A device for detecting a passability parameter of a wheeled vehicle

Abstract

The application belongs to the technical field of vehicle passability detection, and discloses a detection device for wheel type vehicle passability parameters, wherein a hardware system of the detection device mainly comprises six modules, namely, a data processing module, a display module, an energy storage module, a walking chassis, a three-dimensional scanning module and a storage module. The detection device can autonomously plan a route and autonomously move for scanning according to the input vehicle size, and the vehicle is always in a stationary state during the scanning process, so as to obtain the three-dimensional point cloud of the wheel type vehicle chassis. The data processing module is provided with a vehicle chassis point cloud analysis algorithm, which can extract the wheel position and size, the approach angle measuring point, the passing angle measuring point and the departure angle measuring point, and further calculate the approach angle, the departure angle and the longitudinal passing angle of the wheel type vehicle, without manual selection of the measuring key points and substitution into the calculation of the passability parameters.

Description

Technical Field

[0001] This invention belongs to the field of vehicle passability testing technology, specifically a testing device for passability parameters of wheeled vehicles. Background Technology

[0002] Wheeled vehicle passability refers to a vehicle's ability to overcome various road obstacles (such as slopes, bumps, ditches, soft ground, etc.) and maintain normal driving during operation. It is an important indicator for measuring a vehicle's off-road performance, ability to adapt to complex terrain, and ability to pass through obstacles.

[0003] Existing methods for manually measuring the approach angle, departure angle, and longitudinal clearance angle of wheeled vehicles are entirely manual, requiring manual selection of feature points, manual measurement of dimensions and distances, and manual calculation using formulas. This process is overly complex and impractical, specifically: the selection of feature points heavily relies on the subjective choice of the surveyor, and the complex chassis of the equipment makes it difficult for personnel to accurately select feature points, severely impacting the accuracy of the measurement results; the measurement of dimensions and distances depends on manual measurement, and the limited space under the wheeled vehicle chassis makes it difficult for personnel to enter and exit, further complicating the operation; the calculation process for the approach angle, departure angle, and longitudinal clearance angle of wheeled vehicles is extremely complex, and manual calculation is difficult and prone to errors. Summary of the Invention

[0004] The purpose of this invention is to provide a device for detecting the passability parameters of wheeled vehicles, so as to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a detection device for the passability parameters of wheeled vehicles, wherein the hardware system of the detection device mainly consists of six modules: a data processing module, a display module, an energy storage module, a chassis, a three-dimensional scanning module, and a storage module.

[0006] The data processing module is used for autonomous route planning, walking control, three-dimensional point cloud analysis of wheeled vehicle chassis, and calculation of passability parameters; The display module is used to provide a human-computer interaction interface; The energy storage module is used for energy storage and power supply; The chassis is used to carry the modules and enable autonomous movement. The 3D scanning module is used to scan and acquire the 3D point cloud of the wheeled vehicle chassis; The storage module is used to store the analysis results of the data processing module.

[0007] As a preferred embodiment of the present invention, the detection work of the detection device is divided into three stages: route planning stage, motion description stage, and result analysis stage. In the route planning stage, the dimensions of the chassis of the wheeled vehicle to be tested need to be input, and the detection device will autonomously plan the scanning route and scanning speed. In the motion description stage, the detection device will crawl under the chassis of the wheeled vehicle according to the planned route to perform a three-dimensional scan of the chassis. During the movement of the detection device, a depth camera will continuously scan the spatial point cloud information of the chassis and fuse and stitch it together according to the current pose information to form the point cloud of the wheeled vehicle chassis. When the movement of the detection device ends, a complete three-dimensional point cloud of the wheeled vehicle chassis can be obtained. In the result analysis stage, the detection device will analyze the scanned point cloud of the wheeled vehicle chassis to extract key points such as wheel position and size, approach angle measurement points, breakthrough angle measurement points, and departure angle measurement points, and further calculate the approach angle, departure angle, and longitudinal breakthrough angle of the wheeled vehicle.

