CN111089562A - Detection method and system suitable for body posture of special vehicle and special vehicle - Google Patents
Detection method and system suitable for body posture of special vehicle and special vehicle Download PDFInfo
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- CN111089562A CN111089562A CN201911370043.8A CN201911370043A CN111089562A CN 111089562 A CN111089562 A CN 111089562A CN 201911370043 A CN201911370043 A CN 201911370043A CN 111089562 A CN111089562 A CN 111089562A
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
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Abstract
The invention discloses a detection method for the body posture of a special vehicle, which comprises the following steps: step S1: mounting a detection device on each detection point on a special vehicle body in advance, wherein at least three detection points are not collinear; step S2: synchronously detecting the height of each detection point on the special vehicle body by using all the detection devices to obtain detection height values of each detection point corresponding to the ground respectively; step S3: and calculating attitude parameters of the special vehicle body according to the detection height values of the three non-collinear detection points, wherein the attitude parameters comprise a roll angle and a pitch angle. The invention discloses a special vehicle and a detection system for the body posture of the special vehicle. The invention can calculate the roll angle and the pitch angle of the vehicle body according to the distance from a plurality of detection points on the vehicle body of the special vehicle to the ground.
Description
Technical Field
The invention relates to the technical field of vehicle body posture detection, in particular to a detection method and system suitable for a special vehicle body posture and a special vehicle.
Background
The detection technology of the vehicle body posture is one of important research contents in the field of intelligent electronic auxiliary driving of the automobile, has quite important application value in the fields of automatic driving, auxiliary driving, intelligent navigation and the like, and is gradually a research hotspot of various automobile factories and research institutions at present.
The existing vehicle body attitude detection technology mainly adopts a gyroscope to measure the rotation angular velocity around an axis, and the gyroscope is used together with an acceleration sensor, a magnetic sensor and other devices and is combined with a vehicle dynamics model to calculate and obtain real-time dynamic parameters of the vehicle body attitude when a vehicle runs and is static.
Wherein, the gyroscope is used for measuring the rotation angular velocity around the shaft, but the gyroscope alone cannot provide the angle and the heading of a reference; the acceleration sensor is used for detecting the spring stress and the gravity vector of the fixed shaft and acquiring an acceleration value in a specific direction, but the acceleration sensor cannot establish a reference course, namely the precision cannot be ensured by independent use, and the acceleration sensor is sensitive to motion and is easy to generate accumulated errors; the magnetic sensor is used for providing reference course for the gyroscope and the acceleration sensor by measuring the direction of the magnetic field, but is easily interfered by a local magnetic field in the using process; the gyroscope, the acceleration sensor and the magnetic sensor are used in a composite mode, accumulated errors and external interference are reduced through an algorithm, and overall time expenditure and cost are increased. Moreover, the vehicle body posture detection technology is more suitable for household and commercial vehicles with smaller volume and size.
However, there is no good solution in the market at present relating to the detection technology of the body posture of a special vehicle with a large volume size. The special vehicle mainly has a special structure specially designed for certain specific purposes compared with a common passenger or cargo carrying vehicle, and the overall size and the weight of the special vehicle are far larger than those of the common vehicle. Common special vehicles mainly comprise a concrete pump truck, a wrecker and an overhead working truck. Therefore, the vehicle body posture detection of special vehicles is not suitable for the conventional vehicle body posture detection mode, and the technical problem still needs to be solved.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a special vehicle body posture detection method and system and the special vehicle, wherein the posture parameters of the vehicle body can be obtained according to the distances from a plurality of detection points on the vehicle body of the special vehicle to the ground.
In order to achieve the above object, in a first aspect, an embodiment of the present invention provides a detection method suitable for a body posture of a special vehicle, where the detection method includes the following steps:
step S1: mounting a detection device on each detection point on a special vehicle body in advance, wherein at least three detection points are not collinear;
step S2: synchronously detecting the height of each detection point on the special vehicle body by using all the detection devices to obtain detection height values of each detection point corresponding to the ground respectively;
step S3: and calculating attitude parameters of the special vehicle body according to the detection height values of the three non-collinear detection points, wherein the attitude parameters comprise a roll angle and a pitch angle.
