CN109343042B - Road surface detection device suitable for mining area transport vehicle - Google Patents

The invention designs a road surface detection device suitable for a mining area transport vehicle, and relates to the field of road surface detection. The road surface detection device comprises an unmanned detection vehicle, a vehicle-mounted detector and a transport vehicle signal receiving unit. The main function of the road surface detection device is to detect the road surface condition of the running road surface of the mining transportation vehicle and transmit the road surface condition to the transportation vehicle and a transportation vehicle driver, and help the braking control system of the transportation vehicle and the driver to judge the running road surface, so that the running safety of the transportation vehicle is improved.

一种适用于矿区运输车辆的路面探测装置A road detection device suitable for transportation vehicles in mining areas

技术领域Technical field

本发明涉及路面探测领域，设计了一种适用于矿区运输车辆的路面探测装置，用于矿区路面的探测。The invention relates to the field of road surface detection, and designs a road surface detection device suitable for transportation vehicles in mining areas, and is used for detection of road surfaces in mining areas.

背景技术Background technique

在车辆技术不断发展的今天，各种辅助驾驶技术得到了广泛的应用，但是在这些辅助驾驶技术通常适用于路面状况相对良好的城区道路或者高速公路。在矿区运输车的行驶过程中，道路行驶条件恶劣，经常会遇到道路起伏较大，积水积雪积冰或者运输过程中掉落的矿石甚至是坏路以及无路地带，在这种情况下，现有的辅助驾驶技术难以在第一时间有效发挥作用，运输车性能会受到很大影响甚至会出现危险工况。目前已存在的专利中提出的路面探测方法包括通过获取路面图像及探测图象判断路面障碍物对车辆运行的影响以及通过激光传感器、车载DVR、中央处理单元的配合显示出道路积水深度及长度，可以看出，对于路面探测装置，现有技术主要存在三方面的问题：一是探测的信息种类及范围都有一定的局限性，不符合恶劣路面的行驶需求；二是所探测的路面信息仅用于单个车辆的系统决策，造成了一定程度上信息资源的浪费；三是探测装置受成本及安装空间限制没有容错机制，当探测装置失效时会使车辆失去感知路面信息的能力，为车辆的行驶安全留下隐患。Today, with the continuous development of vehicle technology, various assisted driving technologies have been widely used, but these assisted driving technologies are usually suitable for urban roads or highways with relatively good road conditions. During the driving process of transport trucks in mining areas, the road driving conditions are poor. They often encounter large undulations on the road, accumulation of water, snow and ice, or ores dropped during transportation, or even bad roads and roadless areas. In this case, Under such circumstances, it is difficult for the existing assisted driving technology to work effectively in the first time, and the performance of the transport vehicle will be greatly affected and even dangerous working conditions may occur. The road surface detection method proposed in the existing patents includes determining the impact of road obstacles on vehicle operation by obtaining road surface images and detection images, and displaying the depth and length of road water accumulation through the cooperation of laser sensors, vehicle-mounted DVR, and central processing units. , it can be seen that for road surface detection devices, the existing technology mainly has three problems: first, the type and range of detected information have certain limitations, which does not meet the driving needs of bad roads; second, the detected road surface information System decision-making that is only used for a single vehicle results in a certain degree of waste of information resources. Third, the detection device is limited by cost and installation space and has no fault-tolerant mechanism. When the detection device fails, the vehicle will lose the ability to perceive road information, which is a problem for the vehicle. leaving hidden dangers to driving safety.

因此，本发明设计了一种适用于矿区运输车辆的路面探测装置，通过路面探测装置中行驶在运输车前方的无人探测车对路面信息进行探测，所述无人探测车安装有具有多种类的传感器且探测范围可调组成的路面感知系统，可以全面的探测路面信息，此后无人探测车的路面分析模块路面信息分析决策并传输给运输车辆以及运输车驾驶员，当无人探测车处于故障状态探测装置中的车载探测器进入工作状态进行探测。Therefore, the present invention designs a road surface detection device suitable for transportation vehicles in mining areas. The road surface information is detected by an unmanned detection vehicle driving in front of the transportation vehicle in the road detection device. The unmanned detection vehicle is equipped with various types of The road sensing system composed of sensors and adjustable detection range can comprehensively detect road information. After that, the road surface analysis module of the unmanned detection vehicle analyzes the road information and makes decisions and transmits it to the transport vehicle and the driver of the transport vehicle. When the unmanned detection vehicle is in The vehicle-mounted detector in the fault state detection device enters the working state for detection.

