Brake performance detection device integrating GNSS and inertial navigation technology

Abstract

The utility model provides a braking performance detection device integrating GNSS and inertial navigation technologies. The braking performance detection device comprises an operation host, a test host, a wireless trigger device and a wireless transmission module, the test host comprises a test control mainboard, a GNSS real-time dynamic differential positioning measurement module, a triaxial attitude angular velocity and accelerometer, and a structure installation part. The GNSS real-time dynamic differential positioning measurement module, the three-axis attitude angular velocity and the accelerometer are used for acquiring the position information and the speed of the special motor vehicle in the factory; the wireless trigger device is fixed on a brake pedal and is used for triggering the wireless trigger device to send a data acquisition instruction through the brake pedal when the brake distance is detected; the wireless transmission module is respectively connected with the operation host, the test host and the wireless trigger device, and is used for the wireless trigger device to send a data acquisition instruction to the test host through the wireless transmission module, and the test host sends acquired position information and speed to the operation host for processing through the wireless transmission module.

Description

Technical Field

[0001] The utility model relates to the technical field of special equipment detection, and in particular to a braking performance detection device integrating GNSS and inertial navigation technologies. Background Art

[0002] Braking performance includes real-time speed, maximum braking deceleration, braking distance, etc. Braking performance is the key performance to ensure the safety of special motor vehicles in the field (factory). There are two main ways to test the braking performance of special motor vehicles in the field (factory). One way is to use the existing braking performance tester for testing, but this measurement method has a lot to do with the speed at which the driver steps on the brake pedal, which will cause the measured braking distance to be larger than the actual braking distance; the other way is the drag mark method, which mainly requires the driver to operate the forklift with a certain initial speed, and quickly apply the service brake after passing a specified point. After the forklift stops, the distance of the entire process is measured with a tape measure based on the braking traces. Although the drag mark method is simple and intuitive, it is greatly affected by the driver's subjective influence, has a large measurement error, and has low detection efficiency. Summary of the invention

[0003] In view of this, the utility model provides a braking performance detection device integrating GNSS and inertial navigation technology to solve the technical problems of large measurement error and low detection efficiency in the existing braking performance detection method.

[0004] The technical solution adopted by the utility model to solve its technical problems is:

[0005] A braking performance detection device integrating GNSS and inertial navigation technology, comprising an operating host, a testing host, a wireless trigger device, and a wireless transmission module;

[0006] The test host comprises a test control mainboard, a GNSS real-time dynamic differential positioning measurement module, a three-axis attitude angular velocity and accelerometer, and a structural installation component; the test host is fixed on a dedicated motor vehicle in the factory through the structural installation component and kept horizontal, the test control mainboard is embedded and fixed on the structural shell of the test host, and the GNSS real-time dynamic differential positioning measurement module, the three-axis attitude angular velocity and accelerometer are installed to the external interface of the test control mainboard, and are used to collect the position information and speed of the dedicated motor vehicle in the factory;

[0007] The wireless trigger device is fixed on the brake pedal and is used to trigger the wireless trigger device to send a data acquisition instruction through the brake pedal when performing braking distance detection;

[0008] The wireless transmission module is connected to the operating host, the test host and the wireless trigger device respectively, so that the wireless trigger device sends a data acquisition instruction to the test host through the wireless transmission module, and the test host sends the collected position information and speed to the operating host for processing through the wireless transmission module.

[0009] Preferably, the wireless trigger device includes a micro switch and a fixed mounting structure, and the micro switch is fixed to the brake pedal through the fixed mounting structure, and is used to trigger the micro switch to send a data acquisition instruction through the brake pedal when performing braking distance detection.

[0010] Preferably, the operating host includes a display module, a data processing module, and a protective shell, and the protective shell is used to protect the display module and the data processing module.

[0011] Preferably, the structural mounting component includes a connecting part and a base, the connecting part includes a threaded hole and a magnetic suction component, the bottom of the test host is connected to the structural mounting component by a thread and is fixed by a magnetic suction component; the base adopts a magnetic suction structure or a vacuum suction cup, and the base is fixed on a special motor vehicle in the factory by magnetic suction or a vacuum suction cup, so as to fix the test host on the special motor vehicle in the factory.

[0012] Preferably, the wireless transmission module includes a wireless communication board and a data interface, and there are two wireless transmission modules, one wireless transmission module is connected to the operating host through the data interface, and the other wireless transmission module is connected to the test host through the data interface, and data is transmitted between the two wireless transmission modules through the wireless communication board.

