CN202255764U - Device for measuring height of gravity center of tracked vehicle - Google Patents
Device for measuring height of gravity center of tracked vehicle Download PDFInfo
- Publication number
- CN202255764U CN202255764U CN2011203258252U CN201120325825U CN202255764U CN 202255764 U CN202255764 U CN 202255764U CN 2011203258252 U CN2011203258252 U CN 2011203258252U CN 201120325825 U CN201120325825 U CN 201120325825U CN 202255764 U CN202255764 U CN 202255764U
- Authority
- CN
- China
- Prior art keywords
- image
- endless
- domatic
- track vehicle
- determinator
- 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.)
- Expired - Fee Related
Links
- 230000005484 gravity Effects 0.000 title description 36
- 238000000034 method Methods 0.000 abstract description 82
- 238000005259 measurement Methods 0.000 abstract description 10
- 238000012545 processing Methods 0.000 abstract description 10
- 238000004891 communication Methods 0.000 abstract 1
- 230000008569 process Effects 0.000 description 37
- 238000010586 diagram Methods 0.000 description 12
- 238000003556 assay Methods 0.000 description 9
- 230000008859 change Effects 0.000 description 8
- 239000000725 suspension Substances 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 238000002474 experimental method Methods 0.000 description 3
- 230000035772 mutation Effects 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000000284 extract Substances 0.000 description 2
- 239000004744 fabric Substances 0.000 description 2
- 230000014759 maintenance of location Effects 0.000 description 2
- 238000003672 processing method Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Images
Landscapes
- Length Measuring Devices By Optical Means (AREA)
Abstract
The utility model discloses a survey device for survey tracked vehicle focus height, a serial communication port, the device includes: a slope surface (2) having an inflection point protruding outward; and the image shooting device (1), the image shooting device (1) is arranged on one side of the slope surface (2). Through the technical scheme, the utility model discloses a survey device utilizes image processing's method and simple physical principle, through shooting the image and carrying out corresponding processing to the image, with two through the central perpendicular line of tracked vehicle map to same image on, the nodical focus promptly of two perpendicular lines, survey device and easy operation's survey method through simple structure realizes the non-contact measurement, has not only improved the operating efficiency, has improved the precision moreover greatly.
Description
Technical field
The utility model relates to the determinator of vehicle's center of gravity height, particularly, relates to a kind of determinator of endless-track vehicle height of C.G..
Background technology
The vehicle's center of gravity position is the important indicator that influences vehicle handling stability, ride comfort and security.Usually, vehicle's center of gravity is high more, and roll stability and control stability are poor more.Therefore, the mensuration of vehicle's center of gravity height is extremely important for the driving safety of vehicle.
At present, the method that is used for measuring the height of C.G. of vehicle mainly contains weight method, suspension method, physical pendulum method peace platform weight method etc.Said method is an approach well known, for for simplicity, the applied device of said method do not given unnecessary details here, and be that example describes in detail only with the most frequently used suspension method and the employed device of ground reaction force method.Be that example is introduced classic method with the endless-track vehicle among Fig. 1 and Fig. 2, but this method is not limited in endless-track vehicle, all is suitable for for various vehicles such as wheeled vehicles.
Introduce its applied device through introduction below to the operating process of suspension method and ground reaction force method, as depicted in figs. 1 and 2, at first attach dress rigidity marking-off plate in a side of vehicle; Utilize weighbridge to measure the mass M of vehicle then; First end of endless-track vehicle is placed on the weighbridge, and second end is sling with hoist cable, and this hoist cable is perpendicular to surface level, and the both sides crawler belt of vehicle earth terminal or the earth point of wheel are all on BB ' line; Measure the reacting force R of earth point on weighbridge this moment; Measure the horizontal range d between hoist cable and the endless-track vehicle earth point; Promptly calculate the horizontal range C=Rd/M between hoist cable and the endless-track vehicle center of gravity through the moment formula; On the marking-off plate that is fixed in vehicle one side, mark the C vertical curve l that is with the hoist cable horizontal range
1, this vertical curve l
1Be straight line through vehicle's center of gravity; Second end with endless-track vehicle is placed on the weighbridge again, and first end is sling with hoist cable, and this hoist cable is perpendicular to surface level, and the both sides crawler belt of vehicle earth terminal or the earth point of wheel are all on BB ' line; Measure the reacting force R ' of earth point on weighbridge this moment; Measure the horizontal range d ' between hoist cable and the endless-track vehicle earth point; Promptly calculate horizontal range C '=R ' the d '/M between hoist cable and the endless-track vehicle center of gravity through the moment formula; On the marking-off plate that is fixed in vehicle one side, mark C ' the vertical curve l that is with the hoist cable horizontal range
2, this vertical curve l
2Be another straight line through vehicle's center of gravity; Above-mentioned two vertical curve l
1And l
2Intersection point be vehicle's center of gravity, the height of when the vehicle body of vehicle is positioned at ground, measuring centroidal distance ground is the height of C.G. h of vehicle.
Need to prove that above-mentioned marking-off plate should be enough big, thereby make two vertical curve l
1And l
2Can on this marking-off plate, prolong and intersect at a point.
In addition, thereby can on weighbridge, settle the angle bar limiting vehicle earth point in when suspension, and prevent that one end of vehicle ground connection slides, and causes measuring the result and error occurs when suspension.
There are a lot of problems in the height that utilizes said method to measure vehicle's center of gravity:
At first, the said determination method has certain danger.Because the said determination process need is sling an end of vehicle with hoist cable, therefore cause the vehicle lateral tilt easily.
Secondly, the determination efficiency of said method is low.The equipment that needs in the mensuration process is more, and process is complicated, and comprising main equipments such as weighbridge and cranes, it is long to measure process duration.
