CN105620472B - A kind of centre-of-pressure position compensation method of motion scan vehicle and device - Google Patents
A kind of centre-of-pressure position compensation method of motion scan vehicle and device Download PDFInfo
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- CN105620472B CN105620472B CN201510959308.3A CN201510959308A CN105620472B CN 105620472 B CN105620472 B CN 105620472B CN 201510959308 A CN201510959308 A CN 201510959308A CN 105620472 B CN105620472 B CN 105620472B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
- B60W30/04—Control of vehicle driving stability related to roll-over prevention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
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Abstract
Centre-of-pressure position compensation method and device the invention discloses a kind of motion scan vehicle, are related to motion scan vehicle technical field, and method includes the following steps：By being detected to the motion scan vehicle wheel pressure to remain static, static pressure centre position of the motion scan vehicle car body relative to the wheel plane being made of multiple wheels of motion scan vehicle is obtained；By being detected in real time to the motion scan vehicle wheel pressure for being in travel condition, instantaneous pressure center of the motion scan vehicle car body relative to the wheel plane is obtained；According to the distance relation of the instantaneous pressure center and static pressure centre position, the position of the counterweight platform of motion scan vehicle is adjusted, to be compensated to the instantaneous pressure center.The present invention is translated by the linkage of platform, can realize that the dynamic of motion scan vehicle changes, so as to offset the deflection influence of the centre-of-pressure position of motion scan vehicle.
Description
Technical field
The present invention relates to motion scan vehicle technical field, the centre-of-pressure position compensation of more particularly to a kind of motion scan vehicle
Method and device.
Background technology
Belong to big height using the product itself of this patent designing technique, small supporting surface easily topples over shape, target movement
The maximum support wheel Track width of scanning car is only 40cm, and height has but reached 250cm, as shown in Figure 1, and needing in complexity
Environment in complete travelings, revolution, emergency stop, any directions acceleration and deceleration such as translation are moved, and need to realize unattended automatic
It advances and controls.The center of gravity of this motion scan vehicle is high, moment resulting from sidesway is big, acceleration-deceleration the measuring and calculating of center of gravity is influenced it is very big, it is various because
Element all proposes high requirement to the lodging tolerance of product.
Invention content
Centre-of-pressure position compensation method and device the purpose of the present invention is to provide a kind of motion scan vehicle, solve
The problem of big height in the prior art, the lodging tolerance of motion scan vehicle for easily toppling over shape of small supporting surface is poor.
According to an aspect of the invention, there is provided a kind of centre-of-pressure position compensation method of motion scan vehicle, including
Following steps：
By being detected to the motion scan vehicle wheel pressure to remain static, motion scan vehicle car body is obtained
Relative to the static pressure centre position for the wheel plane being made of multiple wheels of motion scan vehicle；
By being detected in real time to the motion scan vehicle wheel pressure for being in travel condition, motion scan vehicle is obtained
Car body relative to the wheel plane instantaneous pressure center；
According to the distance relation of the instantaneous pressure center and static pressure centre position, motion scan vehicle is matched
The position of galassing platform is adjusted, to be compensated to the instantaneous pressure center.
Preferably, it is described by being detected to the motion scan vehicle wheel pressure to remain static, it obtains
Motion scan vehicle car body is wrapped relative to the static pressure centre position for the wheel plane being made of multiple wheels of motion scan vehicle
It includes：
When motion scan vehicle is static, the pressure sensor between each wheel of motion scan vehicle and chassis is utilized
Detect the static pressure of each wheel carrying；
Using the static pressure of each wheel carrying, the static pressure of the motion scan vehicle on motion scan vehicle is calculated
Center；
Wherein, the pressure sensor includes the left front sensor positioned at front left wheel position, positioned at rear left wheel position
Left back sensor, the right front sensor positioned at right front wheel position and the sensor behind the right side of right rear wheel position put.
