CN114659810A - Real-time turning radius testing device and testing method - Google Patents
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Abstract
The invention discloses a real-time turning radius testing device and a testing method, which comprise a real-time dynamic positioning module, a real-time data acquisition module, a data calculation module and a data display module, wherein the real-time dynamic positioning module is arranged at the center of a vehicle driving shaft and is used for acquiring real-time coordinate information and azimuth angle information in the vehicle driving process; the real-time data acquisition module is used for receiving and storing all information acquired by the real-time dynamic positioning module and transmitting the information to the data calculation module; a mathematical calculation model is preset in the data calculation module and used for calculating and comparing data, and real-time turning radius data information obtained through calculation is transmitted to the data display module; the test device is simple in structure, easy to install and use and capable of reducing the installation of various sensors, and the real-time dynamic positioning module is arranged at the center of the driving shaft, so that the turning information can be measured in real time, the real-time turning radius can be obtained, and the test device is not limited to the test of the minimum turning radius.
Description
Technical Field
The invention relates to the technical field of excavating machinery, in particular to a real-time turning radius testing device and a testing method.
Background
In the field of engineering machinery testing, with the continuous increase of road mileage of society, the demand of wheel type machinery is more vigorous, and related testing means and methods are also increasingly important. The method is characterized in that a very important module is turning performance, dynamic turning radius is important basic data for testing and calculating the turning performance, the dynamic turning radius is directly related to the acquisition and calculation of data such as the maximum turning performance, the turning stability, the curve path planning and the like of a vehicle, and the turning radius test is only limited to the test of the minimum turning radius at present, and the real-time turning radius measurement is not available.
In 2021, the chinese patent application (publication No. CN112284773A) discloses a system for measuring the minimum turning radius of an automobile, comprising: the system comprises a GPS signal receiving module, a real-time data transmission module, a GPS real-time data processing module and a reference station; the real-time data transmission module and the GPS real-time data processing module are installed on a tested vehicle, the GPS signal receiving module is installed at the middle position of a connecting line of two rear wheels of the tested vehicle, and the reference station is arranged at a position outside the tested vehicle; the GPS signal receiving module, the real-time data transmission module and the GPS real-time data processing module are in data transmission through cables, and the GPS signal receiving module and the reference station are in data transmission wirelessly. The measurement system positions a track circle of the vehicle after the vehicle runs for one circle through GPS coordinate information, and performs fitting calculation of the circle center through software to finally obtain the minimum turning radius of the vehicle.
The chinese patent application (publication No. CN112406885A) discloses a vehicle turning radius calculation method, a terminal device and a storage medium in 2021, in which a wheel speed sensor in a vehicle is used to collect the driving speed of each wheel in the driving process of the vehicle in real time; judging the turning direction according to the turning principle that the speed of the outer side wheel is greater than that of the inner side wheel; according to the left front wheel running speed and the right front wheel running speed, the left front wheel running arc length and the right front wheel running arc length in a single sampling time are calculated, a binary equation set is solved through a trigonometric function and a geometric position relation to obtain a group of left front wheel steering angle and right front wheel steering angle, multiple groups of collected data are subjected to ambiguity values elimination and then averaged to obtain the final reliable left front wheel steering angle and right front wheel steering angle, and finally the left front wheel turning radius and the right front wheel turning radius are calculated. Although the method can calculate the turning radius, a sensor needs to be installed on each wheel to measure the speed and the steering angle, on one hand, various sensors are installed and inconvenient to use, on the other hand, the method is easily influenced by wheel fluctuation, the error is large, the calculation process is relatively complex, and more parameters are adopted.
Disclosure of Invention
The invention aims to provide a real-time turning radius testing device and a real-time turning radius testing method, which can measure the turning radius in real time and are not limited to wheel type excavating machinery.
In order to achieve the purpose, the invention adopts the technical scheme that:
a real-time turning radius testing device comprises a real-time dynamic positioning module, a real-time data acquisition module, a data calculation module and a data display module,
the real-time dynamic positioning module is arranged at the center of a vehicle driving shaft and used for acquiring real-time coordinate information and azimuth angle information in the vehicle driving process;
the real-time data acquisition module is used for receiving and storing all information acquired by the real-time dynamic positioning module and transmitting the information to the data calculation module;
and a mathematical calculation model is preset in the data calculation module and used for calculating and comparing data, the calculated real-time turning radius data information is transmitted to the data display module, and the data display module displays the real-time turning radius data information and the azimuth angle threshold range.