In addition, the most important thing is, measure result's the difficult control of precision.Because hoist cable must be perpendicular to surface level in the mensuration process, the wheel of vehicle both sides or the earth point of crawler belt be (like the BB ' line among the figure) point-blank, so need debugging repeatedly, is difficult to satisfy accuracy requirement.And two vertical curve l of definite center of gravity
1And l
2All be artificial the drafting, therefore have human error.Above-mentioned these errors all will directly influence measurement result.
And; Be not only the applied device of assay method of above detailed introduction; Various determinator of the prior art is applicable to the vehicle of lighter weight mostly; And the weight of endless-track vehicle is more than the wheeled vehicle recuperation usually, therefore, and the method for the height of the mensuration vehicle's center of gravity that some is traditional even can't use.And though utilize assay method mentioned above can measure the height of C.G. of endless-track vehicle, its existing problems can be more outstanding.
The utility model content
The utility model provides a kind of determinator that is used to measure the endless-track vehicle height of C.G., and this determinator can comparatively accurately be realized the measurement of endless-track vehicle height of C.G. through simple structure.
Preferably, said device comprises:
Domatic, this is domatic to have outwards outstanding flex point; With
Image capturing device, this image capturing device are arranged on a said domatic side.
Preferably, said domatic comprise with horizontal plane angle be θ
1First plane and with horizontal plane angle be θ
2Second plane, said first plane and second Plane intersects be in flex point, wherein, θ
1＜45 °, θ
2＜45 °.
Preferably, said domatic comprise with horizontal plane angle be θ
1First plane and second plane parallel with surface level, said first plane and second Plane intersects be in flex point, wherein, θ
1＜45 °.
Preferably, said determinator also is included in a said domatic side object of reference is set.
Preferably, said determinator also is included in the marking-off plate that a said domatic side attaches dress, and said object of reference is marked on the said marking-off plate.
Preferably, said image capturing device is video camera or camera.
Preferably, said determinator also comprises obliquity sensor and the controller that is attached on the said endless-track vehicle, and this obliquity sensor is connected with this controller, and said controller is controlled the time that said image capturing device begins to take.
Preferably, said determinator also comprises obliquity sensor and the pen recorder that is attached on the said endless-track vehicle, and this obliquity sensor is connected with this pen recorder, and said pen recorder and said image capturing device start simultaneously.
Preferably, said determinator also comprises controller and the pressure transducer that is arranged on said flex point place said domatic, and this pressure transducer is connected with controller, and this controller is controlled the time that said image capturing device begins to take.
Preferably, said determinator also parade one's wealth pen recorder and the pressure transducer that is arranged on said flex point place said domatic, this pressure transducer is connected with pen recorder, and this pen recorder and said image capturing device start simultaneously.
Preferably, said determinator also comprises computing machine, and said image capturing device is connected with this computing machine.
Pass through technique scheme; The determinator of the utility model utilizes image process method and simple physics principle, carries out handled through photographic images and to image, and two vertical lines of crossing the endless-track vehicle center of gravity are mapped on the same image; Article two, the intersection point of vertical line is center of gravity; Realize non-contact measurement through determinator simple in structure and assay method simple to operate, not only improved operating efficiency, and improved precision greatly.
Other feature and advantage of the utility model will partly specify in embodiment subsequently.
Description of drawings
Accompanying drawing is the further understanding that is used to provide the utility model, and constitutes the part of instructions, is used to explain the utility model with following embodiment, but does not constitute the restriction to the utility model.In the accompanying drawings:
Fig. 1 is the synoptic diagram of the measurement endless-track vehicle height of C.G. method of prior art;
Fig. 2 is the vertical view according to the described measurement endless-track vehicle of Fig. 1 height of C.G. method;
Fig. 3 is the synoptic diagram that once goes on domatic according to the endless-track vehicle of the preferred implementation of the utility model;
Fig. 4 is the synoptic diagram that goes that another time on domatic gone according to the endless-track vehicle of the preferred implementation of the utility model;
Fig. 5 is the synoptic diagram according to second image of the preferred implementation of the utility model, and wherein second plane is not parallel to surface level;
Fig. 6 is the synoptic diagram according to first image of the preferred implementation of the utility model, and wherein second plane parallel is in surface level;
Fig. 7 is the synoptic diagram according to the preferred implementation of the utility model.
Description of reference numerals
1 image capturing device 2 is domatic
22 second planes, 21 first planes
3 marking-off plate l
1First vertical line
l
2The second vertical line l
3The 3rd straight line
C original point C ' respective point
A flex point O
1First target spot
O
2The second target spot r reference distance
θ
1First plane and horizontal plane angle θ
2Second plane and horizontal plane angle
Embodiment
Be elaborated below in conjunction with the embodiment of accompanying drawing to the utility model.Should be understood that embodiment described herein only is used for explanation and explains the utility model, is not limited to the utility model.
In the accompanying drawing of the utility model, the direction shown in the arrow is the travel direction of endless-track vehicle.
In the utility model; In order to describe with the succinct language of trying one's best; Be convenient to those skilled in the art's understanding simultaneously; Therefore need carry out brief description to some terms among this paper, but explanation here and explanation and this term this compare in common implication in the art and can't produce contradiction and ambiguity.Domatic " flex point " in this article refers to the limit of two Plane intersects, because the technical scheme of the utility model is that image is handled, therefore " flex point " promptly refers to be simplified to a bit on this limit from the captured image of a domatic side; " upset " refers to that the center of gravity of endless-track vehicle moves to another face from a domatic face; The crawler belt of endless-track vehicle is from touching the process that contacts with another face with a face; Just the center of gravity of endless-track vehicle is crossed " flex point ", and " upset constantly " refers to that promptly the center of gravity of endless-track vehicle crosses the moment of " flex point ".
