CN108169762B - Cargo vehicle wheel out-of-roundness dynamic detection device and method based on miniature laser radar - Google Patents
Cargo vehicle wheel out-of-roundness dynamic detection device and method based on miniature laser radar Download PDFInfo
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- CN108169762B CN108169762B CN201810263093.5A CN201810263093A CN108169762B CN 108169762 B CN108169762 B CN 108169762B CN 201810263093 A CN201810263093 A CN 201810263093A CN 108169762 B CN108169762 B CN 108169762B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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Abstract
The invention relates to a dynamic detection device and method for out-of-roundness of wheels of a truck based on a miniature laser radar. The device mainly comprises knob magnet, rocking arm, radar upper and lower support, support locating support, radar support and locating support, adjusting bolt and nut. The miniature laser radar scans the upper swing arm bulb and the upper wheel rim in real time to obtain the vertical distance between the upper swing arm bulb and the upper wheel rim, removes the runout of the wheel caused by road surface jolt according to the detection principle, calculates the maximum radius of the wheel, and evaluates the out-of-roundness of the wheel. The method can realize real-time dynamic detection of the out-of-roundness of the wheels of the truck, and the device has a simple structure and is convenient for installation and operation. The research result has certain theoretical value and practical value and has good application and popularization prospect.
Description
Technical Field
The invention relates to a device and a method for detecting wheels of a truck, in particular to a device and a method for detecting out-of-roundness of wheels of a truck.
Background
When a large truck runs in overload or is jolted for a long time, wheels are easy to lose round, and larger wheel out-of-roundness can bring vibration and impact to the vehicle, so that the sensitivity of the steering wheel is directly affected. More seriously, the smaller out-of-roundness of the wheels cannot be perceived by a driver in the driving process, but the out-of-roundness of the wheels has the danger of tire burst, and the driving safety of the automobile is threatened.
At present, two main methods for detecting the out-of-roundness of the wheel are: static detection and dynamic detection. The static detection is mainly manual measurement, the working efficiency is low, and the out-of-roundness of the wheels cannot be dynamically detected in real time. The dynamic detection method is involved in the aspect of railway vehicles, but the research on the dynamic detection method for the out-of-roundness of wheels of the truck is very little. Therefore, the device and the method for dynamically detecting the out-of-roundness of the wheels of the truck based on the miniature laser radar are designed, so that the real-time dynamic detection of the out-of-roundness of the wheels of the truck is realized, and the blank of the dynamic detection technology of the out-of-roundness of the wheels of the truck is made up.
Disclosure of Invention
The invention mainly aims to provide a cargo vehicle wheel out-of-roundness detection device and method based on a miniature laser radar, which are used for evaluating the out-of-roundness of a wheel according to the calculated maximum radius of the wheel. The method can realize real-time dynamic detection of the out-of-roundness of the wheels of the truck, and the device has the advantages of convenient installation, low cost and high verification precision.
The above object of the present invention can be achieved by the following technical solutions, which are described below in conjunction with the accompanying drawings:
the utility model provides a cargo vehicle wheel out of roundness dynamic detection device based on miniature laser radar, mainly by knob magnet 1, radar undershot 4, radar upper bracket 8, rocking arm 3, miniature laser radar 7, radar support 6, support bolt 9, nut 11, support locating support 12, undershot locating bolt 13 and radar locating support 14 are constituteed, radar upper bracket 8 and radar undershot 4 pass through rocking arm 3 bolted connection, knob magnet 1 is fixed on radar upper bracket 8, radar support 6 passes through radar bolt 10 and miniature laser radar 7 to pass through support bolt 9 to be fixed on radar undershot 4, radar locating support 14 passes through radar support locating bolt 15 and is connected with radar support 6 and miniature laser radar 7 respectively, support locating support 12 is fixed on radar upper bracket 8 and radar undershot 4 to one side; the adjustment of three degrees of freedom of the micro laser radar 7 is realized through bolt adjustment, namely, the movement in the x direction, the rotation around the z direction and the rotation around the y direction are respectively realized.