Preferably, the static pressure using each wheel carrying, the movement calculated on motion scan vehicle are swept
The static pressure centre position for retouching vehicle includes：
The sum of static pressure carried using the static pressure and rear left wheel of front left wheel carrying is carried with right front wheel
Static pressure and right rear wheel carrying the sum of static pressure difference, obtain the water of the motion scan vehicle on motion scan vehicle
Tranquil state centre-of-pressure position；
The sum of static pressure carried using the static pressure and right front wheel of front left wheel carrying is carried with rear left wheel
Static pressure and right rear wheel carrying the sum of static pressure difference, obtain hanging down for the motion scan vehicle on motion scan vehicle
Straight static pressure centre position；
Wherein, the static pressure centre position includes static horizontal centre-of-pressure position and vertical static pressure centre position
It puts.
It is preferably, described by being detected in real time to the motion scan vehicle wheel pressure for being in travel condition,
Motion scan vehicle car body is obtained relative to the instantaneous pressure center of the wheel plane to include：
In motion scan garage into period, the static pressure of each wheel carrying is detected using the pressure sensor；
Using the dynamic pressure of each wheel carrying, the instantaneous pressure of the motion scan vehicle on motion scan vehicle is calculated
Center.
Preferably, the dynamic pressure using each wheel carrying, the movement calculated on motion scan vehicle are swept
The instantaneous pressure center for retouching vehicle includes：
The sum of dynamic pressure carried using the dynamic pressure and rear left wheel of front left wheel carrying is carried with right front wheel
Dynamic pressure and right rear wheel carrying the sum of dynamic pressure difference, obtain the water of the motion scan vehicle on motion scan vehicle
Be translatable state centre-of-pressure position；
The sum of dynamic pressure carried using the dynamic pressure and right front wheel of front left wheel carrying is carried with rear left wheel
Dynamic pressure and right rear wheel carrying the sum of dynamic pressure difference, obtain hanging down for the motion scan vehicle on motion scan vehicle
Direct acting state centre-of-pressure position；
Wherein, the dynamic pressure center includes horizontal dynamic centre-of-pressure position and vertical dynamic Center of Pressure position
It puts.
Preferably, the distance relation according to the instantaneous pressure center and static pressure centre position, to moving
The position of the counterweight platform of dynamic scanning car is adjusted, so as to the instantaneous pressure center is compensated including：
According to the distance relation, judge the instantaneous pressure center in the preset adjustment thresholding of the wheel plane
Within region or except；
If judging, the instantaneous pressure center except the preset adjustment threshold areas of the wheel plane, passes through
The position of the counterweight platform of motion scan vehicle is adjusted, the instantaneous pressure center of motion scan vehicle is compensated；
Wherein, the counterweight platform of the motion scan vehicle is mounted between chassis of vehicle body platform and wheel plane, and is had
The vertical guide rail for being useful for the horizontal guide rail of horizontal direction movement and being moved for vertical direction.
Preferably, the position of the counterweight platform to motion scan vehicle be adjusted including：
According to the distance relation, the horizontal gear of the horizontal guide rail of the counterweight platform is driven by motor and is vertically led
The vertical gear of rail so that the position of the counterweight platform is to static pressure centre position to instantaneous pressure center phase
Anti- direction movement.
According to another aspect of the present invention, a kind of centre-of-pressure position compensation device of motion scan vehicle is provided, including：
Detection module, for by being detected to the motion scan vehicle wheel pressure to remain static, obtaining
Motion scan vehicle car body relative to the wheel plane being made of multiple wheels of motion scan vehicle static pressure centre position, with
And by being detected in real time to the motion scan vehicle wheel pressure for being in travel condition, obtain motion scan vehicle car body phase
For the instantaneous pressure center of the wheel plane；
Compensating module, it is right for the distance relation according to the instantaneous pressure center and static pressure centre position
The position of the counterweight platform of motion scan vehicle is adjusted, to be compensated to the instantaneous pressure center.
Preferably, the detection module includes：
First detection unit, for when motion scan vehicle is static, using mounted on each wheel of motion scan vehicle and bottom
Pressure sensor between disk detects the static pressure of each wheel carrying；
First computing unit, for using the static pressure of each wheel carrying, calculating the shifting on motion scan vehicle
The static pressure centre position of dynamic scanning car；
Wherein, the pressure sensor includes the left front sensor positioned at front left wheel position, positioned at rear left wheel position
Left back sensor, the right front sensor positioned at right front wheel position and the sensor behind the right side of right rear wheel position put.