[0013] Preferably, the wireless trigger device has a built-in wireless communication board, and instructions are transmitted between the wireless trigger device and the wireless transmission module via the wireless communication board.

[0014] Preferably, the wireless communication board is a wireless 2.4G communication board.

[0015] Preferably, the data interface includes an external USB interface and a cable interface.

[0016] Compared with the prior art, the beneficial effects of the utility model are:

[0017] When testing the braking performance of a special motor vehicle in the field (factory), the tester steps on the brake pedal so that the downward force of the brake pedal acts on the wireless trigger device, triggering the wireless trigger device to start sending data acquisition instructions. The wireless trigger device sends the data acquisition instruction to the test host through the wireless transmission module. After receiving the data acquisition instruction, the test host controls the GNSS real-time dynamic differential positioning measurement module 22 to collect the position information of the vehicle during braking, controls the three-axis attitude angular velocity and accelerometer 23 to collect the angular velocity and acceleration of the vehicle during braking, and obtains the instantaneous speed and position information of the special motor vehicle in the (factory) after INS navigation solution based on the inertial navigation unit composed of the three-axis attitude angular velocity and accelerometer. The test host sends the instantaneous speed and position information to the operating host through the wireless transmission module, and the operating host analyzes and operates the instantaneous speed and position information to obtain the braking performance of the special motor vehicle in the factory, such as the braking distance, maximum braking deceleration, and real-time speed, and displays the obtained braking performance on the operating interface of the operating host. The utility model integrates a GNSS real-time dynamic differential positioning measurement module, a three-axis attitude angular velocity and an accelerometer into a test host, and the test host is installed on a special motor vehicle (forklift) in the field (factory). The running position, speed, braking distance and other data of the special motor vehicle in the field (factory) are tracked and measured in real time, and efficient and high-precision braking performance detection is achieved by integrating GNSS and inertial navigation technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of the braking performance detection device integrating GNSS and inertial navigation technology of the present invention.

[0019] Figure 2 It is a schematic diagram of the internal structure of the test host of the utility model.

[0020] Figure 3 It is a schematic diagram of the system principle of the utility model.

[0021] Figure 4 This is a combined navigation block diagram of the utility model.

[0022] In the figure: an operating host 10, a test host 20, a test control mainboard 21, a GNSS real-time dynamic differential positioning measurement module 22, a three-axis attitude angular velocity and accelerometer 23, a wireless trigger device 30, and a wireless transmission module 40. DETAILED DESCRIPTION

[0023] The technical scheme and technical effects of the embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings of the present invention.

[0024] Please see Figures 1 to 3, a braking performance detection device integrating GNSS and inertial navigation technology, comprising an operating host 10, a testing host 20, a wireless trigger device 30, and a wireless transmission module 40;

[0025] The test host 20 includes a test control mainboard 21, a GNSS real-time dynamic differential positioning measurement module 22, a three-axis attitude angular velocity and accelerometer 23, and a structural installation component; the test host 20 is fixed on a dedicated motor vehicle in the factory through the structural installation component and kept horizontal, the test control mainboard 21 is embedded and fixed on the structural shell of the test host, and the GNSS real-time dynamic differential positioning measurement module 22 and the three-axis attitude angular velocity and accelerometer 23 are installed to the external interface of the test control mainboard for collecting the position information and speed of the dedicated motor vehicle in the factory;

[0026] The wireless trigger device 30 is fixed on the brake pedal and is used to trigger the wireless trigger device to send a data acquisition instruction through the brake pedal when performing braking distance detection;

[0027] The wireless transmission module 40 is connected to the operating host 10, the test host 20, and the wireless trigger device 30 respectively, so that the wireless trigger device 30 sends a data acquisition instruction to the test host 20 through the wireless transmission module 40, and the test host 20 sends the collected position information and speed to the operating host 10 for processing through the wireless transmission module 40.

