Environment detection vehicle, leveling method, terminal and storage medium

Abstract

The invention belongs to the technical field of environment detection equipment, and particularly relates to an environment detection vehicle, a leveling method, a terminal and a storage medium, the environment detection vehicle comprises an undercarriage, a vehicle body arranged on the undercarriage and an air suspension arranged between the vehicle body and the undercarriage, a driving cabin and a working cabin are arranged in the vehicle body, and an environment detection platform is arranged in the working cabin; a vehicle body leveling mechanism is mounted at a girder of the undercarriage, and the vehicle body leveling mechanism and the air suspension are both connected with a master controller in the environment detection platform; according to the environment detection vehicle, the vehicle body leveling mechanism is installed at the undercarriage girder and works in cooperation with the air suspension, and the environment detection vehicle can keep the height of the vehicle body stable and horizontal under various complex terrain conditions. By means of the design, vehicle body shaking caused by uneven ground is effectively reduced, it is ensured that the environment detection platform can obtain more accurate data in the operation process, and the accuracy and reliability of environment monitoring are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of environmental detection equipment, and particularly relates to an environmental detection vehicle, a leveling method, a terminal, and a storage medium. Background Art

[0002] In the current field of environmental detection, traditional detection vehicles have many deficiencies. Especially when dealing with complex and changeable environmental conditions, their performance and functions are particularly limited. These vehicles are usually realized by modifying special vehicles. The internal space of the vehicle body is limited, and the operation space for detection equipment and personnel is narrow, resulting in low detection efficiency and inconvenient operation. At the same time, the stability of these vehicles during driving and operation is also difficult to guarantee. Especially on uneven or inclined ground, the shaking and inclination of the vehicle body will seriously affect the accuracy and reliability of detection data.

[0003] In addition, in harsh environments such as electromagnetic interference, high dust, and high pollution, the detection equipment and personnel of traditional environmental detection vehicles are easily interfered and affected by external factors, and it is impossible to ensure the smooth progress of detection work. Moreover, these vehicles usually lack an effective leveling mechanism and cannot keep the vehicle body stable and level during operation, further affecting the accuracy of detection data. Summary of the Invention

[0004] Aiming at the defect in the prior art that when traditional detection vehicles are on uneven or inclined ground, the shaking and inclination of the vehicle body will seriously affect the accuracy and reliability of detection data, the present invention provides an environmental detection vehicle, a leveling method, a terminal, and a storage medium to solve the above technical problems.

[0005] In a first aspect, the present invention provides an environmental detection vehicle, including a vehicle chassis, a vehicle body arranged on the vehicle chassis, and an air suspension arranged between the vehicle body and the vehicle chassis. A driver's cab and a working cabin are arranged in the vehicle body, and an environmental detection platform is arranged in the working cabin; a vehicle body leveling mechanism is installed at the girder of the vehicle chassis, and both the vehicle body leveling mechanism and the air suspension are connected to a total controller in the environmental detection platform; the environmental detection platform further includes a microprocessor and an environmental detection module installed outside the vehicle body and communicatively connected to the microprocessor, and the microprocessor is communicatively connected to the total controller; the total controller levels the vehicle body according to a pre-stored leveling algorithm.

[0006] A further improvement of this technical solution is that an electromagnetic shielding structure is arranged on the outer layer of the vehicle body. The electromagnetic shielding structure includes a framework, with an inner skin of the cabin board and an outer skin of the cabin board arranged on the inner and outer sides of the framework respectively. An electromagnetic copper net is arranged between the framework and the inner skin of the cabin board, a wooden heat insulation break is arranged between the electromagnetic shielding copper net and the framework, and a polyurethane heat insulation material is filled between the outer skin of the cabin board on one side of the framework and the electromagnetic shielding copper net; the electromagnetic shielding structures on six sides of the vehicle body are hermetically connected.

[0007] A further improvement of this technical solution is that the vehicle body leveling mechanism includes a support base, an electric pump station, a dual-axis inclination sensor, a PLC controller, and four chrome-plated guide rods; the dual-axis inclination sensor is installed at the geometric center of the girder; the support base is installed at the bottom end of the vehicle chassis girder, and a rubber shock pad is provided between the support base and the girder; the four chrome-plated guide rods are symmetrically arranged at the bottom end of the support base, and each chrome-plated guide rod is equipped with a double-acting hydraulic cylinder with an internal displacement sensor. The chrome-plated guide rod is vertically installed at the bottom end of the support base through the double-acting hydraulic cylinder; The oil outlet of the electric pump station is connected to the oil inlet of the double-acting hydraulic cylinder; The displacement sensor and the dual-axis inclination sensor are both connected to the input end of the PLC controller, and the electric pump station and the double-acting hydraulic cylinder are both connected to the output end of the PLC controller; the PLC controller is communicatively connected to the main controller in the environmental detection platform.

[0008] A further improvement of this technical solution is that the air suspension includes an air spring, a shock absorber, an air supply unit, a suspension control unit, and a sensor unit; the air spring is fixed to the top end of the vehicle chassis girder through a flange, and the shock absorber is installed in parallel with the air spring; the air supply port of the air supply unit is connected to the air inlet of the air spring; The sensor unit includes several height sensors and several acceleration sensors. The height sensors and the acceleration sensors are both evenly distributed and installed at the bottom end of the vehicle body. The height sensors and the acceleration sensors are both connected to the input end of the suspension control unit, and the air supply unit is connected to the output end of the suspension control unit.

[0009] A further improvement of this technical solution is that the sensor unit further includes a pressure sensor arranged inside the air spring, and the pressure sensor is connected to the input end of the suspension control unit.

[0010] A further improvement of this technical solution is that the air supply unit includes an air compressor, a gas storage tank, a distribution valve, and a dryer. The air outlet of the air compressor is connected to the air inlet of the gas storage tank. The dryer is installed on the gas transmission pipeline between the air outlet of the air compressor and the air inlet of the gas storage tank. The air outlet of the gas storage tank is connected to the air inlet of the air spring, and the distribution valve is installed on the gas transmission pipeline between the air outlet of the gas storage tank and the air inlet of the air spring; Both the air compressor and the distribution valve are connected to the output end of the suspension control unit.

[0011] A further improvement of this technical solution is that the environmental detection platform further includes a workbench. One end of the environmental detection module is fixed on the workbench, and the other end of the environmental detection module penetrates through the vehicle body and is connected to the external environment. Inside the vehicle body on the side of the workbench away from the cockpit, there is a machine cabinet. On the vehicle body on one side of the machine cabinet, there are several signal interfaces. Inside the vehicle body on the side of the workbench close to the cockpit, there is a comprehensive power supply and a communication system. Below the communication system, there is a fresh air dust removal system, which is connected to the external air. An air conditioner is installed on the partition between the cockpit and the work cabin, and the air conditioner is installed at one end of the partition close to the work cabin. A display is installed on the vehicle body opposite the workbench, and a warm air system is installed inside the vehicle body below the display.

