An unmanned inertial navigation practical training device

Abstract

The application discloses an unmanned inertial navigation practical training device, which comprises a base, a model component and a display component, wherein the display component comprises an all-in-one computer, the model component comprises a shell, a wheel module, a slide rail module and an inertial navigation device, the shell is provided with a voltage converter, an anti-collision controller and a data acquisition CAN box, the voltage converter is electrically connected with the anti-collision controller, the data acquisition CAN box and the inertial navigation device through connecting lines, and the data acquisition CAN box is electrically connected with the anti-collision controller and the inertial navigation device through CAN lines; the inertial navigation device is installed on the slide rail module through a mounting seat, the inertial navigation device can move in four directions of front, back, left and right along with the slide rail module, and the inertial navigation device collects instantaneous speed of a driving automobile and position information of the automobile, so that students can more intuitively and clearly understand the connection relationship between the inertial navigation and electrical elements in the automobile and the working principle of the inertial navigation, and the application is suitable for the technical field of vehicle teaching.

Description

Technical Field

[0001] This invention belongs to the field of vehicle teaching technology, specifically, it relates to an unmanned driving inertial navigation training device. Background Technology

[0002] Autonomous driving technology integrates numerous high technologies such as artificial intelligence, computer vision, integrated navigation, information fusion, automatic control, and system architecture. It is a product of the advanced development of computer science and automation technology, and an important indicator of a country's scientific and technological strength and industrial level. Because it offers unparalleled advantages over ordinary vehicles in improving vehicle driving performance, reducing driver workload, lowering traffic accident rates, and operating under harsh and extreme conditions, it has become a key high-tech project that many countries, as well as renowned automobile companies and construction machinery manufacturers, are vying to develop.

[0003] An inertial navigation system (INS) is an autonomous navigation system that does not rely on external information or radiate energy to the outside. Its operating environment includes not only the air and ground, but also underwater. The basic working principle of INS is based on Newton's laws of motion. By measuring the acceleration of the vehicle in an inertial reference frame, integrating it over time, and transforming it into the navigation coordinate system, information such as velocity, yaw angle, and position in the navigation coordinate system can be obtained. In autonomous driving applications, INS can obtain the instantaneous velocity and position information of unmanned vehicles. Installed within the vehicle, the INS operates independently of external information and does not radiate energy, making it resistant to interference and thus an autonomous navigation system.

[0004] In vehicle training, when teaching the application of inertial navigation in autonomous driving, students can only see the application of inertial navigation in autonomous vehicles through videos and pictures. They cannot intuitively see the components, connections, and working principles of inertial navigation in autonomous driving, which greatly reduces the quality of teaching and makes it difficult for students to intuitively understand the application principles of inertial navigation in automobiles, resulting in poor learning outcomes. To address this, we propose an inertial navigation training device for autonomous driving. Summary of the Invention

[0005] This invention provides an unmanned inertial navigation training device to solve the above-mentioned technical problems.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0007] A training device for unmanned inertial navigation, the key feature of which is that the training device includes a base, a model assembly and an all-in-one computer located on the base, wherein: the all-in-one computer is located on the front side of the model assembly and is fixed to the base by a column; the model assembly includes a shell, a wheel module, a slide rail module, and an inertial navigation system; the shell is fixed to the base by a column, and the shell is equipped with a voltage converter, an anti-collision controller, and a data acquisition CAN box; the voltage converter is electrically connected to the anti-collision controller, the data acquisition CAN box, and the inertial navigation system respectively via connecting cables; the data acquisition CAN box is electrically connected to the anti-collision controller and the inertial navigation system respectively via CAN lines; a left side plate and a right side plate are respectively provided on the upper left and right sides of the shell; the slide rail module is fixed to the left side plate and the right side plate by a crossbar; the inertial navigation system is mounted on the slide rail module via a mounting bracket. The slide rail module has antennas installed at both its front and rear ends. These antennas are electrically connected to the inertial navigation system via connecting lines. The inertial navigation system and the antennas move together in four directions (front, back, left, and right) along with the slide rail module. The inertial navigation system is electrically connected to the all-in-one computer via network cables. There are four wheel modules located at the four corners of the housing. Each wheel module includes a motor controller, a simulated motor, and a drive shaft. The motor controller is electrically connected to the voltage converter via connecting lines. The simulated motor is electrically connected to the motor controller via connecting lines. The rotating shaft of the simulated motor is connected to one end of the drive shaft via a coupling. A simulated wheel is installed at the other end of the drive shaft. A wheel speed sensor is installed in the middle of the drive shaft. The simulated wheel and the wheel speed sensor rotate with the simulated motor. The wheel speed sensor is electrically connected to the anti-collision controller via connecting lines.

