An intelligent experimental vehicle for all vehicle models and its usage method

Abstract

The present invention provides an intelligent experimental vehicle for all vehicle models and a using method thereof. The intelligent experimental vehicle for all vehicle models of the present invention is provided with a mechanically deformable upper vehicle frame. The upper vehicle frame of the present invention is composed of multiple support rods, which are connected by a rotation limiting mechanism and can freely change the angles between the support rods, and are matched with a vehicle frame slide rod, so as to change the vehicle appearance. The experimental vehicle can be converted between a passenger vehicle and a commercial vehicle; by changing the appearance of the vehicle body, the present invention can roughly simulate different vehicle models, conduct various experiments, collect data, and compare the data of different vehicle models.

Description

Technical Field

[0001] The present invention belongs to the field of driverless vehicles, and particularly relates to an all-model intelligent experimental vehicle for experimental teaching and its usage method. Background Art

[0002] With the development of modern technology, driverless vehicles have been relatively widely used in some small closed roads or sites. Currently, the intelligent-by-wire chassis technology is relatively mature and has the characteristic of being easy to operate. There are various small intelligent vehicles on the market that use a by-wire chassis as the base and are equipped with a multi-functional frame above, which can play different functional roles. For example, a high-definition photography vehicle based on an intelligent by-wire chassis designed in patent document CN115638320A combines photography technology with driverless technology to achieve new effects. In terms of experimental intelligent vehicles, there is a multi-sensor intelligent frame designed in patent document CN211669862U for teaching applications, which is equipped with various sensors and control devices for teaching training. Its main drawback is that the vehicle model is fixed, and it can only measure experimental data under a single fixed vehicle model, making it difficult to compare the differences in data during driving among different vehicle models. Summary of the Invention

[0003] Aiming at the deficiencies of the prior art, the present invention provides an all-model intelligent experimental vehicle and its usage method, which solves the problem that the experimental vehicles used in current teaching and experiments have fixed vehicle models and cannot collect experimental data of different vehicle models according to the requirements of teaching experiments.

[0004] The present invention is realized through the following technical solutions:

[0005] An all-model intelligent experimental vehicle includes an upper frame and an intelligent by-wire chassis connected to the bottom of the upper frame;

[0006] The upper frame includes two groups of support rods, which are respectively located on both sides of the experimental vehicle, and the two groups of support rods are hinged by a transverse rigid rod; each group of support rods includes a vehicle front rotating rod, a vehicle front-side rotating rod, a vehicle middle rotating rod, and a vehicle rear rotating rod; the rear end of the vehicle front rotating rod is hinged to the front end of the vehicle front-side rotating rod through a rotation limiting mechanism, the rear end of the vehicle front-side rotating rod is hinged with a sensor installation and adjustment platform through a rotation limiting mechanism, and the rear end of the sensor installation and adjustment platform is connected to a vertically arranged frame sliding rod; the front end of the vehicle middle rotating rod is slidably connected to the frame sliding rod, and the rear end is hinged to the front end of the vehicle rear rotating rod through a rotation limiting mechanism; the front end of the vehicle front rotating rod is hinged to the front end of the intelligent by-wire chassis through a rotation limiting mechanism, and the rear end of the vehicle rear rotating rod is hinged to the rear end of the intelligent by-wire chassis through a rotation limiting mechanism.

[0007] Preferably, the intelligent wire-controlled chassis includes a chassis front-end frame, a chassis body frame, a chassis rear-end frame, a wheelbase telescopic mechanism, and a track telescopic mechanism;

[0008] The rear end of the chassis front-end frame is connected to the front end of the chassis body frame, and the rear end of the chassis body frame is connected to the front end of the chassis rear-end frame;

[0009] The wheelbase telescopic mechanism is installed on the chassis body frame and is used to change the axial length of the chassis body frame; the track telescopic mechanism is installed on the chassis front-end frame and the chassis rear-end frame and is used to change the track of the wheels on both sides of the chassis front-end frame and the chassis rear-end frame.

[0010] Furthermore, the chassis body frame includes a front fixed rod of the chassis body frame, a rigid thin rod, and a rear fixed rod of the chassis body frame; two sets of rigid thin rods are provided and are distributed on the left and right sides of the chassis body frame; each set of rigid thin rods has two rods, and the front and rear ends of each rigid thin rod are respectively connected to the front fixed rod of the chassis body frame and the rear fixed rod of the chassis body frame, and the centers of the two rigid thin rods are cross-hinged movably;

[0011] The wheelbase telescopic mechanism includes a wheelbase adjustment motor, a wheelbase adjustment lead screw, and a transmission component; a first transmission bevel gear is threadedly connected to the wheelbase adjustment lead screw; one end of the wheelbase adjustment lead screw is fixedly connected to the front fixed rod of the chassis body frame or the rear fixed rod of the chassis body frame, and the other end is slidably connected to the rear fixed rod of the chassis body frame or the front fixed rod of the chassis body frame; the wheelbase adjustment motor is installed at the cross center of the two rigid thin rods, and the wheelbase adjustment motor drives the first transmission bevel gear on the wheelbase adjustment lead screw to rotate through the transmission component.

