CN110274577A - A kind of portable type ground gradient test device and test method - Google Patents
A kind of portable type ground gradient test device and test method Download PDFInfo
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- CN110274577A CN110274577A CN201910451547.6A CN201910451547A CN110274577A CN 110274577 A CN110274577 A CN 110274577A CN 201910451547 A CN201910451547 A CN 201910451547A CN 110274577 A CN110274577 A CN 110274577A
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- General Physics & Mathematics (AREA)
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- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention belongs to ground line gradient detection device technical fields in vehicle driving process, disclose a kind of portable type ground gradient test device and test method, ground line gradient is detected with calculus of finite differences, initial value of slope is measured by Gradient detection module, the difference of the gradient and initial value of slope that are measured in real time by double-shaft tilt angle sensor, ground line gradient value is obtained, and records the ground line gradient value at each moment in vehicle driving process；It is obtained using GPS terminal and records field in the location information at each moment；If by the path of the driving process of field vehicle being trunk section at the time of from time t=0；It is averaged after the real-time grade information measured is divided into several segments again, by the position in each section, the vehicle that must show up travels the gradient in the section path Shang Ge.The present invention is widely used in big cyclecar, motor vehicle etc. in field；Motor vehicle portable detecting device in, compared to traditional slope detection, as a result more true and accurate, more reference significance.
Description
Technical field
The invention belongs to ground line gradient detection device technical field in vehicle driving process more particularly to a kind of portable type grounds
Gradient test device and test method.
Background technique
Currently, the immediate prior art: a part of technology calculates the inclination angle on ground using 3-axis acceleration sensor；One
Portion of techniques obtains ramp height using GPS system and ramp bottom is long to obtain road grade；There are also based on grade resistance
The slope level scale of detection is manually operated in road grade test and traditional people.
China's industrial expansion paces are also constantly being accelerated, and the motor vehicles of various types enterprise are also increasingly increasing, machine
The application range of motor-car also expands constantly.Private motor vehicle transport is in the modernization of China's industry in
Critical role is also more and more obvious.According to " special equipment catalogue " field (factory) interior private motor vehicle refer in addition to road traffic,
The private motor vehicle only used in specific regions such as plant area, tourist attraction, recreation grounds other than agri-vehicle, including machine
Dynamic industrial vehicle and off-highway vehicle traveling of going sightseeing, are driven by power device or are drawn, maximum travelling speed (design
Value) it is greater than 5 kilometers/hour or the motor vehicles with equipments such as raising, stacking, revolution, overturnings.As balance weight type is pitched
Vehicle, reach truck, side forklift, lift truck with straddle outeriggers, pallet stacking car and three-dimensional carrier-and-stacker off-highway use vista car
Deng.
However motor vehicle is while being widely applied in field, also along with a series of safety problem.Although country's labour
Earlier than " vehicle maneuvering safety in plant Security Administration " has been approved April nineteen ninety-five, which is intended to reinforce motor vehicle in factory in portion
Safety monitor work, reduce because vehicle maneuvering safety in plant management, Operation and Maintenance maintenance be not good at caused by casualty accident, protect
Hinder the safety of worker in process of production.But currently, private motor vehicle examines situation not in the field of each business unit
Equally, work specific reliable examination criteria and detection method not yet are examined especially for motor vehicle in field, so as to cause
There are certain hidden danger for private motor vehicle safe operation in, cause a series of motor vehicles traffic accident.Therefore, change
The detection status of private motor vehicle in China, reinforces the management of safe operation of private motor vehicle in field, advantageously ensures that
The driving safety of private motor vehicle in, reduces the traffic accident of haulage vehicle in Chinese Enterprises, can make the labour of enterprise
Productivity greatly improves, and increases the economic benefit of enterprise, more directly influences the normal production development of enterprise, and the life of worker is steady
Fixed and national wealth safety.In order to ensure the interior private motor vehicle safe handling in field (factory), prevention and reduction accident, the people are protected
Safety of life and property, promotes socio-economic development, and General Administration of Quality Supervision, Inspection and Quarantine of the People's Republic of China promulgates
" field (factory) interior private motor vehicle safety and technical supervision regulation ", this regulation is according to " People's Republic of China's special safety equipment
Method " " Safety Supervision on Special Equipment regulations " formulation.
