Special vehicle framework intelligent shape righting system based on dynamic measurement control and shape righting method of special vehicle framework intelligent shape righting system

Abstract

The invention discloses a special vehicle framework intelligent shape righting system and method based on dynamic measurement control, and the system comprises a movable support, a ground scanning module disposed on a front side supporting leg of the movable support, and a welding line recognition module disposed at the center of the front side of the top of the movable support. And the deformation correction mechanism is arranged at the top of the movable bracket and can move left and right. According to the invention, different distance values of different positions are dynamically obtained by controlling a plurality of groups of distance measurement identification modules, welding seam positions are distinguished and identified, to-be-corrected positions are determined, and the height of the supporting legs is controlled to rise and fall in combination with the ground variation amplitude, so that automatic and intelligent identification control and judgment can be carried out on the special vehicle framework at any place; therefore, intelligent shape righting control of the whole special vehicle framework is realized.

Description

Technical Field

[0001] The invention belongs to the technical field of intelligent correction of special vehicle frames, and in particular relates to an intelligent correction system of a special vehicle frame based on dynamic measurement control and a correction method thereof. Background Art

[0002] The special vehicle frame is the chassis structure of special vehicles such as heavy trucks. It is generally 8-12 meters long and is a grid-like frame structure welded with multiple steel plates of the same width and thickness as horizontal and vertical beams. The head of the existing special vehicle frame is equipped with a double-layer frame, the upper frame extends to the middle and rear part, and the lower frame is only set at the head position. The lower frame is assembled by the horizontal beam with the width facing upward and the vertical beam with the thickness facing upward, and the upper frame is assembled by the horizontal beam with the thickness facing upward and the vertical beam with the width facing upward (see Figure 1 ). During the welding process, the special vehicle frame will be affected by the welding heat radiation and produce stress, which will cause the frame to deform. The longer the weld, the greater the deformation caused by the stress. In order to meet the performance requirements of assembly accuracy, safety, durability and other performance requirements during use, the overall deformation tolerance of the special vehicle frame is usually small. Therefore, the deformation correction of the special vehicle frame after forming is required without damaging the welding structure.

[0003] The traditional special vehicle frame correction method is to determine the deformation position through the wire pulling method, and correct it by manual hammering or flame. During the correction process, the wire pulling method is repeatedly used to determine the correction effect until it meets the requirements. This type of correction method has a high degree of manual intervention, high work intensity, low deformation detection efficiency, low correction accuracy, and cannot meet the needs of modern automated and intelligent production.

[0004] In the prior art, some equipment also uses automatic detection and correction of deformation. This type of correction equipment requires the workpiece to be placed on a fixed detection platform, and uses multiple sets of sensors and multi-point distance measurement to determine the deformation position and then apply pressure to complete the deformation correction. There are many problems in the use of this type of equipment: First, this type of equipment requires a fixed detection site with a certain area, but in actual production operations, it is difficult to free up enough space as a fixed detection site and transfer channel, and the frame of the special transfer vehicle also requires special equipment and time, which is not conducive to timely detection and improvement of production efficiency; second, this type of equipment is mostly used for workpieces with planes, requiring the workpiece to have a reference plane, and generally there is no need to consider the position of the weld, while the frame of the special vehicle is a grid-like frame structure, and the head is a double-layer frame structure. After being placed on a certain plane, the whole is not on the same plane, and the reference plane cannot be established. In addition, there are many welds and the orientation of the structural parts also has different forms. Therefore, the existing automatic correction equipment cannot be applied to the frame of the special vehicle. Summary of the invention The purpose of the present invention is to propose an intelligent correction system and correction method for a special vehicle frame based on dynamic measurement control, which controls multiple groups of distance measurement modules to dynamically obtain different distance values ​​at different positions, distinguishes and identifies the weld position and determines the position to be corrected, and controls the height of the support feet in combination with the amplitude of ground changes, so as to solve the problem that the existing special vehicle frame deformation correction method cannot meet the needs of automated and intelligent production, or the existing automatic correction equipment has high requirements for the use of the site and is not suitable for special vehicle frames.

[0005] The present invention is achieved through the following technical solutions: The present invention provides a special vehicle frame intelligent orthopedic system based on dynamic measurement control, the structure of which includes: The mobile bracket includes a support frame and four legs, wherein the legs arranged on the left and right sides are respectively arranged close to the long sides of the special vehicle frame, and the legs are provided with a lifting assembly inside, and the bottom of the lifting assembly is connected to a walking mechanism; the lifting assembly is used to adjust the height of each leg, and the walking mechanism is used to drive the mobile bracket to move; The ground scanning module includes two groups of detection units, each group of detection units includes a first distance measuring sensor and a group of swinging components, the detection units are respectively arranged on the outside of the two legs on the front side of the mobile bracket, the first distance measuring sensor is connected to the swinging component, and the swinging component is used to drive the first distance measuring sensor to swing up and down for dynamic distance measurement or to fix the first distance measuring sensor at a certain angle for real-time distance measurement; the ground scanning module is used to establish a ground plane model according to the measurement values ​​obtained by dynamic measurement and to detect the ground change amplitude in front in real time during the movement process, and the ground scanning module controls the lifting component to adjust the height of each leg according to the ground change amplitude so that the support frame and the ground plane model are always kept parallel, so as to reduce the misjudgment and missed judgment of deformation detection caused by uneven ground, so that the flatness of the special vehicle frame still cannot meet the requirements after correction; A weld identification module is arranged at the center of the front side of the support frame, and is used to dynamically obtain the distance values ​​of different positions of the special vehicle frame during movement and distinguish different layers to identify the weld positions; the weld identification module includes a second distance measuring sensor, a light reflector and a first power mechanism, the second distance measuring sensor is arranged parallel to the front side of the support frame, and is used to send and receive distance measuring signals, the light reflector is connected to the first power mechanism, the light reflector is used to reflect the distance measuring signal to the special vehicle frame, and the first power mechanism is used to drive the light reflector to swing so that the distance measuring signal forms a transverse line scan on the special vehicle frame to obtain the distance values ​​of different points of the special vehicle frame on the same transverse line, and then distinguish the upper and lower layers of the frame to determine the weld position; The deformation correction mechanism is arranged on the inner side of the support frame and can move left and right along the center line of the support frame, and includes a third ranging sensor, a second power mechanism and a pressure block arranged at the end of the second power mechanism. The third ranging sensor is vertically arranged relative to the support frame and is used to measure the vertical height between the special vehicle frame and the third ranging sensor in real time. The second driving component is used to drive the pressure block to move up and down repeatedly and apply pressure to the position to be corrected to deform it. The number of actions and the stroke amount of the second power mechanism are controlled by the third ranging sensor.

