A system for judging abnormal movement status of construction machinery vehicles

Abstract

The invention discloses a system for judging the abnormal state of an engineering machinery vehicle, and relates to the technical field of engineering machinery. The invention comprises: an information acquisition module: used for controlling a TBOX terminal to collect vehicle acceleration information through a built-in six-axis sensor; an information calculation module; a state judgment module; an information return and judgment module; a position information upload and return module; an offset angle judgment module; an alarm upload and reminder module; the invention can effectively detect the transportation state and the abnormal state of an engineering machinery vehicle through the application of the overall system and formulas, so that personnel can timely understand the transportation state and the abnormal state of the mechanical vehicle, and remind the transportation personnel in time, so as to prevent economic losses and certain injuries to the transportation personnel due to changes in the state of the mechanical vehicle during transportation, thereby ensuring the safety of vehicle transportation, reducing the burden on personnel, and providing good protection for personnel.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering machinery, and in particular to a system for judging the abnormal movement state of an engineering machinery vehicle. Background Art

[0002] Engineering machinery is an important part of China's equipment industry. In general, all mechanical equipment required for earthwork construction, road construction and maintenance, mobile lifting and loading and unloading operations, and comprehensive mechanized construction required for various construction projects are called engineering machinery. It is mainly used in national defense construction projects, transportation construction, energy industry construction and production, mining and other raw material industry construction and production, agriculture, forestry and water conservancy construction, industrial and civil construction, urban construction, environmental protection and other fields. In various countries around the world, the names of this industry are basically the same. The United States and the United Kingdom call it construction machinery and equipment, Germany calls it construction machinery and equipment, Russia calls it construction and road construction machinery, and Japan calls it construction machinery. In China, some products are also called construction machinery, and the mechanical system is collectively called engineering machinery when the State Council approved the establishment of this industry, which has continued to this day. The product scope of this industry is roughly the same in various countries. Compared with other countries, China's engineering machinery has also added railway line engineering machinery, forklifts and industrial handling vehicles, decoration machinery, elevators, pneumatic tools and other industries.

[0003] At present, the field of engineering machinery lacks methods and applications for judging the transportation status and abnormal status of engineering machinery vehicles, which leads to the inability of personnel to timely understand the transportation status and abnormal status of mechanical vehicles. As a result, during the transportation process, economic losses occur due to changes in the status of mechanical vehicles, and certain injuries are caused to the transportation personnel. For this reason, we propose a system for judging the abnormal status of engineering machinery vehicles to solve the above problems. Summary of the invention

[0004] The purpose of the present invention is to solve the problem that there is a lack of methods and applications for judging the transportation status and abnormal status of construction machinery vehicles in the prior art, which results in personnel being unable to timely understand the transportation status and abnormal status of machinery vehicles, resulting in economic losses due to changes in the status of machinery vehicles during transportation, and causing certain injuries to transportation personnel. A system for judging the abnormal status of construction machinery vehicles is proposed.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A method for determining the abnormal state of an engineering machinery vehicle, the steps of which are as follows:

[0007] The TBOX terminal collects vehicle acceleration information through a built-in six-axis sensor;

[0008] The instantaneous speed of the vehicle and the vehicle deviation angle are calculated using the formula according to the collected acceleration information;

[0009] Determine the ACC state of the electric key switch;

[0010] The position information is transmitted back according to the ACC state of the electric key switch, or the instantaneous speed of the vehicle is determined to determine whether the vehicle speed is greater than the preset speed and is in a continuous state;

[0011] The vehicle movement and location information are uploaded according to the judgment results, or the location information is directly transmitted back;

[0012] Determine whether the vehicle deviation angle is greater than a threshold;

[0013] Upload alarm information and issue reminders based on the judgment results.

[0014] Preferably, the TBOX terminal collects vehicle acceleration information through a built-in six-axis sensor. The six-axis sensor refers to a three-axis accelerometer + a three-axis gyroscope. The three-axis accelerometer detects lateral acceleration to obtain an acceleration value a; the three-axis gyroscope detects angular rotation to obtain an angular acceleration β.

[0015] Preferably, the position information is transmitted back according to the ACC state of the electric key switch, or the instantaneous speed of the vehicle is determined to determine whether the vehicle speed is greater than the preset speed and is in a continuous state;

[0016] When it is determined that the vehicle's electric key switch is turned on, the TBOX terminal returns the location information every 1 minute;

[0017] When it is determined that the electric key switch of the vehicle is turned off, and the TBOX terminal detects that the speed of the vehicle is greater than 10km / h for more than 3s, the TBOX terminal determines that the vehicle enters the transport state.