Preferably, the detection module includes：
Second detection unit, for, into period, each wheel being detected using the pressure sensor in motion scan garage
The static pressure of carrying；
Second computing unit, for using the dynamic pressure of each wheel carrying, calculating the shifting on motion scan vehicle
The instantaneous pressure center of dynamic scanning car.
Compared with prior art, the beneficial effects of the present invention are：
The present invention has put centre-of-pressure position calculating system in motion scan car, is moved by multigroup sensor implementing monitoring
Dynamic scanning car operating parameter, calculates centre-of-pressure position variation tendency.It is " dynamic based on two dimension as the corollary system for restoring posture
The compensation systems stabilisation of centre-of-pressure position of state platform " (hereinafter referred to as " dynamic pressure center compensation system ") can lead to
Position of the dynamic adjustment counterweight relative to central point is crossed, compensation pressure center is greatly improved relative to the deviation of origin
The stabilization traveling ability of motion scan vehicle, the requirement to ground flat degree are greatly reduced.
Description of the drawings
Fig. 1 is the appearance diagram of motion scan vehicle provided in the prior art；
Fig. 2 is a kind of flow chart of the centre-of-pressure position compensation method of motion scan vehicle provided in an embodiment of the present invention；
Fig. 3 is a kind of structure chart of the centre-of-pressure position compensation device of motion scan vehicle provided in an embodiment of the present invention；
Fig. 4 is the counterweight platform schematic top plan view of motion scan vehicle provided in an embodiment of the present invention；
Fig. 5 is the centre-of-pressure position measuring and calculating of motion scan vehicle provided in an embodiment of the present invention and the circuit of adjustment system
Figure；
Fig. 6 is the centre-of-pressure position compensation schematic diagram of motion scan vehicle provided in an embodiment of the present invention.
Specific embodiment
Below in conjunction with attached drawing to a preferred embodiment of the present invention will be described in detail, it should be understood that described below is excellent
Embodiment is selected to be merely to illustrate and explain the present invention, is not intended to limit the present invention.
Fig. 2 is a kind of flow chart of the centre-of-pressure position compensation method of motion scan vehicle provided in an embodiment of the present invention,
As shown in Fig. 2, include the following steps：
Step S201：By being detected to the motion scan vehicle wheel pressure to remain static, moved
Scanning car car body relative to the wheel plane being made of multiple wheels of motion scan vehicle static pressure centre position；
Step S202：By being detected in real time to the motion scan vehicle wheel pressure for being in travel condition, obtain
Motion scan vehicle car body relative to the wheel plane instantaneous pressure center；
Step S203：According to the distance relation of the instantaneous pressure center and static pressure centre position, to movement
The position of the counterweight platform of scanning car is adjusted, to be compensated to the instantaneous pressure center.
Wherein, it is described by being detected to the motion scan vehicle wheel pressure to remain static, it is moved
Dynamic scanning car car body includes relative to the static pressure centre position for the wheel plane being made of multiple wheels of motion scan vehicle：
When motion scan vehicle is static, detected using the pressure sensor between each wheel of motion scan vehicle and chassis each
The static pressure of wheel carrying；Using the static pressure of each wheel carrying, the motion scan on motion scan vehicle is calculated
The static pressure centre position of vehicle；Wherein, the pressure sensor includes the left front sensor positioned at front left wheel position, position
Left back sensor in rear left wheel position, positioned at the right front sensor of right front wheel position and positioned at right rear wheel position
Sensor behind the right side.Specifically, the static pressure using each wheel carrying, calculates the shifting on motion scan vehicle
The static pressure centre position of dynamic scanning car includes：Utilize the static pressure of front left wheel carrying and the static state of rear left wheel carrying
The difference of the sum of the static pressure of static pressure and right rear wheel carrying that the sum of pressure is carried with right front wheel obtains movement and sweeps
Retouch the static horizontal centre-of-pressure position of the motion scan vehicle on vehicle；Utilize the static pressure and right front wheel of front left wheel carrying
The difference of the sum of the static pressure of static pressure and right rear wheel carrying that the sum of static pressure of carrying is carried with rear left wheel,
Obtain the vertical static pressure centre position of the motion scan vehicle on motion scan vehicle；Wherein, the static pressure centre position
Including static horizontal centre-of-pressure position and vertical static pressure centre position.
