, wherein the lower rail is fixed on the cross bar (11), the lower slider is installed in the lower rail and can move left and right in the lower rail, and the upper rail is fixed on the lower slider, the upper slider is installed in the upper rail and can move forward and backward in the upper rail.

5. The unmanned driving laser radar training device according to claim 4, characterized in that: The slide rail module (19) further comprises a lower hand wheel and an upper hand wheel (20), wherein the lower hand wheel is mounted on the lower slider, and the lower slider is driven to move left and right on the lower rail by shaking the lower hand wheel; and the upper hand wheel (20) is mounted on the upper slider, and the upper slider is driven to move forward and backward on the upper rail by shaking the upper hand wheel (20).

6. The unmanned driving laser radar training device according to claim 4, characterized in that: The slide rail module (19) further includes a slider circuit board, a slider remote control, a first motor, and a second motor. The slider circuit board is mounted on the housing (3). The slider circuit board is electrically connected to the voltage converter (6) via a connecting line. The receiver of the slider circuit board is wirelessly connected to the transmitter in the slider remote control. The slider circuit board is electrically connected to the first motor and the second motor respectively via connecting lines. The first motor is mounted on the lower slider and is used to drive the lower slider to move left and right on the lower rail. The second motor is mounted on the upper slider and is used to drive the upper slider to move on the upper rail.

7. The unmanned driving laser radar training device according to claim 1, characterized in that: The base comprises a base body (15) and a base plate (16), wherein the base plate (16) is installed above the base body (15), and lane lines are printed on the base plate (16).

8. The unmanned driving laser radar training device according to claim 7, characterized in that: The base also includes four casters, which are respectively fixed at the four corners of the lower end of the base body (15).

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