[0008] In one possible implementation, the angle between the display screen of the all-in-one computer and the horizontal plane is α, where 15°≤α≤50°.

[0009] In one possible implementation, the all-in-one computer and the voltage converter are electrically connected to an external power source via power lines.

[0010] In one possible implementation, the voltage converter, the anti-collision controller, and the data acquisition CAN box are all mounted on the bottom plate of the housing, with the voltage converter located to the left of the data acquisition CAN box and the data acquisition CAN box located in front of the anti-collision controller.

[0011] In one possible implementation, the left side panel and the right side panel are symmetrical to each other, and both the left side panel and the right side panel are made of transparent acrylic material.

[0012] In one possible implementation, the left side plate is printed with a working principle diagram, and the right side plate is printed with the name of the training device.

[0013] In one 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 to the crossbar, the lower slider is installed in the lower rail and can move left and right within the lower rail, the upper rail is fixed to the lower slider, and the upper slider is installed in the upper rail and can move back and forth within the upper rail.

[0014] In one possible implementation, the slide rail module further includes a lower handwheel and an upper handwheel. The lower handwheel is mounted on the lower slide block, and the lower slide block is driven to move left and right on the lower track by shaking the lower handwheel. The upper handwheel is mounted on the upper slide block, and the upper slide block is driven to move back and forth on the upper track by shaking the upper handwheel.

[0015] In one possible implementation, the slide rail module further includes a slide circuit board, a slide remote controller, a first motor, and a second motor. The slide circuit board is mounted on the housing and electrically connected to the voltage converter via a connecting wire. The receiver of the slide circuit board is wirelessly connected to the transmitter in the slide remote controller. The slide circuit board is electrically connected to the first motor and the second motor via connecting wires. The first motor is mounted on the lower slide and drives the lower slide to move left and right on the lower track. The second motor is mounted on the upper slide and drives the upper slide to move on the upper track.

[0016] In one possible implementation, the wheel module further includes a fixing plate, a motor plate, and a bearing seat. The fixing plate is fixed to the base by fasteners, the motor plate is fixed to the fixing plate, the analog motor is mounted on one side of the motor plate, the bearing seat is fixed to the fixing plate, the rotary motor is mounted on the bearing seat, and there are two bearing seats, which are located on the left and right sides of the wheel speed sensor, respectively.

[0017] Beneficial effects:

