CN108248326A - A kind of cross-country chassis height intelligent regulating system of multi-axle heavy type - Google Patents

Abstract

The present invention relates to a kind of cross-country chassis height intelligent regulating system of multi-axle heavy type, which includes：Suspension height measurement module, CPU module, display interactive module, execution module, image processing module, localization process module, mode module, CPU module is connected with CAN Vehicle Body Bus, real-time reception speed information, image processing module connect acquisition information of road surface with travelling image system, localization process module is connect with vehicle-mounted BDS, can synchronize reception vehicle position information；Information is sent to the default chassis height pattern of mode module selection, and instruction is sent to execution module chassis and reaches pattern setting height, and elevation information is transported to CPU module by suspension height measurement module in real time, realizes that the intelligence of chassis height is adjusted；The present invention disclosure satisfy that chassis sky is fully loaded with lower intelligence and adjusts the road clearance, stability and travel speed when ensureing that its motor-driven highway, obstacle detouring traveling, railway transportation improve mobility and passability, while avoiding not ensureing railway transportation because barycenter is higher.

Description

A multi-axis heavy-duty off-road chassis height intelligent adjustment system

technical field

The invention relates to the technical field of special off-road vehicles, in particular to a multi-axle heavy-duty off-road chassis height intelligent adjustment system.

Background technique

Heavy-duty multi-axle off-road chassis are mostly used in special fields such as aerospace, military, special engineering, etc. It is often necessary to transport equipment by rail to specific areas and the roads are complex and changeable, and the road conditions are bad, in order to meet high mobility and passability. The heavy-duty off-road chassis requires a large-stroke independent oil-pneumatic suspension height adjustment capability to control the ground clearance of the chassis. The large-stroke chassis height adjustment is realized by adjusting the oil-pneumatic spring of the oil-pneumatic suspension. At present, the adjustment of the oil-pneumatic suspension is mainly semi-active control. The height control is realized through the control buttons in the driver. Operation, affecting vehicle mobility, low adjustment efficiency, poor controllability, low intelligence, and many adjustment restrictions. The invention describes a multi-axis heavy-duty off-road chassis height intelligent adjustment system, which can effectively solve the above problems.

In the era of artificial intelligence, intelligence is the development direction of special heavy-duty vehicles. Research and development is used for a multi-axis heavy-duty off-road chassis height intelligent adjustment system to meet the needs of vehicles to efficiently, quickly and safely pass through bad roads and railway transportation. For this It is of great significance for the application in this special field.

Contents of the invention

The purpose of the present invention is to provide a multi-axis heavy-duty off-road chassis height intelligent adjustment system for the above-mentioned defects of the prior art. This adjustment system can realize image road surface recognition, chassis coordinate position positioning, and chassis driving The speed acquisition judges which height mode it adopts through the combination of the three. After the processing is completed, the corresponding command is sent to the execution module to complete the height adjustment of the chassis. There is no external human intervention in the system operation during the whole process. In the normal driving state, the judgment is completed independently , identify, and issue instructions to complete the height adjustment of the chassis. In order to ensure safety, the height adjustment speed of the chassis is 5mm/s.

The technical solution adopted in the present invention is: the adjustment system includes a suspension height measurement module, a central processing unit module, a display interaction module, an execution module, an image processing module, a positioning processing module, and a mode module, and is characterized in that: when the display is pressed Start the intelligent suspension system on the interactive module, command each module to start orderly and coordinated work through the central processor module, these modules are connected through a dedicated interface, the central processor module is connected with the CAN bus of the vehicle body, and receives the chassis driving speed signal, At the same time, the information related to the height adjustment of the chassis is sent to the display interaction module on the dashboard of the cab through the bus; the image processing module is connected with the front-view video driving system to obtain the road surface information in front of the chassis, and the signal is sent to the central processing through a series of processing The positioning processing module is connected with the Beidou satellite navigation system, and the relevant positioning information is processed and sent to the central processing unit module; the central processing unit pushes it to the mode after a series of calculations based on the vehicle speed information, positioning comparison information, and road information. Module, the mode module determines the chassis height mode and sends the signal to the central processing unit, the suspension height measurement module sends the real-time measurement information to the central processing module, and then the central processing module signal is pushed to the execution module to complete the suspension height adjustment and then Complete chassis height adjustment.

Further, the central processing module receives a vehicle speed signal every 1 second,

Further, the image processing module collects and processes the state information of the road ahead in real time, and sends the collected and processed signal to the central processor module only when the vehicle speed is lower than the set threshold, so as to improve the computing speed and reduce energy consumption.

Further, the positioning processing module receives Beidou positioning information in real time, and sends the positioning processing signal to the central processing module when the vehicle speed is zero.

Further, the suspension height measurement module real-time measures the chassis height information and sends it to the central processing unit module, which includes an angle sensor, a sensor bracket, a sensor pad and a pull rod, the sensor bracket is fixed on the longitudinal beam of the vehicle frame, and the sensor pad The plate is fixed on the lower cross arm assembly, the angle sensor is installed on the sensor bracket, the two ends of the tie rod are respectively connected to the angle sensor and the sensor gasket through the structure of the ball head, and the detection signal of the angle sensor is used to output to the control system.

