CN107063294A - A kind of motion state detection system of elevating fire truck arm support - Google Patents
A kind of motion state detection system of elevating fire truck arm support Download PDFInfo
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- CN107063294A CN107063294A CN201710236560.0A CN201710236560A CN107063294A CN 107063294 A CN107063294 A CN 107063294A CN 201710236560 A CN201710236560 A CN 201710236560A CN 107063294 A CN107063294 A CN 107063294A
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- motion state
- arm support
- truck arm
- data
- state signal
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C23/00—Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
Abstract
The present invention relates to a kind of motion state detection system of elevating fire truck arm support, including motion state signal collector, wireless transport module and motion state signal processing detection terminal, the motion state signal collector is arranged on elevating fire truck, the motion state for detecting elevating fire truck arm support；The wireless transport module is used to send the motion state that the motion state signal collector is obtained to the motion state signal processing detection terminal；The motion state signal that the motion state signal processing detection terminal-pair is received carries out Treatment Analysis, detection, the motion state for recording and utilizing threedimensional model real-time simulation fire fighting truck arm support.The present invention realizes the motion state of detection in real time, record and emulation elevating fire truck arm support.
Description
Technical field
The present invention relates to motion state detection technical field, more particularly to a kind of motion state of elevating fire truck arm support
Detecting system.
Background technology
Elevating fire truck is the main equipment that fire brigade carries out high-altitude fire fighting and rescue task.In height rescue, elevate
Ride comfort, the response speed of working bucket leveling and leveling precision, each safe spacing and pole when car arm support shaking degree and action
Reliability, accuracy of each position sensor of extreme position deceleration protective device etc. for elevating fire truck operation security extremely
Close important, be directly connected to the life security of fire-fighting and rescue personnel and the masses to be rescued.Fire fighting truck is before the use and daily dimension
The shield stage need to carry out safety detection, and current detection is most by the way of reviewer estimates, based on subjective judgement, it is impossible to
Further data record is provided, therefore assay is objective not to the utmost, it is difficult to meet examination requirements.Therefore elevating fire truck is improved
The motion state detection accuracy of arm support, improves fire fighting truck arm support job security and is necessary with reliability.
Special detection means is there is no to elevating fire truck security performance both at home and abroad at present, is still estimated with reviewer,
Based on subjective judgement, it is impossible to further data are provided and supported, one side testing result is objective not to the utmost, does not meet examination requirements,
On the other hand the specialized capability to reviewer requires higher, and fire brigade of basic unit lacks technology and equipment and above index is examined
Test, check and accept.In terms of corresponding detecting system, with the continuous improvement of electronics and mechanical technique level, also occur in that including such as
Fire fighting truck Hydraulic Power System performance, fire fighting truck elevates Hydraulic slewing system performance, pressure balancing system performance, fire-fighting vehicle control
The related software and hardware detecting system of performance, but detecting system still not on general safety coefficient.To meet overall peace
Detection demand on total system, the present invention develops a kind of real-time, and accurately, the elevating fire truck safety detecting system that can be played back is
Elevating fire truck arm support motion state provides accurate, effective and detects and emulate in real time.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of motion state detection system of elevating fire truck arm support, real
The motion state of detection, record and emulation elevating fire truck arm support when real.
The technical solution adopted for the present invention to solve the technical problems is：A kind of motion shape of elevating fire truck arm support is provided
State detecting system, including motion state signal collector, wireless transport module and motion state signal processing detection terminal, it is described
Motion state signal collector is arranged on elevating fire truck, the motion state for detecting elevating fire truck arm support；The nothing
Line transport module is used to send the motion state that the motion state signal collector is obtained to the motion state signal
Reason detection terminal；The motion state signal that the motion state signal processing detection terminal-pair is received carries out Treatment Analysis, detect,
Record and utilize the motion state of threedimensional model real-time simulation fire fighting truck arm support.
The motion state signal collector includes MEMS sensor, laser sensor and MCU controllers, and the MEMS is passed
Sensor is fixed at elevating fire truck arm support exterior connection point, the exercise data for detecting elevating fire truck arm support；It is described to swash
Optical sensor is fixed on elevating fire truck arm support junction, the length for measuring fire fighting truck arm support；The MCU controllers are fixed
Inside fire fighting truck, the collection value for receiving the MEMS sensor and laser sensor merges the MEMS sensor
Collection value draws fire fighting truck arm support movement angle data.
