CN115900636A - Suspension sledge attitude measurement device and method - Google Patents
Suspension sledge attitude measurement device and method Download PDFInfo
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Abstract
The invention relates to the technical field of attitude measurement, and discloses a suspension sledge attitude measurement device and a method, wherein the device comprises: the first laser displacement sensor is arranged on the left side of the bottom of the tail of the vehicle and used for measuring the distance between the left side of the bottom of the tail of the vehicle and the bottom surface of the track; the second laser displacement sensor is arranged on the left side of the bottom of the vehicle head and used for measuring the distance between the left side of the bottom of the vehicle head and the bottom surface of the track; the third laser displacement sensor is arranged on the right side of the bottom of the vehicle head and used for measuring the distance between the right side of the bottom of the vehicle head and the bottom surface of the track; and the processing unit is used for calculating the attitude angle of the suspension sled according to the motion attitude of the suspension sled, the distance detected by the first laser displacement sensor, the distance detected by the second laser displacement sensor, the distance detected by the third laser displacement sensor, the distance between the first laser displacement sensor and the second laser displacement sensor and/or the distance between the second laser displacement sensor and the third laser displacement sensor.
Description
Technical Field
The invention relates to the technical field of attitude measurement, in particular to a suspension sledge attitude measurement device and method.
Background
An electric suspension electromagnetic propulsion sledge (hereinafter referred to as a suspension sledge) is a high-speed moving object which accelerates by using electromagnetic thrust generated by a linear motor and realizes non-contact suspension advancing with a track by using suspension force and guide force generated by an electric suspension system. The suspension sledge can stably suspend when moving to a certain speed, and is separated from the contact with the track, so that the coupling vibration between the sledge and the track can be greatly reduced.
According to the general scheme of suspension propulsion, the suspension sled is positioned in the U-shaped track groove and is an object moving in the U-shaped track groove with 6 degrees of freedom. The mechanical air gap between the suspension sledge and the wall surface of the track groove is small and about 20-30 mm, and the length of the suspension sledge is generally more than 2m, so that the yaw attitude angle of the suspension sledge in the U-shaped groove is small and can be basically ignored.
In the process of moving, the suspension sled needs to measure the displacement and the posture of the suspension sled in the process of moving in order to monitor the stability of the suspension sled. The traditional 6-degree-of-freedom moving object generally adopts inertial navigation to measure the pose, and the magnetic field environment of the suspension sled vehicle is severe due to the fact that the two sides of the suspension sled vehicle are provided with superconducting magnets, so that the measurement accuracy of the inertial navigation is influenced, and accordingly, the displacement and the posture of the suspension sled vehicle cannot be accurately measured.
Disclosure of Invention
The invention provides a suspension sledge attitude measurement device and a suspension sledge attitude measurement method, which can solve the technical problems in the prior art.
The invention provides a suspension sledge attitude measurement device, wherein the device comprises:
the first laser displacement sensor is arranged on the left side of the bottom of the tail of the suspension sled vehicle and used for measuring the distance between the left side of the bottom of the tail of the vehicle and the bottom surface of the track;
the second laser displacement sensor is arranged on the left side of the bottom of the locomotive of the suspension sled vehicle and used for measuring the distance between the left side of the bottom of the locomotive and the bottom surface of the track;
the third laser displacement sensor is arranged on the right side of the bottom of the vehicle head of the suspension sled vehicle and used for measuring the distance between the right side of the bottom of the vehicle head and the bottom surface of the track;
and the processing unit is used for calculating the attitude angle of the suspension sledge according to the motion attitude of the suspension sledge, the distance detected by the first laser displacement sensor, the distance detected by the second laser displacement sensor, the distance detected by the third laser displacement sensor, the distance between the first laser displacement sensor and the second laser displacement sensor and/or the distance between the second laser displacement sensor and the third laser displacement sensor.
Preferably, in a case that the suspension sled is only subjected to pitching motion, the attitude angle includes a pitch angle, and the processing unit calculates the pitch angle of the suspension sled according to a distance between the first laser displacement sensor and the second laser displacement sensor, a distance detected by the first laser displacement sensor, a distance detected by the second laser displacement sensor, and a distance detected by the third laser displacement sensor, where the distance detected by the second laser displacement sensor is equal to the distance detected by the third laser displacement sensor.
