CN209070101U - A kind of automobile-used road surface detection device applied in the transport of mining area - Google Patents
A kind of automobile-used road surface detection device applied in the transport of mining area Download PDFInfo
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- CN209070101U CN209070101U CN201821906491.6U CN201821906491U CN209070101U CN 209070101 U CN209070101 U CN 209070101U CN 201821906491 U CN201821906491 U CN 201821906491U CN 209070101 U CN209070101 U CN 209070101U
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Abstract
The utility model devises a kind of automobile-used road surface detection device applied in the transport of mining area, is related to road surface field of detecting.Detection device composition in road surface includes unmanned probing vehicle, carborne detector and transport vehicle signal receiving unit.The major function of road surface detection device is to be detected and passed to haulage vehicle and transport vehicle driver to the pavement behavior of mining area haulage vehicle track, the braking control system and driver for helping transport vehicle judge track, to improve the driving safety of haulage vehicle.
Description
Technical field
The utility model relates to road surface field of detecting, devise a kind of automobile-used road surface detection dress applied in the transport of mining area
It sets, the detection for mining area road surface.
Background technique
In today that vehicle technology continues to develop, various auxiliary driving technologies are widely used, but at these
Auxiliary driving technology is commonly available to the relatively good downtown roads or highway of pavement behavior.The row of transport vehicle in mining area
During sailing, road driving conditions are severe, are frequently encountered road big rise and fall, fall in ponding accumulated snow accumulated ice or transportational process
The ore fallen even bad road and without road area, in this case, existing auxiliary driving technology are difficult at the first time
It effectively plays a role, transport vehicle performance will receive very big influence or even will appear dangerous working condition.It is mentioned in current already present patent
Road surface detection method out includes the influence for judging that road obstacle runs vehicle by obtaining pavement image and detection image
And road depth of accumulated water and length are shown by the cooperation of laser sensor, vehicle-mounted DVR, central processing unit, it can see
Out, for road surface detection device, the problem of prior art is primarily present three aspects: first is that the information category and range of detection have
Certain limitation does not meet the traveling demand on severe road surface；Second is that the information of road surface detected be only used for single unit vehicle be
System decision, causes the waste of information resources to a certain extent；Do not hold third is that detection device is limited by cost and installation space
Wrong mechanism, when detection device failure when can make vehicle lose perception information of road surface ability, for vehicle driving safety leave it is hidden
Suffer from.
Therefore, the utility model devises a kind of automobile-used road surface detection device applied in the transport of mining area, passes through road surface
Unmanned probing vehicle road pavement information of the traveling in front of transport vehicle is detected in detection device, and the unmanned probing vehicle is equipped with
The road surface sensory perceptual system of the adjustable composition of sensor and investigative range with multiple types, can comprehensively detect information of road surface, this
The Pavement analysis module information of road surface analysis decision of unmanned probing vehicle and it is transferred to haulage vehicle and transport vehicle driver afterwards, when
The carborne detector that unmanned probing vehicle is in malfunction detection device enters working condition and is detected.
Summary of the invention
The main purpose of the utility model is that a kind of automobile-used road surface detection device applied in the transport of mining area is designed, it is right
The pavement behavior of mining area transport vehicle track is detected and is passed to haulage vehicle and transport vehicle driver, it is intended to Yu Tigao
The driving safety of haulage vehicle.To achieve the goals above, the utility model is realized by following technical solution:
Road surface detection device is made of unmanned probing vehicle, carborne detector and transport vehicle signal receiving unit, wherein without
People's probe vehicles have electronic control unit, and the traveling ahead of transport vehicle in mining area is responsible for completing the detection of track information, warp
It crosses after analysis decision and traffic information is transferred to haulage vehicle and transport vehicle driver；Carborne detector is installed on transport vehicle front end
Bottom detects transport vehicle track when unmanned probing vehicle is in malfunction；Transport vehicle signal receiving unit is used
Pass through the fault message of the information of road surface and unmanned probing vehicle that are transmitted in reception unmanned probing vehicle, in addition to this
Transport vehicle signal element also can receive carborne detector and pass through the information of road surface being transmitted to.
