CN111879525A - Test evaluation system and method for quantifying overall stability of excavator - Google Patents
Test evaluation system and method for quantifying overall stability of excavator Download PDFInfo
- Publication number
- CN111879525A CN111879525A CN202010752293.4A CN202010752293A CN111879525A CN 111879525 A CN111879525 A CN 111879525A CN 202010752293 A CN202010752293 A CN 202010752293A CN 111879525 A CN111879525 A CN 111879525A
- Authority
- CN
- China
- Prior art keywords
- sensor
- excavator
- stability
- whole
- platform
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
Abstract
The embodiment discloses a test evaluation system and method for quantifying the stability of a whole excavator, which belong to the field of excavators and can avoid qualitatively evaluating the stability of the whole excavator by relying on subjective experiences of drivers and improve the consistency of test evaluation results, wherein the system comprises a first sensor, a second sensor and a third sensor which are used as measuring components, the first sensor is distributed on an excavator platform, the second sensor is distributed on a movable arm of the excavator, the third sensor is distributed on an excavator bucket rod, and the first sensor, the second sensor and the third sensor are all configured to detect the pose information of corresponding excavator components; the measuring part can be controlled by an MCU of a whole vehicle controller of the whole excavator, and the MCU of the whole vehicle controller is also communicated with the display return part and the vehicle-mounted intelligent terminal TBOX respectively.
Description
Technical Field
The invention belongs to the field of excavators, and particularly relates to a test evaluation method for quantifying overall stability of an excavator.
Background
The statements herein merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The excavator manufacturing must obtain the permission and certification of the relevant national institution, and then the excavator can be allowed to be put on the market for sale, so the country makes the relevant excavator test technology and evaluation method, the excavator test aims at checking the quality of excavator products, determining various actual parameters, analyzing the technical and economic indexes of the excavator, determining the working conditions of the excavator under different working conditions, and researching the actual possibility of adopting new materials, new processes and new structures.
The working device of the single-bucket hydraulic excavator is in a cantilever state, the amplitude variation range of the working device is large, and the variation range of the working load is also large, so that a large overturning moment is generated on a supporting edge, and the overturning moment is completely balanced by the weight of a main machine (not the whole excavator). Thus, a stability concept is introduced. The stability of the excavator is expressed by a stability factor K, which is the ratio of the stabilizing moment M1 to the overturning moment M2 for the overturning edge of the excavator in the working or non-working state.
The inventor finds that in the existing testing method for the stability of the performance of the whole machine, too much experience of a driver is relied on, and the consistency of the testing result is poor.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the test evaluation method for quantifying the whole vehicle stability of the excavator, which can improve the objectivity of the whole vehicle performance stability evaluation of the excavator, thereby avoiding the qualitative evaluation of the whole vehicle stability by depending on the subjective experience of a driver and improving the consistency of test evaluation results; meanwhile, the driver is informed whether hidden danger appears in the current stability evaluation of the whole vehicle through the real-time early warning function of the display, so that the real-time prompt of the hidden danger information of the posture of the whole vehicle is realized, and the timely processing can be carried out.
In order to achieve the purpose, the invention is realized by the following technical scheme:
in a first aspect, an embodiment of the invention provides a test evaluation system for quantifying overall stability of an excavator, which comprises a first sensor, a second sensor and a third sensor, wherein the first sensor, the second sensor and the third sensor are used as measuring components; the measuring part can be controlled by an MCU of a whole vehicle controller of the whole excavator, and the MCU of the whole vehicle controller is also communicated with the display return part and the vehicle-mounted intelligent terminal TBOX respectively.
As a further technical solution, the first sensor, the second sensor and the third sensor are all IMU.
As a further technical scheme, the vehicle-mounted intelligent terminal TBOX CAN be in wireless communication with the TSP information platform, and the vehicle-mounted intelligent terminal TBOX is connected with the MCU through the CAN to acquire vehicle state information.
As a further technical scheme, the TSP information platform serves as a transfer platform and can be communicated with a user side, and the user side can issue an instruction to a vehicle-mounted intelligent terminal TBOX terminal through the TSP platform to control and operate a vehicle.
In a second aspect, the invention further provides a test evaluation method for quantifying the stability of the whole excavator, which is characterized in that the test evaluation system for quantifying the stability of the whole excavator is used, and the posture information returned by the first sensor, the second sensor and the third sensor is used for judging the posture states of an excavator platform, an excavator movable arm and an excavator bucket rod of the excavator, so as to further judge the current stability of the excavator.