[0012] In a second aspect, the present invention provides a leveling method for an environmental detection vehicle based on any one of the above, including: Receiving a mode switching instruction through the total controller of the environmental detection platform, where the modes include a driving mode and an operation mode; When the received mode switching instruction indicates that the detection vehicle switches from the driving mode to the operation mode, the total controller obtains the inclination information of the vehicle chassis through a biaxial inclination sensor, and outputs a vehicle chassis leveling instruction to the PLC controller according to the inclination information; The PLC controller drives four chrome-plated guide rods to level the detection vehicle through an electric pump station according to the received vehicle chassis leveling instruction; When the received mode switching instruction indicates that the detection vehicle switches from the operation mode to the driving mode, the total controller obtains the height information of the vehicle body through a height sensor, and outputs a vehicle body leveling instruction to the suspension control unit according to the height information of the vehicle body; The suspension control unit drives the air spring to level the vehicle body through an air supply unit according to the received vehicle body leveling instruction.

[0013] In a third aspect, the present invention provides a terminal, including: A processor and a memory, where, The memory is used to store a computer program, The processor is used to call and run the computer program from the memory, so that the terminal executes the method of the above terminal.

[0014] In a fourth aspect, the present invention provides a computer storage medium, and instructions are stored in the computer-readable storage medium. When it runs on a computer, it causes the computer to execute the methods described in the above aspects.

[0015] The beneficial effects of the present invention are as follows: Improve operation stability and accuracy: By installing a body leveling mechanism on the chassis beam and working in conjunction with the air suspension, the environmental monitoring vehicle can maintain a high degree of stability and levelness of the body under various complex terrain conditions. This design not only effectively reduces the body shaking caused by uneven ground, but also ensures that the environmental monitoring platform can obtain more accurate data during operation, improving the accuracy and reliability of environmental monitoring.

[0016] Enhanced environmental adaptability: The vehicle body leveling mechanism and air suspension are closely connected to the master controller in the environmental testing platform. The master controller can intelligently identify the current vehicle status and make quick adjustments based on the pre-stored advanced leveling algorithm. Whether switching from driving mode to operating mode or facing different road conditions, the vehicle body can be quickly optimized for leveling, significantly enhancing the environmental adaptability and operational flexibility of the environmental testing vehicle.

[0017] In addition, the invention has a reliable design principle, a simple structure and a very broad application prospect. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 This is the upper left front view of the environmental detection vehicle.

[0020] Figure 2 This is the upper right front view of the environmental detection vehicle.

[0021] Figure 3 This is the upper right rear view of the environmental inspection vehicle.

[0022] Figure 4 It is a structural schematic diagram of the electromagnetic shielding structure.

[0023] Figure 5 The figure is a flow chart of the leveling method.

[0024] Figure 6 A schematic diagram of the structure of a terminal provided by an embodiment of the present invention.

[0025] 110 is the vehicle chassis, 120 is the vehicle body, 130 is the lighting lamp, 141 is the workbench, 142 is the environmental detection module, 143 is the machine cabinet, 144 is the signal interface, 145 is the integrated power supply, 146 is the communication system, 147 is the fresh air and dust removal system, 1481 is the air conditioner, 1482 is the warm air system, 149 is the display, 151 is the framework, 152 is the inner skin of the cabin panel, 153 is the outer skin of the cabin panel, 154 is the electromagnetic copper mesh, 155 is the wooden heat insulation and broken bridge, 156 is the polyurethane thermal insulation material, 160 is the vehicle body leveling mechanism. Detailed implementation manners

[0026] To make the objectives, features, and advantages of the present invention more obvious and understandable, the technical solutions in the present invention will be clearly and completely described below with reference to the accompanying drawings in the specific embodiments of the present invention. Obviously, the embodiments described below are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.

[0027] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs. The terms used in the description of the present invention in this specification are only for the purpose of describing specific embodiments, and are not intended to limit the present invention.

[0028] As Figure 1 、 Figure 2 and Figure 3 shown, the present invention provides an environmental detection vehicle, including a vehicle chassis 110, a vehicle body 120 disposed on the vehicle chassis 110, and an air suspension disposed between the vehicle body 120 and the vehicle chassis 110. A driver's cab and a work cabin are disposed inside the vehicle body 120, and an environmental detection platform is disposed inside the work cabin; a vehicle body leveling mechanism 160 is installed at the girder of the vehicle chassis 110, and both the vehicle body leveling mechanism 160 and the air suspension are connected to the main controller in the environmental detection platform; the environmental detection platform further includes a microprocessor and an environmental detection module 142 installed outside the vehicle body 120 and communicatively connected to the microprocessor, and the microprocessor is communicatively connected to the main controller; the main controller levels the vehicle body 120 according to a pre-stored leveling algorithm.

[0029] To enable the environmental detection vehicle to work at night as well, a plurality of lighting lamps 130 are disposed on the vehicle body 120.

[0030] In actual production, first, a suitable vehicle chassis (a passenger car chassis or a school bus chassis) is selected as the basic carrier. The girder of the vehicle chassis 110 has sufficient strength and stability to bear the weight of the vehicle body 120 and various equipment. The vehicle body 120 is installed on the vehicle chassis 110, and the interior of the vehicle body 120 is reasonably divided into a driver's cab and a work cabin. The driver's cab should meet the needs of the driver for comfortable operation and be equipped with complete driving equipment such as a steering wheel, an instrument panel, a seat, etc. The work cabin should provide sufficient space for environmental detection work, and its internal layout should facilitate the installation of detection equipment and the operation of personnel.

[0031] Among them, the environmental detection platform further includes a workbench 141. One end of the environmental detection module 142 is fixed on the workbench 141, and the other end of the environmental detection module 142 passes through the vehicle body 120 and then connects to the external environment. Inside the vehicle body 120 on the side of the workbench 141 away from the driver's cab, there is a machine cabinet 143. On the vehicle body 120 on one side of the machine cabinet 143, there are several signal interfaces 144. Inside the vehicle body 120 on the side of the workbench 141 close to the driver's cab, there is a comprehensive power supply 145 and a communication system 146. Below the communication system 146, there is a fresh air dust removal system 147, and the fresh air dust removal system 147 is connected to the external air. On the partition between the driver's cab and the work cabin, there is an air conditioner 1481, and the air conditioner 1481 is installed at one end of the partition close to the work cabin. On the vehicle body 120 opposite to the workbench 141, there is a display 149, and inside the vehicle body 120 below the display 149, there is a warm air system 1482.

[0032] Specifically, a workbench 141 with adjustable height is arranged along the longitudinal central axis of the vehicle body. The workbench 141 is made of high-strength aluminum alloy material and has the characteristics of corrosion resistance, light weight, and strong stability.