There are five wheels for the tool of unmanned probing vehicle described in technical solution, are mounted on three axles, wherein front axle has one
A wheel, and front axle wheel is located in the longitudinally asymmetric face of unmanned probing vehicle；Jackshaft and rear axle are two wheels, wherein in
Between the two-wheeled wheelspan of axis can be according to the wheelspan change of rear haulage vehicle；Unmanned probing vehicle is equipped with road surface sensory perceptual system, should
System can be detected with the situation of track；It include Pavement analysis module in the electronic control unit of unmanned probing vehicle,
Can according to road surface sensory perceptual system transmit come traffic information progress analysis decision.
Carborne detector described in technical solution is by driving mechanism, transmission mechanism, ratcheting mechanism and sensing device group
At；Carborne detector is installed between automotive front end bottom front axle and bumper and is located at driver's cabin heteropleural, in unmanned probing
When vehicle is in normal operating conditions fold be placed in bottom of car and with the angle on horizontal alignment at 3 ° to 8 °, the variation of angle
Amount meets Δ y=0.1 Δ x with road grade angle variable quantity, and to avoid automobile passability is influenced, Δ y is vehicle-mounted detection in formula
Device variable angle amount, Δ x are road grade angle variable quantity；Unmanned probing vehicle enters work when being in part or all of malfunction
State, ratcheting mechanism are directly contacted with track, and the horizontal distance of contact position and transport vehicle front bumper is at 1 to 5 meters
Variation in range, variation foundation are S=V (t1+t2+t3+t4), S is the horizontal distance, and V is transport vehicle speed of operation, t1For road
Face signal acquisition time, t2For signal transmission time, t3For signal processing time, t4For time of driver's reaction.
Transport vehicle signal receiving unit described in technical solution is installed in the electronic control pneumatic brake system of transport vehicle, and
And be connected by CAN bus with the electronic control unit of electronic control pneumatic brake system and transport vehicle driver's cabin display screen, and
It will include best travel route, pavement temperature, length, width and the thickness of surface gathered water accumulated snow accumulated ice, the soft degree in road surface
The fault message of traffic information and unmanned probing bus or train route face sensory perceptual system inside is communicated to transport vehicle by display screen and drives
Member, in addition, the electronic control unit of electronic control pneumatic brake system judges fortune according to the traffic information within the scope of best travel route
Adhesion condition when defeated vehicle is according to the route running, and braking control strategy is adjusted according to judging result.
The front axle of unmanned probing vehicle described in technical solution and rear axle are steering shaft, with obtain compared with tight turn radius and compared with
High-steering flexibility；Unmanned probing vehicle is in due course all-wheel-drive system, and jackshaft is fixed drive shaft, is guaranteeing that mining area runs over
Cost is saved in journey while driving force；In addition, unmanned probing vehicle is equipped with the floating vehicle bridge that can be gone up and down, by caterpillar vehicle
Wheel and linear actuator composition, when unmanned probing car test measure surface deformation it is larger when, linear actuator control vehicle bridge decline
Until wheel and ground face contact, to increase contact area, and wheel contact area and surface deformation degree are positively correlated variation:
In unmanned probing vehicle driving process, when probe vehicles ground area is sunk less than 60 millimeters, floating vehicle bridge does not work；Road surface subsidence
At 60-120 millimeters, floating vehicle bridge tire-contact area is 0.03 square metre；When road surface subsidence is more than 120 millimeters, floating vehicle bridge
Tire-contact area is 0.07 square metre.