[0006] Based on the above technical scheme, through the setting of the ground scanning module and the liftable support legs, the flatness requirements for the placement plane of the special vehicle frame can be reduced during use, so that the orthopedic system can perform deformation correction on the special vehicle frame under any ground state. Combined with the use of the mobile bracket, the orthopedic system can be conveniently moved to the placement position of the special vehicle frame and perform deformation correction in time, which not only reduces the restrictions on the operating site, but also avoids manual handling and improves work efficiency. Through the coordinated use of the optical reflector and the first power mechanism, only one ranging sensor is needed to complete the rapid measurement of the height values ​​of each point in the horizontal direction, so as to quickly identify the weld position and provide information for subsequent deformation correction. The invention provides a basis for avoiding the welding influence zone, which can reduce the use of sensors and reduce costs, and prevent the welding structure from being damaged during the correction process; the third distance measuring sensor for real-time distance measurement controls the action times and stroke amount of the second power mechanism, which can effectively ensure the controllability of the correction amount and avoid the occurrence of insufficient or excessive correction; and through the coordinated action of various components, the orthotic system can be used on the ground of any flatness, and based on the structural characteristics of the special vehicle frame, it can realize intelligent identification of welds, determination of deformation positions and correction, and has the characteristics of few restrictions on detection sites, high detection efficiency, high correction accuracy, simple equipment structure and low investment cost.

[0007] Preferably, the swing assembly includes a drive motor, a large gear and a small gear, the drive motor is fixedly connected to the small gear, the large gear and the small gear are meshed with each other, the first ranging sensor is fixed on the large gear, the large gear drives the first ranging sensor to swing within a preset angle range, and the data collection interval of the first ranging sensor is determined according to the tooth spacing and gear ratio of the large gear and the small gear. The purpose of this design is to achieve accurate control of the swing angle by controlling the meshing gears and their tooth spacing, which is conducive to establishing a ground plane model that is closer to the actual state, and further reducing the influence of ground flatness on the detection accuracy of the weld recognition module and the deformation correction mechanism.

[0008] Preferably, the lifting assembly and the second power mechanism are cylinders or hydraulic cylinders, and the first power mechanism is a swing motor.

[0009] Preferably, the first distance measuring sensor is a laser distance measuring sensor, an infrared distance measuring sensor or an ultrasonic distance measuring sensor, and the second distance measuring sensor and the third distance measuring sensor are laser distance measuring sensors or infrared distance measuring sensors to meet the requirements of detection accuracy.

[0010] Preferably, the center line of the mirror surface of the optical mirror deflects outward at a certain angle relative to the incident direction of the distance measuring signal, and the distance measuring signal reflected by the optical mirror forms a horizontal line scan directly below the deformation correction mechanism. This design facilitates simplifying the stroke control of the moving bracket and improving the positioning accuracy of the position to be corrected after the weld seam is identified.

[0011] The present invention also provides an intelligent correction method for the deformation of the special vehicle skeleton, including the following steps: S1. Establish a ground plane model: Place the moving bracket above the special vehicle skeleton, and the swinging components respectively drive the two first distance measuring sensors to swing up and down to perform dynamic distance measurement on both sides of the ground of the special vehicle skeleton and generate fitting curves of both sides of the ground. Establish a ground plane model according to the two fitting curves; S2. Adjust the parallelism of the support frame: Adjust the swinging components so that the first distance measuring sensor is fixed obliquely forward relative to the support leg, drive the moving bracket to move along the length direction of the special vehicle skeleton, the first distance measuring sensor performs real-time distance measurement on the ground ahead of the travel, and compares the measured distance value with the ground plane model established in S1 and calculates the change amplitude of the ground. When the change amplitude is not zero, control the lifting component in the support leg to adjust the height of the corresponding support leg, and determine the required adjustment time in combination with the moving speed and the width of the moving bracket, so that the support frame always remains parallel to the ground plane model; S3. Identify the positions of the upper and lower layer skeleton cross beams: In the non-deformed state, the vertical height value between the second distance measuring sensor and the upper surface of the lower layer vehicle skeleton cross beam is set as h1, and the vertical height value between the second distance measuring sensor and the upper surface of the upper layer vehicle skeleton cross beam is set as h2; During the movement, the special vehicle skeleton is scanned and measured horizontally through the weld seam identification module to obtain a series of height values Hx of each measurement point on the same horizontal line from the second distance measuring sensor, and take the maximum value {Hx} max and the minimum value {Hx} min , compare with h1 and h2 to judge whether the scanned position is the cross beam position and whether the cross beam is on the upper layer skeleton or the lower layer skeleton. The judgment method is: When {Hx} max >h1, it is judged that the scanned position is not the cross beam position, and the moving bracket continues to move forward; When {Hx} max ≤h1 and {Hx} min <h2, it is judged that the scanned position is the lower layer cross beam position; When {Hx} min ≤h2, it is judged that the scanned position is the upper layer cross beam position; S4, identifying the weld position: when it is determined that the scanning position is the upper or lower beam position, the weld position is identified according to the acquired series height values ​​Hx. The specific identification process includes: When it is determined that the scanning position is the lower beam position, the distance equal to the thickness b of the special vehicle frame structure is taken as a unit, the series of height values ​​Hx obtained at the current position are grouped, and the height values ​​in each group are curve fitted in turn. When the fitting line is a parabola, the unit corresponding to the group of height values ​​is determined as the weld position, and the weld recognition module stops scanning; When it is determined that the scanning position is the upper beam position, the height difference between the upper surface of the beam and the longitudinal beam of the upper skeleton is set to ε, and then the series of height values ​​Hx obtained at the current scanning position and the series of height values ​​Hx-1 obtained at the previous scanning position are compared one by one according to the relative position relationship. When Hx-Hx-1≤ε, the corresponding scanning position is determined as the weld position, and the weld recognition module stops scanning; S5, determine the position to be corrected: after determining the weld position according to step S4, the mobile bracket continues to move forward a certain distance so that the deformation correction mechanism is located directly above the beam where the weld is located, and the position to be corrected is determined according to whether the beam where the weld is located is in the upper frame or the lower frame: When the crossbeam where the weld is located is in the lower frame, first move the deformation correction mechanism to the weld toe of the leftmost weld to obtain a first measurement value as a reference value, then move the deformation correction mechanism to a position where the distance from the weld toe is d≥2b to obtain a second measurement value, calculate the difference between the second measurement value and the first measurement value, and when the difference is greater than the deformation tolerance of the special vehicle frame, determine the position as the position to be corrected, and the deformation correction mechanism is fixed; when the difference is less than the deformation tolerance of the special vehicle frame, the deformation correction mechanism continues to move to the weld toe of the next weld, and repeat the above steps until the position to be corrected is determined; When the crossbeam where the weld is located is in the upper frame, first move the deformation correction mechanism to the leftmost weld position, measure and obtain the third measurement value as the reference value, then move the deformation correction mechanism to the right to d=1 / 2C to measure and obtain the fourth measurement value, where C is the spacing value of the two adjacent longitudinal beams of the upper frame, calculate the difference between the fourth measurement value and the third measurement value, and when the difference is greater than the deformation tolerance of the special vehicle frame, determine the position as the position to be corrected, and the deformation correction mechanism is fixed; when the difference is less than the deformation tolerance of the special vehicle frame, the deformation correction mechanism moves to the next weld, and repeats the above steps until the position to be corrected is determined; S6, calibration: after determining the position to be calibrated according to S5, the second driving cylinder drives the pressure block to move up and down repeatedly to act on the surface of the workpiece at the position to be calibrated. During the process, the third distance measuring sensor performs real-time distance measurement and feedbacks the difference between the real-time measurement value and the first measurement value or the third measurement value in S5. When the difference is less than the deformation tolerance of the special vehicle frame, the second driving cylinder stops moving and the calibration of the position is completed; S7, repeat S5 and S6, re-determine other positions to be corrected in the same horizontal direction and perform corrections, after all corrections in the same horizontal direction are completed, the mobile bracket continues to move forward, and the weld recognition module restarts scanning; S8, repeat S4 to S7 until the mobile bracket completely moves out of the special vehicle frame and the entire calibration operation is completed. Based on the above method, the upper frame and the lower frame can be distinguished based on the characteristics of the special vehicle frame, and the weld positions and the positions to be corrected can be identified based on the different assembly structures of the upper frame and the lower frame. The toe of each weld is used as a reference, and corrections of different times and degrees are applied to each position to be corrected, so as to finally achieve the flatness of the entire special vehicle frame meeting the requirements.