[0018] This invention provides an unmanned inertial navigation training device. The device includes a base, a model assembly, and an all-in-one computer mounted on the base. The model assembly includes a housing, a wheel module, a slide rail module, and an inertial navigation system. The housing houses a voltage converter, a collision avoidance controller, and a CAN data acquisition box. The voltage converter is electrically connected to the collision avoidance controller, the CAN data acquisition box, and the inertial navigation system via connecting cables. The CAN data acquisition box is electrically connected to the collision avoidance controller and the inertial navigation system via CAN lines. The inertial navigation system is mounted on the slide rail module via a mounting bracket. The front and rear sides of the slide rail module... Each end is equipped with an antenna, which is electrically connected to the inertial navigation system via a connecting cable. The inertial navigation system and the antenna can move together in four directions (forward, backward, left, and right) along with the slide rail module. The inertial navigation system is electrically connected to the all-in-one computer via a network cable. The wheel module includes a motor controller, an analog motor, and a drive shaft. The motor controller is electrically connected to a voltage converter via a connecting cable, and the analog motor is electrically connected to the motor controller via a connecting cable. The rotating shaft of the analog motor is connected to one end of the drive shaft via a coupling, and the analog wheel is installed at the other end of the drive shaft. The wheel speed sensor is installed in the middle of the drive shaft. The analog wheel and the wheel... The wheel speed sensor rotates along with the simulated motor, and is electrically connected to the anti-collision controller via a connecting wire. This invention controls the position of the inertial navigation system through a slide rail module. The inertial navigation system collects the instantaneous speed and position information of the driving vehicle and transmits the collected data to the all-in-one computer via a data acquisition CAN box. The all-in-one computer displays the images. The wheel speed sensor monitors the speed of the simulated wheels in real time, collecting the rotational speed of the simulated wheels and transmitting the collected wheel speed data to the anti-collision controller. The anti-collision controller processes the wheel speed data, converts it into CAN data via the data acquisition CAN box, and transmits it to the all-in-one computer. The function of the anti-collision controller is to collect the actual wheel deviation distance from the positioning and compare it to perform positioning correction and speed correction. This invention allows students to more intuitively and clearly understand the connection relationship, working process, and working principle of inertial navigation and the internal electrical components of the vehicle in autonomous driving, making teaching more vivid and engaging, fully mobilizing students' enthusiasm, and allowing students to intuitively and clearly grasp the connection principle, working principle, and working process of inertial navigation and the vehicle in autonomous driving, thus improving the teaching effectiveness.

[0019] This invention provides an unmanned inertial navigation training device with a left and right side panel that are symmetrical to each other. Both the left and right side panels are made of transparent acrylic material. By designing the left and right side panels to be made of acrylic material, students can clearly see the structure of the internal parts of the shell.

[0020] This invention provides an unmanned inertial navigation training device. The working principle diagram is printed on the left side panel, and the name of the training device is printed on the right side panel, which can enable students to clearly understand the principle of unmanned inertial navigation and the name of this invention. Attached Figure Description

[0021] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof.

[0022] In the attached diagram:

[0023] Figure 1 These are schematic diagrams of the structures in embodiments 1 and 2 of the present invention;

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

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

[0026] Figure 4 The left view is shown in embodiments 1 and 2 of the present invention;

[0027] Figure 5 This is a right view of embodiments 1 and 2 of the present invention;

[0028] Figure 6 These are top views of embodiments 1 and 2 of the present invention;

[0029] Figure 7 This is a schematic diagram of the circuit connection of the external power supply in Embodiments 1 and 2 of the present invention;

[0030] Figure 8 This is a schematic diagram of the circuit connection for inertial navigation in Embodiments 1 and 2 of the present invention.

[0031] Components labeled: 1-All-in-one computer, 2-Column, 3-House, 4-Inertial navigation, 5-Motor controller, 6-Voltage converter, 7-Anti-collision controller, 8-Data acquisition CAN box, 9-Left side panel, 10-Right side panel, 11-Crossbar, 12-Mounting base, 13-Drive shaft, 14-Simulation wheel, 15-Base, 16-Base plate, 17-Working principle diagram, 18-Name, 19-Slide rail module, 20-Handwheel. Detailed Implementation

[0032] The preferred embodiments of the present invention will now be described with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustrative and explanatory purposes only and are not intended to limit the scope of the invention.