The support positioning support 12 is connected with the radar lower support 4 and the radar upper support 8 through the lower support bolts 13, the effective length of the support positioning support is limited through the lower support positioning bolts 13, and the effective length of the radar positioning support 14 is limited through the radar support positioning bolts 15.
Loosening the rocker bolt 2, moving the radar lower support 4 to a set position along the x direction, and fastening the lower support positioning bolt 13 on the support positioning support 12 to realize the positioning of the micro laser radar 7 in the x direction;
loosening the support bolts 9, and adjusting the fine tuning bolts 5 to realize the rotation of the micro laser radar 7 around the z direction;
loosening the radar bolt 10, adjusting the micro laser radar 7 to a set position, and fastening the radar positioning bracket 14 through the radar bracket positioning bolt 15 to realize the rotation of the micro laser radar 7 around the y direction;
the magnetic force of the magnet is adjusted through the knob of the rotary knob magnet 1, the detection device is installed on the frame right above the wheel through the strong magnetic force of the magnet, and the miniature laser radar 7 is calibrated through the adjusting bolt, so that the primary calibration distance H between the miniature laser radar 7 and the center of the wheel is obtained.
A dynamic detection method for the wheel out-of-roundness of a truck based on a miniature laser radar is characterized in that the miniature laser radar 7 is used for evaluating the wheel out-of-roundness by scanning an upper swing arm ball head and a wheel upper rim which are rigidly connected with the wheel, obtaining the distance between the miniature laser radar 7 and the upper swing arm ball head and the wheel upper rim and calculating the maximum value of the radius in the dynamic movement process of the wheel according to the detection principle.
The method for obtaining the maximum radius value in the dynamic movement process of the wheel comprises the following steps:
(1) The miniature laser radar scans an upper swing arm ball head rigidly connected with a wheel and an upper wheel rim of the wheel, and the upper swing arm ball head and the upper wheel rim pass through the formula y i ＝r i *sinθ i The vertical distance between the miniature laser radar and each scanning point can be obtained, wherein r is i For the distance between the ith laser beam and the ith scanning point, θ i Is the included angle between the ith laser beam and the horizontal line;
(2) When the wheel out-of-roundness is dynamically detected on a bumpy road, the k scanning point and the (k+1) scanning point in the process of scanning the upper swing arm ball head to beat through the micro laser radar 7 can calculate the jumping quantity deltay of the upper swing arm ball head caused by the bumpy road of the wheel Ball head ＝y k -y k+1 Wherein y is k 、y k+1 The vertical distance between the kth scanning point and the (k+1) th scanning point of the miniature laser radar is respectively, and the wheel jumping quantity delta y can be obtained due to the rigid connection between the upper swing arm ball head and the wheel Wheel of vehicle ＝Δy Ball head ；
(3) The maximum radius value during dynamic motion of the wheel can be calculated by the formula r=h- Δy Ball head -y m Expression, wherein H is the primary calibration distance from the micro laser radar 7 to the center of the wheel, y m The maximum value of the radius in the dynamic motion process of the wheel can be obtained by calculating the distance from the miniature laser radar 7 to the wheel rim in the scanning process in real time.
The innovation of the invention is that:
(1) The micro laser radar 7 scans the upper swing arm ball head which is rigidly connected with the wheel, calculates the jumping quantity of the upper swing arm ball head, and removes the jumping quantity of the wheel caused by the bumpy road surface;
(2) The device for detecting the out-of-roundness of the wheels of the truck is easy to install and operate;
(3) The wheel out-of-roundness detection method makes up for the technical blank of dynamic and continuous detection of the out-of-roundness of the wheels of the bumpy road truck.
The invention has the technical effects that: the method can efficiently and accurately calculate the maximum radius of the wheel of the truck on the bumpy road surface and accurately evaluate the out-of-roundness of the wheel. The detection device has the advantages of high measurement precision, simple installation, capability of meeting real-time and continuous detection requirements of wheel out-of-roundness, direct economic benefit and great benefit to active safety of automobiles.
