An intelligent trolley state verification experiment platform and an experiment method thereof
By using laser communication technology on an intelligent vehicle experimental platform to record the time when the wheel spokes block the laser signal, the problems of inaccurate data and collisions in the vehicle experiment were solved, and efficient and accurate experiments were achieved in a limited space.
Patent Information
- Application Number
- CN202510413259.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-03
- Publication Date
- 2025-12-12
- Estimated Expiration
- 2045-04-03
AI Technical Summary
When conducting experiments on intelligent vehicles in a limited space, existing technologies often result in slippage between the vehicle wheels and rollers, leading to inaccurate experimental data. Furthermore, multi-vehicle experiments may result in collisions, and the utilization rate of the space is low.
Using laser communication technology, a dual-ended laser transmitter and photoelectric receiver are installed on the experimental platform to record the time when the wheel spokes block the laser signal. The wheel speed is then calculated by combining the wheel spoke width to obtain the vehicle's running status.
It enables accurate acquisition of the vehicle's motion status within a limited space, avoids vehicle collisions, improves site utilization, and ensures safe operation with no laser leakage.
Smart Images
Figure CN120148324B_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of electronic development education and relates to an experimental platform for verifying the status of an intelligent vehicle and its experimental method. Background Technology
[0002] The training of students majoring in power electronics often includes experiments on intelligent vehicles. On the one hand, this experiment can help students develop their practical skills by assembling devices and welding components. On the other hand, it can also help students develop their programming skills by controlling the vehicle's state through multiple programming languages.
[0003] In experimental courses, multiple experimental vehicles may collide during verification experiments. To avoid collisions and improve space utilization, a teaching intelligent vehicle (authorization announcement number: CN214541072U) is placed on a platform with limited space. However, this restricts the vehicle's movement. In experimental teaching with limited space, two freely rolling rollers are often fixed under each wheel of the intelligent vehicle, and the vehicle's motion is obtained by recording the direction and speed of the rollers. However, in actual operation, it was found that the wheels of the intelligent vehicle often slip between the rollers, resulting in inaccurate experimental data.
[0004] To address the aforementioned issues, this invention provides an intelligent vehicle state verification experimental platform and its experimental method. This platform allows experiments to be conducted within a limited space without restricting the vehicle's movement, and it does not rely on the rotation speed of the rollers to obtain the vehicle's speed. Furthermore, it utilizes laser communication technology to accurately measure the vehicle's movement. Summary of the Invention
[0005] To address the problems existing in the prior art, this invention provides an intelligent vehicle state verification experimental platform and its experimental method, which can safely and accurately complete experimental simulation and verification within a limited experimental space.
[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows:
[0007] An intelligent vehicle state verification experimental platform is provided, comprising an intelligent vehicle and an experimental platform. Details are as follows:
[0008] The experimental platform 6 is a lidless cube, which is opaque and does not produce specular reflection, avoiding laser damage to the experimenters, including a photoelectric receiver 7, a laser signal 8, a double-end laser emitter 9, a spring 10, and a pressure switch 11. The double-end laser emitter 9 is installed on the bottom surface of the experimental platform 6 through the spring 10, and the top of the double-end laser emitter 9 is equipped with a pressure switch 11; the inside side of the experimental platform 6 is provided with two photoelectric receivers 7. When the intelligent car is placed on the bottom surface of the experimental platform 6, the pressure switch 11 will be triggered to turn on the double-end laser emitter 9, emitting a stable continuous laser signal 8 to the side of the experimental platform 6. The photoelectric receiver 7 on the side of the experimental platform 6 receives the laser signal 8. The double-end laser emitter 9 has two corresponding photoelectric receivers 7, and the three are in a straight line. When the spring 10 is not compressed, the natural height of the double-end laser emitter 9 and the spring 10 is not more than the height of the side of the experimental platform 6; the height of the spring 10, the double-end laser emitter 9 and the pressure switch 11 is greater than the height of the car chassis.