[0012] Furthermore, the track telescopic mechanism includes a first pneumatic telescopic rod and a second pneumatic telescopic rod; the chassis front-end frame includes a front sliding rod of the chassis front-end frame and two opposite chassis front-end frame side brackets; the front ends of the two chassis front-end frame side brackets are slidably connected to the front sliding rod of the chassis front-end frame, and the rear ends are slidably connected to the front end of the chassis body frame; the two chassis front-end frame side brackets are connected by the first pneumatic telescopic rod; a vehicle front suspension is installed on the chassis front-end frame side bracket;

[0013] The chassis rear-end frame includes a rear sliding rod of the chassis rear-end frame and two opposite chassis rear-end frame side brackets; the rear ends of the two chassis rear-end frame side brackets are slidably connected to the rear sliding rod of the chassis rear-end frame, and the front ends are slidably connected to the rear end of the chassis body frame; the two chassis rear-end frame side brackets are connected by the second pneumatic telescopic rod; a vehicle rear suspension is installed on the chassis rear-end frame side bracket.

[0014] Further, the front slide bar of the chassis head frame includes an upper slide bar of the chassis head frame and a lower slide bar of the chassis head frame. A plurality of first limiting holes are formed in both the upper slide bar of the chassis head frame and the lower slide bar of the chassis head frame. The front end of the side bracket of the chassis head frame is slidably placed on the upper slide bar of the chassis head frame and the lower slide bar of the chassis head frame, and is limited by a screw inserted into the first limiting hole.

[0015] The rear slide bar of the chassis tail frame includes an upper slide bar of the chassis tail frame and a lower slide bar of the chassis tail frame. A plurality of second limiting holes are formed in both the upper slide bar of the chassis tail frame and the lower slide bar of the chassis tail frame. The rear end of the side bracket of the chassis tail frame is slidably placed on the upper slide bar of the chassis tail frame and the lower slide bar of the chassis tail frame, and is limited by a screw inserted into the second limiting hole.

[0016] Preferably, it further includes a sensor adjustment platform arranged on the upper frame or the front end of the intelligent wire-controlled chassis; at least one of a lidar, a millimeter-wave radar, and a camera is arranged on the sensor adjustment platform.

[0017] Further, a rotating mechanism is installed on the sensor adjustment platform, and a camera is installed on the rotating mechanism; the rotating mechanism can drive the camera to perform pitching motion and rotating motion.

[0018] Further, a horizontal lifting mechanism is installed on the sensor adjustment platform, and a lidar is installed on the horizontal lifting mechanism.

[0019] A usage method of the full-model intelligent experimental vehicle as described above, the experimental vehicle can be converted between a passenger vehicle and a commercial vehicle.

[0020] When it is necessary to convert to a passenger vehicle, adjust the upper frame so that: the front rotating rod of the vehicle is horizontally arranged, the front-side rotating rod of the vehicle is arranged at an angle with the horizontal plane, the middle rotating rod of the vehicle is horizontally arranged, the rear rotating rod of the vehicle is arranged at an angle with the horizontal plane, and the middle rotating rod of the vehicle is flush with the rear end of the front-side rotating rod of the vehicle.

[0021] When it is necessary to convert to a commercial vehicle, adjust the upper frame so that: the front rotating rod of the vehicle is arranged at an angle with the horizontal plane, the front-side rotating rod of the vehicle is horizontally arranged, the middle rotating rod of the vehicle is horizontally arranged, the rear rotating rod of the vehicle is horizontally arranged, and the middle rotating rod of the vehicle is flush with the rear rotating rod of the vehicle.

[0022] A usage method of the full-model intelligent experimental vehicle as described above, the experimental vehicle can be converted between a passenger vehicle and a commercial vehicle.

[0023] When it is necessary to convert it into a passenger car, adjust the upper frame so that: the front rotating rod of the vehicle is horizontally arranged, the front-side rotating rod of the vehicle is arranged at an angle with the horizontal plane, the middle rotating rod of the vehicle is horizontally arranged, the rear rotating rod of the vehicle is arranged at an angle with the horizontal plane, and the middle rotating rod of the vehicle is flush with the rear end of the front-side rotating rod of the vehicle; adjust the chassis body frame by controlling the wheelbase telescopic mechanism so that the axial length is the shortest, and at the same time adjust the track width of the chassis body frame to be the narrowest by controlling the track width telescopic mechanism.