[0033] For example, a set of high-precision atmospheric pollutant detection modules is installed at one end of the workbench 141. This module includes a variety of gas sensors and particulate matter monitors. One end of it is firmly fixed on the workbench 141 through a fixed bracket, and the other end passes through the vehicle body 120 through a sealed wall-piercing sleeve and then connects to the external environment. The sealed wall-piercing sleeve is made of a material combining rubber and metal, which can not only ensure the effective connection between the detection module and the external environment but also prevent the leakage of the vehicle interior air and the entry of external impurities.

[0034] Inside the vehicle body 120 on the side of the workbench 141 away from the driver's cab, a standard 19-inch machine cabinet 143 is installed. The machine cabinet 143 is made of high-quality cold-rolled steel plate and its surface is treated with anti-rust spray paint. Inside the machine cabinet 143, a data collector, a data processor, a strain gauge, and the control units of some detection equipment are installed.

[0035] On the vehicle body 120 on one side of the machine cabinet 143, four signal interfaces 144 are provided. The signal interfaces 144 include fiber optic interfaces, telephone interfaces, and network interfaces. These signal interfaces 144 are connected to the devices inside the machine cabinet 143 through shielded cables and are used to connect external detection probes, data transmission devices, and debugging terminals, etc.

[0036] Inside the vehicle body 120 on the side of the workbench 141 close to the cockpit, a set of integrated power supply 145 system and communication system 146 are installed. The integrated power supply 145 system includes a vehicle-mounted generator with a power of 3 kW, two groups of lead-acid batteries of 12V / 100Ah, and a power management module. The vehicle-mounted generator can charge the battery during vehicle driving and supply power to the in-vehicle devices; the battery provides emergency power support for the devices when the vehicle stops or the generator fails.

[0037] The communication system 146 adopts a combination of 4G wireless communication module and satellite communication module. The 4G wireless communication module can meet the daily data transmission requirements and upload the detected environmental data to the remote data center in real time; the satellite communication module serves as a backup communication means to ensure smooth data communication in remote areas or environments with poor signals. The communication system 146 is connected to the external network through an antenna, and the antenna is installed on the top of the vehicle body 120 to obtain better signal reception effect.

[0038] Below the communication system 146, a set of fresh air dust removal system 147 is installed. The system mainly consists of an air inlet, a filter, a fan, and an air outlet. The air inlet is set on the side of the vehicle body 120 and adopts a rainproof louver structure to prevent rain and sundries from entering. The filter adopts a high-efficiency air filter, which can filter out tiny particles such as dust, pollen, and bacteria in the air, and the filtration efficiency reaches more than 99%. The fan adopts a centrifugal fan with a power of 200W, which can provide sufficient air volume. The air outlet is set on the top of the work cabin, and the filtered fresh air is evenly transported into the work cabin through a pipeline.

[0039] The fresh air dust removal system 147 is connected to the external air. When running, it can discharge the dirty air inside the vehicle and introduce fresh air to keep the air in the work cabin fresh. At the same time, the system also has an automatic control function and can automatically adjust the fan speed and running time according to the detection data of the air quality sensor inside the vehicle.

[0040] On the partition between the cockpit and the work cabin, a vehicle-mounted air conditioner 1481 with a cooling capacity of 3 kW and a heating capacity of 2 kW is installed. The air conditioner 1481 is installed in a wall-mounted manner at one end of the partition close to the work cabin. The air outlet of the indoor unit of the air conditioner 1481 faces downward, and the adjusted air can be evenly blown into the work cabin. The air conditioner 1481 is equipped with a remote control and a temperature sensor, and the temperature and wind speed can be set according to the needs of personnel.

[0041] On the vehicle body 120 opposite to the workbench 141, a 19-inch liquid crystal display 149 is installed to display information such as environmental detection data and equipment operation status. Inside the vehicle body 120 below the display 149, a warm air system 1482 is provided. The warm air system 1482 adopts a water heating method and uses the heat of the engine coolant to heat the vehicle interior. The warm air system 1482 includes a heat exchanger, a blower, and an air duct. The heat exchanger is connected to the engine coolant pipeline, and the blower conveys the air heated by the heat exchanger into the work cabin through the air duct to provide a warm and comfortable working environment for personnel.

[0042] In addition, in order to avoid electromagnetic interference from the external environment to the vehicle interior, an electromagnetic shielding structure is provided on the outer layer of the vehicle body 120, such as Figure 4 shown, the electromagnetic shielding structure includes a framework 151. Inner and outer skins 152 and 153 of the cabin panel are respectively provided on the inner and outer sides of the framework 151. An electromagnetic copper mesh 154 is provided between the framework 151 and the inner skin 152 of the cabin panel. A wooden heat insulation break 155 is provided between the electromagnetic shielding copper mesh and the framework 151. A polyurethane heat insulation material 156 is filled between the outer skin 153 of the cabin panel on one side of the framework 151 and the electromagnetic shielding copper mesh; the electromagnetic shielding structures on the six sides of the vehicle body 120 are hermetically connected.

[0043] Specifically, during the manufacturing process of the environmental detection vehicle, a high-strength aluminum alloy material is selected to make the framework 151. Aluminum alloy has the characteristics of light weight, high strength, and good processing performance, and is suitable for constructing the frame structure of the vehicle body 120. The framework 151 is processed according to the size and shape of the vehicle body 120, and each component is assembled into a complete frame by welding and bolt connection methods to ensure its stable structure and ability to withstand various forces inside and outside the vehicle body 120.

[0044] The inner skin 152 of the cabin panel is made of galvanized steel plate with a thickness of 1.5 mm. This material has good anti-rust properties and a smooth surface, which is convenient for subsequent fitting and installation with other components. The inner skin 152 of the cabin panel is fixed to the inner side of the frame 151 by special adhesives and rivets to ensure a firm installation and good sealing. The outer skin 153 of the cabin panel is made of aluminum plate with a thickness of 2 mm. The aluminum plate not only has a certain strength, but also has a preliminary reflective effect on external electromagnetic radiation. The aluminum plate is also installed on the outside of the frame 151 using adhesives and rivets. During the installation process, each connection point is strictly sealed to prevent electromagnetic radiation from entering through the gaps.

[0045] The electromagnetic copper mesh 154 is cut into a size that matches the space between the frame 151 and the cabin inner skin 152, and then laid between the frame 151 and the cabin inner skin 152. The electromagnetic copper mesh 154 has a mesh count of 200, which can effectively shield electromagnetic radiation in the medium and high frequency bands. In order to ensure the conductivity and shielding effect of the copper mesh, the edges of the copper mesh are overlapped during the laying process, and connected with copper connecting pieces and rivets, so that the entire electromagnetic copper mesh 154 forms a continuous conductive shielding layer.