[0012] Furthermore, the ground plane model establishment process of step S1 specifically includes: S11, according to the length of the vehicle frame, the swing angle α of the swing assembly is set, and α is divided into n parts. The swing assembly drives the first distance measuring sensors arranged on the outer sides of the two legs on the front side of the mobile support to swing at an angle of α / n to measure the distance, and obtains two sets of measurement data sets D respectively. n s1 and D n s2 ; S12, according to the setting height h of the first distance measuring sensor, the initial angle β of the first distance measuring sensor, and the accumulated swing angle, respectively calculate the measurement values ​​that should be obtained at different measurement points when the ground is absolutely flat, to form two sets of data sets D 0n s1 and D 0n s2 ; S13, D n s1 and D 0n s1 , D n s2 and D 0n s2 Combined with the swing angle, the height difference data set H between each adjacent measurement point is calculated n s1 and H n s2 , the calculation formula is as follows:

[0013]

[0014] Among them, d 0n s1 / d 0n s2 is the calculated value obtained according to step S12 at the initial measurement point, d1 s1 / d1 s2 is the actual measurement value obtained according to step S11 at the initial measurement point; S14, the height difference dataset H n s1 and H n s2 The least square method is used to perform curve fitting at the corresponding measurement position to obtain the fitting lines of the ground on both sides of the special vehicle frame, and a ground plane model is established based on the fitting results.

[0015] By subdividing the swing angle, the amplitude of ground changes can be fully identified, a more accurate ground plane model can be established, the accuracy of height adjustment of each leg during movement can be improved, the adaptability of the orthotic system to ground flatness can be improved, and the correction effect can be improved.

[0016] Preferably, when the transverse scanning line generated by the weld identification module for the special vehicle frame is located directly below the weld identification module, after the weld position is determined, the moving distance of the mobile bracket is determined as follows: when the crossbeam where the weld is located is in the lower frame, the moving distance of the mobile bracket is set to B / 2+W / 2; when the crossbeam where the weld is located is in the upper frame, the moving distance of the mobile bracket is set to W / 2, wherein B is the width of the special vehicle frame structural member, and W is the side width of the mobile bracket. The purpose of this step is to enable the deformation correction mechanism to be accurately located above the position to be corrected.

[0017] Preferably, when the transverse scanning line generated by the weld identification module for the special vehicle frame is directly below the deformation correction mechanism, after the weld position is determined, the moving distance of the mobile bracket is determined as follows: when the crossbeam where the weld is located is in the lower frame, the moving distance of the mobile bracket is set to B / 2; when the crossbeam where the weld is located is in the upper frame, the mobile bracket stops moving, where B is the width of the special vehicle frame structural member.

[0018] The construction basis of the technical solution of the present invention is that when the special vehicle frame is welded and formed, the connection position of each longitudinal beam and different cross beams will be controlled to be on the same horizontal plane. After forming, the corresponding weld position, the weld toe of each weld and its surrounding area will also be relatively on the same horizontal plane. The deformation position on each cross beam is determined and corrected based on the surrounding area of ​​the weld toe, thereby completing the correction of the entire special vehicle frame.

[0019] Beneficial Effects 1) One of the above technical solutions has the following advantages or beneficial effects: In order to solve the problems that when the existing special vehicle frame is corrected by the traditional method, the degree of manual intervention is high, the operation intensity is high, the deformation detection efficiency is low, the correction accuracy is low, and it cannot meet the needs of modern automated and intelligent production, and the existing automatic correction equipment requires a special detection site and cannot adapt to the special vehicle frame, the present invention sets a deformation correction mechanism on a mobile bracket, and arranges a ground scanning module for establishing a ground plane model and detecting the flatness of the ground on the mobile bracket, and a weld recognition module for horizontal scanning ranging and weld recognition, and sets a lifting component on each leg of the mobile bracket to adjust the leg in cooperation with the ground scanning module, and sets a real-time ranging sensor on the deformation correction mechanism to control the number and amplitude of correction. Through the coordinated cooperation of each module, it is realized that the special vehicle frame can be automatically and intelligently identified, controlled and judged at any location, and then the intelligent correction control of the entire special vehicle frame is implemented, which has the characteristics of high automation and intelligence, precise control, few restrictions on detection sites, high detection efficiency, high correction accuracy, simple equipment structure and low investment cost.