[0008] As a preferred embodiment of the present invention, the analysis process in the result analysis stage includes point cloud filtering, point cloud projection, wheel recognition, and calculation of passability parameters. The point cloud filtering is responsible for filtering out redundant parts and noise in the point cloud. The point cloud projection is responsible for laterally projecting the point cloud of the wheeled vehicle chassis to generate a two-dimensional map. The wheel recognition is responsible for extracting the wheels from the two-dimensional map. The calculation of passability parameters is responsible for calculating the approach angle, departure angle, and longitudinal clearance angle of the wheeled vehicle based on the wheel information and chassis profile.

[0009] As a preferred embodiment of the present invention, the calculation steps for the passability parameter are as follows: Step 1: Measure the key dimensions of the wheeled vehicle, including the distance from the approach angle measurement point to the ground, the horizontal distance from the approach angle measurement point to the approach angle wheel axle, the static radius of the approach angle wheel, the distance from the departure angle measurement point to the ground, the horizontal distance from the departure angle measurement point to the departure angle wheel axle, the static radius of the departure angle wheel, the distance from the longitudinal clearance angle measurement point to the ground, the horizontal distance from the longitudinal clearance angle measurement point to the longitudinal clearance angle front wheel axle, the horizontal distance from the longitudinal clearance angle measurement point to the longitudinal clearance angle rear wheel axle, the static radius of the longitudinal clearance angle front wheel, and the static radius of the longitudinal clearance angle rear wheel. Step 2: Calculate the approach angle of the wheeled vehicle; Step 3: Calculate the departure angle of the wheeled vehicle; Step 4: Calculate the longitudinal approach angle of the wheeled vehicle.

[0010] As a preferred embodiment of the present invention, the formula for calculating the approach angle is:

[0011] In the formula, Indicates the approach angle. This indicates the distance from the approach angle measurement point to the ground. This indicates the horizontal distance from the approach angle measurement point to the approach angle wheel axle. This indicates the static radius of the wheel at the approach angle.

[0012] As a preferred embodiment of the present invention, the formula for calculating the departure angle is:

[0013] In the formula, Indicates the departure angle. This indicates the distance from the departure angle measurement point to the ground. This represents the horizontal distance from the departure angle measurement point to the wheel axle at the departure angle. This indicates the static radius of the wheel at the departure angle.

[0014] As a preferred embodiment of the present invention, the formula for calculating the longitudinal passing angle is:

[0015] In the formula, Indicates the longitudinal through angle, This indicates the distance from the longitudinal angle measurement point to the ground. This represents the horizontal distance from the longitudinal breakthrough angle measurement point to the front wheel axle. This represents the horizontal distance from the longitudinal breakthrough angle measurement point to the rear wheel axle. Indicates the longitudinal approach angle static radius of the front wheel. This indicates the longitudinal approach angle and the static radius of the rear wheel.

[0016] As a preferred embodiment of the present invention, the wheeled vehicle chassis is further provided with a four-wheel drive module and a power display module. The four-wheel drive module is used to drive the wheeled vehicle, and the power display module is used to display the power information of the energy storage module.

[0017] As a preferred embodiment of the present invention, the wheels of the four-wheel drive module are Mecanum wheels.

[0018] The beneficial effects of this invention are as follows: This invention, by setting up a data processing module, a 3D scanning module, and a chassis, allows the detection equipment to autonomously plan a route and move to scan based on the input vehicle dimensions. During the scanning process, the vehicle remains stationary, thereby acquiring a 3D point cloud of the wheeled vehicle chassis. The data processing module incorporates a vehicle chassis point cloud analysis algorithm, which can accurately extract key points such as wheel positions and dimensions, approach angle measurement points, breakover angle measurement points, and departure angle measurement points. It further calculates the approach angle, departure angle, and longitudinal breakover angle of the wheeled vehicle. This eliminates the need for manual selection of key measurement points and substitution for calculating vehicle passability parameters, significantly improving the accuracy and precision of the measurement results, reducing the difficulty of measuring passability parameters, and increasing measurement speed. Attached Figure Description