[0024] When it is necessary to convert it into a commercial vehicle, adjust the upper frame so that: the front rotating rod of the vehicle is arranged at an angle with the horizontal plane, the front-side rotating rod of the vehicle is horizontally arranged, the middle rotating rod of the vehicle is horizontally arranged, the rear rotating rod of the vehicle is horizontally arranged, and the middle rotating rod of the vehicle is flush with the rear rotating rod of the vehicle; adjust the axial length of the chassis body frame to be the longest by controlling the wheelbase telescopic mechanism, and at the same time adjust the track width of the chassis body frame to be the widest by controlling the track width telescopic mechanism.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] The intelligent experimental vehicle of the whole vehicle type of the present invention is provided with a mechanically deformable upper frame. The upper frame of the present invention is composed of multiple support rods and is connected by a rotation limiting mechanism, and the angles between the support rods can be freely changed, and is matched with a frame slide rod, so as to change the vehicle appearance. The experimental vehicle can be converted between a passenger car and a commercial vehicle; when it is necessary to convert it into a passenger car, adjust the upper frame so that: the front rotating rod of the vehicle is horizontally arranged, the front-side rotating rod of the vehicle is arranged at an angle with the horizontal plane, the middle rotating rod of the vehicle is horizontally arranged, the rear rotating rod of the vehicle is arranged at an angle with the horizontal plane, and the middle rotating rod of the vehicle is flush with the rear end of the front-side rotating rod of the vehicle; when it is necessary to convert it into a commercial vehicle, adjust the upper frame so that: the front rotating rod of the vehicle is arranged at an angle with the horizontal plane, the front-side rotating rod of the vehicle is horizontally arranged, the middle rotating rod of the vehicle is horizontally arranged, the rear rotating rod of the vehicle is horizontally arranged, and the middle rotating rod of the vehicle is flush with the rear rotating rod of the vehicle. The upper frame has a simple structure and is easy to operate for vehicle type conversion. The present invention can roughly simulate different vehicle types by changing the appearance of the vehicle body, conduct various experiments, collect data, and compare the data of different vehicle types.

[0027] Furthermore, the present invention further includes a wheelbase telescopic mechanism and a track width telescopic mechanism. The axial length of the vehicle can be changed through the wheelbase telescopic mechanism, and the track width of the vehicle can be changed through the track width telescopic mechanism; the upper frame can change its shape following the intelligent by-wire chassis and match with it.

[0028] Furthermore, the wheelbase adjustment motor of the present invention is installed at the central connection of two rigid thin rods. When the wheelbase is telescoped, no matter what angle is formed by the two rigid thin rods, the central position of the rigid thin rods is always the position where the wheelbase adjustment motor is installed, ensuring the stable working condition of the wheelbase adjustment motor.

[0029] Furthermore, a rotating mechanism and / or a horizontal lifting mechanism are installed on the sensor alignment platform of the present invention. The angle and height of the sensor can be freely changed through the rotating mechanism and / or the horizontal lifting mechanism, so as to realize data measurement at multiple angles. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of the overall structure of the experimental vehicle of the present invention when it is a passenger car model;

[0031] Figure 2 It is a schematic diagram of the overall structure of the experimental vehicle of the present invention when it is a commercial vehicle model;

[0032] Figure 3 It is a schematic diagram of the deformation of the experimental vehicle of the present invention;

[0033] Figure 4 It is a schematic diagram of the intelligent wire-controlled chassis structure of the present invention;

[0034] Figure 5 It is a schematic diagram of the rotation limiting mechanism of the present invention;

[0035] Figure 6 It is a gear train diagram of the wheelbase telescoping mechanism of the present invention;

[0036] Figure 7 It is a schematic diagram of the rotating mechanism of the present invention;

[0037] Figure 8 It is a schematic diagram of the horizontal lifting mechanism of the present invention.

[0038] In the figure: 101, front vehicle rotating rod; 102, front side vehicle rotating rod; 103, middle vehicle rotating rod; 104, rear vehicle rotating rod; 105, camera; 106, lidar; 107, vehicle deformation control platform; 108, first slide rail; 109, millimeter wave radar; 110, frame slide rod; 2, rotation limiting mechanism; 201, internal gear; 202, transmission gear; 203, small speed increasing gear; 204, limiting rod; 3, chassis head frame; 301, upper slide rod of chassis head frame; 302, lower slide rod of chassis head frame; 303, millimeter wave radar mounting hole; 304, first limiting hole; 305, first pneumatic telescopic rod; 306, side bracket of chassis head frame; 4, chassis body frame; 401, front fixed rod of chassis body frame; 402, rigid thin rod; 403, freely movable hinge; 404, wheelbase adjustment motor; 405, wheelbase adjustment lead screw; 406, rear fixed rod of chassis body frame; 407, second transmission bevel gear; 408, transmission spur gear; 409, reduction spur gear; 410, third transmission bevel gear; 5, chassis tail frame; 501, second side bracket; 502, lower slide rod of chassis tail frame; 503, second pneumatic telescopic rod; 504, second limiting hole; 6, rotation mechanism; 601-1, pitching motor; 601-2, rotation motor; 602, slider; 603, connecting rod; 604, bolt; 605, first rotating bevel gear; 606, second rotating bevel gear; 7, horizontal lifting mechanism; 701, upper guide rail; 702, upper slider; 703, fixed hinge; 704, lifting lead screw; 705, first lifting bevel gear; 706, lower guide rail; 707, lower slider; 708, lifting motor; 709-1, first lifting slide rod; 709-2, second lifting slide rod; 710, upper support plate; 711, lower support plate. Detailed implementation manners

[0039] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0040] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "front", "back", "vertical", "horizontal", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention; the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be construed as indicating or implying relative importance; in addition, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected" should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements.