Wherein, it is described by being detected in real time to the motion scan vehicle wheel pressure for being in travel condition, it obtains
Include to motion scan vehicle car body relative to the instantaneous pressure center of the wheel plane：In motion scan garage into the phase
Between, utilize the static pressure of each wheel carrying of pressure sensor detection；Utilize the dynamic pressure of each wheel carrying
Power calculates the instantaneous pressure center of the motion scan vehicle on motion scan vehicle.Specifically, the utilization is described each
The dynamic pressure of wheel carrying, the instantaneous pressure center for calculating the motion scan vehicle on motion scan vehicle include：Utilize a left side
The dynamic pressure and the right side of the sum of the dynamic pressure of front vehicle wheel carrying and the dynamic pressure of rear left wheel carrying with right front wheel carrying
The difference of the sum of the dynamic pressure of rear wheel carrying, obtains the horizontal dynamic Center of Pressure of the motion scan vehicle on motion scan vehicle
Position；The sum of the dynamic pressure carried using the dynamic pressure and right front wheel of front left wheel carrying is dynamic with rear left wheel carrying
The difference of the sum of the dynamic pressure that state pressure and right rear wheel carry obtains the vertical of the motion scan vehicle on motion scan vehicle and moves
State centre-of-pressure position；Wherein, the dynamic pressure center includes horizontal dynamic centre-of-pressure position and vertical dynamic pressure
Power center.
Wherein, the distance relation according to the instantaneous pressure center and static pressure centre position, to movement
The position of the counterweight platform of scanning car is adjusted, so as to the instantaneous pressure center is compensated including：According to institute
State distance relation, judge the instantaneous pressure center within the preset adjustment threshold areas of the wheel plane or it
Outside；If judging the instantaneous pressure center except the preset adjustment threshold areas of the wheel plane, by moving
The position of the counterweight platform of dynamic scanning car is adjusted, and the instantaneous pressure center of motion scan vehicle is compensated；Wherein,
The counterweight platform of the motion scan vehicle is mounted between chassis of vehicle body platform and wheel plane, and with for horizontal direction
Mobile horizontal guide rail and the vertical guide rail for vertical direction movement.Specifically, described match galassing to motion scan vehicle
The position of platform be adjusted including：According to the distance relation, the water of the horizontal guide rail of the counterweight platform is driven by motor
The vertical gear of horizontal gear and vertical guide rail so that the position of the counterweight platform is to static pressure centre position to described instantaneous
The opposite direction movement of centre-of-pressure position.
Fig. 3 is a kind of structure chart of the centre-of-pressure position compensation device of motion scan vehicle provided in an embodiment of the present invention,
As shown in figure 3, including：Detection module 301 and compensating module 302.The detection module 301, for by being in static shape
The motion scan vehicle wheel pressure of state is detected, and obtains motion scan vehicle car body relative to by the multiple of motion scan vehicle
Wheel form wheel plane static pressure centre position and pass through the motion scan vehicle wheel institute to being in travel condition
It is detected in real time by pressure, obtains instantaneous pressure center of the motion scan vehicle car body relative to the wheel plane；Institute
Compensating module 302 is stated, for the distance relation according to the instantaneous pressure center and static pressure centre position, to movement
The position of the counterweight platform of scanning car is adjusted, to be compensated to the instantaneous pressure center.
Wherein, the detection module 301 includes：First detection unit, for when motion scan vehicle is static, utilizing peace
Pressure sensor between each wheel of motion scan vehicle and chassis detects the static pressure of each wheel carrying；First meter
Unit is calculated, for using the static pressure of each wheel carrying, calculating the static state of the motion scan vehicle on motion scan vehicle
Centre-of-pressure position；Second detection unit, for, into period, being detected in motion scan garage using the pressure sensor each
The static pressure of wheel carrying；Second computing unit, for using the dynamic pressure of each wheel carrying, calculating movement and sweeping
Retouch the instantaneous pressure center of the motion scan vehicle on vehicle；Wherein, the pressure sensor includes being located at front left wheel position
The left front sensor put, the left back sensor positioned at rear left wheel position, the right front sensor positioned at right front wheel position and
The sensor behind the right side of right rear wheel position.