[0020] 2) In order to solve the problems that the existing automatic correction equipment requires a special testing site and cannot adapt to the special vehicle frame, the upper frame and the lower frame of the special vehicle frame are identified by the dynamic line scan measurement value of the vehicle frame based on the weld recognition module, and the different assembly structure characteristics of the upper frame and the lower frame are combined to distinguish and identify the weld position and determine the position to be corrected. Taking the weld toe of each weld as a reference, different times and degrees of correction are applied to each position to be corrected one by one, and finally the flatness of the entire special vehicle frame meets the requirements. It is suitable for special vehicle frames, has less manual intervention, high intelligence and good correction effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings: Figure 1 This is a schematic diagram of the special vehicle skeleton; Figure 2 It is a schematic diagram of the overall structure of the present invention and the special vehicle frame; Figure 3 For the present invention Figure 2 A schematic diagram of the front structure of Figure 4 It is a schematic diagram of the structure of the lifting assembly of the present invention; Figure 5 Schematic diagram of the ground scanning module structure of the present invention, (a) is a top view; (b) is a bottom view; Figure 6 It is a structural schematic diagram of a weld identification module of the present invention; Figure 7 is a structural schematic diagram of the deformation correction mechanism of the present invention; In the figure: a special vehicle frame 100; an upper frame 101; a lower frame 102; a mobile bracket 1; a supporting frame 11; a leg 12; a lifting assembly 13; a walking mechanism 14; a ground scanning module 2; a first distance measuring sensor 21; a swing assembly 22; a driving motor 221; a large gear 222; a small gear 223; a weld seam recognition module 3; a second distance measuring sensor 31; a light reflector 32; a first power mechanism 33; a deformation correction mechanism 4; a third distance measuring sensor 41; a second power mechanism 42; a pressing block 43. DETAILED DESCRIPTION

[0022] The present invention is further described in detail below in conjunction with examples, but the embodiments of the present invention are not limited thereto.

[0023] Embodiment 1 like Figure 2 As shown, this embodiment provides a special vehicle frame 100 intelligent orthopedic system based on dynamic measurement control, and its structure includes a mobile bracket 1, a ground scanning module 2, a weld identification module 3 and a deformation correction mechanism 4; The mobile bracket 1 includes a support frame 11 and four legs 12. The support frame 11 is square, with the travel direction as the front, the left and right sides as short sides, and the front and rear sides as long sides. The four legs 12 are respectively arranged below the four corners of the support frame 11, wherein the left and right legs 12 are respectively arranged close to the long sides of the special vehicle frame 100, that is, the spacing between the left and right legs 12 is close to the width of the special vehicle frame 100. When actually set, the distance between the left and right legs 12 and the long side of the special vehicle frame 100 is based on not interfering with the movement of the mobile bracket 1, and generally 3~4mm is reserved on one side (see Figure 3 ); The legs 12 are each provided with a lifting assembly 13 (see Figure 4 ), the lifting component 13 can be a driving device such as a hydraulic cylinder, an air cylinder, a screw motor, etc. The lifting component 13 adjusts the height of the corresponding leg 12 according to the ground flatness information fed back by the ground scanning module 2. The bottom of the lifting component 13 is connected to a walking mechanism 14, and the walking mechanism 14 can be set as a universal wheel driven by a motor, which is used to drive the entire orthopedic system to move to the placement of the special vehicle frame 100, and drive the mobile bracket 1 to move along the special vehicle frame 100 when starting correction.

[0024] The ground scanning module 2 includes two sets of detection units, such as Figure 5As shown, each group of detection units includes a first distance measuring sensor 21 and a group of swinging components 22. The detection units are respectively arranged on the outer sides of the two legs 12 on the front side of the mobile bracket 1 to measure the distance of the ground close to both sides of the special vehicle frame 100; the first distance measuring sensor 21 can be a laser distance measuring sensor, an infrared distance measuring sensor or an ultrasonic distance measuring sensor. The first distance measuring sensor 21 is connected to the swinging component 22, and the swinging component 22 drives the first distance measuring sensor 21 to swing up and down to measure the distance or fix the first distance measuring sensor 21 at a certain angle for real-time distance measurement. Specifically, before starting the calibration, the swinging component 2 2 drives the first distance measuring sensor 21 to swing up and down for dynamic distance measurement to collect the distance values ​​of different positions on the ground on both sides of the special vehicle frame 100, obtain the overall change amplitude of the ground and then establish a ground plane model; during the calibration process, that is, the movement process, the swing component 22 fixes the first distance measuring sensor 21 at a certain angle for real-time distance measurement, obtains the local slight change amplitude of the ground in front, and then controls the lifting component 13 in the supporting leg 12 to adjust the height of each supporting leg 12 accordingly so that the support frame 11 and the ground plane model are always kept parallel, so as to reduce the misjudgment and missed judgment of deformation detection caused by local unevenness of the ground, and improve the deformation detection precision and accuracy. Figure 5 As shown, the swing assembly 22 includes a driving motor 221, a large gear 222 and a small gear 223. The driving motor 221 is fixedly connected to the small gear 223. The large gear 222 and the small gear 223 are meshed with each other. The first ranging sensor 21 is fixed on the large gear 222. The large gear 222 drives the first ranging sensor 21 to swing within a preset angle. The data collection interval of the first ranging sensor 21 is determined according to the tooth spacing and gear ratio of the large gear 222 and the small gear 223.