[0041] The full-vehicle intelligent experimental vehicle described in the present invention includes a mechanically deformable upper vehicle frame, an intelligent by-wire chassis located at the bottom of the upper vehicle frame, and a sensor installation and adjustment platform. Among them, the intelligent by-wire chassis can freely change the wheelbase and track according to the operator's intention to achieve the purpose of simulating different vehicle models. The sensor installation and adjustment platform is installed on the upper part of the upper vehicle frame or the front end of the intelligent by-wire chassis, etc., and can also be freely carried according to the experimental requirements for installing common sensors such as lidar, millimeter-wave radar, and cameras.

[0042] The mechanically deformable upper vehicle frame 1 is installed on the upper part of the by-wire intelligent chassis vehicle and is mainly composed of ten support rods that can freely change the rotation angle and two telescopic rods. The support rods are connected by a designed rotation limit device and can freely change the angle between the support rods. With the cooperation of the two telescopic rods, the vehicle appearance can be changed.

[0043] Such as Figure 1 And Figure 2As shown, the mechanically deformable upper frame 1 specifically includes two groups of support rods, which are respectively located on both sides of the experimental vehicle. The two groups of support rods are hinged by a transverse rigid rod; each group of support rods includes a vehicle front rotating rod 101, a vehicle front side rotating rod 102, a vehicle middle rotating rod 103, and a vehicle rear rotating rod 104. The vehicle front side rotating rod 102 is formed by hinging two rotating rods. Among them, the two groups of support rods are hinged to the rotation limiting mechanism 2 by a rigid rod. The rear end of the vehicle front rotating rod 101 is hinged to the front end of the vehicle front side rotating rod 102 through the rotation limiting mechanism 2. The front end of the vehicle front rotating rod 101 is hinged to the front end of the intelligent by-wire chassis through the rotation limiting mechanism 2. The rear end of the vehicle front side rotating rod 102 is hinged with a sensor mounting and adjustment platform through the rotation limiting mechanism 2. The rear end of the sensor mounting and adjustment platform is connected with a vertically arranged frame sliding rod 110; the front end of the vehicle middle rotating rod 103 is slidably connected to the frame sliding rod 110, and the rear end is hinged to the front end of the vehicle rear rotating rod 104 through the rotation limiting mechanism 2. The rear end of the vehicle rear rotating rod 104 is hinged to the rear end of the intelligent by-wire chassis through the rotation limiting mechanism. The lower end of the frame sliding rod 110 is connected to the intelligent by-wire chassis by bolts. The mechanically deformable upper frame 1 is composed of the above support rods and the rotation limiting mechanism, aiming to facilitate the deformation of the frame.

[0044] As Figure 5 shown, in a specific embodiment, the rotation limiting mechanism 2 includes an internal gear 201, a transmission gear 202, a speed increasing pinion 203, and a limiting rod 204. The outer side of the internal gear 201 is connected to each rotating rod of the upper frame. The transmission gear 202 and the internal gear 201 are fixed on the same shaft. The speed increasing pinion 203 meshes with the transmission gear 202. The speed increasing pinion 203 is eccentrically connected to the limiting rod 204 through a rigid rod.

[0045] As Figure 1 shown, in a specific embodiment, a rotating mechanism 6 and a first sliding rail 108 are installed on the sensor mounting and adjustment platform. A horizontal lifting mechanism 7 is installed on the first sliding rail 108. A lidar 106 is installed on the horizontal lifting mechanism 7. A camera 105 is installed on the rotating mechanism 6.

[0046] As Figure 4 shown, the intelligent by-wire chassis includes a chassis front-end frame 3, a chassis body frame 4, a chassis rear-end frame 5, a wheelbase telescoping mechanism, and a track width telescoping mechanism.

[0047] In a specific embodiment, a millimeter-wave radar mounting hole 303 is provided at the front end of the chassis front-end frame 3, and a millimeter-wave radar 109 is installed in the millimeter-wave radar mounting hole 303.