[0019] Figure 1 This is a block diagram of the hardware system of the present invention; Figure 2 This is a schematic diagram of the hardware system circuit connection of the present invention; Figure 3 This is a layout diagram of the external structure of the device of the present invention; Figure 4 This is a layout diagram of the internal structure of the device of the present invention; Figure 5 This is a diagram of the chassis scanning interface of the present invention; Figure 6 This is a diagram of the data processing interface of the present invention; Figure 7 This is a diagram of the interface for analyzing the results of this invention; Figure 8 This is a screenshot of the historical results interface of this invention; Figure 9 This is a diagram illustrating the detection process of the present invention; Figure 10 This is a measurement record diagram of the present invention.

[0020] In the diagram: 10, Data processing module; 20, Display module; 30, Energy storage module; 40, Chassis; 50, 3D scanning module; 60, Four-wheel drive module; 70, Battery level display module. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] like Figures 1 to 10 As shown, this embodiment of the invention provides a detection device for the passability parameters of wheeled vehicles. The hardware system of the detection device mainly consists of six modules: a data processing module 10, a display module 20, an energy storage module 30, a walking chassis 40, a three-dimensional scanning module 50, and a storage module. The data processing module 10 is used for autonomous route planning, walking control, three-dimensional point cloud analysis of the wheeled vehicle chassis, and calculation of passability parameters.

[0023] Display module 20 is used to provide a human-computer interaction interface.

[0024] The energy storage module 30 is used for energy storage and power supply.

[0025] The 40-wheel chassis is used to load various modules and enable autonomous movement.

[0026] The 3D scanning module 50 is used to scan and acquire the 3D point cloud of the wheeled vehicle chassis.

[0027] The storage module is used to store the analysis results of the data processing module 10.

[0028] This device for detecting the passability parameters of wheeled vehicles measures these parameters by scanning the point cloud of the wheeled vehicle chassis. The 3D scanning module 50 penetrates the wheeled vehicle chassis during the device's movement to perform a 3D scan, acquiring the 3D point cloud of the chassis. The 3D scanning module 50 then transmits the 3D point cloud data to the data processing module 10 (which contains a storage module). The data processing module 10 processes and analyzes the acquired 3D point cloud data to determine the approach angle, departure angle, and longitudinal clearance angle of the wheeled vehicle. The storage module stores and records the analysis results. The display module 20 provides a human-machine interface for operators to input wheeled vehicle information and obtain analysis results. The energy storage module 30 supplies power to all modules, ensuring their normal operation.

[0029] The detection work of the equipment used for detecting the passability parameters of wheeled vehicles is divided into three stages: route planning, motion description, and result analysis. In the route planning stage, the dimensions of the chassis of the wheeled vehicle under test (including length, width, and height) need to be input, and the detection equipment will autonomously plan the scanning route and scanning speed. In the motion description stage, the equipment will crawl under the chassis of the wheeled vehicle according to the planned route to perform a three-dimensional scan of the chassis. During the movement of the detection equipment, a depth camera will continuously scan the spatial point cloud information of the chassis and fuse and stitch it together according to the current pose information to form the point cloud of the wheeled vehicle chassis. When the detection equipment finishes moving, a complete three-dimensional point cloud of the wheeled vehicle chassis can be obtained. In the result analysis stage, the detection equipment will analyze the scanned point cloud of the wheeled vehicle chassis to extract key points such as wheel position and size, approach angle measurement points, breakthrough angle measurement points, and departure angle measurement points, and further calculate the approach angle, departure angle, and longitudinal breakthrough angle of the wheeled vehicle.