Further, the executive module uses an oil-air suspension, and the oil-air spring is an oil-air separation type oil-air spring, which can realize the height adjustment of a large stroke. The hydraulic pump is an electric hydraulic pump, which can realize that it is not affected by the state of the engine. Using the hydraulic oil of the steering system, The control valve adopts high-precision control spool.

Compared with the prior art, the beneficial effect of the present invention enables the heavy-duty off-road chassis to have good maneuverability, rapid passing ability and significantly improved delivery adaptability. The chassis height adjustment does not require the driver to participate in the control, which reduces the difficulty of the driver's operation and improves the driver's operating comfort. Combined with image analysis technology and big data positioning analysis and comparison technology, the vehicle is truly intelligent. All modules are connected through dedicated data interfaces, and the whole system is connected to the bus of the vehicle body. Image analysis and positioning analysis use existing mature module data analysis methods to ensure the accuracy of information results. This system adapts to the height of the chassis in various states, reducing the loading time of the chassis through bad roads and railway transportation. The whole process is automatically completed during driving or loading without separate operation. It is truly high-efficiency, highly adjustable and controllable. The control is accurate.

Description of drawings

Fig. 1 is the schematic diagram of the chassis height intelligent adjustment system of the present invention;

Fig. 2 is a logic flow chart of the chassis height intelligent adjustment system of the present invention;

Fig. 3 is a diagram of the installation of the suspension height measurement module sensor and the separated oil-gas spring assembly of the present invention;

Fig. 4 is a functional diagram of the hydraulic system of the executive module of the present invention;

Fig. 5 is the physical diagram of the central controller module of the present invention;

Fig. 6 is a display screen diagram of the display interaction module of the present invention.

In the figure: 1-suspension height measurement module, 2-central processing unit module, 3-display interaction module, 4-execution module, 5-image processing module, 6-positioning processing module, 7-mode module, 8-measurement module Sensor assembly, 9-Oil-air separation oil-air spring, 10-Accumulator, 11-Front right oil-air spring assembly, 12-Front left oil-air spring assembly, 13-Rear right oil-air spring assembly, 14-Rear left oil-air spring Component group, 15-various function hydraulic valve parts group, 16-electric hydraulic pump.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings.

As shown in Figure 1, a multi-axis heavy-duty off-road chassis height intelligent adjustment system includes the following modules: suspension height measurement module 1, central processing unit module 2, display interaction module 3, execution module 4, image processing module 5, positioning processing Module 6, model module 7, each module consists of the following parts:

1. Suspension height measurement module 1 includes: four angle sensors, four sensor brackets, four sensor spacers and four tie rods, as shown in Figure 3. The sensor brackets are fixed on the longitudinal beams of the frame, and the sensor spacers are fixed on the lower rail On the arm assembly, the angle sensor is installed on the sensor bracket, and the two ends of the tie rod are respectively connected to the angle sensor and the sensor gasket through the structure of the ball head;

2. The central processor module 2 includes: a high-speed, large-capacity embedded processor, as shown in Figure 5;

3. The display interaction module 3 includes: LCD touch screen as shown in Figure 6, in the upper left corner of the instrument panel; there are modes on the display screen: road driving height RH, transport height TH, obstacle clearance height BH, height value display, alarm display, System pressure display, touch switch area, dynamic image display of suspension state, you can clearly see relevant information;

4. The executive module 4 includes four sets of oil-air separation oil-air springs, four sets of accumulators, a set of control hydraulic valves, and electric hydraulic pumps as shown in Figure 4. The disconnected oil-air suspension adjusts the stroke of the oil-air spring through oil filling and oil return. And then realize the adjustment of chassis height.

5. The image processing module 5 includes the use of a mature road image recognition algorithm;

6. The positioning processing module 6 includes using the developed high-precision position comparison algorithm, and the error is within 5 meters;

7. Mode module 7 includes an algorithm for height selection optimization processing, including three set modes: highway driving mode RH, transport mode TH, and obstacle-crossing mode BH.

As shown in Figure 2, the system logic flow chart is as follows:

Turn on the intelligent height adjustment system in the display interaction module 3, the central processing unit module 2 receives the chassis driving speed in real time, and the suspension height measurement module 1 measures the suspension height in real time. When the vehicle speed is greater than the set threshold, the chassis height is the common value RH. Set the threshold to further judge whether the vehicle speed is zero. When the vehicle speed is zero, the positioning processing module 6 meets the minimum value TH of the suspension height through the execution module 4. When the positioning processing module 6 does not meet, the suspension height does not change, which is the common height RH ; When the vehicle speed is not zero, the image processing module 5 meets the highest value BH of the suspension height through the execution module 4, and when the image processing module 5 does not meet, the suspension height does not change, that is, the common height RH.

Engineers and technicians in this industry can easily understand that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the ideas and principles of the present invention should be included in the within the protection scope of the present invention.