发明内容Contents of the invention

本发明的主要目的在于设计一种适用于矿区运输车辆的路面探测装置，对矿区运输车行驶路面的路面状况进行探测并传递给运输车辆及运输车驾驶员，旨在于提高运输车辆的行驶安全性。为了实现上述目的，本发明按如下技术方案实现：The main purpose of the present invention is to design a road surface detection device suitable for transportation vehicles in mining areas. It detects the road surface conditions of transportation vehicles in mining areas and transmits them to the transportation vehicles and transportation vehicle drivers, aiming to improve the driving safety of transportation vehicles. . In order to achieve the above objects, the present invention is implemented according to the following technical solutions:

路面探测装置由无人探测车、车载探测器以及运输车信号接收单元组成，其中无人探测车具有电子控制单元，在矿区运输车的前方行驶，负责完成行驶路面信息的探测，经过分析决策后将路况信息传输给运输车辆及运输车驾驶员；车载探测器安装于运输车前端底部，在无人探测车处于故障状态时对运输车行驶路面进行探测；运输车信号接收单元用于接收无人探测车通过无线传输传递而来的路面信息和无人探测车的故障信息，除此之外运输车信号单元还可接收车载探测器通过无线传输传递而来的路面信息。The road detection device consists of an unmanned detection vehicle, a vehicle-mounted detector and a transport vehicle signal receiving unit. The unmanned detection vehicle has an electronic control unit and drives in front of the transport vehicle in the mining area. It is responsible for completing the detection of driving road surface information. After analysis and decision-making, Transmit road condition information to transport vehicles and transport vehicle drivers; the vehicle-mounted detector is installed at the bottom of the front end of the transport vehicle to detect the road surface of the transport vehicle when the unmanned detection vehicle is in a fault state; the transport vehicle signal receiving unit is used to receive unmanned The detection vehicle transmits road surface information and unmanned detection vehicle fault information through wireless transmission. In addition, the transport vehicle signal unit can also receive road surface information transmitted by the vehicle-mounted detector through wireless transmission.

技术方案中所述的无人探测车具有五个车轮，安装在三根车轴上，其中前轴有一个车轮，并且前轴车轮位于无人探测车纵向对称面内；中间轴和后轴均为两个车轮，其中中间轴的两轮轮距可以根据后方运输车辆的轮距变化；无人探测车安装有路面感知系统，该系统可以行驶路面的状况进行检测；无人探测车的电子控制单元里包含有路面分析模块，可以根据路面感知系统传递来的路况信息进行分析决策。The unmanned detection vehicle described in the technical solution has five wheels, installed on three axles, of which the front axle has one wheel, and the front axle wheel is located in the longitudinal symmetry plane of the unmanned detection vehicle; the intermediate axle and the rear axle are two The wheelbase of the intermediate shaft can change according to the wheelbase of the rear transportation vehicle; the unmanned detection vehicle is equipped with a road sensing system, which can detect the condition of the driving road surface; the electronic control unit of the unmanned detection vehicle It contains a road surface analysis module, which can analyze and make decisions based on the road condition information transmitted by the road surface sensing system.