[0030] To address the issue of the detection equipment being unable to receive positioning signals for accurate positioning when moving under the chassis of wheeled vehicles, RGBD-SLAM technology is used for millimeter-level positioning. To address the problem of the detection equipment encountering obstacles such as wheels and protruding structures when moving under the chassis, a 360-degree single-line lidar is used to scan the surrounding obstacles in real time and autonomously plan obstacle avoidance routes.

[0031] The analysis process in the results analysis stage includes point cloud filtering, point cloud projection, wheel recognition, and calculation of passability parameters. Point cloud filtering is responsible for filtering out redundant parts and noise in the point cloud. Point cloud projection is responsible for laterally projecting the point cloud of the wheeled vehicle chassis to generate a two-dimensional map. Wheel recognition is responsible for extracting the wheels from the two-dimensional map. Calculation of passability parameters is responsible for calculating the approach angle, departure angle, and longitudinal clearance angle of the wheeled vehicle based on the wheel information and chassis profile.

[0032] Approach angle, departure angle, and longitudinal clearance angle are important parameters describing the passability of wheeled vehicles. They reflect the ability of wheeled vehicles to avoid collisions with ground obstacles under different driving conditions.

[0033] The calculation steps for the passability parameter are as follows: Step 1: Measure the key dimensions of the wheeled vehicle, including the distance from the approach angle measurement point to the ground, the horizontal distance from the approach angle measurement point to the approach angle wheel axle, the static radius of the approach angle wheel, the distance from the departure angle measurement point to the ground, the horizontal distance from the departure angle measurement point to the departure angle wheel axle, the static radius of the departure angle wheel, the distance from the longitudinal clearance angle measurement point to the ground, the horizontal distance from the longitudinal clearance angle measurement point to the longitudinal clearance angle front wheel axle, the horizontal distance from the longitudinal clearance angle measurement point to the longitudinal clearance angle rear wheel axle, the static radius of the longitudinal clearance angle front wheel, and the static radius of the longitudinal clearance angle rear wheel.

[0034] Step 2: Calculate the approach angle of the wheeled vehicle.

[0035] Step 3: Calculate the departure angle of the wheeled vehicle.

[0036] Step 4: Calculate the longitudinal approach angle of the wheeled vehicle.

[0037] Through these four steps, the data processing module 10 can accurately calculate the specific data of the passability parameters of the wheeled vehicle, and at the same time display the final calculated value on the display module 20, so that the operator can intuitively obtain the relevant information.

[0038] The formula for calculating the approach angle is:

[0039] In the formula, Indicates the approach angle. This indicates the distance from the approach angle measurement point to the ground. This indicates the horizontal distance from the approach angle measurement point to the approach angle wheel axle. This indicates the static radius of the wheel at the approach angle.

[0040] Approach angle is the angle formed by the line connecting the lowest point of the front wheel and the lowest point of the front of the vehicle (usually the bumper or front suspension component) to the horizontal ground when the wheeled vehicle is stationary. The larger the approach angle, the less likely the front bumper or front body of the wheeled vehicle is to collide with the ground when approaching the crest of a hill or an obstacle.

[0041] The formula for calculating the departure angle is:

[0042] In the formula, Indicates the departure angle. This indicates the distance from the departure angle measurement point to the ground. This represents the horizontal distance from the departure angle measurement point to the wheel axle at the departure angle. This indicates the static radius of the wheel at the departure angle.

[0043] The departure angle is the angle formed by the line connecting the lowest point of the rear wheel and the lowest point of the rear end of the vehicle (usually the rear bumper or rear suspension component) to the horizontal ground when the wheeled vehicle is stationary. The larger the departure angle, the less likely the rear bumper or rear body of the wheeled vehicle is to collide with the ground when leaving the crest of a hill or obstacle.

[0044] The formula for calculating the longitudinal angle is:

[0045] In the formula, Indicates the longitudinal through angle, This indicates the distance from the longitudinal angle measurement point to the ground. This represents the horizontal distance from the longitudinal breakthrough angle measurement point to the front wheel axle. This represents the horizontal distance from the longitudinal breakthrough angle measurement point to the rear wheel axle. Indicates the longitudinal approach angle static radius of the front wheel. This indicates the longitudinal approach angle and the static radius of the rear wheel.