[0018] Preferably, the vehicle movement and location information are uploaded according to the judgment result, or the location information is directly transmitted back;

[0019] If the judgment result is closed, when the vehicle moves 5km, the TBOX terminal uploads the location information, the vehicle speed decreases to 0, and the location information is uploaded again;

[0020] When the judgment result is open, the TBOX terminal returns the position information every 1 hour, and after more than 24 hours, the position information is returned every 6 hours. Preferably, it is judged whether the vehicle deviation angle is greater than a threshold value, and the threshold value is 15 degrees.

[0021] Preferably, alarm information is uploaded and reminders are given according to the judgment results;

[0022] When the vehicle deviation angle is greater than the threshold, the TBOX terminal determines that the vehicle has moved, and the TBOX terminal uploads the alarm information to the supervision platform and the display for alarm reminder;

[0023] When it is determined that the vehicle deviation angle is less than the threshold, no alarm is issued.

[0024] Preferably, data is transmitted between the TBOX terminal and the display via a CAN bus, and data is transmitted between the TBOX terminal and the platform via a wireless network.

[0025] A system for determining an abnormal movement state of an engineering machinery vehicle, comprising:

[0026] Information collection module: used to control the TBOX terminal to collect vehicle acceleration information through the built-in six-axis sensor;

[0027] Information calculation module: used to calculate the instantaneous speed of the vehicle and the vehicle deviation angle using the formula according to the collected acceleration information;

[0028] State judgment module: used to judge the ACC state of the electric key switch;

[0029] Information feedback and judgment module: used to feedback position information according to the ACC state of the electric key switch, or to judge whether the vehicle speed is greater than the preset speed and is in a continuous state according to the instantaneous speed of the vehicle movement;

[0030] Position information upload and return module: used to upload vehicle movement and position information according to the judgment results, or directly return the position information;

[0031] Deviation angle judgment module: used to judge whether the vehicle deviation angle is greater than a threshold;

[0032] Alarm upload and reminder module: used to upload alarm information and remind based on the judgment results.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] The present invention can effectively detect the transport status and abnormal status of engineering machinery vehicles through the application of the overall system and formulas, so that personnel can timely understand the transport status and abnormal status of the machinery vehicles, and timely remind the transportation personnel to prevent economic losses and certain injuries to the transportation personnel due to changes in the status of the machinery vehicles during transportation, thereby ensuring the safety of vehicle transportation, reducing the burden on personnel, and providing good protection for personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 This is a schematic diagram of the overall flow structure of a method for determining the abnormal state of an engineering machinery vehicle proposed by the present invention;

[0036] Figure 2 A schematic flow chart of Embodiment 1 of a method for determining an abnormal movement state of an engineering machinery vehicle proposed by the present invention;

[0037] Figure 3 A flow chart of Embodiment 2 of a method for determining an abnormal movement state of an engineering machinery vehicle proposed by the present invention;

[0038] Figure 4 This is a schematic diagram of the structure of an intelligent computer device proposed by the present invention. DETAILED DESCRIPTION

[0039] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0040] Reference Figure 1-3 A method for determining the abnormal state of an engineering machinery vehicle, the steps of which are as follows:

[0041] S1: The TBOX terminal collects vehicle acceleration information through a built-in six-axis sensor. The six-axis sensor refers to a three-axis accelerometer + a three-axis gyroscope. The three-axis accelerometer detects lateral acceleration and obtains the acceleration value a; the three-axis gyroscope detects angular rotation and obtains the angular acceleration β.