Unmanned probing vehicle described in technical solution is characterized in that the road surface sensory perceptual system of the unmanned probing vehicle by installing
In the soft degree detecting sensor in road surface in five wheel tires, the road roughness sensor on five wheel wheel hubs and unmanned probing
The compound road conditions imaging device of vehicle front top forms；Wherein compound road conditions imaging device can be identified and be detected including road surface temperature
Traffic information including degree distribution, the distribution of road surface foreign matter, travelable road surface and surface gathered water accumulated snow accumulated ice situation, pickup area
For unmanned vehicle traveling ahead region, the relationship of zone length and probe vehicles speed of operation V meet S=0.0094V2+0.6056V+
3.1729, this formula is fitted to obtain according to parking of automobile sighting distance table, it is ensured that probe vehicles can be made according to the information of road surface detected
It timely reacts, to guarantee the traffic safety of unmanned probing vehicle；Peak width is then negatively correlated pass with the superiority and inferiority of pavement behavior
System, cooks up best driving path to guarantee that probe vehicles can analyze.
Pavement analysis module in unmanned probing vehicle electronic control unit described in technical solution is perceived with road surface simultaneously
The signal receiving unit of system and transport vehicle electronic control pneumatic brake system is wirelessly connected；Pavement analysis module is divided into signal reception
Unit, road surface pretreatment unit, Pavement analysis unit, path planning unit and signal transmitter unit
Unmanned probing vehicle described in technical solution is equipped with fault detection unit, is responsible for the soft degree in road surface in detection system
The traveling shape of sensor, the working condition of Uneven road sensor and compound road conditions imaging device and unmanned probing vehicle entirety
State；The fault detection unit and Pavement analysis module and transport vehicle carborne detector are wirelessly connected.
The transmission mechanism of carborne detector described in technical solution is made of seven drive rods: first drive rod one end with
The connection of power source output shaft counterbore, the other end and the second drive rod upper end are hinged；Second drive rod lower end is fixed on the 5th transmission
In the middle part of bar；The upper end of 5th drive rod is connected with transport chassis, and lower end and the 6th drive rod are hinged；Third drive rod left end is solid
It is connected in the middle part of the second drive rod, right end and the 4th drive rod are hinged；The right end of 4th drive rod is fixed on the 5th drive rod；7th
Drive rod one end and transport chassis are hinged, and the other end and the 6th drive rod are hinged.
6th drive rod of carborne detector described in technical solution is stepped stem, top half and other drive rods
The accurate working condition of common guarantee carborne detector, lower half portion be then designed to electromagnetism push rod and be connected with ratcheting mechanism,
On the one hand have the characteristics that length is variable；On the other hand by when electromagnetic damping reduction detector is contacted and separated with road surface in bar
Impact.
Using ratcheting mechanism as carrier, acquisition includes road for the installation of the sensing device of carborne detector described in technical solution
Roadway characteristic including face unevenness, attachment and soft situation, and collected roadway characteristic is transferred to controlled pneumatic
Signal receiving unit in braking system.
Compared with prior art, the utility model implementation, which has the advantages that, travels in front of the transport vehicle of mining area
Unmanned probing vehicle can be completed to include road gradient, road roughness, pavement temperature, the soft degree in road surface, road surface foreign matter, road surface
The detection of traffic information including ponding accumulated snow product region and investigative range can change according to speed and pavement behavior, and by road conditions
Information is transferred to haulage vehicle, adjusts braking strategy in advance convenient for it；In addition, traffic information also would be communicated to transport vehicle driving
Member, facilitates it to make anticipation.In unmanned probing vehicle failure, adopting for road surface characteristic will be also completed as spare carborne detector
Collection, and complete the transmitting of information, it is ensured that transport vehicle safety traffic.
Detailed description of the invention
The utility model is described further with reference to the accompanying drawing.
Fig. 1 is the overall schematic of unmanned probing vehicle described in the utility model；
Fig. 2 is the chassis structure schematic diagram of unmanned probing vehicle described in the utility model；
Fig. 3 is the home position schematic diagram of carborne detector described in the utility model；
Fig. 4 is the structure composition figure of road surface detection device described in the utility model.