Before the technical scheme to the utility model describes in detail, at first introduce the physics principle of the utility model institute foundation.Can know according to static principle; When endless-track vehicle along domatic 2 when going, the size and Orientation of the acting force of domatic 2 pairs of endless-track vehicles (comprising perpendicular to the anchorage force of domatic 2 pressure with along domatic 2 friction force) is opposite with the gravity direction of endless-track vehicle, thereby makes the endless-track vehicle stress balance; That is to say that domatic 2 acting force should be on the vertical straight line of crossing domatic 2 pairs of endless-track vehicle strong points; When the crawler belt of endless-track vehicle contacted with a face, the part of contact all produced endless-track vehicle and supports, and does not therefore have unique strong point; In any case but the action direction of this acting force all should be crossed the center of gravity of endless-track vehicle.When we know that object only receives the effect of gravity and acting force and is in equilibrium state; If know the position of center of gravity; We just can know the action direction and the size of acting force; Reverse just this principle of application of the utility model, when object only receives the effect of gravity and acting force and is in equilibrium state, and acting force application point and action direction are known; Center of gravity just should so only need find two vertical straight lines of crossing the strong point that meet above-mentioned condition just can confirm centre of gravity place through their intersection point on the vertical straight line of crossing this strong point so.
For the ease of understanding the determinator of the utility model, at first the assay method of the utility model is introduced.
The utility model provides a kind of assay method of height of C.G. of endless-track vehicle, and wherein, said assay method may further comprise the steps:
(a) side at endless-track vehicle is provided with image capturing device 1;
(b) have outwards outstanding flex point A domatic 2 on; Said endless-track vehicle is at said domatic 2 upper edge straight-line travellings; In said endless-track vehicle driving process, upset first image and second image constantly when utilizing said image capturing device 1 to obtain twice of said endless-track vehicle through said flex point A;
(c) the first vertical line l of the said flex point A of selection process in said first image
1, in said second image, select the second vertical line l through said flex point A
2
(d) comparison first image and second image obtain the first vertical line l
1With the second vertical line l
2Intersection point G;
(e), calculate the height of C.G. of said endless-track vehicle by said intersection point G according to image and proportionate relationship in kind.
Like Fig. 3 and shown in Figure 4; The method of utilizing image process method to measure the endless-track vehicle height of C.G. has more than been described; This method is utilized Flame Image Process and above-mentioned physical principle, catches two width of cloth images of endless-track vehicle when crossing flex point A for twice at first respectively, two vertical lines of crossing the endless-track vehicle centers of gravity is mapped on the same image again; Article two, the intersection point of vertical line is the position at center of gravity place in the image, only need utilize the relation between picture size and the physical size can obtain actual height of C.G..Said determination device simple in structure, the operating process of assay method is simple, has not only reduced the complicacy of determinator and assay method, and has improved precision greatly.
Preferably; In step (b); In said endless-track vehicle driving process; Utilize the process of the said flex point A of the said endless-track vehicle process of said image capturing device 1 shooting and obtain set of diagrams picture or continuous image, said first image and second image are selected from said set of diagrams picture or continuous image.
Because endless-track vehicle goes on domatic 2 and is and be a dynamic process in flex point A upset, therefore can't directly photograph upset flashy image constantly.More than said set of diagrams to look like be exactly one group of continuous images that the burst mode of for example camera is taken down; The set of diagrams picture of perhaps pressing shutter continuously and taking by photographer oneself; Continuous image then is one section video image of shot by camera, therefrom selects the picture of upset frame constantly.
Preferably, said upset comprises the zero hour of said endless-track vehicle switching process constantly.
When endless-track vehicle when flex point A rotates; Seem to have only flex point A to support endless-track vehicle, but center of gravity is not on the vertical straight line of crossing flex point A at this moment, this situation belongs to the research category of sport dynamics; And not meeting above-mentioned physical principle, we here do not discuss.And before the endless-track vehicle upset, though by domatic 2 supports, can't find unique strong point, in the process that endless-track vehicle begins turning, center of gravity is not again on the vertical straight line of crossing the strong point.When endless-track vehicle just begins turning, have only the strong point of flex point A, and endless-track vehicle do not begin also to rotatablely move as domatic 2 pairs of endless-track vehicles, this moment, center of gravity also on the vertical straight line of crossing the strong point, conformed to the condition of above-mentioned physical principle; Thereby cross the moment that flex point A finishes upset at endless-track vehicle, this moment, the bottom surface part of crossing flex point A of object all was pressed on another plane, and therefore this moment, endless-track vehicle was not to be supported by a strong point.Therefore, the upset of indication comprises the zero hour of switching process constantly in the technical scheme of the utility model, like Fig. 5 and shown in Figure 6.
Preferably, in said first image, select the 3rd straight line l
3, the 3rd straight line l
3And the second vertical line l in relation of the position between the said endless-track vehicle and said second image
2Identical with the relation of the position between the said endless-track vehicle, said the 3rd straight line l
3With the first vertical line l in said first image
1Intersect and obtain said intersection point G.
As shown in Figure 7, an emphasis of the technical scheme of the utility model is exactly that straight line with the mistake center of gravity in two images projects in the same image accordingly, thereby finds the intersection point of two straight lines, is center of gravity G.In this preferred implementation, in first image, do and the second vertical line l
2Corresponding the 3rd straight line l
3, the 3rd straight line l
3With the first vertical line l
1The point that intersects is center of gravity G.
Preferably, said domatic 2 comprise with horizontal plane angle be θ
1 First plane 21 and with horizontal plane angle be θ
2 Second plane 22, said first plane 21 and second plane 22 intersect at flex point A,
Wherein, θ
1＜45 °, θ
2＜45 °.
In addition, preferably, said domatic 2 comprise with horizontal plane angle be θ
1 First plane 21 and second plane 22 parallel with surface level, said first plane 21 and second plane 22 intersect at flex point A,
Wherein, θ
1＜45 °.