Preferably, in a case that the levitation sled moves only in a rolling manner, the attitude angle includes a rolling angle, and the processing unit calculates the rolling angle of the levitation sled according to a distance between the second laser displacement sensor and the third laser displacement sensor, a distance detected by the first laser displacement sensor, a distance detected by the second laser displacement sensor, and a distance detected by the third laser displacement sensor, where the distance detected by the first laser displacement sensor is equal to the distance detected by the second laser displacement sensor.
Preferably, under the condition that the suspension sled performs pitching motion and then rolling motion, the attitude angle comprises a pitch angle and a roll angle, the processing unit calculates the roll angle of the suspension sled according to the distance between the second laser displacement sensor and the third laser displacement sensor, the distance detected by the second laser displacement sensor and the distance detected by the third laser displacement sensor, and calculates the pitch angle of the suspension sled according to the calculated roll angle, the distance between the first laser displacement sensor and the second laser displacement sensor, the distance detected by the first laser displacement sensor and the distance detected by the second laser displacement sensor.
Preferably, the processing unit is further configured to calculate a vertical distance between the left side of the bottom of the vehicle tail and the bottom surface of the rail, a vertical distance between the left side of the bottom of the vehicle head and the bottom surface of the rail, and a vertical distance between the right side of the bottom of the vehicle head and the bottom surface of the rail according to the motion attitude of the suspension sled and the attitude angle calculated under the corresponding motion attitude.
The invention also provides a suspension sledge attitude measurement method, wherein the method comprises the following steps:
measuring the distance between the left side of the bottom of the vehicle tail and the bottom surface of the track by using a first laser displacement sensor, wherein the first laser displacement sensor is arranged on the left side of the bottom of the vehicle tail of the suspension sledge;
measuring the distance between the left side of the bottom of the vehicle head and the bottom surface of the track by using a second laser displacement sensor, wherein the second laser displacement sensor is arranged on the left side of the bottom of the vehicle head of the suspension sledge;
the third laser displacement sensor is used for measuring the distance between the right side of the bottom of the vehicle head and the bottom surface of the track, and is arranged on the right side of the bottom of the vehicle head of the suspension sledge;
and calculating the attitude angle of the suspension sledge by utilizing a processing unit according to the motion attitude of the suspension sledge, the distance detected by the first laser displacement sensor, the distance detected by the second laser displacement sensor, the distance detected by the third laser displacement sensor, the distance between the first laser displacement sensor and the second laser displacement sensor and/or the distance between the second laser displacement sensor and the third laser displacement sensor.
Preferably, in a case that the suspension sled is only subjected to pitching motion, the attitude angle includes a pitch angle, and the processing unit calculates the pitch angle of the suspension sled according to a distance between the first laser displacement sensor and the second laser displacement sensor, a distance detected by the first laser displacement sensor, a distance detected by the second laser displacement sensor, and a distance detected by the third laser displacement sensor, where the distance detected by the second laser displacement sensor is equal to the distance detected by the third laser displacement sensor.
Preferably, in a case that the levitation sled moves only in a rolling manner, the attitude angle includes a rolling angle, and the processing unit calculates the rolling angle of the levitation sled according to a distance between the second laser displacement sensor and the third laser displacement sensor, a distance detected by the first laser displacement sensor, a distance detected by the second laser displacement sensor, and a distance detected by the third laser displacement sensor, where the distance detected by the first laser displacement sensor is equal to the distance detected by the second laser displacement sensor.
Preferably, under the condition that the suspension sled performs pitching motion and then rolling motion, the attitude angle comprises a pitch angle and a roll angle, the processing unit calculates the roll angle of the suspension sled according to the distance between the second laser displacement sensor and the third laser displacement sensor, the distance detected by the second laser displacement sensor and the distance detected by the third laser displacement sensor, and calculates the pitch angle of the suspension sled according to the calculated roll angle, the distance between the first laser displacement sensor and the second laser displacement sensor, the distance detected by the first laser displacement sensor and the distance detected by the second laser displacement sensor.