" field (factory) interior private motor vehicle safety and technical supervision regulation " provides that the maximum running gradient of tour bus must not be big
In 10% (except visite of the length of grade less than 20m), dome car maximum running gradient is not greater than 4%, and (length of grade is short less than 20m's
Except slope).
In conclusion problem of the existing technology is:
(1) it in the existing technology to the detection of field (factory) interior road grade, is not realized using sensor to ground line gradient
Real-time detection, and by data real-time display and what is recorded portable be used for factory's car test measurement equipment on the display device.Existing skill
In art, the driving path of field (factory) interior private motor vehicle, then the slope that sensor is measured are drawn not over GPS positioning function
Degree is corresponded according to driving path, the method for drawing driving path and topographic map when a turner is made.
(2) in the prior art, without a kind of software that is easy to operate, being easy to human-computer interaction come to resulting data
Reason and display.
(3) in the prior art, it can not be drawn specifically for field (factory) interior route topography figure, and to field (factory) interior special machine
The method that guidance is made in the use and roading of motor-car.
It solves the difficulty of above-mentioned technical problem: solving problem above and not only need to design a kind of algorithm to survey to sensor
The data obtained handle and data show and record by treated, and also to design a program will be obtained using GPS positioning
Field (factory) vehicle spatial coordinated information handle to show up the driving path of (factory) vehicle, finally the gradient in path is demarcated, from
And (factory) the interior route topography figure that must show up.
Solve the meaning of above-mentioned technical problem: present field (factory) vehicle maintenance is typically all correction maintenance, i.e. thing occurs for factory's vehicle
Therefore cause of accident is detected and handled again later, this method is easy to operate efficiently, and it is time saving and energy saving, it can be quickly to field (factory)
Interior road grade is detected, and assessment detects easily to occur the section of accident, it can be achieved that the scientific management of field (factory) vehicle and pre-
Know maintenance.Currently, the detection of domestic (factory) interior road grade on the scene also rests on the stage of experience detection, and this method can be realized
The quantitative criteriaization measurement of field (factory) road grade ensures field (factory) interior private motor vehicle safe handling, prevention and reduction thing
Therefore protection people's life and property safety, promote socio-economic development.
Summary of the invention
In view of the problems of the existing technology, the present invention provides a kind of portable type ground gradient test device and test sides
Method.
The invention is realized in this way a kind of portable type ground gradient test method, the portable type ground gradient test
Method includes:
Step 1 detects ground line gradient with calculus of finite differences, and double-shaft tilt angle sensor is one kind with principle of inertia
Acceleration transducer, when obliquity sensor is static i.e. side and vertical direction do not have acceleration effect, then acting on
Only acceleration of gravity above it.Angle between gravity vertical axis and acceleration transducer sensitive axis is exactly inclination angle,
Initial value of slope is measured by Gradient detection module, the gradient and the initial gradient measured in real time by double-shaft tilt angle sensor
The difference of value obtains ground line gradient value, and records the ground line gradient value at each moment in vehicle driving process；
The ground line gradient distribution map of step 2, region is drawn, and portable measuring device is installed on (factory) vehicle on the scene, thereon
There are the receiver of GPS, the output of station GPS receiver selection standard NMEA format, including position (GPGGA), speed and level
The information such as directional velocity (GPVTG) and positioning accuracy (GPGST), by CAN interface be sent to data acquire CAN module according to
CAN protocol includes that longitude, latitude and elevation information parse to location information of concern, using Gaussian transformation by longitude and latitude
Information projects in the left side system of northeast day.The three-dimensional location coordinates at thus can obtain automobile each moment in the process of moving.
Field (factory) vehicle is recorded in the location information at each moment；Then the route map for (factory) traveling that appears on the scene is drawn using three-dimensional coordinate, then
If by the path of the driving process of field vehicle being trunk section at the time of from time t=0；
Step 3, then be averaged after the real-time grade information measured is divided into several segments, by the position in each section, with road
The average value information of section upgrade corresponds, and the vehicle that must show up travels the gradient in the section path Shang Ge.
Further, the path of the driving process of field vehicle was divided into trunk section every 10 seconds at the time of if from time t=0.
Further, it during step 3 is looked for, is averaged after the real-time grade information measured was divided into several segments every 10 seconds.