[0046] The longitudinal clearance angle refers to the maximum crest angle at which a wheeled vehicle can successfully pass through a slope during its operation. It reflects the vehicle's vertical clearance capability, that is, the minimum clearance between the bottom of the wheeled vehicle and ground obstacles during operation.

[0047] The wheeled vehicle chassis is equipped with a four-wheel drive module 60 and a power display module 70. The four-wheel drive module 60 is used to drive the wheeled vehicle, and the power display module 70 is used to display the power information of the energy storage module 30.

[0048] The four-wheel drive module 60 ensures the stable movement of wheeled vehicles, while the power display module 70 allows operators to obtain the power information of the energy storage module 30 in a timely manner.

[0049] The wheels of the four-wheel drive module 60 are Mecanum wheels.

[0050] Mecanum wheels are a special type of wheel structure that enables omnidirectional movement. By installing multiple inclined rollers (small wheels) around the main wheel, the equipment can move in any direction on a plane (including laterally, diagonally, and rotating) without the need for a steering mechanism, thus enabling flexible operation and movement in confined spaces.

[0051] This embodiment provides a specific example of calculating passability parameters.

[0052] Measuring key dimensional data for wheeled vehicles, including the distance from the approach angle measurement point to the ground. The value is 0.367m, which is the horizontal distance from the approach angle measurement point to the approach angle wheel axle. The static radius of the approach angle wheel is 1.380m. It is 0.483m; the distance from the departure angle measurement point to the ground. The distance from the departure angle measurement point to the wheel axle is 0.432m. The static radius of the wheel is 2.402m at the departure angle. It is 0.528m; the longitudinal distance from the angle measurement point to the ground. The distance from the longitudinal breakthrough angle measurement point to the front wheel axle is 0.39m. The distance from the longitudinal breakthrough angle measurement point to the rear wheel axle is 2.585m. The longitudinal approach angle is 3.211m, and the static radius of the front wheel is... The longitudinal approach angle is 0.508m, and the static radius of the rear wheel is... It is 0.503m, of which, Figure 10 This is a measurement record diagram for this embodiment.

[0053] Substituting the above measurement data into the calculation formula, we obtain the approach angle. Departure angle and longitudinal passing angle The value of .

[0054] Specifically, calculating the approach angle of wheeled vehicles. : =15.6 Calculate the departure angle of wheeled vehicles : =10.4 Calculate the longitudinal approach angle of wheeled vehicles : =15.7.

[0055] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0056] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A device for detecting the passability parameters of wheeled vehicles, characterized in that: The hardware system of the detection equipment mainly consists of six modules: a data processing module, a display module, an energy storage module, a walking chassis, a 3D scanning module, and a storage module. The data processing module is used for autonomous route planning, walking control, three-dimensional point cloud analysis of wheeled vehicle chassis, and calculation of passability parameters; The display module is used to provide a human-computer interaction interface; The energy storage module is used for energy storage and power supply; The chassis is used to carry the modules and enable autonomous movement. The 3D scanning module is used to scan and acquire the 3D point cloud of the wheeled vehicle chassis; The storage module is used to store the analysis results of the data processing module.

2. The detection device for the passability parameters of wheeled vehicles according to claim 1, characterized in that: The detection work of the detection equipment is divided into three stages: route planning, motion description, and result analysis. In the route planning stage, the dimensions of the wheeled vehicle chassis to be tested need to be input, and the detection equipment will autonomously plan the scanning route and speed. In the motion description stage, the detection equipment will crawl under the wheeled vehicle chassis according to the planned route to perform a 3D scan. During its movement, the detection equipment uses a depth camera to continuously scan the spatial point cloud information of the chassis and fuses and stitches it together based on the current pose information to form a complete 3D point cloud of the wheeled vehicle chassis. When the detection equipment finishes its movement, a complete 3D point cloud of the wheeled vehicle chassis is obtained. In the result analysis stage, the detection equipment analyzes the scanned wheeled vehicle chassis point cloud to extract key points such as wheel positions and dimensions, approach angle measurement points, breakthrough angle measurement points, and departure angle measurement points, and further calculates the approach angle, departure angle, and longitudinal breakthrough angle of the wheeled vehicle.