Preferably, the method further comprises:
and calculating the vertical distance between the left side of the bottom of the vehicle tail and the bottom surface of the track, the vertical distance between the left side of the bottom of the vehicle head and the bottom surface of the track and the vertical distance between the right side of the bottom of the vehicle head and the bottom surface of the track by using the processing unit according to the motion attitude of the suspension sledge and the attitude angle calculated under the corresponding motion attitude.
Through the technical scheme, the attitude angle of the suspension sled can be calculated according to the detection result of the laser displacement sensor arranged at the bottom of the suspension sled, the mode is not influenced by a strong magnetic field environment, high measurement precision can be achieved under the conditions that the yaw attitude angle is small and the rail wall surface is smooth, and the technical problem of attitude measurement of the suspension sled is effectively solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a schematic diagram illustrating a relationship between a body coordinate system and a ground coordinate system of a suspension sled according to an embodiment of the present invention;
FIG. 2 is a block diagram of a suspended sled attitude measurement apparatus according to an embodiment of the present invention;
FIG. 3 illustrates a schematic diagram of the pitch attitude of the levitation sled according to an embodiment of the present invention;
4A-4C illustrate schematic diagrams of the pitch + roll attitude of the floating sled according to an embodiment of the present invention.
Detailed Description
It should be noted that, in the present application, the embodiments and features of the embodiments may be combined with each other without conflict. The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an", and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
FIG. 1 is a schematic diagram illustrating a relationship between a body coordinate system and a ground coordinate system of a suspension sled according to an embodiment of the present invention.
The coordinate system oxyz of the body of the levitation sledge is defined as follows: the ox axis is positive, the oy axis is positive to the left, and the oz axis is positive to the back (the forward direction is the moving direction of the suspension sledge). The attitude angle of the sledge is defined in a mode of 'Euler angle 2-3-1', and in the invention, under the condition of neglecting the yaw angle, the conversion sequence of the attitude angle of the sledge is taken as first pitching and then rolling for the condition that both pitching motion and rolling motion exist. The roll and pitch angles of the sled body coordinate system after ignoring the yaw angle relative to the ground coordinate system are shown in fig. 1, where θ represents the pitch angle and γ represents the roll angle.
FIG. 2 is a block diagram of a suspended sled attitude measurement apparatus according to an embodiment of the present invention.
As shown in fig. 2, an embodiment of the present invention provides a suspension sled attitude measurement apparatus, wherein the apparatus includes:
the first laser displacement sensor 10 is arranged on the left side of the bottom of the tail of the suspension sled vehicle and used for measuring the distance between the left side of the bottom of the tail of the vehicle and the bottom surface of the track;
the second laser displacement sensor 12 is arranged on the left side of the bottom of the vehicle head of the suspension sledge and used for measuring the distance between the left side of the bottom of the vehicle head and the bottom surface of the track;
the third laser displacement sensor 14 is arranged on the right side of the bottom of the vehicle head of the suspension sledge and used for measuring the distance between the right side of the bottom of the vehicle head and the bottom surface of the track;
and the processing unit 16 is configured to calculate an attitude angle of the suspension sled according to the motion attitude of the suspension sled, the distance detected by the first laser displacement sensor, the distance detected by the second laser displacement sensor, the distance detected by the third laser displacement sensor, the distance between the first laser displacement sensor and the second laser displacement sensor, and/or the distance between the second laser displacement sensor and the third laser displacement sensor.
The laser emitted by the first laser displacement sensor, the second laser displacement sensor and the third laser displacement sensor is perpendicular to the bottom of the vehicle body (namely, the laser is emitted in a direction perpendicular to the bottom of the vehicle body).
Through the technical scheme, the attitude angle of the suspension sled can be calculated according to the detection result of the laser displacement sensor arranged at the bottom of the suspension sled, the mode is not influenced by a strong magnetic field environment, high measurement precision can be achieved under the conditions that the yaw attitude angle is small and the wall surface of a track is flat, and the technical problem of attitude measurement of the suspension sled is effectively solved.
FIG. 3 illustrates a schematic diagram of the pitch attitude of the levitation sled according to an embodiment of the present invention.