As shown in Figure 5, have flex point A in order to make measuring domatic 2, the preferred implementation of the utility model forms domatic 2 through two intersecting planes, thereby makes domatic 2 to have flex point A.In theory, the angle between two planes is more little, and measuring accuracy is high more, if but the gradient on plane is excessive goes on domatic for endless-track vehicle to bring difficulty, and therefore the angle of two planes and surface level is preferably all less than 45 °.And more preferably plane as shown in Figure 6 is set to horizontal by certain angle, and another plane is parallel with surface level, and the angle value that relates to like this is less, calculating of angle etc. during more convenient Flame Image Process.
But; According to the principle of measuring, endless-track vehicle is when crossing flex point A, and the angle that intersects between two planes that form flex point A is more little; The result who measures in theory will be accurate more; But first plane 21 and/or angle of inclination with respect to the horizontal plane, second plane 22 will increase the climbing difficulty of endless-track vehicle more greatly, and two planes cross the violent rotary movement that conference causes endless-track vehicle at the angle at flex point A place, too acutely influence the precision of measurement result probably owing to rotary movement.Therefore need reasonably select the angle of inclination on first plane 21 and/or second plane 22.In the preferred implementation of the utility model, said first plane 21 is 15 ° with horizontal plane angle, and said second plane 22 is parallel with surface level.
Preferably, in step (b), the travel speed V=1-15m/s of said endless-track vehicle.According to the technical scheme of the utility model, the travel speed of endless-track vehicle low accuracy more is high more, the low speed driving shooting of consecutive image or continuous image of not only being more convenient for, and can find the upset strong point on the endless-track vehicle more accurately.
Preferably, in step (b), the speed of at every turn going of said endless-track vehicle equates.This is that the value of the final like this height of C.G. that measures is more accurate for two width of cloth image conditions that the upset of going for twice at endless-track vehicle is respectively taken constantly are identical.
Preferably, in step (d), the second vertical line l of elder generation in said second image
2On get original point C, in said first image, find and the corresponding respective point C ' in the position of said original point C again, cross this respective point C ' and do and the said second vertical line l
2Corresponding said the 3rd straight line l
3
To those skilled in the art; Straight line on two images projected on the same image accordingly has several different methods; For example on two images, make two straight lines respectively; And then with the endless-track vehicle be benchmark with two doublings of the image, be about to up and down the object alignment in two images, directly find intersection point or straight line be drawn in the intersection point that finds two straight lines on another image accordingly.A preferred implementation of the utility model technical scheme is provided here, to shown in Figure 7, at first finds the second vertical line l like Fig. 5
2Original point C in second image finds in first image and the corresponding respective point C ' in original point C position, again according to the second vertical line l
2The 3rd straight line l is confirmed at inclination angle in second image
3Inclination angle in first image utilizes this respective point C ' and inclination angle can make and the second vertical line l
2Corresponding the 3rd straight line l
2
Is θ for first plane 21 with horizontal plane angle
1With second plane 22 be θ with horizontal plane angle
2Preferred implementation; When the triangle in first plane 21 and second plane 22 and surface level formation; Flex point A is during as a leg-of-mutton summit; Promptly the slope of first plane 21 and place, second plane 22 straight lines is positive and negative when opposite, through the method for geometric construction in first image, make with second image in the second vertical line l
2The 3rd straight line l accordingly
3, can know the 3rd straight line l
3With the vertical direction angle be θ
1+ θ
2When first plane 21 and second plane 22 can not constitute triangle with surface level, it is positive and negative when identical that promptly first plane 21 and second plane 22 belong to the slope of straight lines, through the method for geometric construction in first image, make with second image in the second vertical line l
2The 3rd straight line l accordingly
3, can know the 3rd straight line l
3With the vertical direction angle do | θ
1-θ
2|.
Preferably, the second vertical line l in said second image
2On original point C be the flex point A of domatic 2 in said second image.
Like Fig. 5 to shown in Figure 7, for the second vertical line l
2Project on first image, at first need select the second vertical line l
2On original point C, the selection of this original point C should be convenient to identification.Usually, select the endless-track vehicle and the second vertical line l
2Common point the most suitable because the object of reference on the endless-track vehicle is more, be convenient in first image, find respective point C ', with the second vertical line l
2The projection rule that projects on first image is benchmark with the endless-track vehicle, that is to say that the endless-track vehicle that makes in first image and second image overlaps, thereby in first image, finds and the second vertical line l
2Corresponding the 3rd straight line l
3Here said original point C is the domatic flex point in second image, in fact be meant since endless-track vehicle on domatic and with domatic tight the contact, therefore can flex point A be regarded as the point that closely contacts with flex point A on the endless-track vehicle.Need to prove that under the image projection rule of the utility model technical scheme, any suitable point can be chosen as original point C, the utility model does not limit this.
Need to prove, preceding text in the utility model technical scheme from the second vertical line l
2To the 3rd straight line l
3Projection rule introduce, thereby and realize that above-mentioned projection rule is with the second vertical line l
2With the first vertical line l
1The mode the most simply that projects on first image is exactly with two doublings of the image, makes two endless-track vehicle alignment on the image.The use of this method is not limited only to first image and second image print on the paper or on other materials that are fit to and directly compare through manual work; Can also in computing machine, handle; For example two images are placed on two respectively and scheme to compare in the layer, degree of accuracy is higher.