[0042] S2: Based on the collected acceleration information, the instantaneous speed of the vehicle and the vehicle offset angle are calculated using the formula. According to the formula: v = at (v is speed, a is acceleration, t is time), the instantaneous speed of the vehicle can be calculated; according to the formula: (θ is the angle, β is the angular acceleration, and t is the time) the vehicle offset angle can be obtained;

[0043] S3: Determine the ACC state of the electric key switch;

[0044] S4: The position information is transmitted back according to the ACC state of the electric key switch, or the vehicle speed is determined to be greater than the preset speed and is in a continuous state according to the instantaneous speed of the vehicle movement; when the electric key switch of the vehicle is judged to be turned on, the TBOX terminal transmits the position information back every 1 minute; when the electric key switch of the vehicle is judged to be turned off, the TBOX terminal detects that the speed of the vehicle movement is greater than 10km / h for more than 3s, and the TBOX terminal determines that the vehicle enters the transport state;

[0045] S5: The vehicle moves and the location information is uploaded according to the judgment result, or the location information is directly transmitted back;

[0046] When the judgment result is closed, when the vehicle moves 5km, the TBOX terminal uploads the location information, the vehicle speed is reduced to 0, and the location information is uploaded again; the current TBOX terminal's feedback frequency is generally a fixed frequency, and it is transmitted once every 2 hours when the electric key switch ACC is turned off. When it is in the off state for more than 24 hours, it is transmitted once every 24 hours; when the TBOX terminal determines that the vehicle is in the transportation state, it will speed up the frequency of transmission. According to the formula: Δx=vΔt, the distance Δx moved by the vehicle within a period of time Δt can be obtained. When Δx=5km, TBOX transmits the location information once, and when the vehicle speed v=0, it uploads the location information again; in this way, an effective movement path of the vehicle during transportation can be formed through the remote supervision platform, helping relevant business departments to confirm the vehicle status in real time;

[0047] When the judgment result is open, the TBOX terminal returns the position information every 1 hour, and after more than 24 hours, it returns the position information every 6 hours; S6: Determine whether the vehicle deviation angle is greater than the threshold, the threshold is 15 degrees;

[0048] S7: Upload alarm information and give reminders based on the judgment results;

[0049] When it is determined that the vehicle deviation angle is greater than the threshold, the TBOX terminal determines that the vehicle has moved, and the TBOX terminal uploads the alarm information to the supervision platform and the display for alarm reminder. The TBOX terminal and the display are connected through the CAN bus for data transmission, and the TBOX terminal and the platform are connected through the wireless network.

[0050] When it is determined that the vehicle deviation angle is less than the threshold, no alarm is issued.

[0051] Real-time example 1: Reference Figure 2 , the steps are as follows:

[0052] S1: The TBOX terminal detects the lateral acceleration through the three-axis accelerometer in the built-in six-axis sensor to obtain the acceleration value a;

[0053] S2: Calculate the instantaneous speed of the vehicle using the formula based on the collected acceleration information. According to the formula: v = at (v is speed, a is acceleration, t is time), the instantaneous speed of the vehicle can be calculated;

[0054] S3: Determine the ACC state of the electric key switch;

[0055] S4: The position information is transmitted back according to the ACC state of the electric key switch, or the vehicle speed is determined to be greater than the preset speed and is in a continuous state according to the instantaneous speed of the vehicle movement; when it is determined that the electric key switch of the vehicle is turned on, the TBOX terminal transmits the position information back every 1 minute and directly executes step 7;

[0056] S5. When it is determined that the electric key switch of the vehicle is turned on, the TBOX terminal returns the position information every 1 minute;

[0057] When the electric key switch of the vehicle is turned off, and the TBOX terminal detects that the speed of the vehicle is greater than 10km / h and lasts for more than 3s, the TBOX terminal determines that the vehicle enters the transport state; when the vehicle moves 5km, the TBOX terminal uploads the location information, the vehicle speed is reduced to 0, and the location information is uploaded again; when the TBOX terminal does not detect that the speed of the vehicle is greater than 10km / h and lasts for more than 3s, the TBOX terminal returns the location information every 1h, and after more than 24h, the location information is returned every 6h;

[0058] S6: Display the information on the display screen.

[0059] Example 2: Reference Figure 3 , the steps are as follows:

[0060] S1: The TBOX terminal detects the vehicle's angular rotation through the three-axis gyroscope in the built-in six-axis sensor to obtain the angular acceleration β;

[0061] S2: Calculate the vehicle deviation angle of the vehicle movement using the formula based on the collected acceleration information. According to the formula:

[0062] (θ is the angle, β is the angular acceleration, and t is the time) the vehicle offset angle can be obtained;

[0063] S3: Determine whether the vehicle deviation angle is greater than a threshold, the threshold is 15 degrees;

[0064] S4: Upload alarm information and give reminders based on the judgment results;

[0065] When it is determined that the vehicle deviation angle is greater than the threshold, the TBOX terminal determines that the vehicle has moved, and the TBOX terminal uploads the alarm information to the supervision platform and the display for alarm reminder. The TBOX terminal and the display are connected through the CAN bus for data transmission, and the TBOX terminal and the platform are connected through the wireless network.