Further, the portable type ground gradient test method further comprises: the network terminal acquires number by sensor
According to, and by after the converted device ADC sampling of the on-site signal of capture, quantization, coding, become digital signal and be transmitted to microprocessor, passes through
It is wirelessly transferred by FFD, is transmitted to coordinator, communication interface is recycled to communicate with host computer.
Another object of the present invention is to provide a kind of portable type ground slopes of portable type ground gradient test method
Test device is spent, the portable type ground gradient test device includes test device and display device.
Further, test device includes Gradient detection module, GPS positioning module and WiFi communication module, wherein
WiFi communication module is embedded Wi-Fi module, built-in Wi-Fi driving and protocol realization measuring device and processing display device
Separation；
Gradient detection module includes: double-shaft tilt angle sensor, high-speed data acquisition card, signal conditioning module, A/D turns
Block is changed the mold, the signal adopted is shown and recorded in tablet computer, data is obtained with the gradient-time t image, obtains the real-time gradient
Data；Wherein high-speed collection card uses the capture card of NI company, and EndDivice (network terminal) passes through in wireless sensor network
12 AD obtain the collected data of sensor inside JN5139, and the converted device ADC of the on-site signal of capture are sampled, amount
Change, after coding, become digital signal and be transmitted to microprocessor, is wirelessly transferred, is transmitted to via FFD (Router router)
Coordinator (coordinator), Coordinator utilize RS-232 communication interface and host computer (laptop or the end PC)
Communication.
GPS positioning module draws field vehicle two dimension driving path figure using the three-dimensional coordinate of field vehicle and the corresponding relationship of time
And it is positioned.
Further, display device is the tablet computer for being integrated with post-processing module.
Implement the portable type ground gradient test method removably another object of the present invention is to provide a kind of
The face gradient tests terminal.
The present invention is directed in view of the above-mentioned problems, ground slope can be calculated in real time by developing a set of be directed in factory's vehicle driving process
Degree, and the equipment of topographic mapping.The method of the equipment utilization sensor and difference realizes the real-time detection to ground line gradient,
And data are shown on the display device, the driving path of factory (field) are drawn by GPS positioning function, then sensor is measured
The Gradient topographic map that can be drawn when factory (field) turner is made corresponding with driving path, to be made to the use of factory (field)
Guidance.
Equipment of the invention is of great significance, and is mainly manifested in the following aspects: 1. this equipment can to plant area or
The ground line gradient of person sight-seeing area carries out large area and accurately measures, and can be used as constructing road or the planning driving of plant area and sight-seeing area
Reference, the security of the lives and property of support personnel are provided when path；2. the portable detection device of motor vehicle is easy to use in field, it is suitble to work
Factory's large batch of real-time monitoring on the spot, only factory's (field) vehicle for installing this equipment need to be allowed completely to travel one time in workspace can draw
The topographic map of plant area or sight-seeing area out, more saves human and material resources；3. the portable detection device of motor vehicle in field, compared to tradition
Slope detection, as a result more true and accurate, more reference significance.
Equipment provided by the invention not only can be with the gradient on Real time dynamic display ground, the grade information that can also will measure
Record storage is got off, and then all ground line gradients in plant area or sight-seeing area just can be obtained in conjunction with GPS positioning system, thus
To topographic map.To propose the instruction used factory's vehicle, reinforce the management of safe operation of motor vehicles in field, reduces China
Life and property safety of people is protected in the traffic accident of haulage vehicle in enterprise.
In conclusion advantages of the present invention and good effect are as follows: the present invention solves measurement field (factory) interior road grade
The problems such as method is old, not energetic, and measurement is inaccurate can conveniently and efficiently measure field (factory) interior road grade, and operate letter
It is single easy to learn, it is easy to spread.The safety for having filled up this applied widely and Frequent Accidents the special vehicles for field (factory) vehicle is surveyed
The blank of examination has good commercial promise.
It is also an advantage that
Practicability: it is widely used in big cyclecar, motor vehicle etc. in field.
Convenience: test device need to only be placed when use and is fixed on outside factory's vehicle metal by the encoded completion of all programs
On shell, real time data and last test report can be obtained by mobile port and store data and report
High efficiency: factory's vehicle need to only carry test device and travel one time in on-site, can measure in plant area or sight-seeing area
Gradient distribution figure, use manpower and material resources sparingly.