[0048] The wheelbase telescoping mechanism is mainly completed by a pneumatic telescoping piston. In a specific embodiment, as Figure 4 shown, the wheelbase telescoping mechanism includes a first pneumatic telescopic rod 305 and a second pneumatic telescopic rod 503. The chassis head frame 3 includes an upper sliding rod 301 of the chassis head frame, a lower sliding rod 302 of the chassis head frame, and two opposite side brackets 306 of the chassis head frame. Multiple first limiting holes 304 are respectively engraved in the middle parts of the upper sliding rod 301 and the lower sliding rod 302 of the chassis head frame. The front ends of the side brackets 306 of the chassis head frame are slidably placed on the upper sliding rod 301 and the lower sliding rod 302 of the chassis head frame, and are limited and fixed to the first limiting holes 304 through screws. A vehicle front suspension is installed on the side brackets 306 of the chassis head frame; the two side brackets 306 of the chassis head frame are connected by the first pneumatic telescopic rod 305. By pushing the side brackets 306 of the chassis head frame to slide on the upper sliding rod 301 and the lower sliding rod 302 of the chassis head frame through the first pneumatic telescopic rod 305, a simple change in the wheelbase can be achieved. The structure of the chassis tail frame 5 is similar to that of the chassis head frame 3. The chassis tail frame 5 includes an upper sliding rod of the chassis tail frame, a lower sliding rod of the chassis tail frame, and two opposite side brackets 501 of the chassis tail frame. Multiple second limiting holes are respectively engraved in the middle parts of the upper sliding rod and the lower sliding rod of the chassis tail frame. The rear ends of the side brackets 501 of the chassis tail frame are slidably placed on the upper sliding rod and the lower sliding rod of the chassis tail frame, and are limited by screws inserted into the second limiting holes; a vehicle rear suspension is installed on the side brackets 501 of the chassis tail frame, and the two side brackets 501 of the chassis tail frame are connected by the second pneumatic telescopic rod 503. By pushing the side brackets 501 of the chassis tail frame to move on the upper sliding rod and the lower sliding rod of the chassis tail frame through the second pneumatic telescopic rod 503.

[0049] In a specific embodiment, as Figure 4 shown, the chassis body frame 4 includes a front fixed rod 401 of the chassis body frame, a rigid thin rod 402, and a rear fixed rod 406 of the chassis body frame. Third limiting holes corresponding to the first limiting holes 304 are provided on the front fixed rod 401 of the chassis body frame, and the rear ends of the two side brackets 306 of the chassis head frame are slidably placed in the third limiting holes. Fourth limiting holes corresponding to the second limiting holes are provided on the rear fixed rod 406 of the chassis body frame, and the front ends of the two side brackets 501 of the chassis tail frame are slidably placed in the fourth limiting holes. Two groups of rigid thin rods 402 are provided, distributed on the left and right sides of the chassis body frame 4; each group of rigid thin rods 402 has two rods, and the front and rear ends of each rigid thin rod 402 are respectively connected to the front fixed rod 401 and the rear fixed rod 406 of the chassis body frame, and the centers of the two rigid thin rods 402 are cross-connected. The position where the centers of the two rigid thin rods 402 are connected is connected by a freely movable hinge 403.

[0050] The wheelbase telescopic mechanism includes a wheelbase adjustment motor 404, a wheelbase adjustment lead screw 405, a second transmission bevel gear 407, a transmission spur gear 408, a reduction spur gear 409, and a third transmission bevel gear 410. Two wheelbase adjustment lead screws 405 are provided and are respectively installed on the upper and lower parts of the chassis body frame; the front end of the wheelbase adjustment lead screw 405 is fixedly connected by hinge to the front fixed rod 401 of the chassis body frame, and the rear end is slidably connected to the rear fixed rod 406 of the chassis body frame through a fixed slider to prevent the wheelbase adjustment lead screw 405 from slipping, and the middle of the wheelbase adjustment lead screw 405 is threadedly connected to the first transmission bevel gear. The wheelbase adjustment motor 404 is installed on the free movable hinge 403 on one side, and a fourth transmission bevel gear is connected to the output shaft of the wheelbase adjustment motor 404, and this fourth transmission bevel gear meshes with the upward second transmission bevel gear 407 to change the direction of the torque transmitted by the wheelbase adjustment motor; the second transmission bevel gear 407 is connected to the cylindrical transmission spur gear 408 through a transmission shaft, and the transmission spur gear 408 meshes with the reduction spur gear 409 to realize the deceleration and torque increase of the gears, so that the wheelbase telescopic mechanism operates smoothly. The reduction spur gear 409 is connected to the third transmission bevel gear 410 through a transmission shaft, and the torque transmission direction is changed again, so that it is horizontally transmitted in the direction of the lead screw and horizontally transmitted to directly below the lead screw; the third transmission bevel gear 410 meshes with the first transmission bevel gear on the wheelbase adjustment lead screw 405, so that the power from the wheelbase adjustment motor 404 is accurately and smoothly transmitted to the wheelbase adjustment lead screw 405, enabling it to rotate left or right, completing the increase or decrease of the wheelbase of the experimental vehicle, and thus changing the wheelbase. Wheelbase adjustment lead screws 405 are installed at both the upper and lower ends of the chassis body frame 4, and the mechanisms at both ends move symmetrically and consistently, so only the movement mode of the upper wheelbase adjustment lead screw 405 is described. By controlling the elongation and shortening of the upper and lower wheelbase adjustment lead screws through the wheelbase adjustment motor, the wheelbase change of the experimental vehicle can be realized. The wheelbase adjustment motor 404 is installed at the central connection of two rigid thin rods 402. When the wheelbase expands and contracts, no matter what the angle formed by the two rigid thin rods is, the central position of the rigid thin rods, which is the installation position of the wheelbase adjustment motor, always remains unchanged, ensuring the stable working condition of the wheelbase adjustment motor. The torque transmission mechanism of the wheelbase adjustment motor is as Figure 6 shown. Due to the layout characteristics of the wheelbase telescopic mechanism, the impact on the internal structure of the intelligent by-wire chassis is small, and the structures such as the power supply and the transmission mechanism are less affected.