According to an embodiment of the present invention, as shown in fig. 3, in the case that the suspension sled performs only a pitching motion (pitching around the y-axis), the attitude angle includes a pitch angle, and the processing unit 16 calculates the pitch angle of the suspension sled according to the distance between the first laser displacement sensor and the second laser displacement sensor, the distance detected by the first laser displacement sensor, the distance detected by the second laser displacement sensor, and the distance detected by the third laser displacement sensor, wherein the distance detected by the second laser displacement sensor is equal to the distance detected by the third laser displacement sensor.
For example, in the case of pitch motion only, the pitch angle θ of the levitation sled is calculated by:
in the formula, H 1 Represents the distance detected by the first laser displacement sensor (i.e., the detected value after only pitching), H 2 Indicating the distance detected by the second laser displacement sensor (i.e., the detected value after only pitching), L s Represents a distance between the first laser displacement sensor and the second laser displacement sensor.
According to an embodiment of the present invention, in a case that the levitation sled performs only rolling motion (rolling around the z-axis), the attitude angle includes a rolling angle, and the processing unit calculates the rolling angle of the levitation sled according to a distance between the second laser displacement sensor and the third laser displacement sensor, a distance detected by the first laser displacement sensor, a distance detected by the second laser displacement sensor, and a distance detected by the third laser displacement sensor, wherein the distance detected by the first laser displacement sensor is equal to the distance detected by the second laser displacement sensor.
For example, in the case of roll-only motion, the roll angle γ of the suspended sled is calculated by:
in the formula, H 33 Indicating the distance detected by said third laser displacement sensor, H 22 Indicating the distance, L, detected by the second laser displacement sensor w Represents a distance between the second laser displacement sensor and the third laser displacement sensor.
4A-4C illustrate schematic diagrams of the pitch + roll attitude of the floating sled according to an embodiment of the present invention.
Fig. 4A is a side view, fig. 4B is a front view of the head of the sled, and fig. 4C is a front view of the tail of the sled.
According to an embodiment of the present invention, as shown in fig. 4, in a case where the suspension sled performs a pitching motion and then a rolling motion (pitching around the y-axis and rolling around the z-axis), the attitude angle includes a pitch angle and a rolling angle, the processing unit calculates the rolling angle of the suspension sled according to a distance between the second laser displacement sensor and the third laser displacement sensor, a distance detected by the second laser displacement sensor, and a distance detected by the third laser displacement sensor, and calculates the pitch angle of the suspension sled according to the calculated rolling angle, a distance between the first laser displacement sensor and the second laser displacement sensor, a distance detected by the first laser displacement sensor, and a distance detected by the second laser displacement sensor.
For example, when the pitching motion is performed first and then the rolling motion is performed, the rolling angle γ and the pitch angle θ of the suspension sled are calculated by the following formula:
in the formula, H 33 Indicating the distance, H, detected by the third laser displacement sensor 22 Indicating the distance detected by the second laser displacement sensor, H 11 Indicating the distance, L, detected by the first laser displacement sensor w Represents the distance, L, between the second and third laser displacement sensors s Is the distance between the first laser displacement sensor and the second laser displacement sensor.
According to an embodiment of the present invention, the processing unit is further configured to calculate a vertical distance between the left side of the bottom of the vehicle tail and the bottom surface of the track, a vertical distance between the left side of the bottom of the vehicle head and the bottom surface of the track, and a vertical distance between the right side of the bottom of the vehicle head and the bottom surface of the track according to the motion attitude of the suspension sled and the attitude angle calculated under the corresponding motion attitude.
For example, when the motion attitude of the suspension sledge is only pitching, calculating the vertical distance between the left side of the bottom of the tail of the vehicle and the bottom surface of the track, the vertical distance between the left side of the bottom of the vehicle head and the bottom surface of the track and the vertical distance between the right side of the bottom of the vehicle head and the bottom surface of the track according to the pitching angle; under the condition that the motion attitude of the suspension sledge is pitching first and then rolling, the vertical distance between the left side of the bottom of the tail of the vehicle and the bottom surface of the track, the vertical distance between the left side of the bottom of the vehicle head and the bottom surface of the track and the vertical distance between the right side of the bottom of the vehicle head and the bottom surface of the track under the motion attitude are calculated according to the rolling angle.