[0028] When testing the braking performance of a special motor vehicle in the field (factory), the tester steps on the brake pedal so that the downward force of the brake pedal acts on the wireless trigger device, triggering the wireless trigger device to start sending data acquisition instructions. The wireless trigger device sends the data acquisition instruction to the test host through the wireless transmission module. After receiving the data acquisition instruction, the test host controls the GNSS real-time dynamic differential positioning measurement module 22 to collect the position information of the vehicle during braking, controls the three-axis attitude angular velocity and accelerometer 23 to collect the angular velocity and acceleration of the vehicle during braking, and obtains the instantaneous speed and position information of the special motor vehicle in the (factory) after INS navigation solution based on the inertial navigation unit composed of the three-axis attitude angular velocity and accelerometer. The test host sends the instantaneous speed and position information to the operating host through the wireless transmission module, and the operating host analyzes and operates the instantaneous speed and position information to obtain the braking performance of the special motor vehicle in the factory, such as the braking distance, maximum braking deceleration, and real-time speed, and displays the obtained braking performance on the operating interface of the operating host. The utility model integrates a GNSS real-time dynamic differential positioning measurement module, a three-axis attitude angular velocity and an accelerometer into a test host, and the test host is installed on a special motor vehicle (forklift) in the field (factory). The running position, speed, braking distance and other data of the special motor vehicle in the field (factory) are tracked and measured in real time, and efficient and high-precision braking performance detection is achieved by integrating GNSS and inertial navigation technology.

[0029] In some embodiments, the GNSS real-time dynamic differential positioning measurement module 22 collects the position information of the vehicle during braking, and the three-axis attitude angular velocity and accelerometer 23 collects the angular velocity and acceleration of the vehicle during braking, and can output high-precision position information and velocity through a fusion algorithm. The fusion algorithm is based on RTK to achieve loosely coupled GNSS / INS real-time integrated navigation, as shown in the following example: Figure 4 As shown in the figure, RTK outputs position and velocity parameters in real time to the combined Kalman filter, which estimates the INS error. The estimated INS error is used to correct the INS navigation parameters, and the corrected INS navigation parameters are used to output high-precision position and velocity. The high-precision position information and velocity are sent to the operating host for analysis to obtain the vehicle's braking performance, thereby reducing the cumulative error of the braking performance detection and improving the accuracy of the braking performance detection.

[0030] In some embodiments, the operating host can be handheld and operated by the inspection personnel, or it can be installed on a special motor vehicle in the factory. For example, the operating host can be installed in the co-pilot seat and operated by the inspection personnel sitting in the co-pilot seat. The vehicle's driving trajectory, slope, and statistical relationship graphs between slope and distance can be viewed in real time during the vehicle's driving.

[0031] Furthermore, the wireless trigger device 30 includes a micro switch and a fixed mounting structure, and the micro switch is fixed to the brake pedal through the fixed mounting structure, and is used to trigger the micro switch to send a data acquisition instruction through the brake pedal when performing a braking distance test. When performing a braking distance test, the tester steps on the brake pedal, and the brake pedal is subjected to a downward force, which acts on the micro switch, so that the micro switch is closed, and a data acquisition instruction is sent to the test host through the wireless transmission module.

[0032] Furthermore, the operation host 10 includes a display module, a data processing module, and a protective shell, and the protective shell is used to protect the display module and the data processing module. In some embodiments, the operation host 10 adopts an Android operation host, and the Android operation host includes an Android tablet and a protective shell, wherein the Android tablet includes a display module and a data processing module, and the communication connection, data display, curve drawing and other functions are performed by operating the interface of the Android tablet, thereby realizing the data analysis and display functions.

[0033] Furthermore, the structural installation component includes a connecting portion and a base, the connecting portion includes a threaded hole and a magnetic suction component, the bottom of the test host is connected to the structural installation component by threads, and is fixed by the magnetic suction component; the base adopts a magnetic suction structure or a vacuum suction cup, and the base is fixed to the special motor vehicle in the factory by magnetic suction or vacuum suction cup, so as to fix the test host on the special motor vehicle in the factory. Specifically, a magnetic suction component is also provided at the bottom of the test host. After the bottom of the test host is connected to the structural installation component by threads, the magnetic suction component at the bottom of the test host contacts the magnetic suction component of the connecting portion to adsorb and fix the test host to the connecting portion of the structural installation component; at the same time, the structural installation component is adsorbed and fixed to the special motor vehicle in the factory by the magnetic suction structure or vacuum suction cup of the base, thereby realizing the flexible setting of the position of the test host and improving the accuracy of the data collected by the test host.

[0034] Furthermore, the wireless transmission module 40 includes a wireless communication board and a data interface, and there are two wireless transmission modules 40. One wireless transmission module 40 is connected to the operating host 10 through the data interface, and the other wireless transmission module 40 is connected to the test host 20 through the data interface. Data is transmitted between the two wireless transmission modules 40 through the wireless communication board.