Drawings
FIG. 1 is a schematic diagram of a truck wheel out-of-roundness detection device
Figure 2 is a schematic diagram of dynamic detection of wheel out-of-roundness of a truck
FIG. 3 is a schematic view of a knob magnet
FIG. 4 schematic view of a radar stand
FIG. 5 schematic view of a radar undersetting
FIG. 6 is a schematic diagram showing the combined installation of a radar stand and a radar lower support
FIG. 7 is a schematic diagram of a dynamic detection flow of wheel out-of-roundness of a truck
FIG. 8 is a schematic view of a support positioning bracket
In the figure: a, the wheel contour center of a flat road surface
A': contour center after jounce road wheel jump
1. Knob magnet 2, rocker bolt 3, rocker 4, radar lower support 5, fine tuning bolt 6, radar support 7, micro laser radar 8, radar upper support 9, support bolt 10, radar bolt 11, nut 12, support positioning support 13, lower support positioning bolt 14, radar positioning support 15, radar positioning support bolt
Detailed description of the preferred embodiments
The following describes the embodiments of the present invention with reference to the drawings
The invention relates to a device for detecting out-of-roundness of wheels of a truck, which mainly comprises a knob magnet 1, a rocker bolt 2, a rocker arm 3, a radar lower support 4, a fine adjustment bolt 5, a radar support 6, a micro laser radar 7, a radar upper support 8, a support bolt 9, a radar bolt 10, a nut 11, a support positioning support 12, a lower support positioning bolt 13, a radar positioning support 14 and a radar support positioning bolt 15, referring to figure 1. By loosening the rocker bolt 2 and moving the radar lower support 4 to a proper position along the x direction, namely left and right, the positioning of the micro laser radar 7 in the x direction can be realized by fastening the lower support positioning bolt 13 on the support positioning support 12, and the support positioning support 12 is connected with the radar lower support 4 and the radar upper support 8 through the lower support bolt 13. By loosening the support bolts 9 and adjusting the fine tuning bolts 5, rotation of the radar apparatus about the z-direction can be achieved. The radar bolt 10 is loosened, the micro laser radar 7 is adjusted to a proper position, and the radar positioning bracket 14 is fastened through the radar bracket positioning bolt 15, so that the micro laser radar 7 can rotate around the y direction. The knob of the rotary knob magnet 1 is rotated to adjust the magnetic force of the magnet, so that the magnet has strong magnetic force, and the detection device can be conveniently arranged on a frame right above a truck wheel. Through the adjusting bolt and the manual fine adjustment device, the miniature laser radar 7 is calibrated, and the primary calibration distance H between the miniature laser radar 7 and the center of the wheel can be obtained.
The invention relates to a dynamic detection method for out-of-roundness of a truck wheel based on a miniature laser radar. Referring to fig. 2, the micro laser radar 7 is adjusted so that the scanning surface passes through the upper swing arm ball head and the wheel center A and is vertical to the horizontal plane, the micro laser radar 7 scans the upper swing arm ball head and the wheel upper rim which are rigidly connected with the wheel to obtain the distance between the micro laser radar 7 and the upper swing arm ball head and the wheel upper rim, and the maximum value of the radius in the dynamic movement process of the wheel is calculated according to the detection principle, so as to evaluate the out-of-roundness of the wheel.
Referring to fig. 2, the method for obtaining the radius maximum value in the dynamic motion process of the wheel comprises the following steps: the miniature laser radar 7 scans an upper swing arm ball head rigidly connected with the wheel and an upper wheel rim of the wheel, and the upper swing arm ball head and the upper wheel rim pass through the formula y i ＝r i *sinθ i Can be obtainedThe vertical distance between the micro laser radar 7 and each scanning point, where r i For the distance between the ith laser beam and the ith scanning point, θ i Is the angle between the ith laser beam and the horizontal line. When the wheel out-of-roundness is dynamically detected on a bumpy road, the k scanning point and the (k+1) scanning point in the process of scanning the upper swing arm ball head to beat through the micro laser radar 7 can calculate the jumping quantity deltay of the upper swing arm ball head caused by the bumpy road of the wheel Ball head ＝y k -y k+1 Wherein y is k 、y k+1 The vertical distance between the kth scanning point and the kth+1th scanning point is respectively the micro laser radar 7. Because the upper swing arm ball head is rigidly connected with the wheel, the wheel jumping quantity delta y is obtained Ball head ＝Δy Wheel of vehicle . Thus, the maximum radius during dynamic wheel movement can be calculated by the formula r=h- Δy Ball head -y m Expression, y m For the distance to the rim of the wheel during scanning of the micro lidar 7. And calculating in real time to obtain the maximum value of the radius in the dynamic motion process of the wheel.