[0009] The intelligent car is composed of a car body 1, wheels 2, rollers 4 and sensors 5, wherein each wheel 2 has a plurality of spokes 3. The wheels 2 do not directly contact the bottom surface of the experimental platform 6, and two position-fixed but freely-rolling rollers 4 are placed below each wheel 2, each roller 4 is equipped with a sensor 5. When the intelligent car starts and the wheels 2 rotate, the car body 1 does not produce displacement relative to the experimental platform 6, and the rollers 4 roll to offset the displacement of the intelligent car. The sensor 5 can detect the rotation direction of the wheel.
[0010] An intelligent car state verification experiment method, the experiment method is realized based on an intelligent car state verification experiment platform, and the state of the car is measured by using laser communication technology. The traditional method is to record the displacement of the car and time to calculate the speed, while the experiment method is to record the time when each wheel spoke blocks the continuous laser signal, and the corresponding wheel speed is obtained by using the known wheel spoke width. The intelligent car changes direction by the speed difference between the left and right wheels, and the running state of the car can be obtained after obtaining the speed of each wheel, and the complete running route of the car is obtained. The experiment method includes the following steps:
[0011] Step 1: data collection.
[0012] Step 1.1: Place the intelligent car on a wide and obstacle-free plane, so that the wheels 2 directly contact the plane, and record the running state of the intelligent car (including the running direction, running speed, running time, etc.). The running direction of the intelligent car has four kinds: forward, backward and left and right turning, and the clockwise rotation of the wheels 2 is set as the forward running of the intelligent car.
[0013] Step 1.2: Place the intelligent car on the bottom surface of the experimental platform 6, and the intelligent car triggers the pressure switch 11 to open the double-end laser emitter 9, which emits a stable continuous laser signal 8 to the side of the experimental platform 6. The photoelectric receiver 7 on the side of the experimental platform 6 receives the laser signal 8.
[0014] When the wheels 2 of the intelligent car rotate, the rollers 4 under the wheels 2 begin to roll in the opposite direction at the same time, and the wheel spokes 3 continuously interrupt the continuous laser signal 8. The laser signal 8 received by the receiving end N is interrupted at t N,n , and a signal interval with a duration of T N,n appears. Wherein, N = 1, 2, represents the photoelectric receiver 7 corresponding to the left / right side wheel of the intelligent car; n = 1, 2, 3, …, represents the nth time the spoke 3 interrupts the laser signal 8; t N,n represents the time when the receiving end N corresponding to the side wheel interrupts the laser signal; T N,n represents the time period when the photoelectric receiver 7 corresponding to the left / right side wheel of the intelligent car receives the interrupted signal.
[0015] Given the width of the wheel spoke 3 is s, then at the time t N,n , the instantaneous speed v N,n of the side wheel corresponding to the receiving end N is s / T N,n .
[0016] Step 2: Data processing.
[0017] Step 2.1: Collect the rotation direction of the roller 4 under the wheel 2. It is known that the rotation directions of the wheel 2 and the roller 4 are opposite, and the clockwise rotation of the wheel 2 means the intelligent car is moving forward. When the roller 4 rotates counterclockwise, the intelligent car is in reverse; when the roller 4 rotates clockwise and the speeds of the left and right wheels 2 are the same, the intelligent car is moving forward; when the roller 4 rotates clockwise and the speed of the left wheel 2 is greater than that of the right wheel 2, the intelligent car is turning left; when the roller 4 rotates clockwise and the speed of the left wheel 2 is less than that of the right wheel 2, the intelligent car is turning right.
[0018] Step 2.2: Compare the data of the intelligent car's running state in step 1.2 with the data collected in step 1.1 to accurately determine whether the states are the same and obtain the time when the states are different and the running state of the car at that time.
[0019] The significant effects and benefits of the present application are:
[0020] (1) The present application can improve the utilization rate of the experimental site. Multiple experimental cars can be tested simultaneously in a limited space without collision between the experimental cars.
[0021] (2) The experimental results of the present application are more accurate. The motion state of the trolley can be accurately obtained, including the motion direction, the running speed of each wheel, etc.