The technology contents of the present invention are described in detail with reference to fig. 4 to fig. 6：
As shown in figure 4, the suitable position in motion scan vehicle low-pressure center is configured one and can biaxially link
Counterweight platform.The posture correction data sent according to motion scan vehicle centre-of-pressure position calculating system, platform pass through guide X
The real time position adjustment of counterweight platform is realized in rail and Y-direction guide rail linkage.Motion scan vehicle can be according to real-time traveling shape simultaneously
State starts the feed speed control in X and Y-direction, and speed change is forward/backward, left/right turn acceleration/deceleration, so as to generate and move
The opposite inertia force of the centre-of-pressure position skew direction of scanning car offsets the larger deflection that moment generates, coordinates counterweight platform
Elimination is toppled hidden danger.
Counterweight platform is core centre-of-pressure position adjustment module, and work(is generated in all periods that motion scan vehicle starts
Effect, and revolution control is added and subtracted only as the adjustment means of the state of emergency, heavy weight motion scan is only fixed in counterweight platform
Vehicle (high-capacity lead-acid battery, voltage-stablizer etc.) is translated by the linkage of platform, can realize motion scan vehicle centre-of-pressure position
The dynamic of projection changes, so as to offset due to motion scan car weight heart deflection influence caused by turning, acceleration and deceleration, ground inclination.
As shown in figure 5, its core adjustment algorithm is as follows：
1st, the timing of centre-of-pressure position sensor sends out centre-of-pressure position measuring and calculating coordinate；
The measuring and calculating coordinate of the centre-of-pressure position of motion scan vehicle is mainly installed by detecting in real time on motion scan vehicle
Pressure sensor, the velocity sensor on the platform of chassis, acceleration transducer, angular acceleration transducer realize jointly.
2nd, CPU calculates deflection of the centre-of-pressure position relative to central point, assesses whether to need to start adjustment operation；
3rd, CPU sends out instruction, drives the X-axis linear motor of counterweight platform and Y-axis linear motor, counterweight platform is adjusted to
Motion scan vehicle centre-of-pressure position is projected balance Aligning control by the position opposite with the projection of motion scan vehicle real-time center.
If the 4th, belong to instantaneous pressure center deflection caused by ground hollow or external force collision, only by with galassing
Platform is difficult to adjust in time, and the survey signal of accelerometer can reach an initiation value at this time, starts the gait of march of motion scan vehicle
With the adjustment in direction, counterbalancing power is generated using acceleration and centrifugal force variation, centre-of-pressure position subpoint is adjusted back
Near central point.
As shown in fig. 6, the input parameter sent by receiving centre-of-pressure position calculating system, coordinates what itself was detected
Counterweight platform X/Y shaft positions and balance weight, that is to say, that acquire the real-time detected value of each sensor, controlled by center
The algorithm that device CPU is parsed by plane, wherein, each sensor includes pressure sensor (1-4), velocity sensor (1-
And acceleration/angular acceleration transducer 1 4).Dynamic pressure center compensation system can calculate actual needs compensation
Centre-of-pressure position deviates, and controls corresponding X/Y axis driving motor, and mobile counterweight platform to suitable position realizes motion scan
The correction of vehicle integral pressure center.
Wherein, pressure sensor is placed on four driving wheel connection structures of motion scan vehicle, upper strata workbench
Gravity with chassis will be acted on all on pressure sensor；By the use of the grating encoder that four wheel electrical machines carry as velocity pick-up
Device；On chassis, gyroscope is placed as acceleration/angular acceleration transducer in platform center position.Because wheel portion weight is opposite
It can ignore in motion scan vehicle, what the real-time pressure signal that pressure sensor acquires reflected is exactly the reality of entire motion scan vehicle
Border act on wheel by force parameter.Simultaneously as the centre-of-pressure position of motion scan vehicle is highly stable constant, and movement is swept
It is higher to retouch vehicle stiffness by itself, it is believed that centre-of-pressure position is fixed relative to the relative position of four wheels.Therefore, only
The load born on motion scan vehicle four wheels can be controlled relatively uniform, it will be able to ensure that motion scan vehicle will not generate side
Incline danger.