Specific embodiment
Specific embodiment of the present utility model is described in detail with reference to the accompanying drawing.These attached drawings are simplified show
It is intended to, only illustrates the basic structure of the utility model in a schematic way, therefore only shows structure group related with the utility model
At.
The utility model includes unmanned probing vehicle shown in FIG. 1 and carborne detector shown in Fig. 3.
As shown in Figure 1, the groundwork composition of unmanned probing vehicle 100 includes that road surface sensory perceptual system and probe vehicles are controlled electronically
Pavement analysis module 102 in unit forms, and wherein road surface sensory perceptual system is by the soft degree in road surface that is installed in five wheel tires
Dress is imaged in the compound road conditions that sensor 103, five takes turns Uneven road sensor 104 and unmanned probing vehicle front top on wheel hub
101 three parts composition is set, and three is wirelessly connected with Pavement analysis module.
Specifically, compound road conditions imaging device 101 is first to traveling ahead road surface in 100 driving process of unmanned probing vehicle
Thermal imaging is carried out, and gained map is transmitted to the road surface pretreatment unit in Pavement analysis module, by Pavement analysis module 102
It is analyzed and obtains pavement temperature distribution first, and differentiated obtain temperature anomaly region accordingly, and tentatively judge that road surface is
It is no to have compared with macrorelief and whether there is ponding accumulated snow accumulated ice situation, and measurement information to be checked is transferred to compound road conditions imaging dress
101 are set, pavement image is obtained by video camera, is filtered after being transmitted to road surface pretreatment unit, resolution obtains convenient row
Region and the thickness on the road surface and ponding accumulated snow accumulated ice sailed.
Path planning unit obtains all processing results of road surface pretreatment unit by communication in module, judges,
Make unmanned probing vehicle 100 around pitchpole, the serious road surface of ponding accumulated snow accumulated ice travels in the route for being most suitable for traveling.
In 100 driving process of unmanned probing vehicle, the soft degree sensor 104, five in the road surface being installed in five wheel tires
Uneven road sensor 103 on wheel wheel hub is in real time acquired the road surface signal that unmanned probing vehicle crosses, and obtaining includes road
Traffic information including face unevenness, surface deformation degree and attachment coefficient, and collected information is transferred to Pavement analysis
Pavement analysis unit in module 102 carries out information integration, and it is single that the analysis result of foregoing units is transmitted to signal transmitting together
Member is finally sent to the haulage vehicle at 100 rear of unmanned probing vehicle.
Fault detection unit in unmanned probing vehicle 100 is responsible for the soft degree sensor in road surface in detection system, road surface not
The whole driving status of the working condition and unmanned probing vehicle 100 of sensor and compound road conditions imaging device 101, specifically by
Detection sub-unit in device executes, and when unmanned probing vehicle is detected operation irregularity, fault detection unit is immediately to vehicle
Set detection device and haulage vehicle issue signal, and carborne detector enters working condition.
As shown in figure 3, carborne detector is made of driving mechanism, transmission mechanism, ratcheting mechanism and sensing device, driving
Mechanism uses motor, provides power for the work of carborne detector；Transmission mechanism uses leverage, including 7 drive rods；Wheeled machine
Structure is directly contacted with ground, and provides carrier for the installation of sensing device；Sensing device for acquire include road roughness,
Roadway characteristic including attachment and soft situation, and collected roadway characteristic is transferred in electronic control pneumatic brake system
Signal receiving unit.