[0035] Furthermore, the wireless trigger device 30 has a built-in wireless communication board, and instructions are transmitted between the wireless trigger device 30 and the wireless transmission module 40 via the wireless communication board.

[0036] Furthermore, the wireless communication board adopts a wireless 2.4G communication board.

[0037] Furthermore, the data interface includes an external USB interface and a cable interface.

[0038] Specifically, a wireless transmission module is connected to the interface on the operation control mainboard of the operation host, and at the same time, a wireless transmission module is connected to the interface of the test host, and long-distance, stable data communication and transmission are performed between the two wireless transmission modules. Among them, the wireless transmission module adopts an enhanced 2.4G communication mode, 2.4GHz wireless technology, which is a short-range wireless transmission technology with the advantages of two-way propagation, strong anti-interference, long transmission distance of short-range wireless technology, and low power consumption. The wireless transmission module can be connected to the operation host and the test host through an external USB interface, and can also be installed and connected with the operation host and the test host through a cable interface. In some embodiments, the wireless transmission module can be Bluetooth or WiFi.

[0039] The above disclosure is only a preferred embodiment of the present invention, and it certainly cannot be used to limit the scope of the present invention. A person skilled in the art can understand that all or part of the processes of the above embodiments and equivalent changes made according to the claims of the present invention still fall within the scope of the present invention.

Claims

1. A braking performance detection device integrating GNSS and inertial navigation technology, characterized in that: It includes an operating host, a testing host, a wireless trigger device, and a wireless transmission module; The test host comprises a test control mainboard, a GNSS real-time dynamic differential positioning measurement module, a three-axis attitude angular velocity and accelerometer, and a structural installation component; the test host is fixed on a dedicated motor vehicle in the factory through the structural installation component and kept horizontal, the test control mainboard is embedded and fixed on the structural shell of the test host, and the GNSS real-time dynamic differential positioning measurement module, the three-axis attitude angular velocity and accelerometer are installed to the external interface of the test control mainboard, and are used to collect the position information and speed of the dedicated motor vehicle in the factory; The wireless trigger device is fixed on the brake pedal and is used to trigger the wireless trigger device to send a data acquisition instruction through the brake pedal when performing braking distance detection; The wireless transmission module is connected to the operating host, the test host and the wireless trigger device respectively, so that the wireless trigger device sends a data acquisition instruction to the test host through the wireless transmission module, and the test host sends the collected position information and speed to the operating host for processing through the wireless transmission module.

2. The braking performance detection device integrating GNSS and inertial navigation technology according to claim 1 is characterized in that: The wireless trigger device includes a micro switch and a fixed installation structure. The micro switch is fixed to the brake pedal through the fixed installation structure and is used to trigger the micro switch to send a data acquisition instruction through the brake pedal when performing braking distance detection.

3. The braking performance detection device integrating GNSS and inertial navigation technology according to claim 1 is characterized in that: The operating host includes a display module, a data processing module, and a protective shell, and the protective shell is used to protect the display module and the data processing module.

4. The braking performance detection device integrating GNSS and inertial navigation technology according to claim 1 is characterized in that: The structural mounting component includes a connecting portion and a base, the connecting portion includes a threaded hole and a magnetic suction component, the bottom of the test host is connected to the structural mounting component by a thread and is fixed by a magnetic suction component; the base adopts a magnetic suction structure or a vacuum suction cup, and the base is fixed on a special motor vehicle in the factory by magnetic suction or a vacuum suction cup, so as to fix the test host on the special motor vehicle in the factory.

5. The braking performance detection device integrating GNSS and inertial navigation technology according to claim 1 is characterized in that: The wireless transmission module includes a wireless communication board and a data interface, and there are two wireless transmission modules. One wireless transmission module is connected to the operating host through the data interface, and the other wireless transmission module is connected to the test host through the data interface. Data is transmitted between the two wireless transmission modules through the wireless communication board.

6. The braking performance detection device integrating GNSS and inertial navigation technology according to claim 5 is characterized in that: The wireless trigger device is equipped with a wireless communication board, and instructions are transmitted between the wireless trigger device and the wireless transmission module via the wireless communication board.

7. The braking performance detection device integrating GNSS and inertial navigation technology according to claim 6 is characterized in that: The wireless communication board adopts a wireless 2.4G communication board.

8. The braking performance detection device integrating GNSS and inertial navigation technology according to claim 7 is characterized in that: The data interface includes an external USB interface and a cable interface.

Images