Preferably, in step (d), at first obtain the said first vertical line l
1With the 3rd straight line l
3Equation, comprising:
In said first image, detect said domatic 2 with the coordinate of the edge contour point of the crawler belt of endless-track vehicle;
Carry out match to said domatic 2 with the edge contour point of the crawler belt of endless-track vehicle, obtain said domatic 2 with the curvilinear equation of crawler belt, and simultaneous obtain said domatic 2 with the intersection point A of crawler belt be the coordinate of flex point;
Measure the coordinate of respective point C ';
Obtained the vertical said first vertical line l of said intersection point A
1Equation and cross the 3rd straight line l of said respective point C '
3
Except the method for passing through image is directly contrasted that preceding text are introduced, the utility model also provides other a kind of the 3rd straight line l that on first image, obtains
3Method, in image, set up coordinate system, utilize curve fitting to obtain the coordinate and the first vertical line l with corresponding some C ' of original point C
1Equation, and then utilize C ' point coordinate and the 3rd straight line l
3Obtain the 3rd straight line l with the angle of surface level
3Equation.Like this, utilize the first vertical line l
1Equation and the 3rd straight line l
3Equation just can obtain intersection point, i.e. the coordinate of center of gravity G.
The operation of said method is carried out usually on computers, can improve the speed of processing, and improves result's degree of accuracy.And this method is suitable for handling in batches on computers, can improve the efficient of measuring greatly.
Preferably, the coordinate that extracts the edge contour point of said domatic and crawler belt comprises:
In computing machine, read in said first image;
Detect said flex point A in interior said endless-track vehicle and domatic 2 complete shape;
Remove said vehicle and domatic 2 peripheral unwanted pictures;
It is smooth to utilize corrosion that said first image is carried out, and looks for the edge of bianry image then;
Extract the coordinate of the edge contour point of said crawler belt and domatic 2.
For obtaining the first vertical line l with curve fitting in the above-mentioned preferred implementation
1With the 3rd straight line l
3The method of equation, the utility model also provides the method for the coordinate of the edge contour point that how to utilize computing machine to extract domatic and crawler belt, above-mentioned disposal route is based on the Flame Image Process of computer platform.
Preferably, at a side setting of the said endless-track vehicle object of reference static with respect to endless-track vehicle.This is in order in the first captured image and second image, to have tangible object of reference as benchmark, thereby is convenient to the first vertical line l
1With the second vertical line l
2Project in the same image.
More preferably, attach dress marking-off plate 3 in a side of said endless-track vehicle, and at the said object of reference of said marking-off plate 3 marked.To shown in Figure 7, need to prove that said object of reference can not only be used in the image processing method of computing machine like Fig. 5 here, also can be used in manual work and carry out in the image process method.The marking-off plate 3 here is provided with for the ease of carrying out artificial Flame Image Process, directly the object of reference of the optional position mark arbitrary dimension on marking-off plate 3.
Preferably, confirm said image and dimension scale relation in kind through the physical size and the size on the image of said object of reference.Owing to have certain proportionate relationship between dimension of object and the physical size in the image, therefore, can confirm this proportionate relationship through the physical size of object of reference and the size on image.For example, two points of the optional position mark on marking-off plate 3, perhaps cross, circle etc., and record corresponding size separately.
Need to prove that above-mentioned object of reference can be provided with wittingly, also can select on endless-track vehicle or domatic 2 comparatively tangible fixed rigid element as with reference to and need not to select in addition or be provided with.
Preferably, said image capturing device 1 is video camera or camera.Take consecutive image or continuous image through above-mentioned image capturing device, described video camera and camera can use digital device to store, and also can use other media storages such as film.For the image capturing device of stored digital, be convenient to handle on computers, also can print or be made into picture and carry out the manual type processing; For other media image stored filming apparatus such as films, can film rinsing be come out to carry out the processing of manual type.
Preferably, attach the dress obliquity sensor on the said endless-track vehicle, this obliquity sensor is connected with controller, and this controller is controlled the time that said image capturing device 1 begins to take.Preceding text have been introduced the utility model and have been utilized image capturing device 1 to take set of diagrams picture or continuous image; To obtain the method for first image and second image; Upset in order to ensure endless-track vehicle constantly can be captured by image capturing device 1; Can also detect the transport condition of endless-track vehicle with sensor, thereby control the time that image capturing device 1 begins to take better.The utility model preferably uses obliquity sensor to be attached on the endless-track vehicle, when obliquity sensor detects the angle variation, starts image capturing device 1 and begins to take.
In addition, preferably, attach the dress obliquity sensor on the said endless-track vehicle, this obliquity sensor is connected with pen recorder, and this pen recorder and said image capturing device 1 start simultaneously.This is that the utility model utilizes obliquity sensor to control the another one embodiment that image recording structure is taken; On the one hand; This pen recorder and image capturing device 1 start simultaneously; On the other hand, when endless-track vehicle take place the inclination angle when changing obliquity sensor to pen recorder send signal and by this pen recorder record.At last, when selecting first image and second image, the situation that can change based on the inclination angle that said tape deck write down is selected.Need to prove; The content of this recording device records can be the time that the record inclination angle changes; Also can be the situation of change at inclination angle in the whole endless-track vehicle driving process, so just can in the consecutive image of correspondence or dynamic image, select pairing image of the moment that the inclination angle undergos mutation as the first required image and/or second image.
Preferably, said flex point A place said domatic 2 on pressure transducer is set, this pressure transducer is connected with controller, this controller is controlled the time that said image capturing device 1 begins to take.Utilize the upset constantly that obliquity sensor comes the auxiliary judgment endless-track vehicle except above-mentioned, can also utilize pressure transducer.Particularly; On flex point A place domatic, pressure transducer is set; Can produce pressure the zero hour that upset takes place at flex point A place when endless-track vehicle to this flex point A; Can judge that endless-track vehicle begins to overturn thereby utilize pressure transducer to detect this pressure, thereby control the time that image capturing device 1 begins to take better.
In addition, preferably, said flex point A place said domatic 2 on pressure transducer is set, this pressure transducer is connected with pen recorder, this pen recorder and said image capturing device 1 start simultaneously.This is that the utility model utilizes pressure transducer to control the another one embodiment that image recording structure is taken; On the one hand; This pen recorder and image capturing device 1 start simultaneously; On the other hand, after pressure transducer detects pressure to pen recorder send signal and by this pen recorder record.At last, when selecting first image and second image, the situation that can change based on the inclination angle that said tape deck write down is selected.Need to prove; The content of this recording device records can be the time that record produces pressure signal; Also can be the situation of change of flex point A place pressure in the whole endless-track vehicle driving process, pairing image of the moment that so just can selection pressure is undergone mutation in the consecutive image of correspondence or dynamic image be as the first required image and/or second image.