On the basis of the above technical solution, the specific steps of step S2 are:
and synchronously acquiring the detection height value of each detection point by using all the laser altimeters arranged on the detection points.
On the basis of the above technical solution, the specific steps of step S1 are:
two detection points are arranged on two sides of the special vehicle body in advance, and two detection points are arranged at the tail of the special vehicle body.
On the basis of the above technical solution, the specific steps of step S3 are:
step S301: predefining six detection points as a first detection point, a second detection point, a third detection point, a fourth detection point, a fifth detection point and a sixth detection point;
step S302: calculating a roll angle according to the detection height values of the second detection point and the first detection point, and calculating a pitch angle according to the height values of the third detection point and the first detection point;
step S303: respectively calculating theoretical height values of the fourth detection point, the fifth detection point and the sixth detection point according to the roll angle and the pitch angle obtained by calculation in the step S302;
step S304: calculating the accumulated value of each height difference of the fourth detection point, the fifth detection point and the sixth detection point according to the detection height values of the fourth detection point, the fifth detection point and the sixth detection point and the theoretical height values of the fourth detection point, the fifth detection point and the sixth detection point calculated in the step S303;
step S305: selecting any three detection points to calculate attitude parameters according to the method of the step S302 to the step S304, and obtaining twenty groups of accumulated values of other three detection points;
step S306: and selecting the minimum roll angle and pitch angle corresponding to four accumulated values from the twenty groups of accumulated values, respectively calculating the average values of the four roll angles and the four pitch angles, and taking the average values of the roll angles and the pitch angles as the attitude parameters of the special vehicle body.
On the basis of the above technical solution, in the step S302, the formula for calculating the roll angle is as follows:
the pitch angle calculation formula is as follows:
in the formula, h1、h2、h3The detection height values l of the first detection point, the second detection point and the third detection point are respectively1Is the distance between the second detection point and the first detection point, d1The distance between the third detection point and the first detection point is obtained.
In a second aspect, an embodiment of the present invention further provides a detection system suitable for a body posture of a special vehicle, where the detection system includes:
the detection device is used for being installed at each detection point on the special vehicle body and synchronously detecting the height of each detection point on the special vehicle body so as to obtain detection height values of each detection point corresponding to the ground respectively, and at least three detection points which are not collinear are arranged;
and the processing device is connected with the detection device and used for calculating attitude parameters of the special vehicle body according to the detection height values of the three non-collinear detection points, wherein the attitude parameters comprise a roll angle and a pitch angle.
On the basis of the technical scheme, the detection device is a laser altimeter, and all the laser altimeters are connected with the processing device.
On the basis of the technical scheme, all the detection points are symmetrically distributed on the special vehicle body; the special vehicle comprises a special vehicle body and is characterized in that two detection points are respectively arranged on two sides of the special vehicle body, and two detection points are arranged at the tail of the special vehicle body.
On the basis of the above technical solution, the processing apparatus further includes:
the pre-defining module is used for pre-defining six detection points as a first detection point, a second detection point, a third detection point, a fourth detection point, a fifth detection point and a sixth detection point;
an accumulated value calculating module for calculating a roll angle from the detected height values of the second detection point and the first detection point, and for calculating a pitch angle from the height values of the third detection point and the first detection point; the theoretical height values of the fourth detection point, the fifth detection point and the sixth detection point are respectively calculated according to the calculated roll angle and pitch angle; the height difference calculation module is used for calculating the accumulated value of each height difference of the fourth detection point, the fifth detection point and the sixth detection point according to the detection height values of the fourth detection point, the fifth detection point and the sixth detection point and the calculated theoretical height values of the fourth detection point, the fifth detection point and the sixth detection point;
the attitude parameter calculation module is used for selecting any three detection points to calculate attitude parameters according to the model of the calculation module and obtaining twenty groups of accumulated values of other three detection points; and selecting the minimum roll angle and pitch angle corresponding to four accumulated values from the twenty groups of accumulated values, respectively calculating the average values of the four roll angles and the four pitch angles, and taking the average values of the roll angles and the pitch angles as the attitude parameters of the special vehicle body.