[0051] In a specific embodiment, the rotation mechanism 6 includes two small motors, a slider 602, a connecting rod 603, a bolt 604, a first rotation bevel gear 605, and a second rotation bevel gear 606. As Figure 7As shown in the figure, the output shaft of the pitching motor 601-1 on the left is connected to the slider 602 to control the pitching movement of the slider 602. One end of the slider 602 is fixedly connected to one end of the connecting rod 603, and the other end of the connecting rod 603 is connected to the fixing bolt 604. The bolt 604 is connected to the camera 105 at the top. Thus, when the camera 105 needs to perform a pitching movement, the pitching movement of the camera 105 can be achieved by the single rotation of the pitching motor 601 on the left. The output shaft of the rotating motor 601-2 on the right is coaxially connected to the first rotating bevel gear 605 to control the rotation of the first rotating bevel gear 605. The first rotating bevel gear 605 meshes with the second rotating bevel gear 606. The second rotating bevel gear 606 is coaxially connected to the bolt 604, and the bolt 604 is connected to the camera 105. When the camera 105 needs to rotate left and right, the single rotation of the rotating motor 601-2 on the right can achieve the left and right rotation of the camera 105 through the transmission of the bevel gears.

[0052] The horizontal lifting mechanism is installed at the lower end of the lidar or can also be installed at the lower end of the rotating mechanism. Its main function is to realize the horizontal lifting movement of sensors such as lidar. Its internal structure is a simple shear lifting mechanism. Different from general shear lifting mechanisms, since the load it bears is small and it is mainly used for the lifting of certain sensors, it realizes the reciprocating movement of the internal slider through a lead screw. A small motor is provided inside, and the lead screw is driven by the small motor to achieve the lifting function. Specifically, as Figure 8 shown, the horizontal lifting mechanism 7 includes an upper support plate 710, a lower support plate 711, a first lifting slide bar 709-1, a second lifting slide bar 709-2, a lifting motor 708, and a lifting lead screw 704. The middle parts of the first lifting slide bar 709-1 and the second lifting slide bar 709-2 are cross-connected by a freely movable hinge. As Figure 8(a), one end of the left side of the first lifting slide bar 709-1 and the second lifting slide bar 709-2 are respectively hinged to the upper support 710 plate and the lower support 711 plate through fixed hinges 703; an upper guide rail 701 is provided on the upper support 710 plate, an upper slider 702 is provided on the upper guide rail 701, and one end of the right side of the first lifting slide bar 709-1 is connected to the upper slider 702; a lower guide rail 707 and a first lifting bevel gear 705 are fixedly provided on the lower support plate 711, a lower slider 706 is provided on the lower guide rail 707, the lower slider 706 is connected to the lifting lead screw 704, and one end of the right side of the second lifting slide bar 709-2 is connected to the lower slider 706. The lifting lead screw 704 is threadedly connected to the first lifting bevel gear 705 thereon, and the first lifting bevel gear 705 meshes with the second lifting bevel gear on the lifting motor 708. The lifting lead screw 704 is driven by the lifting motor 708 to extend and contract, driving the lower slider 706 to reciprocate, thereby realizing the lifting movement of this mechanism.

[0053] As Figure 1 shown, at the bottom of the upper vehicle frame 1, that is, inside the vehicle, a vehicle deformation control platform 107 is installed. The vehicle deformation control platform 107 is used to control the overall deformation adjustment of the vehicle, and the bottom of the vehicle deformation control platform 107 is an intelligent wire-controlled chassis. The vehicle deformation control platform 107 can control the working states of the above-mentioned pneumatic telescopic rods and the above-mentioned motors, thereby controlling the deformation of the vehicle.

[0054] The present invention provides a deformation method. Generally, the present invention is manifested as a passenger car and can be deformed into a commercial vehicle according to the requirements of the user, such as Figure 3 shown.