In conclusion the present invention has following technique effect：
The present invention sets a two dimension dynamic adjustment counterweight platform on the operation chassis of motion scan vehicle, can be on platform
Fixed heavy weight counterweight.By the X/Y for platform of breeding to movement, it can actively change the Center of Pressure position of motion scan vehicle
It puts, motion scan vehicle caused by correct ground inclination, turning centrifugal force, external impacts etc..It mends this dynamic pressure center
System is repaid relative to traditional passive type attitude stabilization system, there is better loss of weight, pose recovery performance.
Although the present invention is described in detail above, but the invention is not restricted to this, those skilled in the art of the present technique
It can be carry out various modifications with principle according to the present invention.Therefore, all modifications made according to the principle of the invention, all should be understood to
Fall into protection scope of the present invention.
Claims (10)
1. a kind of centre-of-pressure position compensation method of motion scan vehicle, which is characterized in that include the following steps：
By being detected to the motion scan vehicle wheel pressure to remain static, it is opposite to obtain motion scan vehicle car body
In the static pressure centre position for the wheel plane being made of multiple wheels of motion scan vehicle；
By being detected in real time to the motion scan vehicle wheel pressure for being in travel condition, motion scan vehicle car body is obtained
Relative to the instantaneous pressure center of the wheel plane；
According to the distance relation of the instantaneous pressure center and static pressure centre position, galassing is matched to motion scan vehicle
The position of platform is adjusted, and to compensate the instantaneous pressure center, makes to hold on motion scan vehicle four wheels
The load received is relatively uniform.
2. the according to the method described in claim 1, it is characterized in that, motion scan vehicle by remaining static
Wheel pressure is detected, and obtains motion scan vehicle car body relative to the wheel being made of multiple wheels of motion scan vehicle
The static pressure centre position of plane includes：
When motion scan vehicle is static, detected using the pressure sensor between each wheel of motion scan vehicle and chassis
The static pressure of each wheel carrying；
Using the static pressure of each wheel carrying, the static pressure centre position of the equipment on motion scan vehicle is calculated；
Wherein, the pressure sensor includes the left front sensor positioned at front left wheel position, positioned at rear left wheel position
Left back sensor, the right front sensor positioned at right front wheel position and the sensor behind the right side of right rear wheel position.
3. the according to the method described in claim 2, it is characterized in that, static pressure using each wheel carrying
Power, the static pressure centre position for calculating the equipment on motion scan vehicle include：
The sum of the static pressure carried using the static pressure and rear left wheel of front left wheel carrying is quiet with right front wheel carrying
The difference of the sum of the static pressure that state pressure and right rear wheel carry, obtains the static horizontal pressure of the equipment on motion scan vehicle
Center；
The sum of the static pressure carried using the static pressure and right front wheel of front left wheel carrying is quiet with rear left wheel carrying
The difference of the sum of the static pressure that state pressure and right rear wheel carry, obtains the vertical static pressure of the equipment on motion scan vehicle
Center；
Wherein, the static pressure centre position includes static horizontal centre-of-pressure position and vertical static pressure centre position.
4. the according to the method described in claim 2, it is characterized in that, motion scan vehicle by being in travel condition
Wheel pressure is detected in real time, obtains instantaneous pressure centre bit of the motion scan vehicle car body relative to the wheel plane
Put including：
In motion scan garage into period, the dynamic pressure of each wheel carrying is detected using the pressure sensor；
Using the dynamic pressure of each wheel carrying, the instantaneous pressure center of the equipment on motion scan vehicle is calculated.
5. the according to the method described in claim 4, it is characterized in that, dynamic pressure using each wheel carrying
Power, the instantaneous pressure center for calculating the equipment on motion scan vehicle include：
The sum of the dynamic pressure carried using the dynamic pressure and rear left wheel of front left wheel carrying is dynamic with right front wheel carrying
The difference of the sum of the dynamic pressure that state pressure and right rear wheel carry, obtains the horizontal dynamic pressure of the equipment on motion scan vehicle
Center；
The sum of the dynamic pressure carried using the dynamic pressure and right front wheel of front left wheel carrying is dynamic with rear left wheel carrying
The difference of the sum of the dynamic pressure that state pressure and right rear wheel carry, obtains the vertical dynamic pressure of the equipment on motion scan vehicle
Center；
Wherein, the dynamic pressure center includes horizontal dynamic centre-of-pressure position and vertical dynamic centre-of-pressure position.