Claims (7)

1. a kind of cross-country chassis height intelligent regulating system of multi-axle heavy type, this smart altitude regulating system is measured including suspension height Module 1, CPU module 2, display interactive module 3, execution module 4, image processing module 5, localization process module 6, mould Formula module 7, it is characterised in that：CPU module 2 is with showing interactive module 3, execution module 4, image processing module 5, determining Position processing module 6, mode module 7 are connected by special purpose interface, and CPU module 2 is connect with vehicle body CAN bus, is connect in real time Receive chassis driving speed information；Image processing module 5 is connect with travelling image system in the acquisition front camera visual field in real time Information of road surface, localization process module 6 are connect with vehicle-mounted BDS (Beidou satellite navigation system), can be determined with real-time reception chassis coordinate Position information, road surface, positioning, speed information are transported to CPU module 2, and being sent to mode module 7 through processing selects chassis row Height mode is sailed, chassis is made to reach predetermined policy height, central processing information is sent to execution module 4 through central processing unit 2 Device module realizes that the intelligence of chassis height is adjusted by 1 real-time reception chassis height information of suspension height measurement module.

2. a kind of cross-country chassis height intelligent regulating system of multi-axle heavy type according to claim 1, it is characterised in that：It is described Central processing module 2 receives suspension height measurement module 1, image processing module 5, localization process mould by special purpose interface and agreement Block 6, the information for showing interactive module 3, mode module 7 and chassis travel speed send information to display interactive module 3, perform Module 4, mode module 7 are the collecting, handle of other module informations, decision and the brain for assigning instruction, wherein display interaction On the liquid crystal display of module 3, the figure of the information such as bodywork height, pattern, suspension state, alarm, membrane keyboard, pressure is shown Text.

3. a kind of cross-country chassis height intelligent regulating system of multi-axle heavy type according to claim 1, it is characterised in that：It is described Execution module 4 includes the hydraulic pressure such as various functions solenoid-operated hydraulic valve, electrical control hydraulic pump, separate type hydro-pneumatic spring component, pipeline System unit, have realize vehicle under different conditions hydro-pneumatic spring it is oil-filled, drain the oil, make hydro-pneumatic spring elongation, shorten, into And the road clearance on chassis is controlled, chassis height is controlled, wherein separate type hydro-pneumatic spring component includes accumulator, certainly limiting oil gas Spring, electromagnetism two-way valve, Manual one-way valve, pressure monitoring sensor, flow control valve, pipeline, guiding mechanism, an every axle left side It is right each a set of, entire chassis is divided into four groups, preceding left side is one group, and preceding right side is one group, and rear left side is one group, and rear right side is one Group forms four control group executing agencies, is adjusted by oil-filled and realization chassis height of draining the oil.

4. a kind of cross-country chassis height intelligent regulating system of multi-axle heavy type according to claim 1, it is characterised in that：It is described Mode module 7 presetting three kinds of chassis state models, that is, road running height RH (Road height) pattern, shipping height TH (Transport height) pattern, obstacle clearing capability BH (barrier height) pattern, road running height mode is chassis Common height value, shipping height pattern chassis minimum altitude value, obstacle clearing capability pattern are chassis maximum height values.

5. a kind of cross-country chassis height intelligent regulating system of multi-axle heavy type according to claim 1, it is characterised in that：It is described Image processing module 5 is that the information of road surface shot by connecting travelling image system acquisition front camera is used as process object, By pavement state information conveyance to CPU module 2, shift to an earlier date a large amount of information of road surface of typing to image procossing using big data Module 5 is for its reference, and in the pavement state two kinds of selections that have been presetting in the module in advance, it is public that a kind of common road surface includes grade The chassis heights such as road, gravel road, dirt road are RH in mode module 7, and another kind is paddles, excessively prominent barrier, road surface height journey It is BH to spend the chassis heights such as the big road surface of gap in mode module 7.

6. a kind of cross-country chassis height intelligent regulating system of multi-axle heavy type according to claim 1, it is characterised in that：Work as inspection It is successful with railway line location matches for zero-sum location information to measure chassis travel speed, is arrived information conveyance by central processing 2 Mode module 7 selects corresponding modes to return to central processing unit 2, and mode signal is transported to execution module 4, its chassis is made to reach corresponding Whether elevation information is transported to central processing unit 2 by suspension height measurement module 1, judges it in respective mode by mode height Formula height.

7. a kind of cross-country chassis height intelligent regulating system of multi-axle heavy type according to claim 1, it is characterised in that：Work as inspection It measures travel speed and is more than setting chassis threshold speed, chassis height is in the height value of road-driving mode, and execution module 4 is adjusted Whole suspension height is adjusted to corresponding height value, when detect travel speed be less than given threshold when image processing module 5 start The information of road surface of processing is sent to CPU module 2, when be the first road surface CPU module 2 not to perform mould Block 4 sends out instruction, and when sending out instruction to execution module 4 for another road surface CPU module 2, adjustment suspension height makes it Chassis reaches corresponding maximum height value BH, shows 1 real-time display chassis height state of interactive module.