In a third aspect, an embodiment of the present invention further provides a special type vehicle, where the special type vehicle includes the above detection system suitable for the body posture of the special type vehicle.
Compared with the prior art, the invention has the advantages that:
(1) the invention provides a detection method and a system suitable for the body posture of a special vehicle, which uses a detection device arranged on the body of the special vehicle to synchronously detect the height of each detection point on the body of the special vehicle so as to obtain the height value of each detection point corresponding to the ground; and calculating the roll angle and the pitch angle of the body of the special vehicle by using a processing device according to the height values of the selected three non-collinear detection points. The detection method provided by the invention has the advantages that the detection source is easy to obtain, the calculation is convenient, the operation is easy, and the method can be suitable for special vehicles with large sizes and large volumes.
(2) In the invention, the number and the positions of the detection points are reasonably arranged, the complexity degree of the parameters of the three selected detection points during calculation is simplified, a plurality of detection points are arranged, and a plurality of roll angles and pitch angles are calculated to calculate the average value, thereby avoiding accidental errors and improving the accuracy of the calculation result.
Drawings
FIG. 1 is a schematic distribution diagram of six detection points on a special vehicle body in an embodiment of the invention;
FIG. 2 is a distribution schematic diagram of a spatial rectangular coordinate system constructed on a special vehicle body by six detection points in the embodiment of the invention;
FIG. 3 is a schematic distribution diagram of two detection points at the tail of a special vehicle body in the embodiment of the invention;
FIG. 4 is a schematic diagram of a Y-Z plane of a spatial rectangular coordinate system where the first detection point, the third detection point, and the fifth detection point are located in the embodiment of the present invention;
fig. 5 is a schematic diagram of an X-Z plane of a spatial rectangular coordinate system of a third detection point, a fourth detection point, a fifth detection point, and a sixth detection point in the embodiment of the invention.
Detailed Description
The present invention will be described in further detail below with reference to specific embodiments and with reference to the attached drawings.
Examples
The embodiment of the invention provides a detection method suitable for the body posture of a special vehicle, which comprises the following steps:
step 1: mounting a detection device on each detection point on a special vehicle body in advance, wherein at least three detection points are not collinear; the detection device is a laser altimeter arranged at each monitoring point;
step 2: synchronously detecting the height of each detection point on the special vehicle body by using all the detection devices to obtain detection height values of each detection point corresponding to the ground respectively; specifically, all laser altimeters arranged on detection points are used for synchronously acquiring the detection height value of each detection point;
and step 3: and calculating attitude parameters of the body of the special vehicle according to the detection height values of the three non-collinear detection points, wherein the attitude parameters comprise the roll angle and pitch angle, and the body attitude is roll and pitch data of the vehicle, such as the roll angle and the pitch angle.
In the embodiment of the invention, the detection source is easy to obtain, the calculation is convenient and easy to operate, the method can be suitable for special vehicles with large size and large volume, the detection height from the detection points to the ground is detected in real time, and the height of every three detection points is used as a group of calculation parameters to calculate a group of attitude parameters.
Referring to fig. 1 and 3, preferably, all the detection points are symmetrically distributed on the special vehicle body, wherein two detection points are respectively arranged on two sides of the special vehicle body, and two detection points are arranged at the tail of the special vehicle body. In this embodiment, two detection points are arranged on both sides and the tail of the body of the special vehicle, and the distances from the two detection points to the ground are theoretically the same, specifically, the special vehicle is an eight-axle loading vehicle, the detection points are symmetrically arranged between a three axle and a four axle, the detection points are symmetrically arranged between a seven axle and an eight axle, and the two detection points are symmetrically arranged at the tail of the special vehicle, wherein the detection points arranged on the side surface of the body of the special vehicle are slightly higher than the upper edge of a wheel, and the distance between the two detection points at the tail of the body is about 0.8 times the width of a beam at the tail of the body.