The beneficial effects of the above-mentioned embodiment of the present invention are as follows:
1) according to the invention, the objectivity of the overall performance stability evaluation of the excavator can be improved, so that the condition that the overall stability of the excavator is qualitatively evaluated by depending on the subjective experience of a driver can be avoided, and the consistency of the test evaluation result is improved; meanwhile, the driver is informed whether hidden danger appears in the current stability evaluation of the whole vehicle through the real-time early warning function of the display, so that the real-time prompt of the hidden danger information of the posture of the whole vehicle is realized, and the timely processing can be carried out.
2) In the invention, the satellite monitoring can be realized through a mobile phone and other clients.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention, illustrate embodiments of the invention and together with the description serve to explain the invention and are not to limit the invention.
Figure 1 is a schematic diagram of a system according to one or more embodiments of the invention,
in the figure: the spacing or dimensions between each other are exaggerated to show the location of the various parts, and the illustration is for illustrative purposes only.
Detailed Description
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an", and/or "the" are intended to include the plural forms as well, unless the invention expressly state otherwise, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof;
for convenience of description, the words "up" and "down" when used herein are intended to refer only to the directions of up, down, left and right in the drawings themselves, and are not intended to limit the structure, but merely to facilitate description of the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the invention.
Term interpretation means: the terms "mounting," "connecting," "fixing," and the like in the present invention are to be understood in a broad sense, and for example, the terms "mounting," "connecting," "fixing," and the like may be fixed, detachable, or integrated; the two components can be connected mechanically or electrically, directly or indirectly through an intermediate medium, or connected internally or in an interaction relationship, and the terms used in the present invention should be understood as having specific meanings to those skilled in the art.
The invention provides an exhaust muffler for a non-road mobile machine, aiming at the defects of the prior art and enabling the muffler to be used on the non-road mobile machine and simultaneously having the function of treating the combustion exhaust of an engine.
Example 1
In a typical embodiment of the present invention, as shown in fig. 1, the embodiment discloses a test evaluation system for quantifying the overall stability of an excavator, which includes 3 IMU inertial navigation sensors respectively distributed on an excavator platform, an excavator movable arm and an excavator arm, and configured to acquire a current working attitude of the excavator; in the present embodiment, these are referred to as a first sensor, a second sensor, and a third sensor, respectively.
When the current working posture of the excavator is collected, an acceleration sensor in the IMU can collect acceleration signals, namely vibration information, of each part of the excavator;
the gyroscopes in the IMU detect angular velocity signals, i.e. angle signals, of the excavator relative to the navigation coordinate system.
The system in the embodiment further comprises a control part, wherein the control part is composed of an MCU (single chip microcomputer) of the vehicle control unit, the input end of the MCU is respectively connected with the output end of the IMU inertial navigation sensor, and the MCU mainly plays a role in processing relevant attitude signals acquired by the IMU.
The system in the embodiment further comprises a display return component, wherein the display return component adopts a display, the communication between the display and the MCU is realized through the CAN according to a certain protocol, and the current posture information of the whole vehicle is displayed on the display, so that the function of early warning is achieved.
The system in the embodiment further comprises a vehicle-mounted intelligent terminal TBOX, wherein the TBOX can transmit data to the information platform and the client mobile phone; for example, when the excavator operates the excavating function in an environment with relatively severe working conditions, whether the "upfront" of the buttocks of the excavator or how large the motions of the movable arm and the bucket rod should meet during current excavating can be determined by the method, and then the excavator can be operated on a stable basis, so that the working efficiency of the excavator can be improved.
Therefore, in summary, the system in this embodiment includes, as the measuring components, the first to third sensors, and the first sensor, the second sensor and the third sensor are distributed on the platform of the excavator, the boom of the excavator and the arm of the excavator, and are configured to detect the pose information of the corresponding excavator component; the measuring part can be controlled by a vehicle control unit (MCU) of the whole excavator, and the vehicle control unit (MCU) is used as a control part of the system and is also respectively communicated with the display return part and the vehicle-mounted intelligent terminal TBOX.
In the system described in this embodiment, the IMU inertial navigation sensor used for the first sensor, the second sensor and the third sensor is specifically configured to include a metal case for packaging, an accelerometer including three single axes and a gyro including three single axes are disposed in the metal case, the accelerometer detects acceleration signals of the object in three independent axes of a carrier coordinate system, and the gyro detects angular velocity signals of the carrier relative to a navigation coordinate system, measures angular velocity and acceleration of the object in a three-dimensional space, and calculates the posture of the object based on the angular velocity and acceleration signals.
It can be understood that the accelerometers of the three single shafts are vertically arranged for two measurement axes, and similarly, the gyros of the three single shafts are also vertically arranged for two measurement axes.
The IMU is an abbreviation of the english Inertial measurement unit, and means an Inertial measurement unit.
In the system shown in this embodiment, the MCU of the vehicle controller is a single chip microcomputer, and the vehicle controller, in addition to the MCU, further includes a CAN communication module, a BDM debugging module, a serial communication module, a power supply and a protection circuit module, and the MCU in this embodiment may be MCgS12 developed by Motorola corporation specially for automobile electronics, which has the characteristics of fast operation speed and rich internal resources and interfaces, and is suitable for implementing complex control strategies and algorithms of the entire vehicle; the CAN communication module conforms to the CAN2.0B technical specification, is electrically connected with the MCU to realize communication, and adopts a plurality of anti-interference designs such as photoelectric isolation, power isolation and the like; the BDM debugging module is used for debugging and modifying the control program in real time and is electrically connected with the MCU to realize communication; the serial communication module is used for diagnosing and calibrating the control system and is electrically connected with the MCU to realize communication; the power module is directly electrically connected with the MCU, ensures that the controller normally works under the condition of power supply of the vehicle-mounted 12V system, and adopts a redundant design of secondary filtering. And has short circuit protection function.
In the system described in this embodiment, the vehicle-mounted intelligent terminal TBOX is used as a module for external networking communication, and is used for remote monitoring and debugging the vehicle state; the technical personnel in the field should know that TBOX CAN connect vehicle control unit through CAN bus, it not only CAN gather the vehicle state information that MCU handled, CAN also gather the positional information of vehicle, gesture information etc. and the information that it gathered CAN be through GPRS \3G \4G \5G etc. wireless communication mode with information transfer to TSP information ization platform on, through TSP information ization platform, the user CAN use cell-phone APP and Web client to issue the instruction to TBOX terminal through the TSP platform, control operation to the vehicle.
Example 2
In a typical implementation manner of the present invention, embodiment 2 discloses a method for testing by using the system described in embodiment 1, and the method for testing and evaluating the overall stability of an excavator disclosed in this embodiment judges the pose states of an excavator platform, an excavator movable arm and an excavator arm of the excavator through the attitude information returned by the first sensor, the second sensor and the third sensor, and further judges the current stability of the excavator.
More specifically, the present embodiment includes the following steps:
1) using the first sensor, the second sensor and the third sensor to continuously collect pose information data for measuring the following points: at a first point, the position and attitude data of the excavator platform measured by the first sensor comprises an acceleration signal a1 and an angular velocity signal omega 1 of the excavator platform; a second point, measuring an acceleration signal a2 and an angular speed signal omega 2 of the movable arm of the excavator by using a second sensor; thirdly, measuring an acceleration signal a3 and an angular speed signal omega 3 of the bucket rod of the excavator by using a third sensor;
2) transmitting the data to the MCU according to a time sequence;
3) evaluating the stability of each measuring point, calculating the mean value of each point posture by using the data a 1-a 3 and the data omega 1-omega 3 to evaluate the stability of each point posture, and displaying the evaluation result through a display return component;
when the attitude of each measuring point is calculated, the mean value of the acceleration of the current time t and the acceleration of the next time t +1 is calculated, the mean value is taken as the average acceleration in delta t time, and the speed and the position of the time t +1 are calculated according to the average acceleration, the initial speed and the initial position of the current time; calculating the average value of the angular velocities of the current time t and the next time t +1, taking the average value as the average angular velocity in delta t time, and calculating the attitude of the time t +1 approximately according to the average angular velocity and the attitude of the current time;
it should be noted that the coordinate system, the deviation and the gravity acceleration of the IMU data are problems, which require additional processing.