[0046] A wooden thermal insulation bridge 155 is installed between the electromagnetic shielding copper mesh and the skeleton 151. Select treated high-density wood with a thickness of 20 mm and a width that matches the width of the skeleton 151. The function of the wooden thermal insulation bridge 155 is to reduce the heat conduction through the skeleton 151 while ensuring the mechanical strength of the electromagnetic shielding structure, thereby achieving the effect of heat insulation. Fix the wooden thermal insulation bridge 155 to the skeleton 151 with bolts, and then lay the electromagnetic copper mesh 154 on the wooden thermal insulation bridge 155 to ensure that the two fit tightly. On the four sides and top of the vehicle body 120, a wooden thermal insulation bridge 155 is installed every 30 cm to form a complete thermal insulation layer.

[0047] The polyurethane insulation material 156 is filled between the outer skin 153 of the cabin and the electromagnetic shielding copper mesh. The polyurethane insulation material 156 has the advantages of low thermal conductivity, good thermal insulation performance, light weight and significant sound insulation effect. During the filling process, a special foaming device is used to inject the polyurethane material into the gap between the outer skin 153 of the cabin and the electromagnetic shielding copper mesh, so that it is fully foamed and fills the entire space. After the filling is completed, the surface is trimmed to ensure that the polyurethane insulation material 156 is tightly combined with the outer skin 153 of the cabin and the electromagnetic shielding copper mesh to form a complete thermal insulation and sound insulation layer.

[0048] After installing the electromagnetic shielding structures on all sides of the vehicle body 120, the electromagnetic shielding structures on the six sides of the vehicle body 120 are hermetically connected. At the joints between the four side surfaces of the vehicle body 120 and the top and bottom, conductive rubber sealing strips are used for sealing. The conductive rubber sealing strips have good electrical conductivity and elasticity, and can achieve electrical connection between the electromagnetic shielding structures while ensuring the sealing effect. The conductive rubber sealing strips are installed on the edges of the framework 151, and then the frameworks 151 of all sides of the vehicle body 120 are tightly connected together by bolts, ensuring that the electromagnetic shielding structure of the entire vehicle body 120 forms a closed space to effectively block external electromagnetic interference. For example, at the joint between the side surface and the top of the vehicle body 120, first paste the conductive rubber sealing strip on the edge of the top framework 151, then align the side framework 151 with the top framework 151, and use bolts for fastening, so that the conductive rubber sealing strip is squeezed to achieve good sealing and electrical connection effects.

[0049] In order to ensure the accuracy and reliability of the detection data when the environmental detection vehicle is working on uneven or inclined ground, the present invention is equipped with a vehicle body leveling mechanism 160 and an air suspension on the environmental detection vehicle. Among them, the vehicle body leveling mechanism 160 includes a support base, an electric pump station, a biaxial inclination sensor, a PLC controller, and four chrome-plated guide rods; the biaxial inclination sensor is installed at the geometric center of the girder; the support base is installed at the bottom end of the girder of the vehicle chassis 110, and a rubber shock pad is provided between the support base and the girder; the four chrome-plated guide rods are symmetrically arranged at the bottom end of the support base, and each chrome-plated guide rod is equipped with a double-acting hydraulic cylinder with an internal displacement sensor, and the chrome-plated guide rod is vertically installed at the bottom end of the support base through the double-acting hydraulic cylinder; the oil outlet of the electric pump station is connected to the oil inlet of the double-acting hydraulic cylinder; the displacement sensor and the biaxial inclination sensor are both connected to the input end of the PLC controller, and the electric pump station and the double-acting hydraulic cylinder are both connected to the output end of the PLC controller; the PLC controller is communicatively connected to the main controller in the environmental detection platform.

[0050] Specifically, during the modification of the environmental detection vehicle, Q345 steel plates with a thickness of 10 mm are selected to make the support base to ensure that it can stably bear the weight of the vehicle body 120. The support base is installed at the bottom end of the girder of the vehicle chassis 110 through 8 high-strength bolts. During the installation process, a level is used to accurately calibrate the support base to ensure that its level error is within ±1 mm. At the same time, a rubber shock pad with a thickness of 20 mm is installed between the support base and the girder. The rubber shock pad is made of natural rubber and has good elasticity and shock absorption performance, which can effectively reduce the impact of the vibration generated during vehicle driving on the leveling mechanism. The dual-axis inclinometer sensor selects a high-precision MEMS sensor, with the model number SCA100T-D02, and its measurement accuracy can reach ±0.1°. The dual-axis inclinometer sensor is installed at the geometric center position of the girder through a special mounting bracket. The mounting bracket is made of aluminum alloy material and is precision machined to ensure that the sensor is firmly installed and level. After the installation is completed, a standard tilt angle calibration device is used to calibrate the dual-axis inclinometer sensor to ensure the accuracy of its measurement data. All four chrome-plated guide rods are made of high-strength chrome-plated round steel with a diameter of 40 mm and a length of 600 mm to ensure sufficient support strength and guiding accuracy. Each chrome-plated guide rod is equipped with a double-acting hydraulic cylinder with an internal displacement sensor. The model of the hydraulic cylinder is HSG01-80 / 50-500, its cylinder diameter is 80 mm, the piston rod diameter is 50 mm, and the stroke is 500 mm. The chrome-plated guide rod is vertically installed at the bottom end of the support base through the double-acting hydraulic cylinder. During the installation process, a laser measuring instrument is used to detect the verticality of the chrome-plated guide rod to ensure that its verticality error is within ±0.5 mm. At the same time, the displacement sensor is accurately installed and debugged with the hydraulic cylinder to ensure that the displacement sensor can accurately measure the extension length of the piston rod of the hydraulic cylinder. The electric pump station selects a gear pump with the model number YB1-63 / 25, its rated pressure is 16 MPa, and the rated flow is 63 L / min, which can provide sufficient power for the double-acting hydraulic cylinder. The oil outlet of the electric pump station is connected to the oil inlet of the double-acting hydraulic cylinder through a high-pressure oil pipe. The high-pressure oil pipe is made of a steel-woven rubber hose resistant to high pressure, and its working pressure can reach 31.5 MPa to ensure the safety and reliability of the oil circuit connection. During the connection process, a strict sealing test is carried out on the high-pressure oil pipe to ensure no leakage. Both the displacement sensor and the dual-axis inclinometer sensor are connected to the input end of the PLC (Programmable Logic Controller) controller through shielded cables. The PLC controller selects the Siemens S7-200 SMART series, with the model number CPU SR40. The electric pump station and the double-acting hydraulic cylinder are both connected to the output end of the PLC controller through control cables. After the electrical connection is completed, the entire leveling mechanism is debugged. First, the PLC controller is programmed through the PLC programming software so that it can accurately control the operation of the electric pump station and the double-acting hydraulic cylinder according to the input signals of the dual-axis inclinometer sensor and the displacement sensor. Then, a simulation test is carried out. The vehicle is artificially tilted, and the working condition of the leveling mechanism is observed. After multiple tests and adjustments, it is ensured that the leveling mechanism can quickly and accurately level the vehicle body 120. Connect the PLC controller to the main controller in the environmental detection platform through the RS485 (Recommended Standard 485) communication interface, and use the Modbus RTU (Modbus Remote Terminal Unit protocol) communication protocol for data transmission. During the communication setup process, correctly configure the baud rate, data bits, stop bits, and parity bits of the RS485 communication interface to ensure stable and reliable communication. The main controller can receive the body 120 tilt information and leveling status information sent by the PLC controller in real time, and can also send leveling instructions to the PLC controller. For example, when the main controller receives an instruction to switch the vehicle from the driving mode to the working mode, it will immediately send a leveling instruction to the PLC controller. The PLC controller controls the leveling mechanism to level the body 120 according to the instruction and feeds back the relevant data during the leveling process to the main controller in real time.