The motion state signal collector includes MEMS sensor, laser sensor and MCU controllers, and the MEMS is passed
Sensor is fixed at elevating fire truck arm support exterior connection point, the exercise data for detecting elevating fire truck arm support；It is described to swash
Optical sensor is fixed on elevating fire truck arm support junction, the length for measuring fire fighting truck arm support；The MCU controllers are fixed
Inside fire fighting truck, the collection value for receiving the MEMS sensor and laser sensor merges the MEMS sensor
Collection value draws fire fighting truck arm support movement angle data.
The MEMS sensor includes accelerometer and gyroscope；The accelerometer is used to detect three-dimensional cartesian coordinate
Acceleration magnitude in system；The gyroscope is used for the magnitude of angular velocity of detection coordinates axle.
The MCU controllers receive the MEMS sensor measured value by I2C communication protocols, are calculated using Kalman filtering
Method realizes the data fusion of multiple MEMS sensors and carries out angle integration, obtains fire fighting truck arm support movement angle data；It is described
MCU controllers fire fighting truck arm support length data as measured by A/D converter receives laser sensor.
The gyroscope is micro-mechanical gyroscope sensor, and the laser sensor is semiconductor laser range sensor,
The MCU controllers are 32 miniature processing units using ARM-CORTEX-M4 as kernel.
The MCU controllers are specifically included to the data fusions of multiple MEMS sensors and when carrying out angle integration：First
Test estimation to calculate, predict covariance matrix, calculate kalman gain, prior estimate is calculated by kalman gain and repaiied
Just, covariance matrix is updated according to correction result.
The wireless transport module is that full duplex even passes wireless serial module, utilizes UART asynchronous serial communications agreement and institute
State motion state signal processing detection terminal and realize data transfer.
The motion state signal processing detection terminal includes motion state data receiving module, data processing module, ginseng
Number transfer module and data management module；The motion state data receiving module timing reads wireless serial and obtains described wireless
The data of transport module transmission and parsing；The data processing module by the exercise data receiving module parse obtained by data
Handled, and be reduced into three dimensional space coordinate；The parameter transfer module is by three dimensions obtained by the data processing module
Coordinate sends to Unity3D Three-dimensional Display controls according to communications protocol group bag and shown in real time；The data management mould
Block is stored exercise data receiving module parsing the data obtained into Access2010 databases by class.
Beneficial effect
As a result of above-mentioned technical scheme, the present invention compared with prior art, has the following advantages that and actively imitated
Really：The present invention can realize the motion state of elevating fire truck arm support that is real-time, accurate and can playing back, be elevating fire truck arm support
Motion state provides accurate, effective and detects and emulate in real time, improves the motion state detection of elevating fire truck arm support
Accuracy, improves fire fighting truck arm support job security and reliability.
Brief description of the drawings
Fig. 1 is the system structure diagram of the present invention；
Fig. 2 is the FB(flow block) of the present invention；
Fig. 3 is that detection means is installed and amount of bias schematic diagram；
Fig. 4 is motion state signal processing detection terminal structure schematic diagram；
Fig. 5 is elevating fire truck Unity3D emulation schematic diagrames；
Fig. 6 is the motion simulation schematic diagram of elevating fire truck arm support.
Embodiment
With reference to specific embodiment, the present invention is expanded on further.It should be understood that these embodiments are merely to illustrate the present invention
Rather than limitation the scope of the present invention.In addition, it is to be understood that after the content of the invention lectured has been read, people in the art
Member can make various changes or modifications to the present invention, and these equivalent form of values equally fall within the application appended claims and limited
Scope.
Embodiments of the present invention are related to a kind of elevating fire truck arm support motion state detection system, as shown in figure 1, including
Motion state signal collector 1, wireless transport module 2 and motion state signal processing detection terminal 6.The motion state signal
Processing detection terminal 6 is the core of the present invention, and motion state signal collector 1 is connected by wireless transport module 2, realizes inspection
Survey, record and utilize the motion state of Unity3D model real-time simulation elevating fire truck arm supports.