Claims (6)
1. The utility model provides a cargo vehicle wheel out of roundness dynamic detection device based on miniature laser radar, mainly comprises knob magnet (1), radar lower support (4), radar upper support (8), rocking arm (3), miniature laser radar (7), radar support (6), support bolt (9), nut (11), support locating support (12), lower support locating bolt (13) and radar locating support (14),
the radar support (8) and the radar lower support (4) are connected through a rocker arm (3) through bolts, the knob magnet (1) is fixed on the radar upper support (8), the radar support (6) is connected with the micro laser radar (7) through a radar bolt (10) and is fixed on the radar lower support (4) through a support bolt (9), the radar positioning support (14) is respectively connected with the radar support (6) and the micro laser radar (7) through a radar support positioning bolt (15), and the support positioning support (12) is obliquely fixed on the radar upper support (8) and the radar lower support (4); the adjustment of three degrees of freedom of the miniature laser radar (7) is realized through bolt adjustment, wherein the adjustment is respectively movement in the x direction, rotation around the z direction and rotation around the y direction.
2. The dynamic detection device for out-of-roundness of wheels of a truck based on a miniature laser radar according to claim 1, wherein the support positioning bracket (12) is connected with the radar lower support (4) and the radar upper support (8) through a lower support bolt (13) and limits the effective length of the support positioning bracket through the lower support positioning bolt (13), and the radar positioning bracket (14) limits the effective length of the support positioning bracket through a radar bracket positioning bolt (15).
3. A cargo vehicle wheel out-of-roundness dynamic detection apparatus based on micro laser radar according to claim 1 or 2, characterized in that,
loosening the rocker bolt (2), moving the radar lower support (4) to a set position along the x direction, and fastening the lower support positioning bolt (13) on the support positioning support (12) to position the miniature laser radar (7) in the x direction;
loosening the support bolts (9), and adjusting the fine tuning bolts (5) to realize the rotation of the miniature laser radar (7) around the z direction;
the radar bolt (10) is loosened, the micro laser radar (7) is adjusted to a set position, and the radar positioning bracket (14) is fastened through the radar bracket positioning bolt (15), so that the micro laser radar (7) rotates around the y direction.
4. The dynamic detection device for the out-of-roundness of the wheels of the truck based on the micro laser radar according to claim 1, wherein the magnetic force of the magnet is adjusted through a knob of a rotary knob magnet (1), the detection device is arranged on a frame right above the wheels through the strong magnetic force of the magnet, and the micro laser radar (7) is calibrated through an adjusting bolt, so that the primary calibration distance H between the micro laser radar (7) and the centers of the wheels is obtained.
5. A dynamic detection method for the wheel out-of-roundness of a truck based on a miniature laser radar is characterized in that the miniature laser radar (7) scans an upper swing arm ball head and an upper wheel rim which are rigidly connected with the wheel to obtain the distance between the miniature laser radar and the upper swing arm ball head and the upper wheel rim, and calculates the maximum value of the radius in the dynamic movement process of the wheel according to the detection principle so as to evaluate the wheel out-of-roundness.