[0051] In the present invention, the dual-axis inclination sensor is installed at the geometric center of the girder and can accurately measure the tilt angles of the body 120 in two directions. Through the real-time acquisition and analysis of the data of the dual-axis inclination sensor by the PLC controller, the tilt degree of the body 120 can be quickly calculated, and according to the preset leveling algorithm, the operation of the electric pump station and the double-acting hydraulic cylinder can be accurately controlled to drive the four chrome-plated guide rods to level the body 120. The rubber shock pads provided between the support base and the girder can effectively absorb the vibrations generated during vehicle driving. When passing through rough roads, the rubber shock pads can reduce the impact of vibrations on the leveling mechanism and prevent the leveling mechanism from malfunctioning due to vibrations. At the same time, the shock pads can also reduce the noise during vehicle driving and provide a more comfortable working environment for the passengers in the vehicle. The four chrome-plated guide rods are symmetrically arranged at the bottom end of the support base, providing reliable support for the body 120. The surface of the chrome-plated guide rods is chrome-plated, having good wear resistance and corrosion resistance, and can operate stably for a long time under harsh working conditions. At the same time, the cooperation between the chrome-plated guide rods and the double-acting hydraulic cylinder can not only realize the lifting of the body 120, but also ensure the smoothness and accuracy of the body 120 during the leveling process. The displacement sensor can monitor the extended length of the piston rod of the double-acting hydraulic cylinder in real time and feed the data back to the PLC controller. The PLC controller is communicatively connected to the main controller in the environmental detection platform, enabling the main controller to understand the working status of the body leveling mechanism 160 in real time. At the same time, the main controller can remotely send a leveling instruction to the PLC controller according to actual needs to achieve remote control of the body leveling mechanism 160. This real-time data feedback and remote control function facilitate the operator's monitoring and management of the vehicle and improve work efficiency.

[0052] Furthermore, the air suspension includes an air spring, a shock absorber, an air supply unit, a suspension control unit, and a sensor unit; the air spring is fixed to the top of the girder of the vehicle chassis 110 through a flange plate, and the shock absorber is installed in parallel with the air spring; the air supply port of the air supply unit is connected to the air inlet of the air spring; the sensor unit includes a plurality of height sensors and a plurality of acceleration sensors, the height sensors and the acceleration sensors are evenly distributed and installed at the bottom end of the vehicle body 120, the height sensors and the acceleration sensors are both connected to the input end of the suspension control unit, and the air supply unit is connected to the output end of the suspension control unit. Among them, the sensor unit further includes a pressure sensor arranged inside the air spring, and the pressure sensor is connected to the input end of the suspension control unit. The air supply unit includes an air compressor, an air storage tank, a distribution valve, and a dryer. The air outlet of the air compressor is connected to the air inlet of the air storage tank, the dryer is installed on the air pipeline between the air outlet of the air compressor and the air inlet of the air storage tank, the air outlet of the air storage tank is connected to the air inlet of the air spring, and the distribution valve is installed on the air pipeline between the air outlet of the air storage tank and the air inlet of the air spring; both the air compressor and the distribution valve are connected to the output end of the suspension control unit.

[0053] Specifically, during the modification of the environmental inspection vehicle, an air spring model HF200 was selected, with a rated load capacity of 3 tons, which can meet the weight requirements of the vehicle and inspection equipment. The air spring is connected to the top of the girder of the vehicle chassis 110 through a customized flange plate. The flange plate is made of high-strength cast steel and is processed to ensure a tight and stable connection with the air spring and the girder. During installation, first fix the flange plate to the top of the girder with 8 high-strength bolts of M20, and control the tightening torque of the bolts at 200 N·m to ensure the connection strength. Subsequently, install the air spring on the flange plate, and also use the matching bolts for fastening, and seal the connection to prevent air leakage. A suitable two-way hydraulic shock absorber model SD50 was selected for the shock absorber. The shock absorber is installed in parallel with the air spring. One end of the shock absorber is connected to the mounting seat on the girder through a pin shaft, and the other end is connected to the mounting bracket at the bottom of the vehicle body 120. During the installation process, use professional tools to ensure the installation accuracy of the pin shaft so that the shock absorber can work properly and effectively attenuate the vibration during vehicle driving. A piston-type air compressor model V-3 / 8 was used for the air compressor, with a rated displacement of 3 m³ / min and a rated working pressure of 0.8 MPa, which can provide sufficient air source for the air spring. Install the air compressor on a special mounting bracket on one side of the girder of the vehicle chassis 110, and the mounting bracket is fixed to the girder by welding to ensure the stability of the compressor during operation. The gas storage tank selected is a carbon steel gas storage tank with a volume of 100L and a pressure resistance level of 1.0MPa. The gas storage tank is installed near the air compressor. The air outlet of the air compressor is connected to the inlet of the gas storage tank through a galvanized steel pipe with a diameter of 25mm. A dryer, model DG-10, is installed on the connecting pipeline to remove moisture and impurities in the compressed air and ensure the quality of the supplied gas. The distribution valve adopted is an electromagnetic proportional distribution valve, model EP-50, which is installed on the gas transmission pipeline between the gas outlet of the gas storage tank and the gas inlet of the air spring. The distribution valve can accurately adjust the gas volume entering each air spring according to the instructions of the suspension control unit, realizing precise control of the vehicle body height of 120. The height sensors selected are linear Hall effect height sensors, model LH-20. A total of 4 are installed, evenly distributed at the four corners of the bottom of the vehicle body of 120. The height sensors are connected to the bottom of the vehicle body of 120 through special mounting brackets. The mounting brackets are made of aluminum alloy and are anodized, having good corrosion resistance. The sensing heads of the height sensors correspond to the sensing chips on the beam of the vehicle disc of 110, and the sensing chips are firmly fixed to the beam to ensure that the height sensors can accurately measure the relative height change between the vehicle body of 120 and the beam. The acceleration sensors selected are three-axis acceleration sensors, model ADXL345. Similarly, 4 are installed, evenly distributed at the bottom of the vehicle body of 120. The acceleration sensors are fixed to the mounting positions at the bottom of the vehicle body of 120 through double-sided tape and bolts, ensuring firm installation and the axes of the sensors are consistent with the coordinate system of the vehicle body of 120. During the installation process, a level is used to calibrate the sensors to ensure their measurement accuracy. The pressure sensor is installed inside the air spring. The pressure sensor selected is model PT124G-111, and its measurement range is 0 - 1.0MPa. The pressure sensor is connected to the air spring through a special mounting joint. The mounting joint is designed with a seal to prevent air leakage. All sensors are connected to the input end of the suspension control unit through shielded cables. The shielded cables can effectively reduce external electromagnetic interference and ensure the accuracy of sensor signal transmission. The air compressor and the distribution valve are connected to the output end of the suspension control unit through control cables. The suspension control unit selected is a controller, model SCU-200, which can process sensor signals and control the operation of the air supply unit according to the preset program. After installing all components, the air suspension system is debugged. First, professional calibration equipment is used to calibrate the height sensors, acceleration sensors, and pressure sensors to ensure that the measurement accuracy of the sensors meets the requirements. Then, through the operation interface of the suspension control unit, the initial parameters of the air suspension system are set, including vehicle body height, spring stiffness, etc. When the vehicle is stationary, start the air compressor to inflate the air storage tank, and observe the inflation condition of the air springs and the change in the vehicle body height. By adjusting the opening degree of the distribution valve, make the inflation amounts of the four air springs uniform to ensure that the vehicle body 120 is in a horizontal state. During the vehicle driving process, the height, acceleration of the vehicle body 120 and the pressure change in the air springs are monitored in real time through sensors. The suspension control unit automatically adjusts the operations of the air compressor and the distribution valve according to the signals fed back by the sensors to realize the dynamic control of the air suspension system. After multiple tests and optimizations, ensure that the air suspension system can work stably and reliably.