Wherein, under the condition that the motion gesture of suspension sleigh is only every single move, calculate the vertical distance between the bottom left side of rear of a vehicle bottom and the orbital bottom surface under this motion gesture through the following formula, the vertical distance between the bottom left side of locomotive bottom and the orbital bottom surface and the vertical distance between the bottom right side of locomotive bottom and the orbital bottom surface:
H 3 ＝H 2
in the formula, H 1 ' denotes the vertical distance between the left side of the bottom of the vehicle tail and the bottom of the track (i.e., pitched only), H 2 ' denotes the vertical distance between the left side of the bottom of the locomotive and the bottom surface of the track (i.e. pitched only), H 3 Indicates the distance detected by the third laser displacement sensor (i.e., the detected value after only pitching), H 0 Indicating the height of the laser displacement sensor from the bottom surface of the track in the initial state (in the initial state, the levitation sled is parallel to the track, and thus the first, second, and third laser displacement sensors are each at the same height as the bottom surface of the track).
Wherein, under the condition that the motion gesture of suspension sleigh was for pitching earlier then rolling, vertical distance between the bottom left side of rear of a vehicle bottom and the orbital bottom under this motion gesture, vertical distance between bottom left side of locomotive bottom and the orbital bottom and the vertical distance between bottom right side of locomotive bottom and the orbital bottom through following formula calculation:
in the formula, H 1 Represents the distance detected by the first laser displacement sensor (i.e., the detected value after only pitching), H 2 Represents the distance detected by the second laser displacement sensor (i.e., the detected value after only pitching), H 3 Indicates the distance detected by the third laser displacement sensor (i.e., the detected value after only pitching), H 1 "means the vertical distance between the left side of the bottom of the car tail and the bottom of the trackOff (i.e., pitch and roll), H 2 "indicates the vertical distance between the left side of the headstock bottom and the bottom surface of the track (i.e., after pitching and then rolling), H 3 "indicates the vertical distance between the right side of the bottom of the locomotive and the bottom surface of the track (i.e., after pitching and then rolling), L w Represents a distance between the second laser displacement sensor and the third laser displacement sensor.
The invention also provides a method for measuring the attitude of the suspension sledge, wherein the method comprises the following steps:
measuring the distance between the left side of the bottom of the vehicle tail and the bottom surface of the track by using a first laser displacement sensor, wherein the first laser displacement sensor is arranged on the left side of the bottom of the vehicle tail of the suspension sledge;
measuring the distance between the left side of the bottom of the locomotive and the bottom surface of the track by using a second laser displacement sensor, wherein the second laser displacement sensor is arranged on the left side of the bottom of the locomotive of the suspension sled vehicle;
the third laser displacement sensor is used for measuring the distance between the right side of the bottom of the vehicle head and the bottom surface of the track, and the third laser displacement sensor is arranged on the right side of the bottom of the vehicle head of the suspension sled vehicle;
and calculating the attitude angle of the suspension sledge by utilizing a processing unit according to the motion attitude of the suspension sledge, the distance detected by the first laser displacement sensor, the distance detected by the second laser displacement sensor, the distance detected by the third laser displacement sensor, the distance between the first laser displacement sensor and the second laser displacement sensor and/or the distance between the second laser displacement sensor and the third laser displacement sensor.
Through the technical scheme, the attitude angle of the suspension sled can be calculated according to the detection result of the laser displacement sensor arranged at the bottom of the suspension sled, the mode is not influenced by a strong magnetic field environment, high measurement precision can be achieved under the conditions that the yaw attitude angle is small and the rail wall surface is smooth, and the technical problem of attitude measurement of the suspension sled is effectively solved.
According to an embodiment of the invention, in a case that the suspension sled vehicle only performs pitching motion, the attitude angle comprises a pitch angle, and the processing unit calculates the pitch angle of the suspension sled vehicle according to a distance between the first laser displacement sensor and the second laser displacement sensor, a distance detected by the first laser displacement sensor, a distance detected by the second laser displacement sensor, and a distance detected by the third laser displacement sensor, wherein the distance detected by the second laser displacement sensor is equal to the distance detected by the third laser displacement sensor.
According to an embodiment of the present invention, in a case that the levitation sled performs only rolling motion, the attitude angle includes a rolling angle, and the processing unit calculates the rolling angle of the levitation sled according to a distance between the second laser displacement sensor and the third laser displacement sensor, a distance detected by the first laser displacement sensor, a distance detected by the second laser displacement sensor, and a distance detected by the third laser displacement sensor, where the distance detected by the first laser displacement sensor is equal to the distance detected by the second laser displacement sensor.