[0066] When it is determined that the vehicle deviation angle is less than the threshold, no alarm is issued.

[0067] A system for determining an abnormal movement state of an engineering machinery vehicle, comprising:

[0068] Information collection module: used to control the TBOX terminal to collect vehicle acceleration information through the built-in six-axis sensor. The six-axis sensor refers to a three-axis accelerometer + a three-axis gyroscope. The three-axis accelerometer detects lateral acceleration and obtains the acceleration value a; the three-axis gyroscope detects angular rotation and obtains the angular acceleration β.

[0069] Information calculation module: used to calculate the instantaneous speed and vehicle deviation angle of the vehicle according to the collected acceleration information using the formula. According to the formula: v = at (v is speed, a is acceleration, t is time), the instantaneous speed of the whole vehicle can be calculated; according to the formula: (θ is the angle, β is the angular acceleration, and t is the time) the vehicle offset angle can be obtained;

[0070] State judgment module: used to judge the ACC state of the electric key switch;

[0071] Information feedback and judgment module: used to feedback the position information according to the ACC state of the electric key switch, or to judge whether the vehicle speed is greater than the preset speed and is in a continuous state according to the instantaneous speed of the vehicle. When the electric key switch of the vehicle is judged to be turned on, the TBOX terminal returns the position information every 1 minute; when the electric key switch of the vehicle is judged to be turned off, the TBOX terminal detects that the speed of the vehicle is greater than 10km / h for more than 3s, and the TBOX terminal determines that the vehicle has entered the transportation state;

[0072] Position information upload and feedback module: used to move the vehicle and upload the position information according to the judgment result, or directly feedback the position information. When the judgment result is closed, when the vehicle moves 5km, the TBOX terminal uploads the position information, the vehicle speed is reduced to 0, and the position information is uploaded again. The feedback frequency of the current TBOX terminal is generally fixed. When the electric key switch ACC is turned off, it will be fed back once every 2 hours. When it is in the off state for more than 24 hours, it will be fed back once every 24 hours. When the TBOX terminal determines that the vehicle is in the transportation state, it will speed up the feedback frequency. According to the formula: Δx=vΔt, the distance Δx moved by the vehicle within a period of time Δt can be obtained. When Δx=5km, TBOX feeds back the position information once, and when the vehicle speed v=0, it uploads the position information again. In this way, an effective movement path in the vehicle transportation process can be formed through the remote supervision platform to help relevant business departments confirm the vehicle status in real time. When the judgment result is open, the TBOX terminal feeds back the position information every 1 hour, and after more than 24 hours, it feeds back the position information every 6 hours.

[0073] Deviation angle judgment module: used to judge whether the vehicle deviation angle is greater than the threshold value, the threshold value is 15 degrees;

[0074] Alarm upload and reminder module: used to upload alarm information and remind according to the judgment results. When it is judged that the vehicle deviation angle is greater than the threshold, the TBOX terminal determines that the vehicle has moved, and the TBOX terminal uploads the alarm information to the supervision platform and the display for alarm reminder. Data is transmitted between the TBOX terminal and the display through the CAN bus, and between the TBOX terminal and the platform through the wireless network. When it is judged that the vehicle deviation angle is less than the threshold, no alarm is issued.

[0075] Reference Figure 4 , an intelligent computer device, comprising a memory and a processor, wherein the memory stores computer-readable instructions, and when the processor executes the computer-readable instructions, the steps of the method for determining the abnormal state of an engineering machinery vehicle are implemented;

[0076] The intelligent computer device includes a memory processor and a network interface that are interconnected and communicated through a system bus. It should be noted that the figure only shows an intelligent computer device with components, but it should be understood that it is not required to implement all the components shown, and more or fewer components can be implemented instead. Among them, those skilled in the art can understand that the intelligent computer device here is a device that can automatically perform numerical calculations and / or information processing according to pre-set or stored instructions, and its hardware includes but is not limited to microprocessors, application-specific integrated circuits, programmable gate arrays, digital processors, embedded devices, etc.

[0077] The intelligent computer device may be a computing device such as a desktop computer, a notebook, a PDA, a cloud server, etc. The computer device may interact with the user through a keyboard, a mouse, a remote controller, a touch pad, or a voice control device.