3. The detection device for the passability parameters of wheeled vehicles according to claim 2, characterized in that: The analysis process in the result analysis stage includes point cloud filtering, point cloud projection, wheel recognition, and calculation of passability parameters. Point cloud filtering is responsible for filtering out redundant parts and noise in the point cloud. Point cloud projection is responsible for laterally projecting the point cloud of the wheeled vehicle chassis to generate a two-dimensional map. Wheel recognition is responsible for extracting the wheels from the two-dimensional map. Calculation of passability parameters is responsible for calculating the approach angle, departure angle, and longitudinal clearance angle of the wheeled vehicle based on the wheel information and chassis profile.

4. The detection device for the passability parameters of wheeled vehicles according to claim 3, characterized in that: The calculation steps for the passability parameter are as follows: Step 1: Measure the key dimensions of the wheeled vehicle, including the distance from the approach angle measurement point to the ground, the horizontal distance from the approach angle measurement point to the approach angle wheel axle, the static radius of the approach angle wheel, the distance from the departure angle measurement point to the ground, the horizontal distance from the departure angle measurement point to the departure angle wheel axle, the static radius of the departure angle wheel, the distance from the longitudinal clearance angle measurement point to the ground, the horizontal distance from the longitudinal clearance angle measurement point to the longitudinal clearance angle front wheel axle, the horizontal distance from the longitudinal clearance angle measurement point to the longitudinal clearance angle rear wheel axle, the static radius of the longitudinal clearance angle front wheel, and the static radius of the longitudinal clearance angle rear wheel. Step 2: Calculate the approach angle of the wheeled vehicle; Step 3: Calculate the departure angle of the wheeled vehicle; Step 4: Calculate the longitudinal approach angle of the wheeled vehicle.

5. The detection device for the passability parameters of wheeled vehicles according to claim 4, characterized in that: The formula for calculating the approach angle is: In the formula, Indicates the approach angle. This indicates the distance from the approach angle measurement point to the ground. This indicates the horizontal distance from the approach angle measurement point to the approach angle wheel axle. This indicates the static radius of the wheel at the approach angle.

6. The detection device for the passability parameters of wheeled vehicles according to claim 4, characterized in that: The formula for calculating the departure angle is: In the formula, Indicates the departure angle. This indicates the distance from the departure angle measurement point to the ground. This represents the horizontal distance from the departure angle measurement point to the wheel axle at the departure angle. This indicates the static radius of the wheel at the departure angle.

7. The detection device for the passability parameters of wheeled vehicles according to claim 4, characterized in that: The formula for calculating the longitudinal passing angle is: In the formula, Indicates the longitudinal angle. This indicates the distance from the longitudinal angle measurement point to the ground. This represents the horizontal distance from the longitudinal breakthrough angle measurement point to the front wheel axle. This represents the horizontal distance from the longitudinal breakthrough angle measurement point to the rear wheel axle. Indicates the longitudinal approach angle static radius of the front wheel. This indicates the longitudinal approach angle and the static radius of the rear wheel.

8. The detection device for the passability parameters of wheeled vehicles according to claim 1, characterized in that: The wheeled vehicle chassis is also equipped with a four-wheel drive module and a power display module. The four-wheel drive module is used to drive the wheeled vehicle, and the power display module is used to display the power information of the energy storage module.

9. A detection device for the passability parameters of wheeled vehicles according to claim 8, characterized in that: The wheels of the four-wheel drive module are Mecanum wheels.

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