Specifically, the specific step of step S3 is:
step S301: as shown in fig. 2, the six detection points are predefined as a first detection point D1, a second detection point D2, a third detection point D3, a fourth detection point D4, a fifth detection point D5 and a sixth detection point D6; wherein the second detection point D2And the first detection point D1Symmetrically distributed, the third detection points D3And the first detection point D1The equal heights are positioned on the same side surface of the special vehicle body;
step S302: calculating a roll angle according to the detection height values of the second detection point and the first detection point, and calculating a pitch angle according to the height values of the third detection point and the first detection point;
step S303: respectively calculating theoretical height values h of the fourth detection point, the fifth detection point and the sixth detection point according to the roll angle and the pitch angle obtained by calculation in the step S3024’、h5’、h6’；
Step S304: detecting height values h according to the fourth detection point, the fifth detection point and the sixth detection point4、h5、h6And the theoretical height values h of the fourth detection point, the fifth detection point and the sixth detection point calculated in the step S3034’、h5’、h6' calculating the cumulative value Deltah of each height difference among the fourth, fifth and sixth detection points1＝(|h4-h′4|)+(|h5-h′5|)+(|h6-h′6|)；
Step S305: selecting any three detection points to calculate attitude parameters according to the method of the step S302 to the step S304, and obtaining twenty groups of accumulated values of other three detection points;
step S306: and selecting the minimum roll angle and pitch angle corresponding to four accumulated values from the twenty groups of accumulated values, respectively calculating the average values of the four roll angles and the four pitch angles, and taking the average values of the roll angles and the pitch angles as the attitude parameters of the special vehicle body.
Referring to fig. 2, a spatial rectangular coordinate system is constructed by taking a projection point of the first detection point on the bottom surface as an origin of the spatial rectangular coordinate system, a width direction of the vehicle body as an X axis, a length direction of the vehicle body as a Y axis, and a height direction of the vehicle body as a Z axis, and it is known that projections of distances between the first detection point D1 and the second detection point D2 and between the third detection point D3 and the fourth detection point D4 in the X direction in a static state are both l1The projection of the distance between the fifth detection point D5 and the sixth detection point D6 in the X direction is l2B, carrying out the following steps of; the projections of the distances between the first detection point D1 and the third detection point D3 and the second detection point D2 and the fourth detection point D4 in the Y direction are all D1The projections of the distances between the third detection point D3 and the fifth detection point D5 and the fourth detection point D4 and the sixth detection point D6 in the Y direction are D2When the vehicle is static, the installation heights of the first detection point D1, the second detection point D2, the third detection point D3 and the fourth detection point D4 are all H1The installation heights of the fifth detection point D5 and the sixth detection point D6 are H2. The coordinates of the first detection point D1, the second detection point D2, the third detection point D3, the fourth detection point D4, the fifth detection point D5 and the sixth detection point D6 in the static state are respectively as follows:
D1’(0,0，H1)；
D2’(l1,0，H1)；
D3’(0,d1，H1)；
D4’(l1,d1，H1)；
when the special vehicle runs, a space rectangular coordinate system is constructed by always taking the projection point of the first detection point on the bottom surface as the origin of the space rectangular coordinate system, the width direction of the vehicle body as an X axis, the length direction of the vehicle body as a Y axis and the height direction of the vehicle body as a Z axis. The actual heights of the six detection points can also change due to the movement of the special vehicle, the actual heights are not the heights of the special vehicle in a static state any more, and the laser altimeter is used for measuring and acquiring the detection height values h of the first detection point, the second detection point, the third detection point, the fourth detection point, the fifth detection point and the sixth detection point1、h2、h3、h4、h5、h6. The coordinates of the first detection point D1, the second detection point D2, the third detection point D3, the fourth detection point D4, the fifth detection point D5 and the sixth detection point D6 in the motion state are respectively as follows:
D1(0，0，h1)；
and calculating the roll angle and the pitch angle of the vehicle body of the special vehicle according to the coordinates of any three detection points of the first detection point D1, the second detection point D2, the third detection point D3, the fourth detection point D4, the fifth detection point D5 and the sixth detection point D6 in a motion state.