Preferably, said endless-track vehicle said domatic 2 upper edge straight ahead with retreat, said first image and second image are taken in the said process that moves forward and backward respectively.
The utility model does not limit domatic 2 quantity, that is to say, the said determination method can be carried out on domatic a plurality of, can carry out on domatic at one yet.When a plurality of when carrying out said determination on domatic; Each is domatic can to set a cover image capturing device 1; And the attitude that endless-track vehicle goes for twice when crossing flex point is different, that is to say in first image and second image, and it is different that endless-track vehicle is crossed two domatic inclination angles of going before the flex point for twice; The perhaps travel direction of endless-track vehicle different (for example for the first time for advancing, the second time is for retreating).But preferably, for the ease of execution said determination method, and in order to improve the degree of accuracy of mensuration; Usually one domatic on, make endless-track vehicle move forward and backward point-blank along domatic, in the process that moves forward and backward, cross flex point twice; Like the preferred implementation of Fig. 1 to the utility model shown in Figure 6; Significantly reduce needed utility appliance like this, and be convenient to the control of the process of measuring, saved a large amount of workload and time.
In addition, the utility model also provides a kind of determinator that is used to measure the endless-track vehicle height of C.G., and wherein, said device comprises:
Image capturing device 1, this image capturing device 1 are arranged on said domatic 2 one sides.
According to Fig. 3 and shown in Figure 4; The determinator of the utility model is applicable to the said determination method; Utilize image processing techniques and above-mentioned physical principle (to carry out detailed introduction in the preceding text; Repeat no more here) come the height of C.G. of endless-track vehicle is measured, can obtain the higher measurement result of precision through simple structure and operation.And, utilize this measurement mechanism to measure through above-mentioned measuring method, repeat no more here.
Preferably, said domatic 2 comprise with horizontal plane angle be θ
1 First plane 21 and with horizontal plane angle be θ
2 Second plane 22, said first plane 21 and second plane 22 intersect at flex point A,
Wherein, θ
1＜45 °, θ
2＜45 °.
Preferably, said domatic 2 comprise with horizontal plane angle be θ
1 First plane 21 and second plane 22 parallel with surface level, said first plane 21 and second plane 22 intersect at flex point A,
Wherein, θ
1＜45 °.
Fig. 3 and Fig. 4 have shown this two kinds of preferred implementations respectively.In order to make measuring domatic 2 to have flex point A, the preferred implementation of the utility model forms domatic 2 through two intersecting planes, thereby makes domatic 2 to have flex point A.In theory, the angle between two planes is more little, and measuring accuracy is high more, if but the gradient on plane is excessive goes on domatic for endless-track vehicle to bring difficulty, and therefore the angle of two planes and surface level is preferably all less than 45 °.And more preferably a plane is set to horizontal by certain angle, and another plane is parallel with surface level, and the angle value that relates to like this is less, calculating of angle etc. during more convenient Flame Image Process.
Preferably, said determinator also is included in a side of said domatic 2 object of reference is set.This is in order in the first captured image and second image, to have tangible object of reference as benchmark, thereby is convenient to the first vertical line l
1With the second vertical line l
2Project in the same image.
More preferably, said determinator also is included in the marking-off plate 2 that said domatic 2 one sides attach dress, and said object of reference is marked on the said marking-off plate 2.To shown in Figure 7, need to prove that said object of reference can not only be used in the image processing method of computing machine like Fig. 5 here, also can be used in manual work and carry out in the image process method.The marking-off plate 3 here is provided with for the ease of carrying out artificial Flame Image Process, directly the object of reference of the optional position mark arbitrary dimension on marking-off plate 3.For example, two points of the optional position mark on marking-off plate 3, perhaps cross, circle etc., and record corresponding size separately.
Preferably, said image capturing device 1 is video camera or camera.Take consecutive image or continuous image through above-mentioned image capturing device, described video camera and camera can use digital device to store, and also can use other media storages such as film.For the image capturing device of stored digital, be convenient to handle on computers, also can print or be made into picture and carry out the manual type processing; For other media image stored filming apparatus such as films, can film rinsing be come out to carry out the processing of manual type.
Preferably, said determinator also comprise controller be attached to the obliquity sensor on the said endless-track vehicle, this obliquity sensor is connected with this controller, said controller is controlled the time that said image capturing device 1 begins to take.Preceding text have been introduced the utility model and have been utilized image capturing device 1 to take set of diagrams picture or continuous image; To obtain the method for first image and second image; Upset in order to ensure endless-track vehicle constantly can be captured by image capturing device 1; Can also detect the transport condition of endless-track vehicle with sensor, thereby control the time that image capturing device 1 begins to take better.The utility model preferably uses obliquity sensor to be attached on the endless-track vehicle, when obliquity sensor detects the angle variation, starts image capturing device 1 and begins to take.
In addition, preferably, said determinator also comprise pen recorder be attached to the obliquity sensor on the said endless-track vehicle, this obliquity sensor is connected with this pen recorder, said pen recorder and said image capturing device 1 start simultaneously.This is that the utility model utilizes sensor to control the another one embodiment that image recording structure is taken; On the one hand; This pen recorder and image capturing device 1 start simultaneously; On the other hand, when endless-track vehicle take place the inclination angle when changing obliquity sensor to pen recorder send signal and by this pen recorder record.At last, when selecting first image and second image, the situation that can change based on the inclination angle that said tape deck write down is selected.Need to prove that the content of this recording device records can be the time that the record inclination angle changes, and also can be the situation of change at inclination angle in the whole endless-track vehicle driving process.