[0025] The weld identification module 3 is arranged at the center position of the support frame 11 on one side of the traveling direction, that is, the middle position of the front side of the support frame 11, so as to keep the special vehicle frame 100 in the middle position of the scanning range of the module as much as possible, form a symmetrical scanning, and reduce the measurement error; Figure 6As shown, the weld identification module 3 is used to dynamically obtain the distance values ​​of different positions of the special vehicle frame during movement and distinguish different layers to identify the weld positions, including a second distance measuring sensor 31, a light reflector 32 and a first power mechanism 33. The second distance measuring sensor 31 can be a laser distance measuring sensor or an infrared distance measuring sensor. The second distance measuring sensor 31 is parallel to and fixedly arranged relative to the front side of the support frame 11. The light reflector 32 is arranged relative to the second distance measuring sensor 31 and the center line of the mirror surface of the light reflector 32 is perpendicular to the front side of the support frame 11, and is used to reflect the distance measuring signal emitted by the second distance measuring sensor 31 to the special vehicle frame 100, and reflect the distance measuring signal reflected by the special vehicle frame 100 back to the first power mechanism 33. The two ranging sensors 31 form a signal loop, the light reflector 32 is connected to the first power mechanism 33, the first power mechanism 33 is a swinging motor, the first power mechanism 33 drives the light reflector 32 to swing left and right so that the ranging signal forms a horizontal line scan on the special vehicle frame 100 to obtain the distance values ​​of different points on the same horizontal line of the special vehicle frame 100, and then distinguish the upper frame 101 and the lower frame 102 according to the distance value to determine the weld position, the swing amplitude of the first power mechanism 33 is based on the ranging signal reflected by the light reflector 32 can just span the horizontal width of the entire special vehicle frame 100; preferably, in order to avoid signal interference and dispersion, a slit 34 for the ranging signal to pass through is also provided on the weld identification module 3. like Figure 2 and Figure 7 As shown, the deformation correction mechanism 4 is arranged inside the support frame 11 and can move left and right along the center line of the support frame 11. The movement mode of the deformation correction mechanism 4 can be a moving guide rail or a gear transmission structure arranged inside the support frame 11, such as Figure 2 The gear transmission structure is shown; the deformation correction mechanism 4 includes a third distance sensor 41, a second power mechanism 42 and a pressure block 43 fixedly arranged at the end of the second power mechanism 42, the third distance sensor 41 is arranged vertically downward relative to the support frame 11, and is used to measure the vertical height between the vehicle frame and the third distance sensor 41 in real time. Preferably, in order to ensure the detection accuracy and anti-interference performance, the third distance sensor 41 uses a high-precision distance sensor such as a laser distance sensor and an infrared distance sensor; the second driving component is used to drive the pressure block 43 to move up and down repeatedly and apply pressure to the position to be corrected to deform it, the second power mechanism 42 can use a power device such as a cylinder or a hydraulic cylinder, the number of actions and the stroke of the second power mechanism 42 are controlled by the third distance sensor 41, that is, when it is judged that the deformation does not meet the requirements, the second power mechanism 42 continues to act and each action determines the downward pressure stroke according to the measurement value of the third distance sensor 41, and when it is judged that the deformation meets the requirements, the second power mechanism 42 stops.

[0026] In this embodiment, by setting the ground scanning module 2 and the liftable support legs, the flatness requirement for the placement plane of the special vehicle frame 100 can be reduced during use, so that the orthopedic system can perform deformation correction on the special vehicle frame 100 under any ground state. Combined with the use of the mobile bracket 1, the orthopedic system can be conveniently moved to the placement position of the special vehicle frame 100, and deformation correction can be performed in time, which not only reduces the restrictions on the operating site, but also avoids manual handling and improves the working efficiency. Through the coordinated use of the light reflector 32 and the first power mechanism 33, only one distance measuring sensor is needed to complete the rapid measurement of the height value of each point in the horizontal direction, thereby quickly identifying the weld position and providing a basis for subsequent deformation correction to avoid the welding influence area, which can reduce the use of sensors and reduce the equipment investment cost, and prevent damage to the welding structure during the correction process; Controlling the number of actions and the stroke of the second power mechanism 42 by the third distance measuring sensor 41 for real-time distance measurement can effectively ensure the controllability of the correction amount, thereby avoiding the occurrence of insufficient correction or excessive correction; The orthopedic system provided in this embodiment can dynamically obtain different distance values ​​at different positions based on the structural characteristics of the special vehicle frame 100 through the coordinated control of various modules, distinguish and identify the weld positions and determine the positions to be corrected, and control the height of the support feet in combination with the amplitude of ground changes, so as to realize automatic and intelligent identification, control and judgment of the special vehicle frame 100 at any location, thereby completing the intelligent orthopedic control of the entire special vehicle frame 100.

[0027] Embodiment 2 This embodiment provides a special vehicle frame 100 intelligent orthopedic system based on dynamic measurement control, which is different from the first embodiment in that: The center line of the mirror surface of the light reflector 32 in the weld identification module 3 is deflected outward at a certain angle relative to the incident direction of the ranging signal, and the deflection angle is determined according to the state that the ranging signal reflected by the light reflector 32 can form a transverse line scan on the vehicle frame directly below the deformation correction mechanism 4. Accordingly, the slit 34 provided on the weld identification module 3 is adjusted accordingly according to the propagation path of the ranging signal so that the ranging signal can pass smoothly.

[0028] The advantage of this embodiment is that by adjusting the deflection angle of the light reflector 32, the ranging signal can be directly located below the deformation correction mechanism 4, which is beneficial for maintaining a relatively fixed positional relationship between the detection position and the deformation correction mechanism 4, and further helps to simplify the travel control of the mobile bracket 1 after identifying the weld, thereby improving the positioning accuracy of the position to be corrected.