[0054] As Figure 5 shown, the present invention provides a leveling method for an environmental detection vehicle based on any one of the above, including: Step 510, receive a mode switching instruction through the total controller of the environmental detection platform, and the modes include a driving mode and an operation mode; when the received mode switching instruction indicates that the detection vehicle switches from the driving mode to the operation mode, go to step 521; when the received mode switching instruction indicates that the detection vehicle switches from the operation mode to the driving mode, go to step 522; Step 521, the total controller obtains the inclination information of the vehicle tray 110 through the biaxial inclination sensor, and outputs a vehicle tray leveling instruction to the PLC controller according to the inclination information; go to step 5211; Step 5211, the PLC controller drives four chrome-plated guide rods to level the detection vehicle according to the received vehicle tray leveling instruction through the electric pump station. Step 522, the total controller obtains the height information of the vehicle body 120 through the height sensor, and outputs a vehicle body leveling instruction to the suspension control unit according to the height information of the vehicle body 120; go to step 5221; Step 5221, the suspension control unit drives the air spring to level the vehicle body 120 according to the received vehicle body leveling instruction through the air supply unit.

[0055] Specifically, in a certain actual environmental detection operation scenario, the environmental detection vehicle travels to the detection area, and the driver issues an instruction to switch from the driving mode to the operation mode by operating the total controller of the environmental detection platform. After receiving this instruction, the total controller quickly starts the biaxial inclination sensor to work. The biaxial inclination sensor is installed at the geometric center position of the vehicle tray 110 beam, and the biaxial inclination sensor starts to collect the inclination angle data of the vehicle tray 110 relative to the horizontal state in two directions in real time, that is, obtains the inclination information of the vehicle tray 110.

[0056] The total controller calculates according to the inclination information collected by the biaxial inclination sensor by using a preset leveling algorithm. The preset leveling algorithm is based on the support force distribution equation and the oil cylinder displacement leveling formula. The support force distribution equation is: ; wherein, is the supporting force of the i-th hydraulic support (i.e., the support corresponding to the chrome-plated guide rod), with the unit of N, measured by a pressure sensor installed in the hydraulic system; is the total weight of the platform, with the unit of N, including equipment, personnel and the vehicle body; is the horizontal distance between the i-th support point and the center of gravity, with the unit of m, calculated through an inclination sensor and the geometric model of the vehicle.

[0057] The cylinder displacement leveling formula is: ; wherein, is the target telescopic amount of the q-th cylinder (i.e., the double-acting hydraulic cylinder supporting the chrome-plated guide rod), with the unit of mm; is the vehicle body inclination deviation, with the unit of degree, real-time fed back by a two-axis inclination sensor; , and are all PID control parameters, dynamically adjusted according to the vehicle support stiffness. Among them, .

[0058] The total controller calculates the required supporting force for each chrome-plated guide rod and the corresponding cylinder telescopic amount according to the above formula, and then outputs a vehicle tray leveling instruction to the PLC controller. After receiving the instruction, the PLC controller controls the electric pump station to work. The oil outlet of the electric pump station is connected to the oil inlet of the double-acting hydraulic cylinder, driving the four chrome-plated guide rods to level the inspection vehicle. For example, if the two-axis inclination sensor detects that the vehicle tray 110 is inclined at an angle of in a certain direction; the target telescopic amount of the cylinder corresponding to a certain chrome-plated guide rod is calculated through the formula, and the PLC controller controls the corresponding hydraulic cylinder to extend 20 mm, making the vehicle tray 110 gradually tend to be horizontal.

[0059] When the environmental detection operation is completed, the driver operates the total controller again to issue an instruction to switch from the operation mode to the driving mode. After receiving the instruction, the total controller immediately starts the height sensor to work. The height sensors selected are linear Hall type height sensors of model LH-20, with a total of 4, evenly distributed at the four corner positions of the bottom of the vehicle body 120, and the accuracy is ±0.5 mm. These height sensors start to collect the height information of the vehicle body 120 relative to the beam of the vehicle tray 110 in real time.

[0060] The total controller calculates according to the vehicle body height information collected by the height sensors by using the vehicle body height adjustment model. The vehicle body height adjustment model is: ; wherein, is the real-time body height, in mm, measured by a height sensor; is the unloaded reference height of the suspension, default , corresponding to the airbag air pressure ; is the real-time airbag air pressure, ranging from 5 bar to 10 bar, controlled by adjusting the solenoid valve opening through the suspension control unit (ECU); is the effective area of the airbag, for airbag, ; is the current axle load, in N, measured by a pressure sensor installed inside the air spring; is the equivalent stiffness of the air spring, and the calculation formula is , where is the amount of gas substance (related to the inflation amount), R is the gas constant ( ), T is the gas temperature inside the airbag, in K, is the initial volume of the airbag, in .