技术方案中所述的车载探测器由驱动机构、传动机构、轮式机构以及传感装置组成；车载探测器安装于汽车前端底部前轴与保险杠之间并且位于驾驶室异侧，在无人探测车处于正常工作状态时折叠收置于汽车底部且与水平线向上成3°至8°的夹角，夹角的变化量与道路坡度角度变化量满足Δy＝0.1Δx，以避免影响汽车通过性，式中Δy为车载探测器夹角变化量，Δx为道路坡度角变化量；无人探测车处于部分或全部故障状态时进入工作状态，轮式机构与行驶路面直接接触，且接触位置与运输车前保险杠的水平距离在1到5米范围内变化，变化依据为S＝V(t₁+t₂+t₃+t₄),S为所述水平距离，V为运输车行驶车速，t₁为路面信号采集时间，t₂为信号传输时间，t₃为信号处理时间，t₄为驾驶员反应时间。The vehicle-mounted detector described in the technical solution consists of a driving mechanism, a transmission mechanism, a wheel mechanism and a sensing device; the vehicle-mounted detector is installed between the front axle and the bumper at the bottom of the front end of the car and is located on the opposite side of the cab. When the probe vehicle is in normal working condition, it is folded and stored at the bottom of the car and forms an angle of 3° to 8° with the horizontal line. The change of the angle and the change of the road slope angle satisfy Δy=0.1Δx to avoid affecting the passability of the car. , where Δy is the change in the angle of the vehicle-mounted detector, Δx is the change in the road slope angle; the unmanned detection vehicle enters the working state when it is in a partial or complete failure state, the wheeled mechanism is in direct contact with the driving road surface, and the contact position is in contact with the transportation The horizontal distance of the front bumper of the vehicle changes within the range of 1 to 5 meters. The change is based on S = V (t ₁ + t ₂ + t ₃ + t ₄ ), where S is the horizontal distance and V is the driving speed of the transport vehicle. t ₁ is the road signal collection time, t ₂ is the signal transmission time, t ₃ is the signal processing time, and t ₄ is the driver's reaction time.

技术方案中所述的运输车信号接收单元安装于运输车的电控气压制动系统中，并且通过CAN总线与电控气压制动系统的电子控制单元以及运输车驾驶室显示屏相连，并且将包括最佳行驶路线、路面温度、路面积水积雪积冰的长度、宽度以及厚度、路面松软程度在内的路况信息以及无人探测车路面感知系统的故障信息通过显示屏传达给运输车驾驶员，此外，电控气压制动系统的电子控制单元根据最佳行驶路线范围内的路况信息判断运输车按照该路线行驶时的附着情况，并根据判断结果调整制动控制策略。The transport vehicle signal receiving unit described in the technical solution is installed in the electronically controlled pneumatic braking system of the transport vehicle, and is connected to the electronic control unit of the electronically controlled pneumatic braking system and the transport vehicle cab display screen through the CAN bus, and Road condition information including the best driving route, road temperature, the length, width and thickness of water, snow and ice on the road, the softness of the road surface, and the fault information of the unmanned detection vehicle's road sensing system are communicated to the transport vehicle driver through the display screen In addition, the electronic control unit of the electronically controlled pneumatic braking system determines the adhesion situation of the transport vehicle when traveling along the route based on the road condition information within the optimal driving route, and adjusts the braking control strategy based on the judgment results.

技术方案中所述的无人探测车的前轴及后轴为转向轴，以获得较小转弯半径及较高转向灵活性；无人探测车为适时全轮驱动系统，中间轴为固定驱动轴，在保证矿区行驶过程中驱动力的同时节省成本；此外，无人探测车安装有可以升降的浮动车桥，由履带式的车轮以及直线作动器组成，当无人探测车检测到路面变形较大时，直线作动器控制车桥下降直至车轮与地面接触，以增大接触面积，并且车轮接地面积与路面变形程度呈正相关变化：无人探测车行驶过程中，探测车接地区域下沉小于60毫米时，浮动车桥不工作；路面下沉60-120毫米时，浮动车桥轮胎接地面积为0.03平方米；路面下沉超过120毫米时，浮动车桥轮胎接地面积为0.07平方米。The front and rear axles of the unmanned detection vehicle described in the technical plan are steering axles to obtain a smaller turning radius and higher steering flexibility; the unmanned detection vehicle is a timely all-wheel drive system, and the intermediate shaft is a fixed drive shaft. , which saves costs while ensuring driving force during driving in the mining area; in addition, the unmanned detection vehicle is equipped with a floating axle that can be lifted and lowered, consisting of crawler wheels and linear actuators. When the unmanned detection vehicle detects road deformation When it is larger, the linear actuator controls the axle to descend until the wheel contacts the ground to increase the contact area, and the wheel contact area changes in a positive correlation with the degree of road deformation: when the unmanned detection vehicle is driving, the detection vehicle's grounding area sinks When the road surface sinks 60-120 mm, the floating axle tire contact area is 0.03 square meters; when the road surface sinks more than 120 mm, the floating axle tire contact area is 0.07 square meters.