[0029] Embodiment 3 This embodiment provides a correction method using the special vehicle frame deformation intelligent correction and correction system of embodiment 1 or 2, including the following steps: S1. Establish a ground plane model: Place the mobile support above the special vehicle frame. The swing components drive the two first distance measuring sensors to swing up and down respectively to dynamically measure the distance to the ground on both sides of the special vehicle frame and generate the fitting curves of the ground on both sides. Establish a ground plane model according to the two fitting curves; S2. Adjust the parallelism of the support frame: Adjust the swing components to fix the first distance measuring sensor obliquely forward relative to the support legs. Drive the mobile support to move along the length direction of the special vehicle frame. The first distance measuring sensor measures the distance to the ground in front in real time, and compares the measured value with the ground plane model established in S1 and calculates the change amplitude of the ground. When the change amplitude is not zero, control the lifting components in the support legs to adjust the height of the corresponding support legs, and determine the required adjustment time in combination with the moving speed and the width of the mobile support, so that the support frame always remains parallel to the ground plane model; S3. Identify the positions of the upper and lower layer frame crossbeams: In the non-deformation state, the vertical height value between the second distance measuring sensor and the upper surface of the lower layer vehicle frame crossbeam is set as h1, and the vertical height value between the second distance measuring sensor and the upper surface of the upper layer vehicle frame crossbeam is set as h2; During the movement, the weld identification module performs a transverse scan and distance measurement on the special vehicle frame to obtain a series of height values Hx of each measurement point on the same transverse line from the second distance measuring sensor, and take the maximum value {Hx} max and the minimum value {Hx} min , compare with h1 and h2 to judge whether the scanned position is the crossbeam position and whether the crossbeam is on the upper layer frame or the lower layer frame. The judgment method is: When {Hx} max > h1, it is judged that the scanned position is not the crossbeam position, and the mobile support continues to move forward; When {Hx} max ≤ h1 and {Hx} min < h2, it is judged that the scanned position is the lower layer crossbeam position; When {Hx} min ≤ h2, it is judged that the scanned position is the upper layer crossbeam position; S4. Identify the weld position: When it is judged that the scanned position is the upper or lower layer crossbeam position, identify the weld position according to the obtained series of height values Hx. The specific identification process includes: When it is judged that the scanned position is the lower layer crossbeam position, take the distance equal to the thickness b of the special vehicle frame structural member as a unit, group the series of height values Hx obtained at the current position, and perform curve fitting on the height values in each group in turn. When the fitting line is a parabola, determine the unit corresponding to the group of height values as the weld position, and the weld identification module stops scanning; When it is determined that the scanning position is the upper beam position, the height difference between the upper surface of the beam and the longitudinal beam of the upper skeleton is set to ε, and then the series of height values ​​Hx obtained at the current scanning position and the series of height values ​​Hx-1 obtained at the previous scanning position are compared one by one according to the relative position relationship. When Hx-Hx-1≤ε, the corresponding scanning position is determined as the weld position, and the weld recognition module stops scanning; S5, determine the position to be corrected: after determining the weld position according to step S4, the mobile bracket continues to move forward a certain distance so that the deformation correction mechanism is located directly above the beam where the weld is located, and the position to be corrected is determined according to whether the beam where the weld is located is in the upper frame or the lower frame: When the crossbeam where the weld is located is in the lower frame, first move the deformation correction mechanism to the weld toe of the leftmost weld to obtain a first measurement value as a reference value, then move the deformation correction mechanism to a position where the distance from the weld toe is d≥2b to obtain a second measurement value, calculate the difference between the second measurement value and the first measurement value, and when the difference is greater than the deformation tolerance of the special vehicle frame, determine the position as the position to be corrected, and the deformation correction mechanism is fixed; when the difference is less than the deformation tolerance of the special vehicle frame, the deformation correction mechanism continues to move to the weld toe of the next weld, and repeat the above steps until the position to be corrected is determined; When the crossbeam where the weld is located is in the upper frame, first move the deformation correction mechanism to the leftmost weld position, measure and obtain the third measurement value as the reference value, then move the deformation correction mechanism to the right to d=1 / 2C to measure and obtain the fourth measurement value, where C is the spacing value of the two adjacent longitudinal beams of the upper frame, calculate the difference between the fourth measurement value and the third measurement value, and when the difference is greater than the deformation tolerance of the special vehicle frame, determine the position as the position to be corrected, and the deformation correction mechanism is fixed; when the difference is less than the deformation tolerance of the special vehicle frame, the deformation correction mechanism moves to the next weld, and repeats the above steps until the position to be corrected is determined; S6, calibration: after determining the position to be calibrated according to S5, the second driving cylinder drives the pressure block to move up and down repeatedly to act on the surface of the workpiece at the position to be calibrated. During the process, the third distance measuring sensor performs real-time distance measurement and feedbacks the difference between the real-time measurement value and the first measurement value or the third measurement value in S5. When the difference is less than the deformation tolerance of the special vehicle frame, the second driving cylinder stops moving and the calibration of the position is completed; S7, repeat S5 and S6, re-determine other positions to be corrected in the same horizontal direction and perform correction; S8, repeat S4 to S7 until the mobile bracket completely moves out of the special vehicle frame and the entire calibration operation is completed.

[0030] Furthermore, the ground plane model establishment process of step S1 specifically includes: S11, according to the length of the vehicle frame, the swing angle α of the swing assembly is set, and α is divided into n parts. The swing assembly drives the first distance measuring sensors arranged on the outer sides of the two legs on the front side of the mobile support to swing at an angle of α / n to measure the distance, and obtains two sets of measurement data sets D respectively. n s1 and D n s2 ; ={ , } ={ , } Among them, d1 s1 and d1 s2 is the measured value at the initial measurement point, d n-1 s1 and d n-1 s2 is the measured value of the measuring point corresponding to the upward swing (n-1)α / n angle, d n s1 and d n s2 is the measured value of the measuring point corresponding to the upward swing angle α; S12, according to the setting height h of the first distance measuring sensor, the initial angle β of the first distance measuring sensor, and the accumulated swing angle, respectively calculate the measurement values ​​that should be obtained at different measurement points when the ground is absolutely flat, to form two sets of data sets D 0n s1 and D 0n s2 ; S13, D n s1 and D 0n s1 , D n s2 and D 0n s2 Combined with the swing angle, the height difference data set H between each adjacent measurement point is calculated n s1 and H n s2 , the calculation formula is as follows:

[0031]

[0032] Among them, d 0n s1 / d 0n s2is the calculated value obtained according to step S12 at the initial measurement point, d1 s1 / d1 s2 is the actual measurement value obtained according to step S11 at the initial measurement point; S14, the height difference dataset H n s1 and H n s2 The least square method is used to perform curve fitting at the corresponding measurement position to obtain the fitting lines of the ground on both sides of the special vehicle frame, and a ground plane model is established based on the fitting results.

[0033] By subdividing the swing angle, the amplitude of ground changes can be fully identified, a more accurate ground plane model can be established, the accuracy of height adjustment of each leg during movement can be improved, the adaptability of the orthotic system to ground flatness can be improved, and the correction effect can be improved.

[0034] Further, when the orthopedic system of the first embodiment is used, that is, the transverse scanning line generated by the weld seam identification module for the special vehicle frame is located directly below the weld seam identification module, after the weld seam position is determined, the moving distance of the mobile bracket is determined as follows: when the crossbeam where the weld seam is located is in the lower frame, the moving distance of the mobile bracket is set to B / 2+W / 2; when the crossbeam where the weld seam is located is in the upper frame, the moving distance of the mobile bracket is set to W / 2, where B is the width of the special vehicle frame structure, and W is the side width of the mobile bracket (see Figure 2 ), the purpose of this step is to enable the deformation correction mechanism to be accurately located above the position to be corrected.