As shown in figure 1, the motion state signal collector 1 includes MEMS (Micro-Electro-Mechanical
System, MEMS) sensor 3, laser sensor 2 and MCU (Microcontroller Unit, micro-control unit) controls
Device 4 processed, the MEMS sensor 3 is fixed at the elevating fire truck arm support exterior connection point, including accelerometer and gyro
Instrument；The accelerometer is used to detect the acceleration magnitude in three Cartesian coordinates；The gyroscope is used to detect three seats
The magnitude of angular velocity of parameter；The laser sensor 2, is fixed on the elevating fire truck arm support junction, for measuring fire fighting truck
The length of arm support；The MCU controllers 4 are fixed on inside fire fighting truck, for receiving the MEMS sensor and laser sensor
Collection value, merges the MEMS sensor collection value and draws fire fighting truck arm support movement angle.It is noted that the motion shape
The number of state signal picker module 1 can be multiple, and detection means is installed and amount of bias schematic diagram is as shown in figure 3, pass through
Multiple motion state signal collectors carry out the collection of elevating fire truck arm support information.
The motion state signal collector includes MCU controller modules, MEMS sensor module and laser sensor
Module；The MCU controllers receive the MEMS sensor measured value by I2C communication protocols, utilize Kalman filtering algorithm
Realize that accelerometer and gyro data fusion carry out angle integration, obtain fire fighting truck arm support angle-data；The MCU controllers
The fire fighting truck arm support length data as measured by A/D converter receives laser sensor.
The Kalman filtering algorithm realizes that accelerometer and gyro data fusion carry out angle integration, including following son
Step：
(1) prior estimate is calculated；
(2) prediction of covariance matrix；
(3) kalman gain is calculated；
(4) prior estimate is calculated by kalman gain and be modified；
(5) covariance matrix is updated according to correction result.
The accelerometer is three axle resonance type micromechanical accelerometer sensors, is disappeared for threshold test and described elevate
The acceleration of motion measurement of anti-each arm support of car, detection Data Digital is exported to the MCU controllers.
The gyroscope is micro-mechanical gyroscope sensor, is sat for measuring each arm support of the elevating fire truck in Descartes
The lower all directions magnitude of angular velocity of mark system, detection Data Digital is exported to the MCU controllers.
The laser sensor is semiconductor laser range sensor, determines each arm support elongation length of the elevating fire truck
Degree, will detect data transfer to the MCU controllers by exporting analog quantity voltage value.
The MCU controllers are 32 miniature processing units using ARM-CORTEX-M4 as kernel, described for integrating
MEMS sensor measured value generates corresponding angles angle value, and will calculate gained angle value and laser sensor institute angle measurement angle value
Sent by the wireless transport module to the motion state signal processing detection terminal.
The wireless transport module is that full duplex even passes wireless serial module, utilizes UART asynchronous serial communications agreement and institute
State motion state signal processing detection terminal and realize data transfer.
The wireless transport module 5 is by various types of communication agreement, by motion state signal collector 1 and motion state signal
Processing detection terminal 6 realizes wireless connection so that motion state detection signal can be utilized by efficient processing, such as by complete double
Work even passes wireless serial modules A S32-TTL-100 and realizes wireless connection using UART wireless communication protocols, so that transmission distance
From farther out and stability is good.
Present invention specific implementation flow by motion state signal collector as shown in Fig. 2 gather elevating fire truck arm support
The motion state signal collected, is sent at motion state signal by each several part motion state signal by wireless transmission protocol
Reason detection terminal, carries out Treatment Analysis to the motion state signal received using specific effective algorithm, detects, records and utilize
The motion state of Unity3D models real-time simulation fire fighting truck arm support as shown in Figure 5.
Motion state signal processing detection terminal can use each Terminal Type, such as pc machines and embeded processor, this implementation
Motion state signal processing detection terminal structure schematic diagram in mode is as shown in figure 4, including motion state data receiving module, number
According to processing module, parameter transfer module and data management module.Wireless string is read in the motion state data receiving module timing
Mouth obtains the data of the wireless transport module transmission and parsing；The data processing module is by the exercise data receiving module
Parsing the data obtained is handled, and is reduced into three dimensional space coordinate；The parameter transfer module is by the data processing module
Gained three dimensional space coordinate sends to Unity3D Three-dimensional Display controls according to communications protocol group bag and shown in real time, lifts
The motion simulation schematic diagram of high fire fighting truck arm support is as shown in Figure 6.The data management module is by the exercise data receiving module
Parsing the data obtained is stored into Access2010 databases by class.
In summary, the present invention improves the motion state detection accuracy of elevating fire truck arm support, improves fire fighting truck
Arm support job security and reliability.Elevating fire truck safety detecting system that is real-time, accurate and can playing back can be realized, to lift
High fire fighting truck arm support motion state provides accurate, effective and detects and emulate in real time.