技术方案中所述的无人探测车特征在于所述无人探测车的路面感知系统由安装于五轮轮胎内的路面松软程度检测传感器、五轮轮毂上的路面不平度传感器以及无人探测车前端顶部的复合路况成像装置组成；其中复合路况成像装置可以识别并探测包括路面温度分布、路面异物分布、可行驶路面以及路面积水积雪积冰情况在内的路况信息，采集区域为无人车前方行驶区域，区域长度与探测车行驶车速V的关系满足S＝0.0094V²+0.6056V+3.1729，此式根据汽车停车视距表拟合得到，确保探测车可以根据探测到的路面信息做出及时的反应，从而保证无人探测车的行车安全；区域宽度则与路面状况的优劣成负相关关系，以保证探测车可以分析规划出最佳行驶路径。The characteristic of the unmanned detection vehicle described in the technical solution is that the road surface sensing system of the unmanned detection vehicle consists of a road softness detection sensor installed in the fifth-wheel tire, a road surface roughness sensor on the fifth-wheel hub, and an unmanned detection vehicle. It consists of a composite road condition imaging device on the top of the front end; the composite road condition imaging device can identify and detect road condition information including road temperature distribution, road foreign matter distribution, drivable road surface, and road water, snow and ice accumulation, and the collection area is unmanned The relationship between the driving area in front of the car, the area length and the driving speed V of the detection vehicle satisfies S=0.0094V ² +0.6056V+3.1729. This formula is obtained by fitting the car parking sight distance table to ensure that the detection vehicle can do things based on the detected road surface information. It can provide timely response to ensure the driving safety of the unmanned detection vehicle; the width of the area is negatively correlated with the quality of the road surface to ensure that the detection vehicle can analyze and plan the best driving path.

技术方案中所述的无人探测车电子控制单元中的路面分析模块同时与路面感知系统以及运输车电控气压制动系统的信号接收单元无线连接；路面分析模块分为信号接收单元、路面预处理单元、路面分析单元、路径规划单元及信号发射单元The road surface analysis module in the electronic control unit of the unmanned detection vehicle described in the technical solution is wirelessly connected to the road surface sensing system and the signal receiving unit of the transport vehicle's electronically controlled pneumatic braking system at the same time; the road surface analysis module is divided into a signal receiving unit and a road surface prediction unit. Processing unit, road surface analysis unit, path planning unit and signal transmitting unit

技术方案中所述的无人探测车设有故障检测单元，负责检测系统内路面松软程度传感器、路面不平传感器及复合路况成像装置的工作状态以及无人探测车整体的行驶状态；所述故障检测单元与路面分析模块以及运输车车载探测器无线连接。The unmanned detection vehicle described in the technical solution is equipped with a fault detection unit, which is responsible for detecting the working status of the road softness sensor, the road unevenness sensor and the composite road imaging device in the system, as well as the overall driving status of the unmanned detection vehicle; the fault detection The unit is wirelessly connected to the road surface analysis module and the transport vehicle on-board detector.