[0022] (3) The operation process of the present application is simple and safe. The trolley is placed to start the experiment, and the trolley is removed to end the experiment. There is no laser leakage during the experiment. BRIEF DESCRIPTION OF DRAWINGS
[0023] Figure 1(a) is a schematic diagram of the overall structure of an intelligent trolley state verification experiment platform;
[0024] Figure 1(b) is a front view of the intelligent trolley state verification experiment platform;
[0025] Figure 2 is a schematic diagram of a photoelectric receiver signal.
[0026] In the figure: 1 trolley body; 2 wheel; 3 wheel spoke; 4 roller; 5 sensor; 6 experiment platform; 7 photoelectric receiver; 8 laser signal; 9 double-end laser emitter; 10 spring; 11 pressure switch. DETAILED DESCRIPTION
[0027] The specific embodiments of the present application will be described in detail below in combination with the technical solutions of the present application and the accompanying drawings.
[0028] An intelligent trolley state verification experiment platform is composed of an intelligent trolley and an experiment platform. As shown in Figure 1, the experiment platform 6 is a lidless cube, which is opaque and does not produce mirror reflection, avoiding laser damage to the experiment personnel, and includes a photoelectric receiver 7, a laser signal 8, a double-end laser emitter 9, a spring 10, and a pressure switch 11. The double-end laser emitter 9 is installed on the bottom surface of the experiment platform 6 through the spring 10, and the top of the double-end laser emitter 9 is provided with the pressure switch 11; the inside side surface of the experiment platform 6 is provided with two photoelectric receivers 7. When the intelligent trolley is placed on the bottom surface of the experiment platform 6, the pressure switch 11 is triggered to turn on the double-end laser emitter 9, which emits stable continuous laser signals 8 to the side surface of the experiment platform 6. The photoelectric receiver 7 on the side surface of the experiment platform 6 receives the laser signal 8. The double-end laser emitter 9 has two corresponding photoelectric receivers 7, and the three are in a straight line. When the spring 10 is not compressed: the height of the natural height of the double-end laser emitter 9 and the spring 10 does not exceed the height of the side surface of the experiment platform 6, so as to prevent laser leakage after the switch is accidentally touched; the height of the spring 10, the double-end laser emitter 9, and the pressure switch 11 is greater than the height of the trolley chassis, so as to ensure that the pressure switch will be triggered when the trolley is placed on the platform bottom surface.
[0029] The intelligent car is composed of a car body 1, wheels 2, rollers 4 and sensors 5, wherein each wheel 2 has a plurality of spokes 3. The wheels 2 do not directly contact the bottom surface of the experimental platform 6, and two position-fixed but freely-rolling rollers 4 are placed under each wheel 2, and each roller 4 is equipped with a sensor 5. When the intelligent car starts and the wheels 2 rotate, the car body 1 does not produce displacement relative to the experimental platform 6, and the rollers 4 roll reversely due to the friction of the wheels to offset the displacement of the intelligent car. The sensors 5 can detect the rotation direction of the wheels.
[0030] An intelligent car state verification experiment method is realized based on an intelligent car state verification experiment platform, and laser communication technology is used to complete the measurement of the state of the car. The traditional method is to record the displacement of the car and time to calculate the speed, while the experiment method is to record the time when each wheel spoke interrupts the continuous laser signal, and the corresponding wheel speed is obtained by using the known width of the wheel spoke. The intelligent car changes direction by the speed difference between the left and right wheels, and the running state of the car can be obtained after obtaining the speed of each wheel, and the complete running route of the car is obtained. The specific operation steps of the method are as follows:
[0031] Step 1: Data collection.
[0032] Step 1.1: Place the intelligent car on a wide and obstacle-free plane, so that the wheels 2 directly contact the plane, and record the running state of the intelligent car (including the running direction, running speed, running time, etc.). The running direction of the intelligent car has four kinds: forward, backward and left and right turning, and the clockwise rotation of the wheels 2 is set as the forward movement of the intelligent car.
[0033] Step 1.2: Place the intelligent car on the bottom surface of the experimental platform 6, and the intelligent car triggers the pressure switch 11 to open the double-end laser emitter 9 to emit stable continuous laser signals 8 to the side of the experimental platform 6. The photoelectric receiver 7 on the side of the experimental platform 6 receives the laser signals 8.