As shown in figure 3, first drive rod one end is connect with power source output shaft counterbore, the other end and the second drive rod upper end
Hingedly；Second drive rod lower end is fixed in the middle part of the 5th drive rod；The upper end of 5th drive rod is connected with transport chassis, lower end
It is hinged with the 6th drive rod；Third drive rod left end is fixed in the middle part of the second drive rod, and right end and the 4th drive rod are hinged；4th
The right end of drive rod is fixed on the 5th drive rod；7th drive rod one end and transport chassis are hinged, the other end and the 6th transmission
Bar is hinged.Wherein the 6th drive rod is its top half of stepped stem and other accurate works of drive rod common guarantee carborne detector
Make state, lower half portion is then designed to electromagnetism push rod and is fixedly connected with ratcheting mechanism, has the characteristics that length is variable.Work as vehicle
When set detection device moves to working condition, the first drive rod is conllinear with the second drive rod, and third drive rod and the 4th drive rod are total
Line realizes that transmission mechanism is self-locking, guarantees functional reliability.
Claims (8)
1. a kind of automobile-used road surface detection device applied in the transport of mining area, it is characterised in that: road surface detection device is visited by unmanned
Measuring car, carborne detector and transport vehicle signal receiving unit composition；Wherein unmanned probing vehicle is in the front of mining area haulage vehicle
Traveling for comprehensive survey information of road surface and is transferred to traveling in haulage vehicle and the transport vehicle driving at unmanned probing vehicle rear
Member；Carborne detector is installed on transport front bottom of vehicle, when unmanned probing vehicle is in malfunction to transport vehicle track
It is detected；Transport vehicle signal receiving unit be used to receive unmanned probing vehicle pass through the information of road surface that passes over
The fault message of unmanned probing vehicle, in addition to this transport vehicle signal element also can receive carborne detector and be transmitted by wireless transmission
The information of road surface to come over.
2. a kind of automobile-used road surface detection device applied in the transport of mining area as described in claim 1, it is characterised in that: described
There are five wheels for unmanned probing vehicle tool, are mounted on three axles, wherein front axle has a wheel, and jackshaft and rear axle are two
A wheel, wherein the wheelspan of jackshaft can be according to the wheelspan change of rear haulage vehicle；In addition, unmanned probing vehicle is equipped with road
Face sensory perceptual system, the detection for pavement behavior.
3. a kind of automobile-used road surface detection device applied in the transport of mining area as described in claim 1, it is characterised in that: described
Carborne detector is made of driving mechanism, transmission mechanism, ratcheting mechanism and sensing device；Before carborne detector is installed on automobile
It holds between bottom front axle and bumper and is located at driver's cabin heteropleural, fold and receive when unmanned probing vehicle is in normal operating conditions
Be placed in bottom of car and with the angle on horizontal alignment at 3 ° to 8 °, unmanned probing vehicle can not travel or road surface sensory perceptual system in
Sensor for detecting roadway characteristic enters working condition when being in malfunction, and ratcheting mechanism directly connects with track
Touching, and the horizontal distance of contact position and transport vehicle front bumper changes within the scope of 1 to 5 meters, variation foundation is S=V (t1+t2
+t3+t4), S is the horizontal distance, and V is transport vehicle speed of operation, t1For road surface signal acquisition time, t2When being transmitted for signal
Between, t3For signal processing time, t4For time of driver's reaction.
4. a kind of automobile-used road surface detection device applied in the transport of mining area as described in claim 1, it is characterised in that: described
Transport vehicle signal receiving unit is installed in the electronic control pneumatic brake system of transport vehicle, and will include best travel route, road
Traffic information including face Temperature Distribution, length, width and the thickness of surface gathered water accumulated snow accumulated ice, the soft degree in road surface and
The fault message of unmanned probing bus or train route face sensory perceptual system is communicated to transport vehicle driver by display screen, in addition, controlled pneumatic system
The electronic control unit of dynamic system judges transport vehicle according to the route running according to the traffic information within the scope of best travel route
When adhesion condition, and according to judging result adjust braking control strategy.