For example, a set of roll angle and pitch angle of the vehicle body can be calculated by using the coordinates of the first detection point D1, the second detection point D2 and the third detection point D3, and the roll angle is calculated by the formula:
the pitch angle calculation formula is as follows:
in the formula, h1、h2、h3The detection height values l of the first detection point, the second detection point and the third detection point are respectively1D is the projection of the distance between the first detection point D1 and the second detection point D2 in the X direction in the static state1The projection of the distance between the first detection point D1 and the third detection point D3 in the Y direction in the stationary state.
As shown in fig. 4-5, the theoretical height values h of the fourth detection point, the fifth detection point and the sixth detection point are calculated according to the calculated roll angle α and pitch angle β4’、h5’、h6'; theoretical height h of the fourth detection point4The formula for calculation of' is:
h′4＝h3+l1·sinα；
theoretical height h of the fifth detection point5The formula for calculation of' is:
theoretical height h of the sixth detection point6The formula for calculation of' is:
as shown in the above calculation results, the heights h of the fourth detection point D4, the fifth detection point D5, and the sixth detection point D6 are theoretically calculated4’、h5’、h6', the height value h to be detected should be equal to the height values h of the fourth detection point D4, the fifth detection point D5 and the sixth detection point D64、h5、h6In actual use, laser altimeter beams arranged on two sides of the body of the special vehicle may be shielded by obstacles and return in advance, so that the reading value and the actual value have deviation.
In order to reduce the influence of errors caused by the above-mentioned situations on the result, the calculation result needs to be screened and corrected.
When the structure of the vehicle body is similar to a rigid body structure, the attitude parameters of the vehicle body, namely the roll angle and the pitch angle, can be calculated by knowing the detection height values of any three detection points which are not collinear.
And taking any 3 detection points as a group of points for calculating the attitude parameters, wherein 20 selection modes are provided. Taking the calculation of the attitude parameters by selecting the first detection point D1, the second detection point D2 and the third detection point D3 as an example, the theoretical height values h of the fourth detection point D4, the fifth detection point D5 and the sixth detection point D6 are obtained by calculation4’、h5’、h6' subtracting the readings of the fourth detection point D4, the fifth detection point D5 and the sixth detection point D6 respectively to obtain the true accumulated value deltah of each height difference in the group1＝(|h4-h′4|)+(|h5-h′5|)+(|h6-h′6I)); the other 19 accumulated values are calculated according to the method, so that the condition that the data are abnormal due to the interference of at most 2 detected points in the 6 detected points is eliminated, and therefore, at least
And if the group data is true, namely selecting the minimum 4 accumulated values from the obtained results of the 20 accumulated values, determining corresponding roll angles and pitch angles, respectively calculating the average values of the four roll angles and the four pitch angles, and taking the average values of the roll angles and the pitch angles as the final attitude parameters of the special vehicle body.
According to the invention, the number and the positions of the detection points are reasonably arranged, the complexity degree of the parameters of the three selected detection points during calculation is simplified, a plurality of detection points are arranged, and the average value is calculated by calculating a plurality of roll angles and pitch angles, so that accidental errors are avoided, and the accuracy of the calculation result is improved.
The embodiment of the invention also provides a detection system suitable for the body posture of the special vehicle, which comprises the following components:
the detection device is used for being installed at each detection point on the special vehicle body and synchronously detecting the height of each detection point on the special vehicle body so as to obtain detection height values of each detection point corresponding to the ground respectively, and at least three detection points which are not collinear are arranged; specifically, the detection device is a laser altimeter installed at each monitoring point, and all the laser altimeters are connected with the processing device;
and the processing device is connected with the detection device and used for calculating attitude parameters of the special vehicle body according to the detection height values of the three non-collinear detection points, wherein the attitude parameters comprise a roll angle and a pitch angle.