Claims (8)
1. a kind of motion state detection system of elevating fire truck arm support, including motion state signal collector, it is wirelessly transferred mould
Block and motion state signal processing detection terminal, it is characterised in that the motion state signal collector is arranged on and elevates fire-fighting
Che Shang, the motion state for detecting elevating fire truck arm support；The wireless transport module is used for the motion state signal
The motion state that collector is obtained is sent to the motion state signal processing detection terminal；The motion state signal processing inspection
The motion state signal progress Treatment Analysis that terminal-pair is received is surveyed, detection, record simultaneously utilize threedimensional model real-time simulation fire fighting truck
The motion state of arm support.
2. the motion state detection system of elevating fire truck arm support according to claim 1, it is characterised in that the motion
State signal collecting device includes MEMS sensor, laser sensor and MCU controllers, and the MEMS sensor, which is fixed on to elevate, to disappear
At anti-car arm support exterior connection point, the exercise data for detecting elevating fire truck arm support；The laser sensor is fixed on act
High fire fighting truck arm support junction, the length for measuring fire fighting truck arm support；The MCU controllers are fixed on inside fire fighting truck, are used
In the collection value for receiving the MEMS sensor and laser sensor, the collection value for merging the MEMS sensor draws fire fighting truck
Arm support movement angle data.
3. the motion state detection system of elevating fire truck arm support according to claim 2, it is characterised in that the MEMS
Sensor includes accelerometer and gyroscope；The accelerometer is used to detect the acceleration magnitude in three Cartesian coordinates；
The gyroscope is used for the magnitude of angular velocity of detection coordinates axle.
4. the motion state detection system of elevating fire truck arm support according to claim 2, it is characterised in that the MCU
Controller receives the MEMS sensor measured value by I2C communication protocols, and multiple MEMS are realized using Kalman filtering algorithm
The data fusion of sensor simultaneously carries out angle integration, obtains fire fighting truck arm support movement angle data；The MCU controllers pass through
A/D converter receives fire fighting truck arm support length data measured by laser sensor.
5. the motion state detection system of elevating fire truck arm support according to claim 3, it is characterised in that the gyro
Instrument be micro-mechanical gyroscope sensor, the laser sensor be semiconductor laser range sensor, the MCU controllers be with
ARM-CORTEX-M4 is 32 miniature processing units of kernel.
6. the motion state detection system of elevating fire truck arm support according to claim 4, it is characterised in that the MCU
Controller is specifically included to the data fusions of multiple MEMS sensors and when carrying out angle integration：Prior estimate is calculated, prediction
Covariance matrix, calculates kalman gain, and prior estimate is calculated by kalman gain and is modified, according to correction result pair
Covariance matrix is updated.
7. the motion state detection system of elevating fire truck arm support according to claim 2, it is characterised in that described wireless
Transport module is that full duplex even passes wireless serial module, at UART asynchronous serial communications agreement and the motion state signal
Reason detection terminal realizes data transfer.
8. the motion state detection system of elevating fire truck arm support according to claim 2, it is characterised in that the motion
Status signal processing detection terminal includes motion state data receiving module, data processing module, parameter transfer module and data
Management module；The number that wireless serial obtains the wireless transport module transmission is read in the motion state data receiving module timing
According to and parse；The data processing module is handled the data obtained by exercise data receiving module parsing, and is reduced
Into three dimensional space coordinate；The parameter transfer module is by three dimensional space coordinate obtained by the data processing module according to communications protocol
Group bag is sent to Unity3D Three-dimensional Display controls to be shown in real time；The data management module is by the exercise data
Receiving module parsing the data obtained is stored into Access2010 databases by class.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710236560.0A CN107063294A (en) | 2017-04-12 | 2017-04-12 | A kind of motion state detection system of elevating fire truck arm support |
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| CN201710236560.0A CN107063294A (en) | 2017-04-12 | 2017-04-12 | A kind of motion state detection system of elevating fire truck arm support |
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| CN201710236560.0A Pending CN107063294A (en) | 2017-04-12 | 2017-04-12 | A kind of motion state detection system of elevating fire truck arm support |
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Cited By (2)
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| CN107378955A (en) * | 2017-09-07 | 2017-11-24 | 云南电网有限责任公司普洱供电局 | A kind of distribution robot for overhauling motion arm AUTONOMOUS TASK method based on multi-sensor information fusion |
| CN107727151A (en) * | 2017-11-10 | 2018-02-23 | 公安部上海消防研究所 | A kind of elevating fire truck arm support motion state dynamic checkout unit |
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Cited By (2)
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Application publication date: 20170818 |