Preferably, said determinator also comprise controller be arranged on said flex point A place said domatic 2 on pressure transducer, this pressure transducer is connected with controller, this controller is controlled the time that said image capturing device 1 begins to take.Utilize the upset constantly that obliquity sensor comes the auxiliary judgment endless-track vehicle except above-mentioned, determinator can also utilize pressure transducer.Particularly; On flex point A place domatic, pressure transducer is set; Can produce pressure the zero hour that upset takes place at flex point A place when endless-track vehicle to this flex point A; Can judge that endless-track vehicle begins to overturn thereby utilize pressure transducer to detect this pressure, thereby control the time that image capturing device 1 begins to take better.
In addition, preferably, said determinator also parade one's wealth pen recorder be arranged on said flex point A place said domatic 2 on pressure transducer, this pressure transducer is connected with pen recorder, this pen recorder and said image capturing device 1 start simultaneously.This is that the determinator of the utility model utilizes pressure transducer to control the another one embodiment that image recording structure is taken; On the one hand; This pen recorder and image capturing device 1 start simultaneously; On the other hand, after pressure transducer detects pressure to pen recorder send signal and by this pen recorder record.At last, when selecting first image and second image, the situation that can change based on the inclination angle that said tape deck write down is selected.Need to prove; The content of this recording device records can be the time that record produces pressure signal; Also can be the situation of change of flex point A place pressure in the whole endless-track vehicle driving process, pairing image of the moment that so just can selection pressure is undergone mutation in the consecutive image of correspondence or dynamic image be as the first required image and/or second image.
Preferably, said determinator also comprises computing machine, and said image capturing device 1 is connected with this computing machine.Like this, image or the image taken by image capturing device 1 can directly transmit and be stored in the computing machine, thereby to its further processing.
Following index map 5 is to Fig. 7, introduces a kind of preferred implementation of not only being convenient to artificial treatment but also being convenient to Computer Image Processing of the utility model.As shown be example, the first target spot O
1With the second target spot O
2Be two points that are marked on the marking-off plate 3, in second image, measure the first target spot O
1To the reference distance r of flex point A (being original point C), then in first image, with the first target spot O
1Be the center of circle, reference distance r is that radius is done circle, and the intersection point of the crawler belt lower limb of this circle and endless-track vehicle is respective point C ', does and the second vertical line l after this respective point C '
2Corresponding the 3rd straight line l of slope
3, can obtain the first vertical line l
1With the 3rd straight line l
3Intersection point G, be center of gravity G.At last in the distance of measuring on first image between this center of gravity G and the surface level, with the actual value of this reference distance r on reference distance r and the marking-off plate, perhaps with the first target spot O
1With the second target spot O
2Between MD and actual range confirm image and dimension scale relation in kind.
Below only combine accompanying drawing that a kind of preferred implementation of the utility model is carried out exemplary introduction, and the utility model is not limited.
Through said determination device and assay method, can realize non-contact measurement simply to the height of C.G. of endless-track vehicle, operating efficiency is high, and precision is higher as a result for mensuration.Analyze in the face of the error range of measuring the result down, following error analysis has been merely explanation, therefore for the ease of calculating, with first plane 21 and horizontal plane angle θ
1, second plane 22 embodiment parallel with surface level is the example calculation specifications.
Suppose that endless-track vehicle goes with certain speed v, the shooting time interval or the interframe of image capturing device 1 are divided into Δ t, i.e. the first vertical line l
1Or the second vertical line l
2Peak excursion be v * Δ t, can know that according to geometric relationship height of C.G. is at the first vertical line l
1On maximum offset Δ h
1=v * Δ t/tg θ
1, height of C.G. is at the second vertical line l
2Maximum offset Δ h
2=v * Δ t/sin θ
1, therefore, finally measure the maximum offset Δ h=Δ h of result's height of C.G.
1+ Δ h
2=v * Δ t * (1/tg θ
1+ 1/sin θ
1).
When endless-track vehicle with the speed of v=15m/s with horizontal plane angle be θ
1When making an experiment on=15 ° first plane 21 and second plane 22 parallel with surface level, use 1,420 ten thousand pixels, per second can be taken the camera process of the test of 15 photos (being shutter speed 1/15s), and recording the height of C.G. peak excursion is 8.14mm.
When endless-track vehicle with the speed of v=15m/s with horizontal plane angle be θ
1When making an experiment on=15 ° first plane 21 and second plane 22 parallel with surface level, use resolution 1920 * 1080, the video camera of per second 20 frames is taken process of the test, and recording the height of C.G. peak excursion is 6mm.
When endless-track vehicle with the speed of v=15m/s with horizontal plane angle be θ
1When making an experiment on=15 ° first plane 21 and second plane 22 parallel with surface level, use resolution 1624 * 1224, the video camera of per second 30 frames is taken process of the test, and recording the height of C.G. peak excursion is 3.9mm.
More than combine accompanying drawing to describe the preferred implementation of the utility model in detail; But; The utility model is not limited to the detail in the above-mentioned embodiment; In the technical conceive scope of the utility model, can carry out multiple simple variant to the technical scheme of the utility model, these simple variant all belong to the protection domain of the utility model.
Need to prove in addition; Each concrete technical characterictic described in above-mentioned embodiment under reconcilable situation, can make up through any suitable manner; For fear of unnecessary repetition, the utility model is to the explanation no longer separately of various possible array modes.
In addition, also can carry out combination in any between the various embodiment of the utility model, as long as its thought without prejudice to the utility model, it should be regarded as content disclosed in the utility model equally.
Claims (11)
1. a determinator that is used to measure the endless-track vehicle height of C.G. is characterized in that, said device comprises:
Domatic (2), this is domatic to have outwards outstanding flex point; With
Image capturing device (1), this image capturing device (1) are arranged on said domatic (2) one sides.