技术方案中所述的车载探测器的传动机构由七根传动杆组成：第一传动杆一端与动力源输出轴沉孔连接，另一端与第二传动杆上端铰接；第二传动杆下端固连于第五传动杆中部；第五传动杆的上端与运输车底盘相连，下端与第六传动杆铰接；第三传动杆左端固连于第二传动杆中部，右端与第四传动杆铰接；第四传动杆的右端固连于第五传动杆；第七传动杆一端与运输车底盘铰接，另一端与第六传动杆铰接。The transmission mechanism of the vehicle-mounted detector described in the technical solution consists of seven transmission rods: one end of the first transmission rod is connected to the countersunk hole of the power source output shaft, and the other end is hinged to the upper end of the second transmission rod; the lower end of the second transmission rod is fixedly connected. in the middle of the fifth transmission rod; the upper end of the fifth transmission rod is connected to the chassis of the transport vehicle, and the lower end is hinged to the sixth transmission rod; the left end of the third transmission rod is fixedly connected to the middle part of the second transmission rod, and the right end is hinged to the fourth transmission rod; The right end of the fourth transmission rod is fixedly connected to the fifth transmission rod; one end of the seventh transmission rod is hinged with the chassis of the transport vehicle, and the other end is hinged with the sixth transmission rod.

技术方案中所述的车载探测器的第六传动杆为阶梯杆，其上半部分与其他传动杆共同保证车载探测器准确的工作状态，下半部分则设计成电磁推杆并且与轮式机构相连，一方面具有长度可变的特点；另一方面依靠杆内电磁阻尼减小探测器与路面接触及分离时的冲击。The sixth transmission rod of the vehicle-mounted detector described in the technical solution is a ladder rod. Its upper part and other transmission rods jointly ensure the accurate working state of the vehicle-mounted detector. The lower part is designed as an electromagnetic push rod and is connected with the wheel mechanism. On the one hand, it has the characteristics of variable length; on the other hand, it relies on electromagnetic damping in the rod to reduce the impact when the detector contacts and separates from the road surface.

技术方案中所述的车载探测器的传感装置的安装以轮式机构为载体，采集包括路面不平度、附着状况及松软情况在内的道路特征，并将采集到的道路特征传输给电控气压制动系统中的信号接收单元。The installation of the vehicle-mounted detector's sensing device described in the technical solution uses a wheeled mechanism as a carrier to collect road characteristics including road surface roughness, adhesion conditions and softness, and transmit the collected road characteristics to the electronic control system. Signal receiving unit in air brake system.

与现有技术相比，本发明实施具有以下有益效果：行驶于矿区运输车前方的无人探测车可以完成包括路面坡度、路面不平度、路面温度、路面松软程度、路面异物、路面积水积雪积区域在内的路况信息的探测且探测范围可根据车速及路面状况改变，并将路况信息传输给运输车辆，便于其提前调整制动策略；此外，路况信息也将传达给运输车驾驶员，方便其做出预判。在无人探测车故障时，作为备用的车载探测器也将完成路面特征的采集，并完成信息的传递，确保运输车安全行驶。Compared with the existing technology, the implementation of the present invention has the following beneficial effects: the unmanned detection vehicle driving in front of the mining area transport vehicle can complete tasks including road slope, road unevenness, road temperature, road softness, road foreign matter, and road water accumulation. The detection and detection range of road condition information including snow-covered areas can be changed according to the vehicle speed and road surface conditions, and the road condition information is transmitted to the transport vehicle so that it can adjust the braking strategy in advance; in addition, the road condition information will also be conveyed to the transport vehicle driver , to facilitate their prediction. When the unmanned detection vehicle fails, the vehicle-mounted detector as a backup will also complete the collection of road features and complete the transmission of information to ensure the safe driving of the transport vehicle.

附图说明Description of the drawings

下面结合附图对本发明做进一步的说明。The present invention will be further described below in conjunction with the accompanying drawings.

图1是本发明所述的无人探测车的整体示意图；Figure 1 is an overall schematic diagram of the unmanned detection vehicle according to the present invention;

图2是本发明所述的无人探测车的底盘结构示意图；Figure 2 is a schematic structural diagram of the chassis of the unmanned detection vehicle according to the present invention;

图3是本发明所述的车载探测器的原始位置示意图；Figure 3 is a schematic diagram of the original position of the vehicle-mounted detector according to the present invention;

图4是本发明所述的路面探测装置的结构组成图。Figure 4 is a structural diagram of the road surface detection device according to the present invention.