According to an embodiment of the present invention, when the suspension sled moves from the pitching position to the rolling position, the attitude angle includes a pitch angle and a rolling angle, the processing unit calculates the rolling angle of the suspension sled according to the distance between the second laser displacement sensor and the third laser displacement sensor, the distance detected by the second laser displacement sensor, and the distance detected by the third laser displacement sensor, and calculates the pitch angle of the suspension sled according to the calculated rolling angle, the distance between the first laser displacement sensor and the second laser displacement sensor, the distance detected by the first laser displacement sensor, and the distance detected by the second laser displacement sensor.
According to an embodiment of the invention, the method further comprises:
and calculating the vertical distance between the left side of the bottom of the vehicle tail and the bottom surface of the track, the vertical distance between the left side of the bottom of the vehicle head and the bottom surface of the track and the vertical distance between the right side of the bottom of the vehicle head and the bottom surface of the track by using the processing unit according to the motion attitude of the suspension sledge and the attitude angle calculated under the corresponding motion attitude.
The above-mentioned measurement method corresponds to the measurement apparatus described in fig. 2 to fig. 4, and the detailed description thereof may refer to the description of fig. 2 to fig. 4, which is not repeated herein.
According to the embodiment, the measurement device and the measurement method provided by the embodiment of the invention solve the problem of attitude measurement in the environment of strong magnetic field and strong vibration, and can measure the attitude of the whole process of the motion of the suspension sledge. The attitude angle information measured by the measuring device and the measuring method can be used for judging the suspension stability of the sledge.
In the description of the present invention, it is to be understood that the directions or positional relationships indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the directions or positional relationships shown in the drawings, and are for convenience of description and simplicity of description only, and in the case of not making a reverse description, these directional terms do not indicate and imply that the device or element referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore, should not be considered as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
For ease of description, spatially relative terms such as "over 8230 \ 8230;,"' over 8230;, \8230; upper surface "," above ", etc. may be used herein to describe the spatial relationship of one device or feature to another device or feature as shown in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary terms "at 8230; \8230; 'above" may include both orientations "at 8230; \8230;' above 8230; 'at 8230;' below 8230;" above ". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and unless otherwise stated, the terms have no special meaning, and therefore, the scope of the present invention should not be construed as being limited.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A suspension sledge attitude measurement device, characterized in that, the device includes:
the first laser displacement sensor is arranged on the left side of the bottom of the tail of the suspension sledge and used for measuring the distance between the left side of the bottom of the tail of the sledge and the bottom surface of the track;
the second laser displacement sensor is arranged on the left side of the bottom of the vehicle head of the suspension sledge and used for measuring the distance between the left side of the bottom of the vehicle head and the bottom surface of the track;
the third laser displacement sensor is arranged on the right side of the bottom of the vehicle head of the suspension sledge and used for measuring the distance between the right side of the bottom of the vehicle head and the bottom surface of the track;
and the processing unit is used for calculating the attitude angle of the suspension sledge according to the motion attitude of the suspension sledge, the distance detected by the first laser displacement sensor, the distance detected by the second laser displacement sensor, the distance detected by the third laser displacement sensor, the distance between the first laser displacement sensor and the second laser displacement sensor and/or the distance between the second laser displacement sensor and the third laser displacement sensor.
2. The apparatus of claim 1, wherein in the case that the suspension sled is only performing pitching motions, the attitude angle comprises a pitch angle, and the processing unit calculates the pitch angle of the suspension sled according to a distance between the first laser displacement sensor and the second laser displacement sensor, a distance detected by the first laser displacement sensor, a distance detected by the second laser displacement sensor, and a distance detected by the third laser displacement sensor, wherein the distance detected by the second laser displacement sensor and the distance detected by the third laser displacement sensor are equal.
3. The apparatus of claim 1, wherein the attitude angle comprises a roll angle in the case that the levitation sled is only performing a rolling motion, the processing unit calculates the roll angle of the levitation sled based on a distance between the second laser displacement sensor and the third laser displacement sensor, a distance detected by the first laser displacement sensor, a distance detected by the second laser displacement sensor, and a distance detected by the third laser displacement sensor, wherein the distance detected by the first laser displacement sensor and the distance detected by the second laser displacement sensor are equal.