Specifically, all the detection points are symmetrically distributed on the special vehicle body, wherein two detection points are respectively arranged on two sides of the special vehicle body, and two detection points are arranged at the tail of the special vehicle body. In this embodiment, two detection points are arranged on both sides and the tail of the body of the special vehicle, and the distances from the two detection points to the ground are theoretically the same, specifically, the special vehicle is an eight-axle loading vehicle, the detection points are symmetrically arranged between a three axle and a four axle, the detection points are symmetrically arranged between a seven axle and an eight axle, and the two detection points are symmetrically arranged at the tail of the special vehicle, wherein the detection points arranged on the side surface of the body of the special vehicle are slightly higher than the upper edge of a wheel, and the distance between the two detection points at the tail of the body is about 0.8 times the width of a beam at the tail of the body.
Preferably, the processing apparatus further comprises:
the pre-defining module is used for pre-defining six detection points as a first detection point, a second detection point, a third detection point, a fourth detection point, a fifth detection point and a sixth detection point;
an accumulated value calculating module for calculating a roll angle from the detected height values of the second detection point and the first detection point, and for calculating a pitch angle from the height values of the third detection point and the first detection point; the theoretical height values of the fourth detection point, the fifth detection point and the sixth detection point are respectively calculated according to the calculated roll angle and pitch angle; the height difference calculation module is used for calculating the accumulated value of each height difference of the fourth detection point, the fifth detection point and the sixth detection point according to the detection height values of the fourth detection point, the fifth detection point and the sixth detection point and the calculated theoretical height values of the fourth detection point, the fifth detection point and the sixth detection point;
the attitude parameter calculation module is used for selecting any three detection points to calculate attitude parameters according to the model of the calculation module and obtaining twenty groups of accumulated values of other three detection points; and selecting the minimum roll angle and pitch angle corresponding to four accumulated values from the twenty groups of accumulated values, respectively calculating the average values of the four roll angles and the four pitch angles, and taking the average values of the roll angles and the pitch angles as the attitude parameters of the special vehicle body.
It should be noted that, the specific implementation of the detection system in this embodiment has been described in detail in the corresponding method embodiment, and therefore, description is not repeated.
The embodiment of the invention also provides the special vehicle which comprises the detection system suitable for the vehicle body posture of the special vehicle.
The present invention is not limited to the above-described embodiments, and it will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the principle of the present invention, and such modifications and improvements are also considered to be within the scope of the present invention. Those not described in detail in this specification are within the skill of the art.
Claims (10)
1. The detection method suitable for the body posture of the special vehicle is characterized by comprising the following steps of:
step S1: mounting a detection device on each detection point on a special vehicle body in advance, wherein at least three detection points are not collinear;
step S2: synchronously detecting the height of each detection point on the special vehicle body by using all the detection devices to obtain detection height values of each detection point corresponding to the ground respectively;
step S3: and calculating attitude parameters of the special vehicle body according to the detection height values of the three non-collinear detection points, wherein the attitude parameters comprise a roll angle and a pitch angle.
2. The method for detecting the body posture of the special vehicle as claimed in claim 1, wherein the step S2 comprises the following steps:
and synchronously acquiring the detection height value of each detection point by using all the laser altimeters arranged on the detection points.
3. The method for detecting the body posture of the special vehicle as claimed in claim 1, wherein the step S1 comprises the following steps:
two detection points are arranged on two sides of the special vehicle body in advance, and two detection points are arranged at the tail of the special vehicle body.