[0078] A computer-readable storage medium having computer-readable instructions stored thereon, which, when executed by a processor, implement the steps of a method for determining an abnormal state of an engineering machinery vehicle;

[0079] The memory includes at least one type of readable storage medium, and the readable storage medium includes flash memory, hard disk, multimedia card, card-type memory, random access memory, static random access memory, read-only memory, electrically erasable programmable read-only memory, programmable read-only memory, magnetic memory, disk, optical disk, etc. In some embodiments, the memory can be an internal storage unit of an intelligent computer device, such as a hard disk or memory of the intelligent computer device. In other embodiments, the memory can also be an external storage device of an intelligent computer device, such as a plug-in hard disk, a smart memory card, a secure digital card, a flash memory card, etc. equipped on the intelligent computer device. Of course, the memory can also include both the internal storage unit and the external storage device of the intelligent computer device. In this embodiment, the memory is generally used to store an operating system and various application software installed on the intelligent computer device, such as ancient book data collection and integration.

[0080] In addition, the memory can also be used to temporarily store various types of data that have been output or are to be output.

[0081] In some embodiments, the processor may be a central processing unit, a controller, a microcontroller, a microprocessor, or other data processing chip. The processor is generally used to control the overall operation of the intelligent computer device. In this embodiment, the processor is used to run computer-readable instructions stored in the memory or process data, such as computer-readable instructions for running a method for determining the abnormal state of an engineering machinery vehicle.

[0082] The network interface may include a wireless network interface or a wired network interface, which is generally used to establish a communication connection between an intelligent computer device and other electronic devices.

[0083] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A method for determining the abnormal state of an engineering machinery vehicle, characterized in that: The steps are as follows: The TBOX terminal collects vehicle acceleration information through a built-in six-axis sensor; According to the collected acceleration information, the instantaneous speed of the vehicle and the vehicle deviation angle are calculated using the formula; the ACC state of the electric key switch is determined; When it is determined that the vehicle's electric key switch is turned on, the TBOX terminal returns the location information every 1 minute; When the electric key switch of the vehicle is turned off, and the TBOX terminal detects that the speed of the vehicle is greater than 10 km / h and lasts for more than 3 seconds, the TBOX terminal determines that the vehicle enters the transport state; When the vehicle moves 5 km, the TBOX terminal uploads the location information and the vehicle speed is reduced to 0. Upload the location information again; when the TBOX terminal does not detect that the vehicle is moving at a speed greater than When the speed is 10km / h and lasts for more than 3s, the TBOX terminal will send back the location information every 1h. After 24 hours, the location information will be sent back every 6 hours; Determine whether the vehicle deviation angle is greater than a threshold; Upload alarm information and give reminders based on the judgment results; The TBOX terminal collects vehicle acceleration information through a built-in six-axis sensor. The six-axis sensor refers to a three-axis accelerometer + a three-axis gyroscope. The three-axis accelerometer detects lateral acceleration and obtains the acceleration value a; the three-axis gyroscope detects angular rotation and obtains angular acceleration β.

2. A method for determining the abnormal state of an engineering machinery vehicle according to claim 1, characterized in that: Determine whether the vehicle deviation angle is greater than a threshold, the threshold is 15 degrees.

3. A method for determining the abnormal state of an engineering machinery vehicle according to claim 2, characterized in that: Upload alarm information and give reminders based on the judgment results; When the vehicle deviation angle is greater than the threshold, the TBOX terminal determines that the vehicle has moved, and the TBOX terminal uploads the alarm information to the supervision platform and the display for alarm reminder; When it is determined that the vehicle deviation angle is less than the threshold, no alarm is issued.

4. A method for determining the abnormal state of an engineering machinery vehicle according to claim 3, characterized in that: Data is transmitted between the TBOX terminal and the display via the CAN bus, and data is transmitted between the TBOX terminal and the platform via the wireless network.

5. An intelligent computer device, characterized in that: It comprises a memory and a processor, wherein the memory stores computer-readable instructions, and when the processor executes the computer-readable instructions, the steps of the method for judging the abnormal state of an engineering machinery vehicle as claimed in any one of claims 1 to 4 are implemented.

6. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the steps of the method for determining the abnormal state of an engineering machinery vehicle according to any one of claims 1 to 4 are implemented.

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