4. The apparatus of claim 1 wherein the attitude angle comprises a pitch angle and a roll angle in the case where the levitation sled is first pitched and then rolled, the processing unit calculates the roll angle of the levitation sled based on the distance between the second laser displacement sensor and the third laser displacement sensor, the distance detected by the second laser displacement sensor, and the distance detected by the third laser displacement sensor, and calculates the pitch angle of the levitation sled based on the calculated roll angle, the distance between the first laser displacement sensor and the second laser displacement sensor, the distance detected by the first laser displacement sensor, and the distance detected by the second laser displacement sensor.
5. The device of claim 1, wherein the processing unit is further configured to calculate a vertical distance between the left side of the bottom of the vehicle tail and the bottom surface of the rail, a vertical distance between the left side of the bottom of the vehicle head and the bottom surface of the rail, and a vertical distance between the right side of the bottom of the vehicle head and the bottom surface of the rail according to the motion attitude of the suspension sled and the attitude angle calculated under the corresponding motion attitude.
6. A method for measuring the attitude of a suspension sledge is characterized by comprising the following steps:
measuring the distance between the left side of the bottom of the tail of the vehicle and the bottom surface of the track by using a first laser displacement sensor, wherein the first laser displacement sensor is arranged on the left side of the bottom of the tail of the vehicle of the suspension sledge;
measuring the distance between the left side of the bottom of the vehicle head and the bottom surface of the track by using a second laser displacement sensor, wherein the second laser displacement sensor is arranged on the left side of the bottom of the vehicle head of the suspension sledge;
the third laser displacement sensor is used for measuring the distance between the right side of the bottom of the vehicle head and the bottom surface of the track, and is arranged on the right side of the bottom of the vehicle head of the suspension sledge;
and calculating the attitude angle of the suspension sledge by utilizing a processing unit according to the motion attitude of the suspension sledge, the distance detected by the first laser displacement sensor, the distance detected by the second laser displacement sensor, the distance detected by the third laser displacement sensor, the distance between the first laser displacement sensor and the second laser displacement sensor and/or the distance between the second laser displacement sensor and the third laser displacement sensor.
7. The method of claim 6, wherein in the case where the suspension sled is performing only pitch motions, the attitude angle comprises a pitch angle, and the processing unit calculates the pitch angle of the suspension sled based on a distance between the first laser displacement sensor and the second laser displacement sensor, a distance detected by the first laser displacement sensor, a distance detected by the second laser displacement sensor, and a distance detected by the third laser displacement sensor, wherein the distance detected by the second laser displacement sensor and the distance detected by the third laser displacement sensor are equal.
8. The method of claim 6, wherein the attitude angle comprises a roll angle in the case that the levitation sled is only performing a rolling motion, the processing unit calculating the roll angle of the levitation sled based on a distance between the second laser displacement sensor and the third laser displacement sensor, a distance detected by the first laser displacement sensor, a distance detected by the second laser displacement sensor, and a distance detected by the third laser displacement sensor, wherein the distance detected by the first laser displacement sensor and the distance detected by the second laser displacement sensor are equal.
9. The method of claim 6, wherein in the case that the suspension sled is first pitched and then rolled, the attitude angle comprises a pitch angle and a roll angle, the processing unit calculates the roll angle of the suspension sled based on the distance between the second laser displacement sensor and the third laser displacement sensor, the distance detected by the second laser displacement sensor, and the distance detected by the third laser displacement sensor, and calculates the pitch angle of the suspension sled based on the calculated roll angle, the distance between the first laser displacement sensor and the second laser displacement sensor, the distance detected by the first laser displacement sensor, and the distance detected by the second laser displacement sensor.
10. The method of claim 6, further comprising:
and calculating the vertical distance between the left side of the bottom of the vehicle tail and the bottom surface of the track, the vertical distance between the left side of the bottom of the vehicle head and the bottom surface of the track and the vertical distance between the right side of the bottom of the vehicle head and the bottom surface of the track by using the processing unit according to the motion attitude of the suspension sledge and the attitude angle calculated under the corresponding motion attitude.
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