[0033] Example 1

[0034] This embodiment discloses an unmanned inertial navigation training device, such as... Figure 1-8As shown, the training device includes a base, a model assembly, and an all-in-one computer 1 located on the base. The all-in-one computer 1 is located in front of the model assembly and is fixed to the base by 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 assembly includes a housing 3, a wheel module, a slide rail module, and an inertial navigation system 4. The housing 3 is fixed to the base by the column 2 and houses a motor controller 5, a voltage converter 6, an anti-collision controller 7, and a data acquisition CAN box 8. The all-in-one computer 1 and the voltage converter 6 are electrically connected to an external power source via power lines. The voltage converter 6 is connected to the anti-collision controller 7 and the data acquisition CAN box 8 via connecting wires. The data acquisition CAN box 8 and the inertial navigation system 4 are electrically connected. The data acquisition CAN box 8 is electrically connected to the anti-collision controller 7, the inertial navigation system 4, and the all-in-one computer 1 via CAN lines. The specific model of the data acquisition CAN box 8 is USBCAN-2E-U. The data acquisition CAN box 8 is used to acquire data information from the inertial navigation system. A left side plate 9 and a right side plate 10 are respectively installed on the upper left and right sides of the housing 3. The slide rail module 19 is fixed to the left side plate 9 and the right side plate 10 via a crossbar 11. The inertial navigation system 4 is mounted on the slide rail module 19 via a mounting base 12. Antennas are installed at both the front and rear ends of the slide rail module 19. The antennas are electrically connected to the inertial navigation system 4 via connecting lines. The inertial navigation system 4 and the antennas move together... The slide rail module 19 can move in four directions: forward, backward, left, and right. The inertial navigation system 4 is electrically connected to the all-in-one computer 1 via a network cable. The position of the inertial navigation system 4 can be adjusted as needed. There are four wheel modules, located at the four corners of the housing 3. Each wheel module includes a simulated motor and a drive shaft 13. The motor controller 5 is electrically connected to the voltage converter 6 via a connecting wire. The simulated motor is electrically connected to the motor controller 5 via a connecting wire. The rotating shaft of the simulated motor is connected to one end of the drive shaft 13 via a coupling. The simulated wheel 14 is installed at the other end of the drive shaft 13. In this embodiment, the simulated motor drives the simulated wheel 14 to simulate the rolling of a real car wheel. The wheel speed sensor is installed in the middle of the drive shaft 13. The simulated wheel 14 and the wheel speed sensor rotate with the rotation of the simulated motor. The wheel speed sensor is electrically connected to the anti-collision controller 7 through a connecting wire. In this embodiment, the wheel speed sensor is set to monitor the rotation speed of the simulated wheel 14 in real time and transmit the collected wheel speed data to the anti-collision controller 7. The anti-collision controller 7 processes the wheel speed data and converts it into CAN data. The anti-collision controller 7 processes the wheel speed data and converts it into CAN data through the data acquisition CAN box 8 and transmits it to the all-in-one computer 1. The function of the anti-collision controller 7 is to collect the actual wheel deviation distance of the vehicle from the positioning and compare it to implement positioning correction and speed correction.The base in this embodiment includes a base body 15 and a base plate 16. The base plate 16 is installed on top of the base body 15. Lane lines are printed on the base plate 15. The base also includes casters. There are four casters, which are fixed at the four corners of the lower end of the base body 15. The casters facilitate the movement of this embodiment, making it convenient for teachers to move this embodiment during practical training. This allows students to see the structure of this training device from all angles, thus improving the teaching quality.

[0035] In this embodiment, the position of the inertial navigation system 4 is controlled by the slide rail module 19. The inertial navigation system 4 collects the instantaneous speed and position information of the driving vehicle and transmits the collected data to the all-in-one computer 1 via the data acquisition CAN box 8. The all-in-one computer 1 displays the image. The wheel speed sensor monitors the speed of the simulated wheel 14 in real time. The wheel speed sensor is used to collect the rotational speed of the simulated wheel 14 and transmits the collected wheel speed data to the anti-collision controller 7. The anti-collision controller 7 processes the wheel speed data, converts it into CAN data through the data acquisition CAN box 8, and transmits it to the all-in-one computer 1. The function of the anti-collision controller 8 is to collect the actual wheel deviation distance of the vehicle from the positioning and compare it to perform positioning correction and speed correction. This embodiment enables students to more intuitively and clearly understand the connection relationship, working process, and working principle of the inertial navigation system 4 and the internal electrical components of the vehicle in autonomous driving. It makes the teaching more vivid and engaging, fully mobilizes the students' enthusiasm, and allows students to intuitively and clearly grasp the connection principle, working principle, and working process of the inertial navigation system 4 and the vehicle, thus improving the teaching effectiveness of the teacher.