具体实施方式Detailed ways

下面结合附图对本发明的具体实施方式做详细的描述。这些附图为简化的示意图，仅以示意方式说明本发明的基本结构，因此仅显示与本发明有关的结构组成。Specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the structural components related to the present invention.

本发明包括图1所示的无人探测车以及图3所示的车载探测器。The present invention includes the unmanned detection vehicle shown in Figure 1 and the vehicle-mounted detector shown in Figure 3.

如图1所示，无人探测车100的主要工作组成包括路面感知系统和探测车电子控制单元内的路面分析模块102组成，其中路面感知系统由安装于五轮轮胎内的路面松软程度传感器103、五轮轮毂上的路面不平传感器104以及无人探测车前端顶部的复合路况成像装置101三部分组成，并且三者都与路面分析模块无线连接。As shown in Figure 1, the main working components of the unmanned detection vehicle 100 include a road surface perception system and a road surface analysis module 102 in the electronic control unit of the detection vehicle. The road surface perception system consists of a road softness sensor 103 installed in a fifth-wheel tire. It consists of three parts: the road unevenness sensor 104 on the fifth wheel hub and the composite road condition imaging device 101 on the top of the front end of the unmanned detection vehicle, and all three are wirelessly connected to the road surface analysis module.

具体的，无人探测车100行驶过程中，复合路况成像装置101首先对前方行驶路面进行热成像，并将所得图谱传输至路面分析模块中的路面预处理单元，由路面分析模块102进行分析首先得到路面温度分布，并据此分辨得到温度异常区域，并且初步判断出路面是否具有较大起伏以及是否存在积水积雪积冰情况，并将待检测信息传输到复合路况成像装置101，通过摄像机获取路面图像，传输至路面预处理单元后进行滤波，分辨得到较适宜行驶的路面以及积水积雪积冰的区域及厚度。Specifically, while the unmanned detection vehicle 100 is driving, the composite road condition imaging device 101 first performs thermal imaging of the road ahead, and transmits the resulting map to the road preprocessing unit in the road analysis module, which is analyzed by the road analysis module 102. First The temperature distribution of the road surface is obtained, and the abnormal temperature areas are distinguished based on this, and it is preliminarily judged whether the road surface has large fluctuations and whether there is water, snow and ice accumulation, and the information to be detected is transmitted to the composite road condition imaging device 101, and is used through the camera Obtain the road surface image and transmit it to the road preprocessing unit for filtering to identify the road surface that is more suitable for driving and the area and thickness of water, snow and ice.

路径规划单元通过模块内通讯获取路面预处理单元的所有处理结果，作出判断，使无人探测车100绕过大颠簸，积水积雪积冰严重的路面，行驶在最适合行驶的路线中。The path planning unit obtains all the processing results of the road surface pre-processing unit through intra-module communication, and makes a judgment to enable the unmanned detection vehicle 100 to bypass large bumps, roads with serious water, snow and ice, and drive on the most suitable route.

在无人探测车100行驶过程中，安装于五轮轮胎内的路面松软程度传感器104、五轮轮毂上的路面不平传感器103实时对无人探测车驶过的路面信号进行采集，获取包括路面不平度、路面变形度以及附着系数在内的路况信息，并将采集到的信息传输给路面分析模块102中的路面分析单元进行信息整合，将前述单元的分析结果一并传输至信号发射单元，最终送至无人探测车100后方的运输车辆。While the unmanned detection vehicle 100 is driving, the road softness sensor 104 installed in the fifth-wheel tire and the road unevenness sensor 103 on the fifth-wheel hub collect the road signals passed by the unmanned detection vehicle in real time to obtain information including the unevenness of the road surface. road condition information including degree, road deformation degree and adhesion coefficient, and transmit the collected information to the road surface analysis unit in the road surface analysis module 102 for information integration, and transmit the analysis results of the aforementioned units to the signal transmitting unit, and finally A transport vehicle sent to the rear of the unmanned detection vehicle 100 .