[0034] When the wheels 2 of the intelligent car rotate, the rollers 4 under the wheels 2 begin to roll reversely at the same time, and the wheel spokes 3 interrupt the continuous laser signals 8, and the laser signals 8 received by the receiving end N are interrupted at t N,n , and the signal interval is T N,n . Wherein, N=1,2, represents the photoelectric receiver 7 corresponding to the left / right side wheel of the intelligent car; n=1,2,3,…, represents the nth time that the spoke of the wheel interrupts the laser signal 8; t N,n represents the time when the spoke of the corresponding side wheel interrupts the laser signal for the nth time; T N,n represents the time period when the signal received by the photoelectric receiver 7 corresponding to the left / right side wheel of the intelligent car is interrupted.
[0035] Given the width of the wheel spoke 3 is s, then at t N,nInstantaneous speed of the corresponding side wheel of the receiving end N N,n = s / T N,n .
[0036] Step 2: data processing.
[0037] Step 2.1: collect the rotation direction of the roller 4 under the wheel 2, and it is known that the rotation directions of the wheel 2 and the roller 4 are opposite, and the clockwise rotation of the wheel 2 is the forward movement of the intelligent car. When the rotation direction of the roller 4 is counterclockwise, the intelligent car is in the state of reverse movement; when the rotation direction of the roller 4 is clockwise and the speeds of the left and right wheels 2 are the same, the intelligent car is in the state of forward movement; when the rotation direction of the roller 4 is clockwise and the speed of the left wheel 2 is greater than that of the right wheel 2, the intelligent car is in the state of left turn; when the rotation direction of the roller 4 is clockwise and the speed of the left wheel 2 is less than that of the right wheel 2, the intelligent car is in the state of right turn.
[0038] Step 2.2: compare the intelligent car running state with the data collected in step 1.1, which can accurately determine whether the states are the same, and obtain the time when the states are different and the running state of the car at that time.
[0039] For example, in the case shown in Figure 2 , the red line N=1 in the figure represents the data collected by the receiver corresponding to the left wheel of the intelligent car, and the blue line N=2 represents the data collected by the receiver corresponding to the right wheel of the intelligent car, and it is assumed that the rotation direction of the roller 4 is clockwise. In the figure, T N,1 = T N,2 > T N,3 = T N,4 = T N,5 , T 2,6 = T 2,7 < T 1,6 = T 1,7 = T 2,8 .
[0040] Before t N,3 , the intelligent car moves at a constant speed v1=s / T N,1 ; after t N,3 , the intelligent car accelerates, and the speed is v2=s / T N,3 ; after the intelligent car accelerates to t N,5 + T N,5 , it starts to turn to the left, and the turning action ends at t 2,7 + T 2,7 , the intelligent car continues to move at a constant speed v3=s / T 1,6 , and finally at t 1,7 + T 1,7 , the intelligent car stops.
[0041] The above described embodiments only express the implementation ways of the present application, but cannot be understood as the limitation to the scope of the present application. It should be pointed out that, for the skilled in the art, several variations and improvements can be made without departing from the concept of the present application, which all belong to the protection scope of the present application.