[0035] When the correction system of Example 2 is used, that is, the transverse scanning line generated by the weld identification module for the special vehicle frame is located directly below the deformation correction mechanism. After the weld position is determined, the moving distance of the mobile bracket is determined as follows: when the crossbeam where the weld is located is in the lower frame, the moving distance of the mobile bracket is set to B / 2; when the crossbeam where the weld is located is in the upper frame, the mobile bracket stops moving, where B is the width of the special vehicle frame structure.

[0036] The method provided by the present embodiment has the advantages that: the present method can be based on the characteristics of the special vehicle frame 100, that is, it has an upper frame 101 and a lower frame 102, and the upper frame 101 and the lower frame 102 have different assembly structures. Different distance values ​​at different positions are dynamically obtained by using different groups of ranging recognition modules, and the height of the support feet is controlled by combining the amplitude of ground changes, and the weld positions and the positions to be corrected are respectively identified. With the toe of each weld as a reference, different times and degrees of correction are applied to each position to be corrected. The special vehicle frame can be automatically and intelligently identified, controlled and judged at any location, thereby implementing intelligent orthopedic control of the entire special vehicle frame.

[0037] In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "up", "down", "left", "right", etc. are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0038] The above description is only a preferred embodiment of the present invention and does not limit the technical scope of the present invention. Therefore, any slight modification, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention still fall within the protection scope of the present invention.

Claims

1. A special vehicle frame intelligent orthopedic system based on dynamic measurement and control, characterized in that: Its structure includes: The mobile bracket includes a support frame and four legs, wherein the legs arranged on the left and right sides are respectively arranged close to the long sides of the special vehicle frame, and the legs are provided with a lifting assembly inside, and the bottom of the lifting assembly is connected to a walking mechanism; the lifting assembly is used to adjust the height of each leg, and the walking mechanism is used to drive the mobile bracket to move; The ground scanning module includes two groups of detection units, each group of detection units includes a first distance measuring sensor and a group of swinging components, the detection units are respectively arranged on the outside of the two legs on the front side of the mobile support, the first distance measuring sensor is connected to the swinging component, and the swinging component is used to drive the first distance measuring sensor to swing up and down for dynamic distance measurement or to fix the first distance measuring sensor at a certain angle for real-time distance measurement; the ground scanning module is used to establish a ground plane model according to the measurement values ​​obtained by dynamic measurement and to obtain the ground change amplitude in front in real time during the movement, and to control the lifting component to adjust the height of each leg according to the ground change amplitude so that the support frame and the ground plane model are always kept parallel; A weld identification module is arranged at the center of the front side of the support frame, and is used to dynamically obtain the distance values ​​of different positions of the special vehicle frame during movement and distinguish different layers to identify the weld positions; the weld identification module includes a second distance measuring sensor, a light reflector and a first power mechanism, the second distance measuring sensor is arranged parallel to the front side of the support frame, and is used to send and receive distance measuring signals, the light reflector is connected to the first power mechanism, the light reflector is used to reflect the distance measuring signal to the special vehicle frame, and the first power mechanism is used to drive the light reflector to swing so that the distance measuring signal forms a transverse line scan on the special vehicle frame to obtain the distance values ​​of different points of the special vehicle frame on the same transverse line, and then distinguish the upper and lower layers of the frame to determine the weld position; The deformation correction mechanism is arranged on the inner side of the support frame and can move left and right along the center line of the support frame, and includes a third ranging sensor, a second power mechanism and a pressure block arranged at the end of the second power mechanism. The third ranging sensor is vertically arranged relative to the support frame and is used to measure the vertical height between the special vehicle frame and the third ranging sensor in real time. The second driving component is used to drive the pressure block to move up and down repeatedly and apply pressure to the position to be corrected to deform it. The number of actions and the stroke amount of the second power mechanism are controlled by the third ranging sensor.

2. According to claim 1, a special vehicle frame intelligent correction system based on dynamic measurement control is characterized in that: The swing assembly includes a driving motor, a large gear and a small gear, wherein the driving motor is fixedly connected to the small gear, the large gear and the small gear are meshed with each other, the first ranging sensor is fixed on the large gear, the large gear drives the first ranging sensor to swing within a preset angle range, and the data collection interval of the first ranging sensor is determined according to the tooth spacing and gear ratio of the large gear and the small gear.

3. The special vehicle frame intelligent orthopedic system based on dynamic measurement and control according to claim 1 is characterized in that: The lifting assembly and the second power mechanism are air cylinders or hydraulic cylinders, and the first power mechanism is a swing motor.

4. The special vehicle frame intelligent orthopedic system based on dynamic measurement and control according to claim 1 is characterized in that: The first distance measuring sensor is a laser distance measuring sensor, an infrared distance measuring sensor or an ultrasonic distance measuring sensor, and the second distance measuring sensor and the third distance measuring sensor are laser distance measuring sensors or infrared distance measuring sensors.

5. The special vehicle frame intelligent orthopedic system based on dynamic measurement and control according to claim 1 is characterized in that: The center line of the mirror surface of the light reflecting mirror is deflected outward at a certain angle relative to the incident direction of the distance measurement signal, and the distance measurement signal reflected by the light reflecting mirror forms a horizontal line scan just below the deformation correction mechanism.