[0055] When it is necessary to convert to a passenger car, adjust the upper vehicle frame so that: the vehicle front rotating rod 101 is horizontally arranged, the vehicle front side rotating rod 102 is arranged at an angle with the horizontal plane, the vehicle middle rotating rod 103 is horizontally arranged, the vehicle rear rotating rod 104 is arranged at an angle with the horizontal plane, and the vehicle middle rotating rod 103 is flush with the rear end of the vehicle front side rotating rod 102; control the wheelbase telescoping mechanism to adjust the chassis body frame 4 so that the axial length is the shortest;

[0056] When it is necessary to convert to a commercial vehicle, adjust the upper vehicle frame so that: the vehicle front rotating rod 101 is arranged at an angle with the horizontal plane, the vehicle front side rotating rod 102 is horizontally arranged, the vehicle middle rotating rod 103 is horizontally arranged, the vehicle rear rotating rod 104 is horizontally arranged, and the vehicle middle rotating rod 103 is flush with the vehicle rear rotating rod 104; control the wheelbase telescoping mechanism to adjust the axial length of the chassis body frame 4 to be the longest, and at the same time control the track telescoping mechanism to adjust the track of the chassis body frame 4 to be the widest.

[0057] Specifically, when a passenger car is converted into a commercial vehicle, the main process is that the front rotating rod 101 of the vehicle rotates counterclockwise by 45 degrees. There is also a rotation limiting mechanism installed on the front side rotating rod 102 of the vehicle. The front part of the front side rotating rod 102 of the vehicle remains unchanged while the rear part rotates clockwise by 45 degrees. The front side of the vehicle can be basically deformed into the head of a commercial vehicle. Correspondingly, the middle rotating rod 103 of the vehicle slides downward through the frame slide rod 110, and the rear rotating rod 104 of the vehicle rotates counterclockwise by 45 degrees. The rear part can be deformed and simulated as a cargo hold. At the same time, the wheelbase becomes longer, and it can be basically deformed into a commercial vehicle. The present invention can conveniently and quickly complete the change of the wheelbase of the chassis wheels by controlling the wheelbase adjustment motor and the air pump through the ECU.

[0058] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. An intelligent experimental vehicle for all vehicle models, characterized in that, It includes an upper frame and an intelligent wire-controlled chassis connected to the bottom of the upper frame; The upper frame (1) includes two groups of support rods, which are located on both sides of the experimental vehicle respectively, and are hinged by a transverse rigid rod between the two groups of support rods; Each group of support rods includes a vehicle front rotating rod (101), a vehicle front-side rotating rod (102), a vehicle middle rotating rod (103), and a vehicle rear rotating rod (104); The rear end of the vehicle front rotating rod (101) is hinged to the front end of the vehicle front-side rotating rod (102) through a rotation limiting mechanism, and the rear end of the vehicle front-side rotating rod (102) is hinged with a sensor adjustment platform through a rotation limiting mechanism, and a vertically arranged frame sliding rod (110) is connected to the rear end of the sensor adjustment platform; The front end of the vehicle middle rotating rod (103) is slidably connected to the frame sliding rod (110), and the rear end is hinged to the front end of the vehicle rear rotating rod (104) through a rotation limiting mechanism; The front end of the vehicle front rotating rod (101) is hinged to the front end of the intelligent wire-controlled chassis through a rotation limiting mechanism, and the rear end of the vehicle rear rotating rod (104) is hinged to the rear end of the intelligent wire-controlled chassis through a rotation limiting mechanism; The intelligent wire-controlled chassis includes a chassis head frame (3), a chassis body frame (4), a chassis tail frame (5), a wheelbase telescoping mechanism, and a track telescoping mechanism; The rear end of the chassis head frame (3) is connected to the front end of the chassis body frame (4), and the rear end of the chassis body frame (4) is connected to the front end of the chassis tail frame (5); The wheelbase telescoping mechanism is installed on the chassis body frame (4) for changing the axial length of the chassis body frame (4); The track telescoping mechanism is installed on the chassis head frame (3) and the chassis tail frame (5) for changing the track of the two side wheels on the chassis head frame (3) and the chassis tail frame (5); The track telescoping mechanism includes a first pneumatic telescopic rod (305) and a second pneumatic telescopic rod (503); The chassis head frame (3) includes a front part sliding rod of the chassis head frame and two opposite chassis head frame side brackets (306); The front ends of the two chassis head frame side brackets (306) are slidably connected to the front part sliding rod of the chassis head frame, and the rear ends are slidably connected to the front end of the chassis body frame (4); The two chassis head frame side brackets (306) are connected by a first pneumatic telescopic rod (305); A vehicle front suspension is installed on the chassis head frame side bracket (306); The chassis tail frame (5) includes a rear part sliding rod of the chassis tail frame and two opposite chassis tail frame side brackets (501); The rear ends of the two chassis tail frame side brackets (501) are slidably connected to the rear part sliding rod of the chassis tail frame, and the front ends are slidably connected to the rear end of the chassis body frame (4); The two chassis tail frame side brackets (501) are connected by a second pneumatic telescopic rod (503); A vehicle rear suspension is installed on the chassis tail frame side bracket (501); The front sliding rod of the chassis head frame includes an upper sliding rod (301) of the chassis head frame and a lower sliding rod (302) of the chassis head frame. A plurality of first limiting holes (304) are formed in both the upper sliding rod (301) and the lower sliding rod (302) of the chassis head frame. The front end of the side bracket (306) of the chassis head frame is slidably placed on the upper sliding rod (301) and the lower sliding rod (302) of the chassis head frame, and is limited by a screw inserted into the first limiting hole (304). The rear sliding rod of the chassis tail frame includes an upper sliding rod of the chassis tail frame and a lower sliding rod of the chassis tail frame. A plurality of second limiting holes are formed in both the upper sliding rod and the lower sliding rod of the chassis tail frame. The rear end of the side bracket (501) of the chassis tail frame is slidably placed on the upper sliding rod and the lower sliding rod of the chassis tail frame, and is limited by a screw inserted into the second limiting hole.

