SU735918A2 - Device for measuring land relief - Google Patents

Description

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The invention relates to infirmation systems about ambient driving conditions and can be used to measure the terrain in the course of moving a mobile platform.

From the main auth. St. No. 64995O, a device for measuring the terrain is known, which includes a mobile platform with plastic wheels, a measuring transducer, to the inputs of which are connected the outputs of strain gauges of elastic copes, roll horizon, horizon drift and one of the outputs of the suspension stroke sensor, another sensor output the suspension travel is connected to the input of the elastic wheel deformation sensor, and the output of the inverter transducer is connected to the sensor via an integrator.

However, in this device, the elastic gauge strain gauge measures the deformation of the wheel due only to the load that is transmitted to the wheel from the movable platform through the suspension. In addition to this load on the wheel, inertial force still acts, it is located at its center of gravity, the magnitude of which depends on the mass and vertical acceleration of the wheel. Since the wheel undergoes continuous vertical oscillations in the process of moving over an intersected surface, this inevitably leads to the appearance of an inertial vertical force, the magnitude of which in some situations may be commensurate with the magnitude of the load acting on the mobile platform. Therefore, the measurement of the terrain with the position of this device will inevitably be given by an industrial plant with a fault.

The purpose of the invention is to increase the accuracy of measuring the terrain.

This goal is achieved by the fact that it is additionally equipped with a vertical acceleration sensor mounted on wheel ebbing, a suspension force sensor with an accumulator, and the output of the vertical acceleration sensor through an adder, and another suspension sensor output through a series-connected suspension force sensor and the adder is connected to the input of the deformation sensor of the elastic wheel. FIG. 1 shows a movable platform with installed elements of measuring the terrain, a general view; in fig. 2 is a block diagram of a device for measuring the terrain; in fig. 3 - characteristic of the elastic element of the f-th elastic wheel A device for measuring the terrain relief, mounted on a movable platform 1 with elastic wheels 2, consists of sensors detecting suspension travel, 3, deformation of the elastic wheel 4, straight path 5, vertical acceleration of the wheel 6 , suspension force 7, horizon sensors on roll 8 and trim 9, as well as integrator 10, adder 11 of converter-12 gauge and recording device 13. Sensors 3 are used to measure the suspension travel relative to the movable platform and mustache are suspended on the suspensions of the middle wheels of a multi-support movable platform, (to reduce the effect of wheel separation from the ground) and on all wheels if the movable platform is biaxial. As sensors for suspension travel, for example, standard rotatable 5MW type transformers can be used. or selsyns like BS-7. The sensors 4 determine the deformation of the elastic wheel through the suspension force and the vertical acceleration of the corresponding wheel. Structurally, the dachyk of deformation of an elastic wheel can be made in the form of an electronic block of nonlinearity, reproducing the elastic characteristic of the wheel. As such a non-linearity block, for example, a standard functional transducer insert (VFP) can be used, which is part of the set of a non-linearity block set of the MFN-1 series. Path sensor 5 serves to measure the distance traveled and can be performed, for example, as a free cat Smart wheels with rev counter. Vertical 1X) acceleration sensor 6 is designed to measure the vertical acceleration acting on the wheel as it moves across the surface. As such a sensor, a standard MP-68 linear acceleration sensor can be used. The suspension force sensor 7 serves to measure the force that is transmitted from the moving platform to the wheel through the suspension. This force by sensor 7 is determined from the information that comes to it from sensor 3 of the suspension stroke. As sensor 7, as well as as deformation sensor 4 for an elastic wheel, the inserts of functional transducers included in the set of non-linear blocks of the NBN-1 series, which reproduce the elastic characteristic of the suspension, can be used. Horizon sensors along roll 8 and trim 9 serve to measure the tilt angles of the movable platform in the transverse and longitudinal planes. In the quality of these sensors, a sensor can be used to measure the angular displacements of the type DK-6MT or a gyroscope equipped with a tamper correction. The integrator 10 determines the heights (coordinates) of the terrain relief under the wheel of the mobile platform of the right as well as the left side and can be made in the form of a cathode follower with variable capacity. The integration process in the integrator is controlled by signals from the sensor 5 of the path. The adder 11 is designed to determine the total force on the wheel, which is the sum of the load transmitted from the mobile platform through the suspension and the inertial force acting on this wheel. The load transmitted from the mobile platform is determined by 6 using the sensor 7 of the suspension force, and the inertial force by means of the sensor 6 of the vertical acceleration. The adder 11 can be performed, for example, on an operational amplifier of the type OUT402. The measuring transducer 12 determines the elevation differences of the uneven terrain under the wheels of the mobile platform in the vertical-longitudinal and vertically transverse planes in the rate of its movement. terrain between the right and left sides. The recording device is associated with an integrator, a measuring transducer and a track sensor. An oscilloscope can be used as a recording device.

Type K-20-21 with recording time from the electric clock ECh-62.

The device works as follows.

; -. When moving a mobile platform

In terrain, the signal from the first output of the suspension stroke sensor 3 is fed to the input of the suspension force sensor 7, in which the elastic characteristic of the suspension is reproduced. Therefore, depending on the size of the signal AVi received from the suspension stroke sensor 3, from the output of the suspension force sensor 7, a signal proportional to the magnitude of the force P "| (LI-) is taken, which acts on

wheel through the suspension. Then signals from the outputs of the force sensors in the suspension and the vertical acceleration of the wheel. 6 is fed to the corresponding inputs of the adder 11. In the adder 11, the total force acting on the wheel is calculated. From the output of the adder 11, the signal arrives at the input of the elastic wheel deformation sensor 4, in which the elastic characteristic of this wheel is reproduced. For this value of the total effort N ji; (d pjQ from the output of sensor 4, a signal is taken that is proportional to the deformation of the elastic wheel (see Fig. 3).

The signals from the outputs of the deformation sensor of the elastic suspension wheel 3, as well as from the outputs of the horizon sensor

roll 8 and trim 9 are fed to the measuring transducer 12, in which the calculation of the elevation differences of the irregularities of the relief b, and b. and also the elevation of the relief of the right side relative to the left. The signals from the outputs of the converter-12 gauge and the sensor of the path 5 are fed to the integrator U, in which the heights of the terrain relief under the wheels of the right W and left H of the ground are calculated. Signals from the output of the converter meter 12, the integrator 10 and the sensor 5 /. The paths are fed to a regenerating device 13, in which the listed parameters are recorded on a sensitive film.

Claims (1)

Invention Formula A device for measuring the terrain of auth. St. No. 649950 is characterized by the fact that, in order to improve the measurement accuracy, a vertical acceleration sensor, a suspension effort sensor and an adder are added to it, while the suspension force sensor and the adder are connected in series between the suspension travel sensor and the deformation sensor of the elastic wheel, and the sensor vertical acceleration is autonomously connected to one at the inputs of the adder. 735918 Lg, - j Yl to  .:. . i V fMi (& rieJ I / (ft (An)