The testing device is simple in structure and easy to install and use, the real-time dynamic positioning device only needs to be installed on the driving shaft before testing, installation of various sensors is reduced, the testing device is convenient to install, and the testing device can be taken down after testing is completed; the real-time dynamic positioning module is arranged at the center of the driving shaft, so that the turning information can be measured in real time, the real-time turning radius can be obtained, and the method is not limited to the test of the minimum turning radius.
Further, the vehicle drive shaft is a rear wheel drive shaft; the real-time data acquisition module, the data calculation module and the data display module are integrated in an upper computer, and the upper computer is arranged in a cab or on a mobile terminal.
Further, a test method of the real-time turning radius test device comprises the following steps:
(1) acquiring basic parameters of a detected vehicle, and respectively recording a vehicle wheel base L and an axle wheel center distance T into the data calculation module;
(2) the dynamic positioning module is arranged at the central point of a driving shaft of a tested vehicle, is communicated with the real-time data acquisition module, the data calculation module and the data display module, and is used for standby after debugging is finished;
(3) acquiring coordinate information and azimuth angle information of a vehicle to be tested, starting the vehicle to start testing, and acquiring real-time coordinate information x in the driving process of a central point of a vehicle driving shaft through the real-time dynamic positioning modulen、ynAnd azimuth information alphan(ii) a And the coordinate information x is real-time transmittedn、ynAnd azimuth information alphanTransmitting to the data calculation module;
(4) calculation of turning radius by said dataThe preset turning radius calculation model in the calculation module is used for calculating to obtain the turning radius R of the middle point of the vehicle driving shaftn；
(5) Conversion of minimum turning radius from R calculated in (4)nThe value is combined with a mathematical calculation model of the minimum turning radius of the vehicle preset in the data calculation module to calculate the minimum turning radius rnA value of (d);
(6) displaying real-time turning radius information, namely acquired coordinate information x, through the data display modulen、ynAnd azimuth information alphanAnd calculated RnValue of sum rnA value;
(7) and (4) judging the azimuth angle change range, performing the next turning radius test calculation when the real-time azimuth angle exceeds the threshold range, and repeating the steps (4), (5) and (6).
The test method can obtain the real-time turning radius data of a certain fixed point on the vehicle through the positioning coordinate data and the azimuth angle information of the vehicle, and can convert the real-time turning radius of any point on the vehicle according to the turning radius data of the fixed point. The dynamic turning performance test system can provide effective data support for dynamic turning performance test, reduces the limitation of test sites, and improves the flexibility of test.
After the test method is adopted, the vehicle does not need to run for a circle, the track circle of the vehicle rotating for a circle does not need to be obtained and fitted, and the requirements on a test device and a test field are lower and less limited.
Because the coordinate information and the azimuth angle information of the driving shaft central point measured in the test method are less influenced by the fluctuation of the wheels, compared with the measurement of the steering angle of the wheels, the method has higher precision and accuracy.
In addition, the coordinate information and the azimuth angle information of the designated point are acquired in real time, the flexibility and the real-time performance of data are good, and the instantaneous turning radius of the wheel can be acquired and calculated by the testing method.
From step (3) to step (7), the process of test is continuous and in turn cyclic, and the connectivity is very good, can continuously test the vehicle, and need not modify and adjust basic parameter and mounted position, and whole process can be carried out automatically in programmed logic, has promoted test effect and efficiency. The structure of the test can be finally displayed, so that the tester can visually know the structure, and the process data can be stored and recorded, thereby facilitating the subsequent research and analysis.
Further, the turning radius R of the midpoint of the vehicle drive shaftnThe calculation model of (a) is:
wherein x isn、ynAnd xm、ymN position coordinate and m position coordinate, alpha, measured in real time by the dynamic positioning module respectivelynAnd alphamThe n position and the m position are azimuth angle data measured by the dynamic positioning module in real time, wherein pi is 180 degrees, and if the angle difference between the two points is small, the data is a positive value. The turning radius is the diameter of a circle by judging the distance between two points through the azimuth angle, and taking one half of the diameter as the radius.