Claims
1. A smart car state verification experiment method, characterized in that, The intelligent trolley state verification experiment method is realized based on an intelligent trolley state verification experiment platform, and the intelligent trolley state verification experiment platform comprises an intelligent trolley and an experiment platform. The experiment platform (6) is a lidless cube, which is opaque and does not produce mirror reflection, and comprises a photoelectric receiver (7), a laser signal (8), a double-end laser emitter (9), a spring (10) and a pressure switch (11); the double-end laser emitter (9) is mounted on the bottom surface of the experiment platform (6) through the spring (10), and the top of the double-end laser emitter (9) is provided with the pressure switch (11); the inside side surface of the experiment platform (6) is provided with two photoelectric receivers (7); when the intelligent trolley is placed on the bottom surface of the experiment platform (6), the pressure switch (11) is triggered to open the double-end laser emitter (9), and a stable continuous laser signal (8) is emitted to the side surface of the experiment platform (6); the photoelectric receiver (7) on the side surface of the experiment platform (6) receives the laser signal (8); the double-end laser emitter (9) has two photoelectric receivers (7) corresponding thereto, and the three are in a straight line; The intelligent trolley comprises a trolley main body (1), a wheel (2), a roller (4) and a sensor (5), wherein each wheel (2) has a plurality of spokes (3); two rollers (4) which are fixed in position but can freely roll are placed below each wheel (2), and each roller (4) is provided with a sensor (5) for detecting the rotation direction of the wheel; when the wheel (2) rotates, the trolley main body (1) does not produce displacement relative to the experiment platform (6), and the roller (4) rolls to offset the displacement of the intelligent trolley; When the spring (10) is not compressed, the height of the natural height of the double-end laser emitter (9) and the spring (10) is not more than the height of the side surface of the experiment platform (6); the height of the spring (10), the double-end laser emitter (9) and the pressure switch (11) is greater than the height of the trolley chassis; The intelligent trolley state verification experiment method uses laser communication technology to complete the measurement of the trolley state; by recording the time when each wheel spoke blocks the continuous laser signal, the corresponding wheel speed is obtained by using the known wheel spoke width; the speed difference between the left and right wheels is used to realize the change of the direction of the trolley, the running state of the trolley is obtained after the speed of each wheel is obtained, and the complete running route of the trolley is obtained; comprising the following steps: Step 1: data collection; the intelligent trolley is placed on the bottom surface of the experiment platform (6), the intelligent trolley triggers the pressure switch (11) to open the double-end laser emitter (9), and a stable continuous laser signal (8) is emitted to the side surface of the experiment platform (6); the photoelectric receiver (7) on the side surface of the experiment platform (6) receives the laser signal (8); When the wheel (2) of the intelligent car rotates, the roller (4) under the wheel (2) simultaneously begins to roll in the opposite direction, and the wheel spokes (3) continuously interrupt the continuous laser signal (8), and the receiver... The received laser signal (8) is in Duration of appearance is The signal interval; where, , indicating the photoelectric receivers (7) corresponding to the left and right wheels of the smart car; , indicating that the wheel spokes (3) interrupted the laser signal (8) for the nth time; Indicates the receiving end The moment when the laser signal is interrupted for the nth time by the spokes of the corresponding side wheel; This indicates the period during which the signal received by the photoelectric receiver (7) corresponding to the left / right wheel of the smart car is interrupted; The width of the wheel spokes (3) is known as then at the moment of reception of the end the instantaneous speed of the corresponding side wheel ; Step 2, data processing, obtaining the time when the state is different and the running state of the trolley at that time.
2. The intelligent trolley state verification experiment method according to claim 1, characterized in that, In step 1, the intelligent trolley is placed on a wide and obstacle-free plane, the wheel (2) directly contacts the plane, the running state of the intelligent trolley is recorded, and the clockwise rotation of the wheel (2) is set as the forward movement of the intelligent trolley.
3. The intelligent trolley state verification experiment method according to claim 2, characterized in that, The step 2 is specifically: Step 2.1: Collect the rotation direction of the drum (4) under the wheel (2), and it is known that the rotation direction of the wheel (2) and the drum (4) is opposite, and the clockwise rotation of the wheel (2) is the forward movement of the intelligent car; when the rotation direction of the drum (4) is counterclockwise, the intelligent car is in the state of reverse movement; when the rotation direction of the drum (4) is clockwise and the speed of the left and right wheels (2) is the same, the intelligent car is in the state of forward movement; when the rotation direction of the drum (4) is clockwise and the speed of the left wheel (2) is greater than that of the right wheel (2), the intelligent car is in the state of left turn; when the rotation direction of the drum (4) is clockwise and the speed of the left wheel is less than that of the right wheel (2), the intelligent car is in the state of right turn. Step 2.2: Compare the running state data of the intelligent car in step 2 with the data collected in step 1, accurately judge whether the states of the two are the same, and obtain the time when the states are different and the running state of the car at that time.
4. The intelligent trolley state verification experiment method according to claim 3, characterized in that, In the step 1, the running state includes the running direction, the running speed and the running time, wherein the running direction has four kinds: forward, reverse and left and right turn.
Citation Information
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