Accuracy: motor vehicle portable detecting device in field, compared to traditional slope detection, as a result more true and accurate, more
Has reference significance.
Detailed description of the invention
Fig. 1 is portable type ground gradient test device schematic diagram provided in an embodiment of the present invention.
In figure: 1, test device；2, display device；3, GPS positioning module；4, Gradient detection module；5, WiFi is logical
Believe module.
Fig. 2 is portable type ground gradient test method flow chart provided in an embodiment of the present invention.
Fig. 3 is plant area's path segments figure provided in an embodiment of the present invention.
Fig. 4 is the gradient provided in an embodiment of the present invention-time t image figure.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
In the prior art, the real-time detection to ground line gradient is not realized using the method for sensor and difference, and will
Data are shown on the display device, and the driving path of field, then the gradient that sensor is measured cannot be drawn by GPS positioning function
The data topographic map that can be drawn when a turner is made corresponding with driving path, cause the use to field that cannot make guidance.
To solve the above problems, below with reference to concrete scheme, the present invention is described in detail.
As shown in Figure 1, be portable type ground gradient test device provided in an embodiment of the present invention,
Entire instrument includes test device 1 and display device 2；Wherein test device 1 includes Gradient detection module 4,
GPS positioning module 3, WiFi communication module 5, display device 2 are the tablet computer with post-processing module.
Gradient detection module 4 includes: sensor using double-shaft tilt angle sensor model ZCT230L-LMS-124, amount
Journey X, Y-30 °~30 °；NI high-speed data acquisition card；Signal conditioning module；A/D conversion module etc., by the signal adopted in plate
Computer shows and records, and obtains data and is provided in the form of the gradient-time t image, thus obtains real-time Gradient.
The positioning service that GPS positioning module 3 seeks position company using thousand provides up to dynamic Centimeter Level and static grade
Stationkeeping ability.Thousand, which seek position, is based on Beidou satellite system (compatible with GPS, GLONASS, Galileo) foundation location data, carries out
Positioning.Using the three-dimensional coordinate of factory's vehicle and the corresponding relationship of time, factory vehicle two dimension driving path figure is drawn.
As shown in Fig. 2, portable type ground gradient test method provided in an embodiment of the present invention includes:
S101 detects ground line gradient with calculus of finite differences: being first fixed on this equipment in measurement and is still in horizontally
On the metal shell of factory (field) vehicle in face, an initial value of slope is at this moment measured.Pass through in driving process after the starting of factory's (field) vehicle
The difference of the gradient and initial value of slope that double-shaft tilt angle sensor measures in real time is ground line gradient, and system is available and records factory
The gradient at (field) vehicle each moment in the process of moving.
The gradient distribution figure of S102, in factory or sight-seeing area are drawn: available using GPS terminal and record factory (field) every
The location information at a moment.Assuming that factory's vehicle drives at a constant speed in sight-seeing area during the test, in post-processing factory parking stall confidence
When breath, since speed cannot be greater than 30km/h to factory's vehicle in motion, speed is slower, so by factory's vehicle at the time of from time t=0
If the path of driving process was divided into trunk section, such as Fig. 3 every 10 seconds.
S103, then it is averaged (such as Fig. 4) after the real-time grade information measured was divided into several segments every 10 seconds, finally will
The position in each section corresponds with the average value information of section upgrade, each section on factory's vehicle driving path can be obtained
The gradient.
The mean inclination of 0~10s is less than 4% in Fig. 4,10~20s, and 20~30, the mean inclination of 30~40s is greater than
The mean inclination of 4% and less than 10%, 40~50s are greater than 10%, are not inconsistent by the gradient of factory's vehicle traveling in 40~50s of regulation
Close security regulations.
In embodiments of the present invention, the gradient can be greater than motor vehicles maximum in field on original path automatically and travelled by program
The section of the gradient 10% is marked with red, and the section by the section gradient less than 10% and greater than 4% is marked with grey, by section slope
It spends the section less than 4% to be marked with grey, ultimately produces examining report, provide reference for relevant departments.