It is 6. according to the method described in claim 5, it is characterized in that, described according to the instantaneous pressure center and static pressure
The distance relation of power center is adjusted the position of the counterweight platform of motion scan vehicle, so as to the instantaneous pressure
Center compensate including：
According to the distance relation, judge the instantaneous pressure center in the preset adjustment threshold areas of the wheel plane
Within or except；
If judging the instantaneous pressure center except the preset adjustment threshold areas of the wheel plane, by moving
The position of the counterweight platform of dynamic scanning car is adjusted, and the instantaneous pressure center of motion scan vehicle is compensated；
Wherein, the counterweight platform of the motion scan vehicle is mounted between chassis of vehicle body platform and wheel plane, and with use
Horizontal guide rail in horizontal direction movement and the vertical guide rail for vertical direction movement.
7. according to the method described in claim 6, it is characterized in that, the position of the counterweight platform to motion scan vehicle carries out
Adjustment includes：
According to the distance relation, drive the counterweight platform respectively along horizontal guide rail and vertical lead by motor-driven gear
Rail moves so that is moved to static pressure centre position the position of the counterweight platform.
8. a kind of centre-of-pressure position compensation device of motion scan vehicle, which is characterized in that including：
Detection module, for by being detected to the motion scan vehicle wheel pressure to remain static, being moved
Scanning car car body is relative to the static pressure centre position for the wheel plane being made of multiple wheels of motion scan vehicle, Yi Jitong
Cross and the motion scan vehicle wheel pressure for being in travel condition detected in real time, obtain motion scan vehicle car body relative to
The instantaneous pressure center of the wheel plane；
Compensating module, for the distance relation according to the instantaneous pressure center and static pressure centre position, to movement
The position of the counterweight platform of scanning car is adjusted, and to be compensated to the instantaneous pressure center, makes motion scan
The load born on vehicle four wheels is relatively uniform.
9. device according to claim 8, which is characterized in that the detection module includes：
First detection unit, for when motion scan vehicle is static, using mounted on each wheel of motion scan vehicle and chassis it
Between pressure sensor detect the static pressure of each wheel carrying；
First computing unit, for using the static pressure of each wheel carrying, calculating the equipment on motion scan vehicle
Static pressure centre position；
Wherein, the pressure sensor includes the left front sensor positioned at front left wheel position, positioned at rear left wheel position
Left back sensor, the right front sensor positioned at right front wheel position and the sensor behind the right side of right rear wheel position.
10. device according to claim 9, which is characterized in that the detection module includes：
Second detection unit, for, into period, detecting each wheel in motion scan garage using the pressure sensor and carrying
Dynamic pressure；
Second computing unit, for using the dynamic pressure of each wheel carrying, calculating the equipment on motion scan vehicle
Instantaneous pressure center.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510959308.3A CN105620472B (en) | 2015-12-18 | 2015-12-18 | A kind of centre-of-pressure position compensation method of motion scan vehicle and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510959308.3A CN105620472B (en) | 2015-12-18 | 2015-12-18 | A kind of centre-of-pressure position compensation method of motion scan vehicle and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105620472A CN105620472A (en) | 2016-06-01 |
| CN105620472B true CN105620472B (en) | 2018-06-26 |
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| CN107226051B (en) * | 2017-05-04 | 2019-07-12 | 浙江爱特新能源汽车有限公司 | Electric car integral type control method and system |
| CN108116355A (en) * | 2017-12-21 | 2018-06-05 | 温州雏鹰科技有限公司 | A kind of car rollover preventing safety protective device |
| CN110241723B (en) * | 2019-06-12 | 2021-02-19 | 咸宁职业技术学院 | Inspection vehicle with adjustable gravity center |
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| DE102005004894A1 (en) * | 2005-02-03 | 2006-08-17 | Robert Bosch Gmbh | Tripping method for activating a lateral speed estimation for occupant protection devices |
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| CN102424047A (en) * | 2011-11-07 | 2012-04-25 | 郑州宇通客车股份有限公司 | Automobile, anti-side turning safety system for automobile and anti-side turning safety device thereof |
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