Specifically, the method comprises the following steps:
3.1) the acceleration data due to IMU at time t is expressed as a in Body coordinate systemt，bFormally, so it is converted to the world coordinate system by the attitude at the corresponding time, i.e. a at time tt，wA at time t +1t+1，wBefore conversion, the deviation B is subtractedaAfter the conversion, the gravitational acceleration g (the gravitational acceleration in the world coordinate system is constantly equal to 9.8) is subtracted, that is,
at，w＝Qt(at，b-Ba)-g：
at+1，w＝Qt+1(at+1，b-Ba)-g；
in the formula, QtIs the attitude at time t;
3.2) formula (II) wherein Qt+1Is thatt+1The attitude at the moment needs to be approximated by the data of angular velocity:
Qt+1＝Qt(ω′tΔt)
3.3) Using the acceleration at time t, t +1, the velocity V and position P at time t +1 can be determined:
Vt+1＝Vt+a′t，wΔt
3.4) calculating the mean value of the position P to reflect the overall stability of the current measurement point.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. The test evaluation system for quantifying the whole vehicle stability of the excavator is characterized by comprising a first sensor, a second sensor and a third sensor which are used as measuring components, wherein the first sensor is distributed on an excavator platform, the second sensor is distributed on an excavator movable arm, the third sensor is distributed on an excavator bucket rod, and the first sensor, the second sensor and the third sensor are all configured to detect pose information of corresponding excavator components; the measuring part can be controlled by an MCU of a whole vehicle controller of the whole excavator, and the MCU of the whole vehicle controller is also communicated with the display return part and the vehicle-mounted intelligent terminal TBOX respectively.
2. The system for testing and evaluating the stability of the whole excavator according to claim 1, wherein the first sensor, the second sensor and the third sensor are all IMUs.
3. The system for testing and evaluating the stability of the entire quantized excavator according to claim 1, wherein the first sensor, the second sensor and the third sensor comprise an acceleration sensing module and an angular velocity sensing module, and the acceleration sensing module and the angular velocity sensing module are packaged in a shell.
4. The system for testing and evaluating the overall stability of the excavator according to claim 1, wherein the display feedback component is a display, and the display is connected with the MCU through the CAN.
5. The system for testing and evaluating the stability of the whole excavator according to claim 1, wherein the vehicle-mounted intelligent terminal TBOX CAN wirelessly communicate with the TSP information platform, and is connected with the MCU through the CAN to acquire vehicle state information.
6. The system for testing and evaluating the stability of the entire excavator of claim 5, wherein the TSP informatization platform is used as a transfer platform and can communicate with a user side, and the user side can issue an instruction to a vehicle-mounted intelligent terminal TBOX terminal through the TSP platform to control and operate the vehicle.
7. A test evaluation method for quantifying the stability of a whole excavator is characterized in that the attitude states of an excavator platform, an excavator movable arm and an excavator bucket rod of the excavator are judged through attitude information returned by a first sensor, a second sensor and a third sensor by using the test evaluation system for quantifying the stability of the whole excavator according to any one of claims 1 to 6, and then the current stability of the excavator is judged.
8. The method for testing and evaluating the stability of the whole excavator according to claim 7, characterized by comprising the following steps:
1) using the first sensor, the second sensor and the third sensor to continuously collect pose information data for measuring the following points: at a first point, the position and attitude data of the excavator platform measured by the first sensor comprises an acceleration signal a1 and an angular velocity signal omega 1 of the excavator platform; a second point, measuring an acceleration signal a2 and an angular speed signal omega 2 of the movable arm of the excavator by using a second sensor; thirdly, measuring an acceleration signal a3 and an angular speed signal omega 3 of the bucket rod of the excavator by using a third sensor;
2) transmitting the data to the MCU according to a time sequence;
3) and evaluating the stability of each measuring point, calculating the mean value of each point posture by using the data a 1-a 3 and the data omega 1-omega 3 to evaluate the stability of each point posture, and displaying the evaluation result through a display return component.