In embodiments of the present invention, it builds in wireless sensor network, EndDivice (network terminal) in wireless sensor network
The collected data of sensor are obtained by 12 AD inside JN5139, and the converted device ADC of the on-site signal of capture is sampled,
After quantization, coding, become digital signal and be transmitted to microprocessor, is wirelessly transferred, is transmitted to via FFD (Router router)
Coordinator (coordinator), Coordinator utilize RS-232 communication interface and host computer (laptop or the end PC)
Communication.
In embodiments of the present invention, test device has portability: proposed adoption double-shaft tilt angle sensor, NI high-speed data are adopted
Truck, it is ensured that the sampling accuracy of data.Meanwhile by portions such as sensor, capture card, conditioning module, A/D conversion, Voltage stabilizing modules
Diversity become an entire test device, device have the characteristics that it is convenient preferably install, facilitate distribution.
Furthermore the present invention is applied in terms of slope detection, and achieves better effects: slope detection
Accuracy rate reach examination criteria requirement.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (8)
1. a kind of portable type ground gradient test method, which is characterized in that the portable type ground gradient test method includes:
Step 1, detects ground line gradient with calculus of finite differences, measures initial value of slope by Gradient detection module, passes through
The difference of the gradient and initial value of slope that double-shaft tilt angle sensor measures in real time obtains ground line gradient value, and records a garage and cross
The ground line gradient value at each moment in journey；
The ground line gradient distribution map of step 2, region is drawn, and is obtained using GPS terminal and is recorded field in the position at each moment letter
Breath；If by the path of the driving process of field vehicle being trunk section at the time of from time t=0；
Step 3, then be averaged after the real-time grade information measured is divided into several segments, by the position in each section, on section
The average value information of the gradient corresponds, and the vehicle that must show up travels the gradient in the section path Shang Ge.
2. portable type ground gradient test method as described in claim 1, which is characterized in that by field at the time of from time t=0
If the path of the driving process of vehicle was divided into trunk section every 10 seconds.
3. portable type ground gradient test method as described in claim 1, which is characterized in that during step 3 is looked for, by what is measured
Real-time grade information is averaged after being divided into several segments every 10 seconds.
4. portable type ground gradient test method as described in claim 1, which is characterized in that the portable type ground gradient is surveyed
Method for testing further comprises: the network terminal acquires data by sensor, and the converted device ADC of the on-site signal of capture is adopted
After sample, quantization, coding, become digital signal and be transmitted to microprocessor, be wirelessly transferred via FFD, be transmitted to coordinator, recycles communication
Interface is communicated with host computer.
5. a kind of portable type ground gradient test device of portable type ground gradient test method as described in claim 1, special
Sign is that the portable type ground gradient test device includes test device and display device.
6. portable type ground gradient test device as claimed in claim 5, which is characterized in that test device includes Gradient
Detection module, GPS positioning module and WiFi communication module；
Gradient detection module includes: double-shaft tilt angle sensor, high-speed data acquisition card, signal conditioning module, A/D modulus of conversion
The signal adopted is shown and is recorded in tablet computer by block, is obtained data with the gradient-time t image, is obtained real-time slope number
According to；
GPS positioning module draws field vehicle two dimension driving path figure and goes forward side by side using the three-dimensional coordinate of field vehicle and the corresponding relationship of time
Row positioning.
7. portable type ground gradient test device as claimed in claim 5, which is characterized in that display device is to be integrated with the later period
The tablet computer of processing module.
8. a kind of portable type ground gradient for implementing portable type ground gradient test method described in claim 1 tests terminal.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113048936A (en) * | 2021-03-17 | 2021-06-29 | 黄天奇 | Portable land area measuring instrument for land planning design |
| CN113091708A (en) * | 2021-04-06 | 2021-07-09 | 中山大学 | Road subsection gradient estimation method and system based on multi-sample GPS quality control data |
| US11644388B2 (en) | 2021-03-10 | 2023-05-09 | Hunan University Of Science And Technology | System and method for integratedly testing damping performance of hydro-pneumatic suspension vehicle |
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| US20100318318A1 (en) * | 2002-04-20 | 2010-12-16 | Scientific Innovations, Inc. | Methods for Estimating Location Using Signal with Varying Signal Speed |
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| CN113048936B (en) * | 2021-03-17 | 2022-12-13 | 安徽中汇规划勘测设计研究院股份有限公司 | Portable land area measuring instrument for land planning design |
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