2. The full-vehicle intelligent test vehicle according to claim 1, characterized in that The chassis body frame (4) includes a front fixing rod (401) of the chassis body frame, a rigid thin rod (402), and a rear fixing rod (406) of the chassis body frame; two groups of the rigid thin rods (402) are provided, and are distributed on the left and right sides of the chassis body frame (4); each group of the rigid thin rods (402) has two rods, and the front and rear ends of each rigid thin rod (402) are respectively connected to the front fixing rod (401) and the rear fixing rod (406) of the chassis body frame, and the centers of the two rigid thin rods (402) are cross-hinged movably. The wheelbase telescoping mechanism includes a wheelbase adjustment motor (404), a wheelbase adjustment lead screw (405), and a transmission component; a first transmission bevel gear is threadedly connected to the wheelbase adjustment lead screw (405); one end of the wheelbase adjustment lead screw (405) is fixedly connected to the front fixing rod (401) or the rear fixing rod (406) of the chassis body frame, and the other end is slidably connected to the rear fixing rod (406) or the front fixing rod (401) of the chassis body frame; the wheelbase adjustment motor (404) is installed at the center intersection of the two rigid thin rods (402), and the wheelbase adjustment motor (404) drives the first transmission bevel gear on the wheelbase adjustment lead screw (405) to rotate through the transmission component.

3. The full-vehicle intelligent test vehicle according to claim 1, characterized in that, It further includes a sensor installation and adjustment platform arranged on the upper frame or the front end of the intelligent wire-controlled chassis; at least one of a lidar, a millimeter-wave radar, and a camera is arranged on the sensor installation and adjustment platform.

4. The full-vehicle intelligent test vehicle according to claim 3, characterized in that, A rotation mechanism (6) is installed on the sensor installation and adjustment platform, and a camera (105) is installed on the rotation mechanism (6); the rotation mechanism (6) can drive the camera (105) to perform pitching motion and rotational motion.

5. The full-model intelligent experimental vehicle according to claim 3, characterized in that, A horizontal lifting mechanism (7) is installed on the sensor installation and adjustment platform, and a lidar (106) is installed on the horizontal lifting mechanism (7).

6. A method for using the full-model intelligent experimental vehicle according to claim 1, characterized in that, The experimental vehicle can be converted between a passenger vehicle and a commercial vehicle. When it is necessary to convert to a passenger car, adjust the upper frame so that: the front vehicle rotary rod (101) is horizontally arranged, the front side vehicle rotary rod (102) is arranged at an angle with the horizontal plane, the middle vehicle rotary rod (103) is horizontally arranged, the rear vehicle rotary rod (104) is arranged at an angle with the horizontal plane, and the middle vehicle rotary rod (103) is flush with the rear end of the front side vehicle rotary rod (102); adjust the chassis body frame (4) by controlling the wheelbase telescopic mechanism so that the axial length is the shortest, and at the same time adjust the track of the chassis body frame (4) to be the narrowest by controlling the track telescopic mechanism. When it is necessary to convert to a commercial vehicle, adjust the upper frame so that: the front vehicle rotary rod (101) is arranged at an angle with the horizontal plane, the front side vehicle rotary rod (102) is horizontally arranged, the middle vehicle rotary rod (103) is horizontally arranged, the rear vehicle rotary rod (104) is horizontally arranged, and the middle vehicle rotary rod (103) is flush with the rear vehicle rotary rod (104); adjust the axial length of the chassis body frame (4) to be the longest by controlling the wheelbase telescopic mechanism, and at the same time adjust the track of the chassis body frame (4) to be the widest by controlling the track telescopic mechanism.

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