无人探测车100内的故障检测单元负责检测系统内路面松软程度传感器、路面不平传感器及复合路况成像装置101的工作状态以及无人探测车100整体的行驶状态，具体由装置中的检测子单元执行，一旦无人探测车被检测出工作异常时，故障检测单元立即向车载探测器及运输车辆发出信号，车载探测器进入工作状态。The fault detection unit in the unmanned detection vehicle 100 is responsible for detecting the working status of the road softness sensor, the road unevenness sensor and the composite road condition imaging device 101 in the system, as well as the overall driving status of the unmanned detection vehicle 100. Specifically, the detection sub-unit in the device Once the unmanned detection vehicle is detected to be working abnormally, the fault detection unit immediately sends a signal to the on-board detector and the transport vehicle, and the on-board detector enters the working state.

如图3所示，车载探测器由驱动机构、传动机构、轮式机构以及传感装置组成，驱动机构采用电机，为车载探测器的工作提供动力；传动机构采用杆系，包括7根传动杆；轮式机构与地面直接接触，并且为传感装置的安装提供载体；传感装置用于采集包括路面不平度、附着状况及松软情况在内的道路特征，并将采集到的道路特征传输给电控气压制动系统中的信号接收单元。As shown in Figure 3, the vehicle-mounted detector is composed of a driving mechanism, a transmission mechanism, a wheel mechanism and a sensing device. The driving mechanism uses a motor to provide power for the work of the vehicle-mounted detector; the transmission mechanism uses a rod system, including 7 transmission rods. ; The wheeled mechanism is in direct contact with the ground and provides a carrier for the installation of the sensing device; the sensing device is used to collect road characteristics including road surface roughness, adhesion conditions and softness, and transmit the collected road characteristics to Signal receiving unit in an electronically controlled pneumatic braking system.

如图3所示，第一传动杆一端与动力源输出轴沉孔连接，另一端与第二传动杆上端铰接；第二传动杆下端固连于第五传动杆中部；第五传动杆的上端与运输车底盘相连，下端与第六传动杆铰接；第三传动杆左端固连于第二传动杆中部，右端与第四传动杆铰接；第四传动杆的右端固连于第五传动杆；第七传动杆一端与运输车底盘铰接，另一端与第六传动杆铰接。其中传动杆6为阶梯杆其上半部分与其他传动杆共同保证车载探测器准确的工作状态，下半部分则设计成电磁推杆并且与轮式机构固定连接，具有长度可变的特点。当车载探测器运动到工作状态时，第一传动杆与第二传动杆共线，第三传动杆和第四传动杆共线，实现传动机构自锁，保证工作可靠性。As shown in Figure 3, one end of the first transmission rod is connected to the counterbore of the power source output shaft, and the other end is hinged to the upper end of the second transmission rod; the lower end of the second transmission rod is fixedly connected to the middle part of the fifth transmission rod; the upper end of the fifth transmission rod It is connected to the chassis of the transport vehicle, and the lower end is hinged to the sixth transmission rod; the left end of the third transmission rod is fixed to the middle part of the second transmission rod, and the right end is hinged to the fourth transmission rod; the right end of the fourth transmission rod is fixed to the fifth transmission rod; One end of the seventh transmission rod is hinged with the chassis of the transport vehicle, and the other end is hinged with the sixth transmission rod. The transmission rod 6 is a stepped rod, the upper part of which, together with other transmission rods, ensures the accurate working state of the vehicle-mounted detector. The lower part is designed as an electromagnetic push rod and is fixedly connected to the wheel mechanism, with the characteristics of variable length. When the vehicle-mounted detector moves to the working state, the first transmission rod and the second transmission rod are in line, and the third transmission rod and the fourth transmission rod are in line, realizing self-locking of the transmission mechanism and ensuring working reliability.