Further, the minimum turning radius r of the vehiclenThe calculation model of (a) is:
wherein the L value and the T value of each excavator are known fixed values.
Further, in the step of determining the azimuth angle variation range, the threshold value is set to αyIf the required precision is high, the angle theta is 5-20 degrees, namely if the real-time azimuth angle change value is larger than the angle theta, returning to the turning radius calculation step to perform the next turning radius test calculation, and if the real-time azimuth angle change value is smaller than or equal to the angle theta, continuing the turning radius test calculation, wherein the angle theta is the starting azimuth angle of the vehicle during the turning radius calculation, and the angle theta is the allowable range of the angle change.
Furthermore, the real-time dynamic positioning module is high-precision position data and azimuth data obtained by a satellite-based positioning system, and mainly comprises a GPS signal receiving module, a data transmission module, a data processing module and a reference station; the azimuth angle is a horizontal included angle between the north-pointing direction line of the central point of the driving shaft and the target direction line along the clockwise direction.
Compared with the prior art, the invention has the beneficial effects that: 1. the testing device is simple in structure and easy to install and use, the real-time dynamic positioning device only needs to be installed on the driving shaft before testing, installation of various sensors is reduced, the testing device is convenient to install, and the testing device can be taken down after testing is completed; the turning information can be measured and measured in real time to obtain the real-time turning radius, and the method is not limited to the test of the minimum turning radius; 2. the test method can obtain the real-time turning radius data of a certain fixed point on the vehicle through the positioning coordinate data and the azimuth angle information of the vehicle, and can convert the turning radius data of any point on the vehicle according to the turning radius data of the fixed point to obtain the real-time turning radius of any point on the vehicle, thereby providing effective data support for dynamic turning performance test, reducing the limit of a test site and improving the flexibility of the test; 3. after the test method is adopted, the vehicle does not need to run for a circle, a track circle of the vehicle rotating for a circle does not need to be obtained and fitted, and the requirements on a test device and a test field are low and limited; because the coordinate information and the azimuth angle information of the driving shaft central point measured in the test method are less influenced by the fluctuation of the wheels, compared with the measurement of the steering angle of the wheels, the method has higher precision and accuracy.
Drawings
FIG. 1 is a schematic diagram of a testing process of a real-time turning radius testing method according to the present invention;
FIG. 2 is a data transmission flow chart of a real-time turning radius testing apparatus according to the present invention;
FIG. 3 is a schematic view of a model for calculating the turning radius of the midpoint of the driving axle of the vehicle according to a real-time turning radius testing method of the present invention;
FIG. 4 is a schematic diagram illustrating minimum turning radius conversion in a real-time turning radius testing method according to the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "middle", "upper", "lower", "left", "right", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The first embodiment is as follows:
a real-time turning radius testing device is shown in a figure 2 and comprises a real-time dynamic positioning module, a real-time data acquisition module, a data calculation module and a data display module,
the real-time dynamic positioning module is arranged at the center of a vehicle driving shaft and used for acquiring real-time coordinate information and azimuth angle information in the vehicle driving process;
the real-time data acquisition module is used for receiving and storing all information acquired by the real-time dynamic positioning module and transmitting the information to the data calculation module;
and a mathematical calculation model is preset in the data calculation module and used for calculating and comparing data, the calculated real-time turning radius data information is transmitted to the data display module, and the data display module displays the real-time turning radius data information and the azimuth angle threshold range.
The testing device is simple in structure and easy to install and use, the real-time dynamic positioning device only needs to be installed on the driving shaft before testing, installation of various sensors is reduced, the testing device is convenient to install, and the testing device can be taken down after testing is completed; the real-time dynamic positioning module is arranged at the center of the driving shaft, so that the turning information can be measured in real time, the real-time turning radius can be obtained, and the method is not limited to the test of the minimum turning radius.
Further, the vehicle drive shaft is a rear wheel drive shaft; the real-time data acquisition module, the data calculation module and the data display module are integrated in an upper computer, and the upper computer is arranged in a cab or on a mobile terminal.
Example two:
the embodiment provides a testing method of a real-time turning radius testing device in the first embodiment, which is shown in fig. 1 to 2, and the testing method includes the following steps:
(1) acquiring basic parameters of a detected vehicle, and respectively recording a vehicle wheel base L and an axle wheel center distance T into the data calculation module;
(2) the dynamic positioning module is arranged at the central point of a driving shaft of a tested vehicle, is communicated with the real-time data acquisition module, the data calculation module and the data display module, and is used for standby after debugging is finished;
(3) acquiring coordinate information and azimuth angle information of a vehicle to be tested, starting the vehicle to start testing, and acquiring real-time coordinate information x in the driving process of a central point of a vehicle driving shaft through the real-time dynamic positioning modulen、ynAnd azimuth information alphan(ii) a And the coordinate information x is real-time transmittedn、ynAnd azimuth angle information alphanTransmitting to the data calculation module;
(4) calculating the turning radius, namely calculating through a preset turning radius calculation model in the data calculation module to obtain the turning radius R of the middle point of the driving shaft of the vehiclen；
(5) Conversion of minimum turning radius from R calculated in (4)nValue, combined with minimum vehicle rotation preset in said data calculation moduleA mathematical model for calculating the minimum turning radius rnA value of (d);
(6) displaying real-time turning radius information, namely acquired coordinate information x, through the data display modulen、ynAnd azimuth information alphanAnd calculated RnValue of sum rnA value;
(7) and (4) judging the azimuth angle change range, performing the next turning radius test calculation when the real-time azimuth angle exceeds the threshold range, and repeating the steps (4), (5) and (6).
The test method can obtain the real-time turning radius data of a certain fixed point on the vehicle through the positioning coordinate data and the azimuth angle information of the vehicle, and can convert the real-time turning radius of any point on the vehicle according to the turning radius data of the fixed point. The dynamic turning performance test system can provide effective data support for dynamic turning performance test, reduces the limitation of test sites, and improves the flexibility of test.
After the test method is adopted, the vehicle does not need to run for a circle, the track circle of the vehicle rotating for a circle does not need to be obtained and fitted, and the requirements on a test device and a test field are lower and less limited.
Because the coordinate information and the azimuth angle information of the driving shaft central point measured in the test method are less influenced by the fluctuation of the wheels, compared with the measurement of the steering angle of the wheels, the method has higher precision and accuracy.
In addition, the coordinate information and the azimuth angle information of the designated point are acquired in real time, the flexibility and the real-time performance of data are good, and the instantaneous turning radius of the wheel can be acquired and calculated by the testing method.
From step (3) to step (7), the process of test is continuous and in turn cyclic, and the connectivity is very good, can continuously test the vehicle, and need not modify and adjust basic parameter and mounted position, and whole process can be carried out automatically in programmed logic, has promoted test effect and efficiency. The structure of the test can be finally displayed, so that testers can visually know the structure, and process data can be stored and recorded, thereby facilitating subsequent research and analysis.
Further, in conjunction with the simplified geometric model shown in FIG. 3, the turning radius R of the vehicle drive axle midpoint can be derivednThe calculation model of (a) is:
wherein x isn、ynAnd xm、ymN position coordinate and m position coordinate, alpha, measured in real time by the dynamic positioning module respectivelynAnd alphamAnd pi is 180 degrees which are azimuth angle data of the n position and the m position measured by the dynamic positioning module in real time respectively, and if the angle difference between the two points is smaller, the data is a positive value. The turning radius is the diameter of a circle by judging the distance between two points through the azimuth angle, and taking one half of the diameter as the radius.
Turning radius RnThe specific derivation process of (2) is as follows:
in FIG. 3, the distances from the point O to the points N and M are both RnOM, the bisector of the vertex angle of the isosceles triangle OMN is vertical line segment NM, so α NOM αm-αnThereby being able to calculate
From the spatial coordinates, the value of the NM of the line segment can be calculated as
Then according to the trigonometric function relationship, can be calculated
Further, as shown in FIG. 4, the minimum turning radius r of the vehiclenThe calculation model of (a) is:
wherein the L value and the T value of each excavator are known fixed values.
Further, in the step of determining the azimuth angle variation range, the threshold value is set to αyIf the real-time azimuth angle change value is larger than theta, returning to the turning radius calculation step, and performing the next turning radius test calculation, and if the real-time azimuth angle change value is smaller than or equal to theta, continuing the turning radius test calculation.
Furthermore, the real-time dynamic positioning module is high-precision position data and azimuth data obtained by a satellite-based positioning system, and mainly comprises a GPS signal receiving module, a data transmission module, a data processing module and a reference station; the azimuth angle is a horizontal included angle between the north-pointing direction line of the central point of the driving shaft and the target direction line along the clockwise direction.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. A real-time turning radius testing device is characterized by comprising a real-time dynamic positioning module, a real-time data acquisition module, a data calculation module and a data display module,
the real-time dynamic positioning module is arranged at the center of a vehicle driving shaft and used for acquiring real-time coordinate information and azimuth angle information in the vehicle driving process;
the real-time data acquisition module is used for receiving and storing all information acquired by the real-time dynamic positioning module and transmitting the information to the data calculation module;
a mathematical calculation model is preset in the data calculation module and used for calculating and comparing data, and real-time turning radius data information obtained through calculation is transmitted to the data display module;
the data display module displays real-time turning radius data information and an azimuth angle threshold range.
2. The real-time turning radius testing apparatus of claim 1, wherein the vehicle drive axle is a rear wheel drive axle; the real-time data acquisition module, the data calculation module and the data display module are integrated in an upper computer, and the upper computer is arranged in a cab or on a mobile terminal.
3. A test method using the real-time turning radius test apparatus of claim 1, the test method comprising the steps of:
(1) basic parameters of a detected vehicle are obtained, and the vehicle wheel base L and the axle wheel center distance T are respectively recorded into the data calculation module;
(2) the dynamic positioning module is arranged at the central point of a driving shaft of a tested vehicle, is communicated with the real-time data acquisition module, the data calculation module and the data display module, and is used for standby after debugging is finished;
(3) acquiring coordinate information and azimuth angle information of a vehicle to be tested, starting the vehicle to start testing, and acquiring real-time coordinate information x in the driving process of a central point of a vehicle driving shaft through the real-time dynamic positioning modulen、ynAnd azimuth information alphan(ii) a And real-time integrating the coordinate information xn、ynAnd azimuth information alphanTransmitting to the data calculation module;
(4) calculating the turning radius, namely calculating through a preset turning radius calculation model in the data calculation module to obtain the turning radius R of the middle point of the driving shaft of the vehiclen；
(5) Conversion of minimum turning radius from R calculated in (4)nThe value is combined with a mathematical calculation model of the minimum turning radius of the vehicle preset in the data calculation module to calculate the minimum turning radius rnA value of (d);
(6) displaying real-time turning radius information, namely acquired coordinate information x, through the data display modulen、ynAnd azimuth information alphanAnd calculated RnValue of sum rnA value;
(7) and (4) judging the azimuth angle change range, performing the next turning radius test calculation when the real-time azimuth angle exceeds the threshold range, and repeating the steps (4), (5) and (6).
4. The method for testing a real-time turning radius test apparatus according to claim 3, wherein the turning radius R of the midpoint of the driving shaft of the vehiclenThe calculation model of (a) is:
wherein x isn、ynAnd xm、ymN position coordinate and m position coordinate, alpha, measured in real time by the dynamic positioning module respectivelynAnd alphamThe azimuth angle data of the n position and the m position measured by the dynamic positioning module in real time are respectively.
5. The method for testing a real-time turning radius test device according to claim 3, wherein the minimum turning radius r of the vehiclenThe calculation model of (a) is:
wherein the L value and the T value of each excavator are known fixed values.
6. The method for testing a real-time turning radius test apparatus according to claim 3, wherein the threshold value is set to α in the step of determining the azimuth angle variation rangeyIf the real-time azimuth angle variation value is larger than theta, returning to the turning radius calculation step to perform the next turning radius test calculation, if the real-time azimuth angle variation value is smaller than or equal to theta, continuing the turning radius test calculation,wherein alpha is the initial azimuth angle of the vehicle during the turning radius calculation, and theta is the allowable range of the angle change.
7. The method for testing a real-time turning radius testing device according to claim 3, wherein the real-time dynamic positioning module is high-precision position data and azimuth data obtained by a satellite-based positioning system, and mainly comprises a GPS signal receiving module, a data transmission module, a data processing module and a reference station; the azimuth angle is a horizontal included angle between the north-pointing direction line of the central point of the driving shaft and the target direction line along the clockwise direction.
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