[0036] In this embodiment, the voltage converter 6, anti-collision controller 7, and data acquisition CAN box 8 are all mounted on the bottom plate of the housing 3 and arranged in an array. The voltage converter 6 is located to the left of the data acquisition CAN box 8, and the data acquisition CAN box 8 is located in front of the anti-collision controller 7. The left side plate 9 and the right side plate 10 are symmetrical to each other and are both made of transparent acrylic material. By designing the material of the left side plate 9 and the right side plate 10 as acrylic material, students can clearly see the structure of the parts inside the housing 3. The working principle diagram 17 is printed on the left side plate 9, and the name of the training device 18 is printed on the right side plate 10, so that students can clearly understand the principle of the unmanned binocular camera and the name of this training device.

[0037] The specific structure of the slide rail module 19 in this embodiment is as follows: 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 crossbar 11, 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, the slide rail module 19 also includes a lower handwheel and an upper handwheel 20, the lower handwheel is installed on the lower slider and the lower slider is driven to move left and right on the lower rail by shaking the lower handwheel, the upper handwheel 20 is installed on the upper slider and the upper slider is driven to move back and forth on the upper rail by shaking the upper handwheel 20. By moving the inertial navigation 4 back and forth and left and right, the position of the inertial navigation 4 can be adjusted according to the actual installation requirements.

[0038] The specific structure of the wheel module in this embodiment is as follows: the wheel module also includes a fixing plate, a motor plate, and a bearing seat. The fixing plate is fixedly connected to the base by fasteners, the motor plate is fixedly connected to the fixing plate, the simulated motor is installed on one side of the motor plate, and the bearing seat is fixedly connected to the fixing plate. The simulated motor is installed on the bearing seat, and there are two bearing seats, which are located on the left and right sides of the wheel speed sensor respectively. In this embodiment, the transmission shaft 13 is driven to rotate by the simulated motor, and the transmission shaft 13 drives the wheel speed sensor and the simulated wheel 14 to rotate, thereby simulating the driving of a real car and monitoring the speed of the simulated wheel 14 in real time through the wheel speed sensor.

[0039] Example 2

[0040] Based on the sliding module concept of Embodiment 1, this embodiment discloses an unmanned inertial navigation 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 crossbar 11, and the lower slider is installed in the lower track and can move left and right within the lower track. The upper track is fixed on the lower slider, and the upper slider is installed in the upper track and can move back and forth within the upper track. The sliding module also includes a slider circuit board, a slider remote controller, a first motor, and a second motor. The slider circuit board is installed on the housing 3 and is electrically connected to the voltage converter 6 via a connecting wire. The receiver of the slider circuit board and the transmitter in the slider remote controller are wirelessly connected. The slider circuit board is electrically connected to the first motor and the second motor via connecting wires. 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, and the second motor is installed on the upper slider to drive the upper slider to move back and forth on the upper track. Unlike Embodiment 1, this embodiment uses the first motor to drive the lower slider to move the binocular camera, and uses the second motor to drive the upper slider to move the inertial navigation 4. It eliminates the need for manual operation and is more convenient and practical.

