Body attitude leveling control system and method for emergency rescue vehicles

Abstract

The body attitude leveling control system for emergency rescue vehicles disclosed in the invention comprises a three-axis accelerometer for measuring the acceleration of a low-speed vehicle in real time; a processor which calculates the vehicle body attitude angle based on the acceleration measured by the three-axis accelerometer; a controller which reads the information of the attitude angle of the vehicle body, and compares the attitude angle of the vehicle body with a leveling accurate preset angle of the vehicle in real time to determine whether the vehicle body needs to be leveled and controlled. The vehicle body leveling system of the present invention can adopt a centroid position error leveling method, and combines the active suspension system of the vehicle to control the movementof each suspension hydraulic cylinder of the suspension system to achieve smooth leveling of the vehicle body. The vehicle body leveling system of the present invention can also adopt a coplanar bodyleveling method to keep the suspension hydraulic cylinders of the suspension system and the vehicle body connection point in the same plane movement, thereby improving the speed of the body levelingcontrol.

Description

technical field [0001] The invention relates to a body attitude leveling control system and method of an emergency rescue vehicle, in particular to a vehicle body attitude leveling control system and a method of an emergency rescue vehicle running off-road at a low speed. Background technique [0002] When emergency rescue vehicles transfer, treat and rescue the wounded in some areas with special terrain, in order to avoid secondary injury to the wounded, the vehicle body is required to maintain a level state when driving to provide a safe working platform for rescue activities. Moreover, with the development of technology, some vehicle-mounted high-precision rescue equipment has higher and higher requirements for the working environment. Therefore, a stable vehicle body running posture has become a prerequisite for its normal work. [0003] At present, the commonly used body leveling method of rescue vehicles is to use the inclination sensor to measure and calculate the bod...

AI Technical Summary

Problems solved by technology

However, the ability of the inclination sensor to measure and calculate the posture of the moving vehicle body in real time is poor, which is not conducive to the real-time accurate measurement and calculation of the posture of the moving vehicle body; moreover, the maximum position error of this method is relatively large during leveling, so the required leveling time Longer, the speed control method for each point is the same, so there is a strong coupling in the body adjustment, so that it does not have an advantage in the speed of leveling

For example, the patent publication number CN101172455A provides a hydraulic automatic leveling method and a leveling system for a ladle car; in addition, a patent publication number CN103991351A provides a four-point support leveling system for a hydraulic flatbed truck load platform and its implementation method. The leveling system and its implementation method have obvious deficiencies in the stability and rapidity of the body attitude leveling control

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