4. The method for detecting the body posture of the special vehicle as claimed in claim 3, wherein the step S3 comprises the following steps:
step S301: predefining six detection points as a first detection point, a second detection point, a third detection point, a fourth detection point, a fifth detection point and a sixth detection point;
step S302: calculating a roll angle according to the detection height values of the second detection point and the first detection point, and calculating a pitch angle according to the height values of the third detection point and the first detection point;
step S303: respectively calculating theoretical height values of the fourth detection point, the fifth detection point and the sixth detection point according to the roll angle and the pitch angle obtained by calculation in the step S302;
step S304: calculating the accumulated value of each height difference of the fourth detection point, the fifth detection point and the sixth detection point according to the detection height values of the fourth detection point, the fifth detection point and the sixth detection point and the theoretical height values of the fourth detection point, the fifth detection point and the sixth detection point calculated in the step S303;
step S305: selecting any three detection points to calculate attitude parameters according to the method of the step S302 to the step S304, and obtaining twenty groups of accumulated values of other three detection points;
step S306: and selecting the minimum roll angle and pitch angle corresponding to four accumulated values from the twenty groups of accumulated values, respectively calculating the average values of the four roll angles and the four pitch angles, and taking the average values of the roll angles and the pitch angles as the attitude parameters of the special vehicle body.
5. The method for detecting the body posture of a special vehicle according to claim 4, wherein in the step S302, the formula for calculating the roll angle is as follows:
the pitch angle calculation formula is as follows:
in the formula, h1、h2、h3The detection height values l of the first detection point, the second detection point and the third detection point are respectively1Is the distance between the second detection point and the first detection point, d1The distance between the third detection point and the first detection point is obtained.
6. A detection system suitable for a special type vehicle body gesture, characterized in that, detection system includes:
the detection device is used for being installed at each detection point on the special vehicle body and synchronously detecting the height of each detection point on the special vehicle body so as to obtain detection height values of each detection point corresponding to the ground respectively, and at least three detection points which are not collinear are arranged;
and the processing device is connected with the detection device and used for calculating attitude parameters of the special vehicle body according to the detection height values of the three non-collinear detection points, wherein the attitude parameters comprise a roll angle and a pitch angle.
7. The special purpose vehicle body attitude detection system according to claim 6, wherein said detection device is a laser altimeter, and all laser altimeters are connected to said processing device.
8. The special purpose vehicle body attitude detection system according to claim 6, wherein all of said detection points are symmetrically distributed on said special purpose vehicle body; the special vehicle comprises a special vehicle body and is characterized in that two detection points are respectively arranged on two sides of the special vehicle body, and two detection points are arranged at the tail of the special vehicle body.
9. The special purpose vehicle body attitude detection system according to claim 6, wherein said processing device further comprises:
the pre-defining module is used for pre-defining six detection points as a first detection point, a second detection point, a third detection point, a fourth detection point, a fifth detection point and a sixth detection point;
an accumulated value calculating module for calculating a roll angle from the detected height values of the second detection point and the first detection point, and for calculating a pitch angle from the height values of the third detection point and the first detection point; the theoretical height values of the fourth detection point, the fifth detection point and the sixth detection point are respectively calculated according to the calculated roll angle and pitch angle; the height difference calculation module is used for calculating the accumulated value of each height difference of the fourth detection point, the fifth detection point and the sixth detection point according to the detection height values of the fourth detection point, the fifth detection point and the sixth detection point and the calculated theoretical height values of the fourth detection point, the fifth detection point and the sixth detection point;
the attitude parameter calculation module is used for selecting any three detection points to calculate attitude parameters according to the model of the calculation module and obtaining twenty groups of accumulated values of other three detection points; and selecting the minimum roll angle and pitch angle corresponding to four accumulated values from the twenty groups of accumulated values, respectively calculating the average values of the four roll angles and the four pitch angles, and taking the average values of the roll angles and the pitch angles as the attitude parameters of the special vehicle body.
10. A special purpose vehicle, characterized in that the special purpose vehicle comprises the detection system for the body attitude of the special purpose vehicle as claimed in claims 6 to 9.
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| CN111707256A (en) * | 2020-05-13 | 2020-09-25 | 苏州天炯信息科技有限公司 | Comprehensive positioning navigation equipment for rapidly arranging special vehicle by aid of navigation lamp |
| CN113029087A (en) * | 2021-04-27 | 2021-06-25 | 江南造船(集团)有限责任公司 | Method for measuring space installation angle of ship body base |
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