[0061] The total controller outputs a body leveling command to the suspension control unit according to the calculation result. After receiving the command, the suspension control unit adjusts the operation of the air supply unit according to the damping force collaborative control formula. The damping force collaborative control formula is: ; where is the real-time damping force of the shock absorber, in N, adjusted by the solenoid valve opening; is the damping coefficient, dynamically adjusted by the suspension control unit according to the road conditions. For example, in the driving mode, to ensure driving stability, can be set to ; is the relative movement speed of the suspension, in m / s, calculated by differential of the displacement sensor; is the auxiliary stiffness, in N / m, used to suppress low-frequency oscillation. In this test vehicle ; is the suspension compression amount, in m.

[0062] The suspension control unit adjusts the amount of air entering the air spring by controlling components such as the air compressor and distribution valve, and drives the air spring to level the body 120. For example, if the height sensor detects that the height of a corner of the body 120 is 20 mm lower than the standard height, the total controller calculates through the formula that the airbag air pressure needs to be increased to 7 bar. The suspension control unit controls the air compressor to work, fills the air storage tank with air, and then adjusts through the distribution valve to make the air pressure of the corresponding air spring reach 7 bar, thereby raising the body height and achieving leveling of the body 120.

[0063] When the present invention is in operation mode, the dual-axis inclination sensor is used to accurately obtain the inclination information of the vehicle disc, and the vehicle is leveled according to the preset leveling algorithm using the support force distribution equation and the cylinder displacement leveling formula. This enables the vehicle body 120 to maintain a high-precision horizontal state during the detection operation, greatly reducing the impact of the tilt of the vehicle body 120 on the detection equipment. For example, for atmospheric pollutant detection equipment that has extremely high requirements for horizontality, the leveled vehicle body 120 can reduce the measurement error of the equipment to within 30% of the original. Taking the detection of sulfur dioxide concentration as an example, the measurement error may be ±5% in the unleveled state, and the error can be controlled within ±1.5% after leveling, ensuring the accuracy and reliability of environmental detection data and providing a solid data foundation for environmental assessment and decision-making. When switching from the operating mode to the driving mode, the vehicle body 120 is leveled using the vehicle body height adjustment model and the damping force coordinated control formula. The height sensor monitors the vehicle body height information in real time, so that the vehicle body height can be adjusted accurately to ensure the normal working state of each component during the vehicle driving process. This indirectly improves the stability of the environmental detection equipment during driving, prevents the equipment from measuring deviations due to abnormal vehicle body height or shaking, and further ensures the quality of the detection data. During the switching process between driving mode and working mode, the leveling method can quickly respond and adjust the vehicle body state. When switching from driving mode to working mode, the dual-axis tilt sensor and the corresponding leveling mechanism are quickly activated to enable the vehicle to reach the stable state required for operation in a short time, avoiding the risk of equipment tipping or personal injury caused by vehicle tilt. Under complex road conditions, when the vehicle is preparing for environmental testing operations, rapid leveling can enable the vehicle to quickly adapt to the environment and reduce the time spent in dangerous areas. When switching back to driving mode from operating mode, the height sensor and air suspension are coordinated to ensure that the vehicle height is appropriate and stable, improving the vehicle's driving stability and controllability. When driving at high speed or passing through curves, a reasonable vehicle height and stable posture can effectively reduce the risk of vehicle rollover. During the leveling process, the coordinated work of chrome-plated guide rods and air springs can effectively reduce the vibration and impact of the equipment during driving and operation. In driving mode, the air suspension absorbs the vibration caused by road bumps and protects the in-vehicle detection equipment by reasonably adjusting the airbag pressure and damping force.

[0064] In the operation mode, the four chrome-plated guide rods accurately adjust the support force to ensure the stability of the vehicle body 120, reducing the friction and damage of the internal parts of the testing equipment caused by the shaking of the vehicle body 120. Taking the water quality testing equipment commonly used in environmental testing vehicles as an example, the stable vehicle body 120 can reduce the failure rate of the sampling pump, sensor and other components inside the equipment by about 30%, thereby improving the reliability and service life of the equipment. Quickly switching from the driving mode to the operation mode and completing the leveling significantly shortens the detection preparation time. In emergency environmental detection tasks, such as responding to sudden environmental pollution incidents, it can quickly put the detection equipment into working condition, timely obtain key data, and provide strong support for emergency response. Compared with traditional detection vehicles, the environmental detection vehicle adopting this leveling method can shorten the detection preparation time from the original 5 minutes to within 5 minutes, significantly improving the operation efficiency. Whether on a flat road surface or a rough terrain, this leveling method can flexibly apply corresponding formulas and control mechanisms to adjust the vehicle body 120 according to different sensor feedback information. When conducting environmental detection in complex terrains such as mountainous areas, through the dual-axis inclination sensor and the hydraulic leveling system, it can quickly adapt to the uneven ground, keep the vehicle stable, and complete the detection task, demonstrating good environmental adaptability and broadening the operation range of the environmental detection vehicle. Figure 6 The following is a schematic structural diagram of a terminal 600 provided by an embodiment of the present invention. The terminal 600 can be used to execute the leveling method of the environmental detection vehicle provided by the embodiment of the present invention.

[0065] Among them, the terminal 600 can include: a processor 610, a memory 620, and a communication module 630. These components communicate through one or more buses. Those skilled in the art can understand that the structure of the server shown in the figure does not constitute a limitation to the present invention. It can be a bus-shaped structure, a star-shaped structure, and can also include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0066] Among them, the memory 620 can be used to store the execution instructions of the processor 610. The memory 620 can be implemented by any type of volatile or non-volatile storage terminal or their combination, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk, or optical disc. When the execution instructions in the memory 620 are executed by the processor 610, the terminal 600 can execute some or all of the steps in the above method embodiments.

[0067] The processor 610 is the control center of the storage terminal, connecting various parts of the entire electronic terminal through various interfaces and circuits. By running or executing software programs and / or modules stored in the memory 620, and invoking data stored in the memory, it performs various functions of the electronic terminal and / or processes data. The processor may be composed of an integrated circuit (IC), for example, it may be composed of a single packaged IC, or it may be composed of multiple packaged ICs with the same or different functions connected together. For example, the processor 610 may only include a central processing unit (CPU). In the embodiments of the present invention, the CPU may be a single arithmetic core or may include multiple arithmetic cores.

[0068] The communication module 630 is used to establish a communication channel so that the storage terminal can communicate with other terminals. It receives user data sent by other terminals or sends user data to other terminals.

[0069] The present invention also provides a computer storage medium. The computer storage medium can store a program, and when the program is executed, it may include some or all of the steps in the embodiments provided by the present invention. The storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM), etc.

[0070] Those skilled in the art can clearly understand that the technology in the embodiments of the present invention can be implemented by means of software plus a necessary general hardware platform. Based on such an understanding, the technical solutions in the embodiments of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product is stored in a storage medium such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, etc., which can store program codes, and includes several instructions to enable a computer terminal (which may be a personal computer, a server, or a second terminal, a network terminal, etc.) to execute all or part of the steps of the methods described in the embodiments of the present invention.