5. a kind of automobile-used road surface detection device applied in the transport of mining area as claimed in claim 2, it is characterised in that: described
The front axle and rear axle of unmanned probing vehicle are steering shaft；Unmanned probing vehicle is in due course all-wheel-drive system, and jackshaft is fixed driving
Axis；In addition, unmanned probing vehicle is equipped with the floating vehicle bridge that can be gone up and down, it is made of caterpillar wheel and linear actuator,
When unmanned probing car test measure surface deformation degree it is larger when, linear actuator control vehicle bridge decline until wheel connect with ground
Touching, to increase contact area, and wheel contact area and surface deformation degree are positively correlated variation.
6. a kind of automobile-used road surface detection device applied in the transport of mining area as claimed in claim 2, it is characterised in that: described
The road surface sensory perceptual system of unmanned probing vehicle is by the soft degree detecting sensor in the road surface being installed in five wheel tires, five wheel wheel hubs
Road roughness sensor and unmanned probing vehicle front top compound road conditions imaging device composition；Wherein compound road conditions at
As device can identify and detect including pavement temperature distribution, the distribution of road surface foreign matter, travelable road surface and surface gathered water accumulated snow
Information of road surface including accumulated ice situation, pickup area are unmanned vehicle traveling ahead region, and zone length is according to parking of automobile sighting distance
Table is fitted to obtain S=0.0094V2+ 0.6056V+3.1729, wherein V is probe vehicles speed of operation；Peak width then with road surface shape
The superiority and inferiority of condition is negatively correlated relationship, cooks up best driving path to guarantee that probe vehicles can analyze.
7. a kind of automobile-used road surface detection device applied in the transport of mining area as claimed in claim 3, it is characterised in that: described
The transmission mechanism of carborne detector is made of seven drive rods: first drive rod one end is connect with power source output shaft counterbore, separately
One end and the second drive rod upper end are hinged；Second drive rod lower end is fixed in the middle part of the 5th drive rod；The upper end of 5th drive rod
It is connected with transport chassis, lower end and the 6th drive rod are hinged；Third drive rod left end is fixed in the middle part of the second drive rod, right end
It is hinged with the 4th drive rod；The right end of 4th drive rod is fixed on the 5th drive rod；7th drive rod one end and transport chassis
Hingedly, the other end and the 6th drive rod are hinged.
8. a kind of automobile-used road surface detection device applied in the transport of mining area as claimed in claim 7, it is characterised in that: described
6th drive rod of carborne detector is stepped stem, and top half and other drive rod common guarantee carborne detectors are accurate
Working condition, lower half portion are then designed to electromagnetism push rod and are connected with ratcheting mechanism on the one hand have the characteristics that length is variable；
On the other hand reduce impact when detector is contacted and separated with road surface by electromagnetic damping in bar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821906491.6U CN209070101U (en) | 2018-11-20 | 2018-11-20 | A kind of automobile-used road surface detection device applied in the transport of mining area |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821906491.6U CN209070101U (en) | 2018-11-20 | 2018-11-20 | A kind of automobile-used road surface detection device applied in the transport of mining area |
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| Publication Number | Publication Date |
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| CN209070101U true CN209070101U (en) | 2019-07-05 |
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ID=67099791
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821906491.6U Expired - Fee Related CN209070101U (en) | 2018-11-20 | 2018-11-20 | A kind of automobile-used road surface detection device applied in the transport of mining area |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109343042A (en) * | 2018-11-20 | 2019-02-15 | 吉林大学 | A kind of road surface detection device suitable for mining area haulage vehicle |
-
2018
- 2018-11-20 CN CN201821906491.6U patent/CN209070101U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109343042A (en) * | 2018-11-20 | 2019-02-15 | 吉林大学 | A kind of road surface detection device suitable for mining area haulage vehicle |
| CN109343042B (en) * | 2018-11-20 | 2023-09-29 | 吉林大学 | Road surface detection device suitable for mining area transport vehicle |
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Granted publication date: 20190705 Termination date: 20211120 |