9. The method for testing and evaluating the stability of the whole excavator according to claim 8, wherein a coordinate system, deviation and gravitational acceleration are processed when the mean value of each point posture is calculated by using the data a 1-a 3 and the data omega 1-omega 3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010752293.4A CN111879525A (en) | 2020-07-30 | 2020-07-30 | Test evaluation system and method for quantifying overall stability of excavator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010752293.4A CN111879525A (en) | 2020-07-30 | 2020-07-30 | Test evaluation system and method for quantifying overall stability of excavator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111879525A true CN111879525A (en) | 2020-11-03 |
Family
ID=73205768
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010752293.4A Pending CN111879525A (en) | 2020-07-30 | 2020-07-30 | Test evaluation system and method for quantifying overall stability of excavator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111879525A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115059127A (en) * | 2022-07-25 | 2022-09-16 | 柳州柳工挖掘机有限公司 | Excavator stability evaluation system and method, controller and excavator |
| CN115059127B (en) * | 2022-07-25 | 2024-04-30 | 柳州柳工挖掘机有限公司 | Excavator stability evaluation system and method, controller and excavator |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105804148A (en) * | 2016-03-14 | 2016-07-27 | 柳州柳工挖掘机有限公司 | Control method for preventing tipping of excavator and excavator |
| CN109072588A (en) * | 2016-04-21 | 2018-12-21 | 住友建机株式会社 | The display device of excavator |
| CN110850746A (en) * | 2019-11-08 | 2020-02-28 | 雷沃工程机械集团有限公司 | Remote control system and method for excavator display |
| CN110954067A (en) * | 2019-12-28 | 2020-04-03 | 长安大学 | Monocular vision excavator pose measurement system and method based on target |
| US20200131737A1 (en) * | 2017-09-15 | 2020-04-30 | Hitachi Construction Machinery Co., Ltd. | Work machine |
| US20200199851A1 (en) * | 2017-09-07 | 2020-06-25 | Sumitomo Construction Machinery Co., Ltd. | Shovel |
-
2020
- 2020-07-30 CN CN202010752293.4A patent/CN111879525A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105804148A (en) * | 2016-03-14 | 2016-07-27 | 柳州柳工挖掘机有限公司 | Control method for preventing tipping of excavator and excavator |
| CN109072588A (en) * | 2016-04-21 | 2018-12-21 | 住友建机株式会社 | The display device of excavator |
| US20200199851A1 (en) * | 2017-09-07 | 2020-06-25 | Sumitomo Construction Machinery Co., Ltd. | Shovel |
| US20200131737A1 (en) * | 2017-09-15 | 2020-04-30 | Hitachi Construction Machinery Co., Ltd. | Work machine |
| CN110850746A (en) * | 2019-11-08 | 2020-02-28 | 雷沃工程机械集团有限公司 | Remote control system and method for excavator display |
| CN110954067A (en) * | 2019-12-28 | 2020-04-03 | 长安大学 | Monocular vision excavator pose measurement system and method based on target |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115059127A (en) * | 2022-07-25 | 2022-09-16 | 柳州柳工挖掘机有限公司 | Excavator stability evaluation system and method, controller and excavator |
| CN115059127B (en) * | 2022-07-25 | 2024-04-30 | 柳州柳工挖掘机有限公司 | Excavator stability evaluation system and method, controller and excavator |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101480904B (en) | Method for monitoring dynamic load of intelligent sensing wheel based on wheel load | |
| CN102923572B (en) | A kind of crane load space pivot angle detection technique and device | |
| CN101498621B (en) | Wheel-loaded intelligent sensing wheel movement attitude monitoring method | |
| CN103792896A (en) | Integrated heavy-machinery intelligent cantilever crane control system and control method | |
| WO2020233699A1 (en) | Apparatus and method used for monitoring internal motion state of road bridge tunnel | |
| CN206740146U (en) | A kind of electric bicycle alteration detecting device | |
| CN112567097A (en) | Method for determining an angle of a working device of a machine | |
| CN107187443B (en) | Vehicle instability early warning system and method | |
| CN111141286A (en) | Unmanned aerial vehicle flight control multi-sensor attitude confidence resolving method | |
| CN102353543B (en) | Testing method for monitoring automotive ABS (Antilock Braking System) performance based on hub type intelligent sensing self-adaptive variable-frequency sampling | |
| CN111879525A (en) | Test evaluation system and method for quantifying overall stability of excavator | |
| CN109655218A (en) | With the method and system of the whole star flexible vibration modal frequency of satellite gyroscope data identification | |
| CN112362050A (en) | Vehicle motion attitude representation method and system based on remote driving and storage medium | |
| CN111044290B (en) | Detection method and detection system of linear motor | |
| CN206096945U (en) | Flight measurement control module reaches unmanned vehicles who contains it | |
| CN111551374A (en) | Method for determining road spectrum of acceleration of center of mass of power assembly | |
| CN111397605A (en) | Real-time detection method for boom attitude of concrete pumping truck based on inertial sensor | |
| Visconti et al. | A ST X-Nucleo-based telemetry unit for detection and WiFi transmission of competition car sensors data: firmware development, sensors testing and real-time data analysis | |
| CN116793347A (en) | Unmanned mining vehicle posture early warning method and device | |
| CN107063294A (en) | A kind of motion state detection system of elevating fire truck arm support | |
| CN209940414U (en) | Weighing system for working bucket of overhead working truck | |
| CN115046578A (en) | Circuit structure integrating multiple sensing assemblies and terminal comprising circuit structure | |
| CN211642196U (en) | Train stationarity detecting system | |
| CN106595936A (en) | Three-dimensional combination force measuring device | |
| WO2021204574A1 (en) | Data processing apparatus and data processing method for foldable device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20201103 |