[0071] For the same or similar parts among the various embodiments in this specification, reference can be made to each other. In particular, for the terminal embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the descriptions in the method embodiments.

[0072] In several embodiments provided by the present invention, it should be understood that the disclosed systems and methods can be implemented in other ways. For example, the system embodiments described above are merely illustrative. For example, the division of the modules is only a logical function division. In actual implementation, there may be other division methods. For example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of systems or modules can be in electrical, mechanical or other forms.

[0073] The modules described as separate components may or may not be physically separated. The components displayed as modules may or may not be physical modules, that is, they can be located in one place or distributed to multiple network modules. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0074] In addition, in each embodiment of the present invention, the functional modules can be integrated in a processing module, or each module can exist physically alone, or two or more modules can be integrated in one module.

[0075] Although the present invention has been described in detail by referring to the accompanying drawings and in combination with the preferred embodiments, the present invention is not limited thereto. Without departing from the spirit and essence of the present invention, those of ordinary skill in the art can make various equivalent modifications or substitutions to the embodiments of the present invention, and these modifications or substitutions should all be within the scope of the present invention. / Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, and they should all be covered within the protection scope of the present invention.

Claims

1. An environmental detection vehicle, characterized in that: It includes a chassis, a body arranged on the chassis, and an air suspension arranged between the body and the chassis, a cockpit and a working cabin are arranged in the body, and an environmental detection platform is arranged in the working cabin; a body leveling mechanism is installed on the beam of the chassis, and the body leveling mechanism and the air suspension are connected to the main controller in the environmental detection platform; the environmental detection platform also includes a microprocessor and an environmental detection module installed on the outside of the body and communicatively connected to the microprocessor, and the microprocessor is communicatively connected to the main controller; the main controller levels the body according to a pre-stored leveling algorithm.

2. The environmental detection vehicle according to claim 1, characterized in that: An electromagnetic shielding structure is provided on the outer layer of the vehicle body, which includes a frame, and a cabin inner skin and a cabin outer skin are respectively provided on the inner and outer sides of the frame, an electromagnetic copper mesh is provided between the frame and the cabin inner skin, a wooden thermal insulation bridge is provided between the electromagnetic shielding copper mesh and the frame, and polyurethane thermal insulation material is filled between the cabin outer skin and the electromagnetic shielding copper mesh on one side of the frame; the electromagnetic shielding structures on the six sides of the vehicle body are sealed and connected.

3. The environmental detection vehicle according to claim 1, characterized in that: The vehicle body leveling mechanism includes a support base, an electric pump station, a dual-axis tilt sensor, a PLC controller and four chrome-plated guide rods; the dual-axis tilt sensor is installed at the geometric center of the beam; the support base is installed at the bottom end of the undercarriage beam, and a rubber shock-absorbing pad is arranged between the support base and the beam; the four chrome-plated guide rods are symmetrically arranged at the bottom end of the support base, and each chrome-plated guide rod is equipped with a double-acting hydraulic cylinder with a built-in displacement sensor, and the chrome-plated guide rod is vertically installed at the bottom end of the support base through the double-acting hydraulic cylinder; The oil outlet of the electric pump station is connected to the oil inlet of the double-acting hydraulic cylinder; The displacement sensor and the dual-axis inclination sensor are both connected to the input end of the PLC controller, and the electric pump station and the double-acting hydraulic cylinder are both connected to the output end of the PLC controller; the PLC controller is communicatively connected with the main controller in the environmental detection platform.

4. The environmental detection vehicle according to claim 1, characterized in that: The air suspension includes an air spring, a shock absorber, an air supply unit, a suspension control unit and a sensor unit; the air spring is fixed to the top of the chassis beam through a flange, and the shock absorber is installed in parallel with the air spring; the air supply port of the air supply unit is connected to the air inlet of the air spring; The sensor unit includes several height sensors and several acceleration sensors, which are evenly distributed and installed at the bottom end of the vehicle body. The height sensors and acceleration sensors are connected to the input end of the suspension control unit, and the air supply unit is connected to the output end of the suspension control unit.

5. The environmental detection vehicle according to claim 4, characterized in that: The sensor unit further comprises a pressure sensor arranged in the air spring, the pressure sensor being connected to an input of the suspension control unit.

6. The environmental detection vehicle according to claim 4, characterized in that: The air supply unit includes an air compressor, an air storage tank, a distribution valve and a dryer, the air outlet of the air compressor is connected to the air inlet of the air storage tank, the dryer is installed on the air pipeline between the air outlet of the air compressor and the air inlet of the air storage tank, the air outlet of the air storage tank is connected to the air inlet of the air spring, and the distribution valve is installed on the air pipeline between the air outlet of the air storage tank and the air inlet of the air spring; The air compressor and the distribution valve are connected to the output of the suspension control unit.

7. The environmental detection vehicle according to claim 1, characterized in that: The environmental detection platform also includes a workbench, one end of the environmental detection module is fixed on the workbench, and the other end of the environmental detection module passes through the vehicle body and is connected to the external environment. A machine cabinet is arranged in the vehicle body on the side of the workbench away from the cockpit, and a number of signal interfaces are arranged on the vehicle body on the side of the machine cabinet. An integrated power supply and communication system is arranged in the vehicle body on the side of the workbench close to the cockpit, and a fresh air dust removal system is arranged below the communication system, and the fresh air dust removal system is connected to the outside air. An air conditioner is arranged on the partition between the cockpit and the work cabin, and the air conditioner is installed on one end of the partition close to the work cabin. A display is installed on the vehicle body opposite the workbench, and a warm air system is arranged in the vehicle body below the display.

8. A leveling method for an environmental detection vehicle according to any one of claims 1 to 7, characterized in that: include: The main controller of the environment detection platform receives a mode switching instruction, and the modes include a driving mode and an operating mode; When the received mode switching command instructs the inspection vehicle to switch from the driving mode to the working mode, the main controller obtains the tilt information of the vehicle undercarriage through the dual-axis tilt sensor, and outputs the vehicle undercarriage leveling command to the PLC controller according to the tilt information; The PLC controller drives four chrome-plated guide rods to level the inspection vehicle through the electric pump station according to the received vehicle leveling command; When the received mode switching instruction instructs the inspection vehicle to switch from the working mode to the driving mode, the main controller obtains the height information of the vehicle body through the height sensor, and outputs the vehicle body leveling instruction to the suspension control unit according to the height information of the vehicle body; The suspension control unit drives the gas spring to level the vehicle body through the air supply unit according to the received vehicle body leveling command.

9. A terminal, characterized in that: include: processor; A memory for storing execution instructions of the processor; Wherein, the processor is configured to execute the method of claim 8.

10. A computer-readable storage medium storing a computer program, characterized in that: When the program is executed by a processor, the method according to claim 8 is implemented.

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