6. A special vehicle frame intelligent correction method using the special vehicle frame intelligent correction system based on dynamic measurement control as claimed in claim 1, characterized in that The steps include: S1, establishing a ground plane model: placing a mobile bracket above the special vehicle frame, and the swing component drives two first distance measuring sensors to swing up and down respectively to dynamically measure the ground on both sides of the special vehicle frame and generate fitting curves of the ground on both sides, and establishing a ground plane model according to the two fitting curves; S2, adjust the parallelism of the support frame: adjust the swing assembly so that the first distance measuring sensor is fixed obliquely forward relative to the support leg, drive the mobile bracket to move along the length direction of the special vehicle frame, and the first distance measuring sensor measures the distance of the ground in front of the vehicle in real time, and compares the distance measurement value with the ground plane model established in S1 and calculates the change amplitude of the ground. When the change amplitude is not zero, control the lifting assembly in the support leg to adjust the height of the corresponding support leg, and determine the required adjustment time in combination with the moving speed and the width of the mobile bracket, so that the support frame and the ground plane model are always kept parallel; S3, identify the position of the upper and lower skeleton beams: in the non-deformed state, the vertical height value between the second distance measuring sensor and the upper surface of the lower skeleton beam is set to h1, and the vertical height value between the second distance measuring sensor and the upper surface of the upper skeleton beam is set to h2; during the movement, the special vehicle skeleton is horizontally scanned and measured by the weld recognition module to obtain a series of height values ​​Hx between each measuring point on the same horizontal line and the second distance measuring sensor, and the maximum value {Hx} in the series of height values ​​is taken. max and minimum value {Hx} min , compare with h1 and h2 to determine whether the scanned position is the beam position, and whether the beam is in the upper frame or the lower frame. The judgment method is: When {Hx} max > h1, the scanning position is judged to be a non-beam position, and the mobile support continues to move forward; When {Hx} max ≤ h1 and {Hx} min < h2, it is determined that the scanned position is the position of the lower cross beam; When {Hx} min When ≤h2, the scanning position is judged to be the upper beam position; S4, identifying the weld position: when it is determined that the scanning position is the upper or lower beam position, the weld position is identified according to the acquired series height values ​​Hx. The specific identification process includes: When it is determined that the scanning position is the lower beam position, the distance equal to the thickness b of the special vehicle frame structure is taken as a unit, the series of height values ​​Hx obtained at the current position are grouped, and the height values ​​in each group are curve fitted in turn. When the fitting line is a parabola, the unit corresponding to the group of height values ​​is determined as the weld position, and the weld recognition module stops scanning; When it is determined that the scanning position is the upper beam position, the height difference between the upper surface of the beam and the longitudinal beam of the upper skeleton is set to ε, and then the series of height values ​​Hx obtained at the current scanning position and the series of height values ​​Hx-1 obtained at the previous scanning position are compared one by one according to the relative position relationship. When Hx-Hx-1≤ε, the corresponding scanning position is determined as the weld position, and the weld recognition module stops scanning; S5, determine the position to be corrected: after determining the weld position according to step S4, the mobile bracket continues to move forward a certain distance so that the deformation correction mechanism is located directly above the beam where the weld is located, and the position to be corrected is determined according to whether the beam where the weld is located is in the upper frame or the lower frame: When the crossbeam where the weld is located is in the lower frame, first move the deformation correction mechanism to the weld toe of the leftmost weld to obtain a first measurement value as a reference value, then move the deformation correction mechanism to a position where the distance from the weld toe is d≥2b to obtain a second measurement value, calculate the difference between the second measurement value and the first measurement value, and when the difference is greater than the deformation tolerance of the special vehicle frame, determine the position as the position to be corrected, and the deformation correction mechanism is fixed; when the difference is less than the deformation tolerance of the special vehicle frame, the deformation correction mechanism continues to move to the weld toe of the next weld, and repeat the above steps until the position to be corrected is determined; When the crossbeam where the weld is located is in the upper frame, first move the deformation correction mechanism to the leftmost weld position, measure and obtain the third measurement value as the reference value, then move the deformation correction mechanism to the right to d=1 / 2C to measure and obtain the fourth measurement value, where C is the spacing value of the two adjacent longitudinal beams of the upper frame, calculate the difference between the fourth measurement value and the third measurement value, and when the difference is greater than the deformation tolerance of the special vehicle frame, determine the position as the position to be corrected, and the deformation correction mechanism is fixed; when the difference is less than the deformation tolerance of the special vehicle frame, the deformation correction mechanism moves to the next weld, and repeats the above steps until the position to be corrected is determined; S6, calibration: after determining the position to be calibrated according to S5, the second driving cylinder drives the pressure block to move up and down repeatedly to act on the surface of the workpiece at the position to be calibrated. During the process, the third distance measuring sensor performs real-time distance measurement and feedbacks the difference between the real-time measurement value and the first measurement value or the third measurement value in S5. When the difference is less than the deformation tolerance of the special vehicle frame, the second driving cylinder stops moving and the calibration of the position is completed; S7, repeat S5 and S6, re-determine other positions to be corrected in the same horizontal direction and perform corrections, after all corrections in the same horizontal direction are completed, the mobile bracket continues to move forward, and the weld recognition module restarts scanning; S8, repeat S3 to S7 until the mobile bracket completely moves out of the special vehicle frame and the entire calibration operation is completed.

7. The intelligent correction method for a special vehicle frame based on dynamic measurement and control according to claim 6 is characterized in that: The ground plane model establishment process of step S1 specifically includes: S11, according to the length of the special vehicle frame, the swing angle α of the swing assembly is set, and α is divided into n parts. The swing assembly drives the first distance measuring sensor located on the outer side of the two legs on the front side of the mobile bracket to swing and measure the distance at an angle of α / n, and obtains two sets of measurement data sets D respectively. n s1 and D n s2 ; S12, according to the setting height h of the first distance measuring sensor, the initial angle β of the first distance measuring sensor, and the accumulated swing angle, respectively calculate the measurement values ​​that should be obtained at different measurement points when the ground is absolutely flat, to form two sets of data sets D 0n s1 and D 0n s2 ; S13, D n s1 and D 0n s1 , D n s2 and D 0n s2 Combined with the swing angle, the height difference data set H between each adjacent measurement point is calculated n s1 and H n s2 , the calculation formula is as follows: Among them, d 0n s1 / d 0n s2 is the calculated value obtained according to step S12 at the initial measurement point, d1 s1 / d1 s2 is the actual measurement value obtained according to step S11 at the initial measurement point; S14, the height difference dataset H n s1 and H n s2 The least square method is used to perform curve fitting at the corresponding measurement position to obtain the fitting lines of the ground on both sides of the special vehicle frame, and a ground plane model is established based on the fitting results.

8. The intelligent correction method for a special vehicle frame based on dynamic measurement and control according to claim 6 is characterized in that: When the horizontal scanning line generated by the weld identification module for the special vehicle frame is directly below the weld identification module, after the weld position is determined, the moving distance of the mobile bracket is determined as follows: when the crossbeam where the weld is located is in the lower frame, the moving distance of the mobile bracket is set to B / 2+W / 2; when the crossbeam where the weld is located is in the upper frame, the moving distance of the mobile bracket is set to W / 2, where B is the width of the special vehicle frame structure, and W is the side width of the mobile bracket.

9. The intelligent correction method for a special vehicle frame based on dynamic measurement and control according to claim 6 is characterized in that: When the horizontal scanning line generated by the weld identification module for the special vehicle frame is directly below the deformation correction mechanism, after the weld position is determined, the moving distance of the mobile bracket is determined as follows: when the crossbeam where the weld is located is in the lower frame, the moving distance of the mobile bracket is set to B / 2; when the crossbeam where the weld is located is in the upper frame, the mobile bracket stops moving, where B is the width B of the special vehicle frame structural member.

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