6. The dynamic detection method for out-of-roundness of wheels of a truck based on micro lidar according to claim 5, wherein the method for obtaining the maximum value of radius in the dynamic motion process of the wheels is as follows: (1) The miniature laser radar scans an upper swing arm ball head rigidly connected with a wheel and an upper wheel rim of the wheel, and the upper swing arm ball head and the upper wheel rim pass through the formula y i ＝r i *sinθ i The vertical distance between the miniature laser radar and each scanning point can be obtained, wherein r is i For the distance between the ith laser beam and the ith scanning point, θ i Is the included angle between the ith laser beam and the horizontal line;
(2) When the wheel out-of-roundness is dynamically detected on a bumpy road, the jumping quantity deltay of the upper swing arm ball head caused by the bumpy road surface of the wheel can be calculated through the kth scanning point and the kth+1th scanning point in the process of scanning the upper swing arm ball head jumping by the miniature laser radar Ball head ＝y k -y k+1 Wherein y is k 、y k+1 The vertical distance between the kth scanning point and the (k+1) th scanning point is respectively reached by the miniature laser radar, and the wheel jumping quantity delta y can be obtained due to the rigid connection between the upper swing arm ball head and the wheel Wheel of vehicle ＝Δy Ball head ；
(3) The maximum radius value during dynamic motion of the wheel can be calculated by the formula r=h- Δy Ball head -y m The expression is that H is the primary calibration distance from the micro laser radar to the center of the wheel, y m The maximum value of the radius in the dynamic motion process of the wheel can be obtained by calculating the distance from the laser radar to the wheel rim on the wheel in real time.
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| CN201810263093.5A CN108169762B (en) | 2018-03-28 | 2018-03-28 | Cargo vehicle wheel out-of-roundness dynamic detection device and method based on miniature laser radar |
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| CN108169762B true CN108169762B (en) | 2023-06-02 |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| DE2927153A1 (en) * | 1978-07-07 | 1980-01-17 | Sumitomo Metal Ind | METHOD AND DEVICE FOR HEAT TREATING STEEL SURFACES |
| JPS58173477A (en) * | 1982-04-06 | 1983-10-12 | Nippon Denso Co Ltd | Obstacle detecting device for car |
| DE3611795A1 (en) * | 1986-04-08 | 1987-10-15 | Romel Dipl Ing Scorteanu | Optoelectronic systems for contactless measurement during travel of: cross-sectional contour of railway rails, cross-sectional contour and characteristics I, C, QR of railway wheels, cross-section of railway waggons, and lateral and height deviations of railway rails |
| CN105203551A (en) * | 2015-09-11 | 2015-12-30 | 尹栋 | Car-mounted laser radar tunnel detection system, autonomous positioning method based on tunnel detection system and tunnel hazard detection method |
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| CN106767694A (en) * | 2016-12-30 | 2017-05-31 | 西南交通大学 | A kind of subway digitizes gauge dynamic detection system and detection method |
| CN208092238U (en) * | 2018-03-28 | 2018-11-13 | 吉林大学 | Cargo vehicle wheel out of round degree device for dynamically detecting based on miniature laser radar |
-
2018
- 2018-03-28 CN CN201810263093.5A patent/CN108169762B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2927153A1 (en) * | 1978-07-07 | 1980-01-17 | Sumitomo Metal Ind | METHOD AND DEVICE FOR HEAT TREATING STEEL SURFACES |
| JPS58173477A (en) * | 1982-04-06 | 1983-10-12 | Nippon Denso Co Ltd | Obstacle detecting device for car |
| DE3611795A1 (en) * | 1986-04-08 | 1987-10-15 | Romel Dipl Ing Scorteanu | Optoelectronic systems for contactless measurement during travel of: cross-sectional contour of railway rails, cross-sectional contour and characteristics I, C, QR of railway wheels, cross-section of railway waggons, and lateral and height deviations of railway rails |
| CN105203551A (en) * | 2015-09-11 | 2015-12-30 | 尹栋 | Car-mounted laser radar tunnel detection system, autonomous positioning method based on tunnel detection system and tunnel hazard detection method |
| CN106289823A (en) * | 2016-10-11 | 2017-01-04 | 南京拓控信息科技股份有限公司 | A kind of locomotive serpentine locomotion detecting system and detection method thereof |
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| CN208092238U (en) * | 2018-03-28 | 2018-11-13 | 吉林大学 | Cargo vehicle wheel out of round degree device for dynamically detecting based on miniature laser radar |
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