2. determinator according to claim 1 is characterized in that, said domatic (2) comprise with horizontal plane angle be θ
1First plane (21) and with horizontal plane angle be θ
2Second plane (22), said first plane (21) and second plane (22) intersect at flex point (A),
Wherein, θ
1＜45 °, θ
2＜45 °.
3. determinator according to claim 1 is characterized in that, said domatic (2) comprise with horizontal plane angle be θ
1First plane (21) and second plane (22) parallel with surface level, said first plane (21) and second plane (22) intersect at flex point (A),
Wherein, θ
1＜45 °.
4. determinator according to claim 1 is characterized in that, the side that said determinator also is included in said domatic (2) is provided with object of reference.
5. determinator according to claim 4 is characterized in that, said determinator also is included in the marking-off plate (2) that said domatic (2) one sides attach dress, and said object of reference is marked on the said marking-off plate (2).
6. determinator according to claim 1 is characterized in that, said image capturing device (1) is video camera or camera.
7. determinator according to claim 1; It is characterized in that; Said determinator also comprise controller be attached to the obliquity sensor on the said endless-track vehicle, this obliquity sensor is connected with this controller, said controller is controlled the time that said image capturing device (1) begins to take.
8. determinator according to claim 1; It is characterized in that; Said determinator also comprise pen recorder be attached to the obliquity sensor on the said endless-track vehicle, this obliquity sensor is connected with this pen recorder, said pen recorder and said image capturing device (1) start simultaneously.
9. determinator according to claim 1; It is characterized in that; Said determinator also comprises controller and the pressure transducer that is arranged on said domatic (2) that said flex point (A) locates; This pressure transducer is connected with controller, and this controller is controlled the time that said image capturing device (1) begins to take.
10. determinator according to claim 1; It is characterized in that; Said determinator also parade one's wealth pen recorder and the pressure transducer that is arranged on said domatic (2) that said flex point (A) locates; This pressure transducer is connected with pen recorder, and this pen recorder and said image capturing device (1) start simultaneously.
11. determinator according to claim 1 is characterized in that, said determinator also comprises computing machine, and said image capturing device (1) is connected with this computing machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011203258252U CN202255764U (en) | 2011-09-01 | 2011-09-01 | Device for measuring height of gravity center of tracked vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011203258252U CN202255764U (en) | 2011-09-01 | 2011-09-01 | Device for measuring height of gravity center of tracked vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202255764U true CN202255764U (en) | 2012-05-30 |
Family
ID=46116989
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011203258252U Expired - Fee Related CN202255764U (en) | 2011-09-01 | 2011-09-01 | Device for measuring height of gravity center of tracked vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202255764U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102346086A (en) * | 2011-09-01 | 2012-02-08 | 中联重科股份有限公司 | Method and device for measuring height of center of gravity of tracked vehicle |
| CN102359846A (en) * | 2011-09-01 | 2012-02-22 | 中联重科股份有限公司 | Method and device for measuring height of center of gravity of object |
-
2011
- 2011-09-01 CN CN2011203258252U patent/CN202255764U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102346086A (en) * | 2011-09-01 | 2012-02-08 | 中联重科股份有限公司 | Method and device for measuring height of center of gravity of tracked vehicle |
| CN102359846A (en) * | 2011-09-01 | 2012-02-22 | 中联重科股份有限公司 | Method and device for measuring height of center of gravity of object |
| CN102346086B (en) * | 2011-09-01 | 2013-03-20 | 中联重科股份有限公司 | Method for measuring height of gravity center of tracked vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106017839A (en) | Bending and torsional vibration detection control apparatus and method based on flexible articulated slab | |
| CN102346086B (en) | Method for measuring height of gravity center of tracked vehicle | |
| CN101813465B (en) | Monocular vision measuring method of non-contact precision measuring corner | |
| CN102359846B (en) | Method for measuring height of gravity center of object | |
| CN202793376U (en) | Vision-based object tilt displacement settlement deformation monitoring system | |
| CN104034305B (en) | A kind of monocular vision is the method for location in real time | |
| CN106803350A (en) | A kind of vehicle speed detection method and device based on camera shooting time difference | |
| CN106524924B (en) | Optical inertia combination-based rail inspection vehicle position and attitude measurement system and method | |
| CN103389808B (en) | A kind of space mouse and the method obtaining space mouse displacement | |
| CN110906830B (en) | Intelligent distance measuring wheel system and distance measuring method thereof | |
| CN102914306A (en) | Double-probe star sensor and method for designing same | |
| CN202255764U (en) | Device for measuring height of gravity center of tracked vehicle | |
| CN102159954B (en) | Device and method for measuring vertical acceleration of pantograph by image processing | |
| CN103552570B (en) | A kind of vehicle-mounted close range photogrammetry method of railroad track ride comfort detection | |
| CN103884471B (en) | Center of gravity measurement method | |
| CN103759743A (en) | Azimuth benchmark transmission device for inertia measuring device and azimuth confirming method for inertia measuring device with large inclination angle | |
| CN102359847B (en) | Method for measuring height of gravity center of object | |
| CN105387818B (en) | A kind of large scale 3 D measuring method based on one dimensional image sequence | |
| CN203878470U (en) | Comprehensive detection device for bridge | |
| CN109631841B (en) | Method and device for measuring cross section of expressway based on laser projection | |
| CN104236541A (en) | Method for determining rolling attitude of carrier rocket | |
| CN105648862B (en) | Track centre coordinate dynamic continuous detecting method | |
| CN203443582U (en) | Lift-off firework comprehensive parameter detecting system | |
| CN106296657A (en) | A kind of method video camera being carried out Fast Calibration based on geometrical principle | |
| CN103021898A (en) | Method for measuring plane angle, and method and system for measuring relative inclination angle of chip and base plate |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120530 Termination date: 20160901 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |