Body attitude leveling control system and method for emergency rescue vehicle

Abstract

The vehicle body attitude leveling control system of an emergency rescue vehicle disclosed in the present invention can include: a three-axis accelerometer for real-time measurement of the acceleration of a low-speed vehicle; a processor for calculating the vehicle body according to the acceleration measured by the three-axis accelerometer Attitude angle: the controller reads the information of the vehicle body attitude angle, and compares the vehicle body attitude angle with the vehicle's leveling accuracy preset angle in real time to determine whether the vehicle body needs to be leveled. The vehicle body leveling system of the present invention can adopt the centroid position error leveling method, and combine with the active suspension system of the vehicle to control the movement of each suspension hydraulic cylinder of the suspension system, so as to realize the stable leveling of the vehicle body. The vehicle body leveling system of the present invention can also adopt a coplanar vehicle body leveling method to keep each suspension hydraulic cylinder of the suspension system and the connection points of the vehicle body moving on the same plane, thereby improving the rapidity of vehicle body leveling control.

Description

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

AI Technical Summary

Problems solved by technology

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

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

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