[0041] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. An unmanned inertial navigation training device, characterized in that: The training device includes a base, a model assembly, and an all-in-one computer (1) located on the base. The all-in-one computer (1) is located in front of the model assembly and is fixed to the base by a column (2). The model assembly includes a housing (3), a wheel module, a slide rail module (19), and an inertial navigation system (4). The housing (3) is fixed to the base by the column (2). The housing (3) is equipped with a voltage converter (6), an anti-collision controller (7), and a data acquisition CAN box (8). The voltage converter (6) The anti-collision controller (7), the data acquisition CAN box (8), and the inertial navigation system (4) are electrically connected via connecting lines. The data acquisition CAN box (8) is electrically connected to the anti-collision controller (7) and the inertial navigation system (4) via CAN lines. A left side plate (9) and a right side plate (10) are respectively provided on the upper left and right sides of the housing (3). The slide rail module (19) is fixed on the left side plate (9) and the right side plate (10) via a crossbar (11). The inertial navigation system (4) is mounted on the housing via a mounting base (12). The slide rail module (19) has antennas installed at both its front and rear ends. The antennas are electrically connected to the inertial navigation system (4) via connecting lines. The inertial navigation system (4) and the antennas can move together in four directions (front, back, left, and right) along with the slide rail module (19). The inertial navigation system (4) is electrically connected to the all-in-one computer (1) via network cables. There are four wheel modules, which are located at the four corners of the housing (3). Each wheel module includes a motor controller (5), an analog motor, and a drive shaft (13). The controller (5) is electrically connected to the voltage converter (6) via a connecting line. The analog motor is electrically connected to the motor controller (5) via a connecting line. The rotating shaft of the analog motor is connected to one end of the transmission shaft (13) via a coupling. The analog wheel (14) is installed at the other end of the transmission shaft (13). The wheel speed sensor is installed in the middle of the transmission shaft (13). The analog wheel (14) and the wheel speed sensor rotate with the rotation of the analog motor. The wheel speed sensor is electrically connected to the anti-collision controller (7) via a connecting line. 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 crossbar (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 handwheel and an upper handwheel (20). The lower handwheel is mounted on the lower slide block, and the lower slide block is driven to move left and right on the lower rail by shaking the lower handwheel. The upper handwheel (20) is mounted on the upper slide block, and the upper slide block is driven to move back and forth on the upper rail by shaking the upper handwheel (20). The angle between the display screen of the all-in-one computer (1) and the horizontal plane is α, where 15 ≤ α ≤ 50.

2. The unmanned inertial navigation training device according to claim 1, characterized in that: The all-in-one computer (1) and the voltage converter (6) are electrically connected to an external power source via power lines.

3. The unmanned inertial navigation training device according to claim 1, characterized in that: The voltage converter (6), the anti-collision controller (7), and the data acquisition CAN box (8) are all mounted on the bottom plate of the housing (3). The voltage converter (6) is located on the left side of the data acquisition CAN box (8), and the data acquisition CAN box (8) is located on the front side of the anti-collision controller (7).

4. The unmanned inertial navigation training device according to claim 1, characterized in that: The left side panel (9) and the right side panel (10) are symmetrical to each other, and both the left side panel (9) and the right side panel (10) are made of transparent acrylic material.

5. The unmanned inertial navigation training device according to claim 4, characterized in that: The working principle diagram (17) is printed on the left side plate (9), and the name (18) of the training device is printed on the right side plate (10).

6. The unmanned inertial navigation training device according to claim 1, characterized in that: The slide rail module (19) also includes a slide circuit board, a slide remote controller, a first motor, and a second motor. The slide circuit board is mounted on the housing (3). The slide circuit board is electrically connected to the voltage converter (6) via a connecting line. The receiver of the slide circuit board is wirelessly connected to the transmitter in the slide remote controller. The slide circuit board is electrically connected to the first motor and the second motor via connecting lines. The first motor is mounted on the lower slide and drives the lower slide to move left and right on the lower track. The second motor is mounted on the upper slide and drives the upper slide to move on the upper track.

7. The unmanned inertial navigation training device according to claim 1, characterized in that: The wheel module also includes a fixing plate, a motor plate, and a bearing seat. The fixing plate is fixed to the base with fasteners, the motor plate is fixed to the fixing plate, the analog motor is mounted on one side of the motor plate, the bearing seat is fixed to the fixing plate, and the analog motor is mounted on the bearing seat. There are two bearing seats, which are located on the left and right sides of the wheel speed sensor, respectively.

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