An output control method, system, computer device and storage medium

Abstract

The application belongs to the technical field of vehicle loading detection equipment, and discloses an output control method, system, computer equipment and storage medium, wherein the acceleration of a vehicle in the driving direction is periodically acquired according to a first time interval; when it is detected that the acceleration is less than a second threshold value, or the acceleration is greater than or equal to a third threshold value, the encoder is controlled to stop outputting the first signal; the initial speed of the vehicle in the current time period is determined; the distance traveled by the vehicle in the current time period is determined according to the last-acquired acceleration and the initial speed, and a first distance is obtained; it is determined whether the first distance is equal to a preset length; the preset length is the product of the fixed number of revolutions and the circumference of the wheel; if yes, the encoder is controlled to output the first signal. The above method ensures that the first signal can still be output according to the fixed distance interval of vehicle driving when the encoder slips.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of vehicle loading detection equipment, and particularly relates to an output control method and system, a computer device and a storage medium. BACKGROUND

[0002] At present, for a system triggered in an equal distance interval mode, an encoder is generally used to obtain the distance. For example, in tunnel disease detection, a vehicle loading detection equipment is used to pass through a tunnel, an encoder is installed on a wheel to obtain the distance traveled by the vehicle, and a distance interval at which the detection equipment sends a detection signal is set. When the encoder detects that the wheel of the vehicle has rotated a fixed number of times, it is considered that the vehicle has traveled a fixed distance, and the encoder sends a trigger signal to the detection equipment once to trigger the detection equipment to send a detection signal, and the detection equipment obtains detection data of positions such as the inner wall of the tunnel and the ground according to the returned data.

[0003] However, during vehicle starting, braking, acceleration, deceleration and the like, the wheel may slip, and the encoder and the wheel may also slip. The slippage phenomenon causes the vehicle travel distance calculated by the encoder according to the number of wheel rotations to deviate from the actual vehicle travel distance, and further causes the encoder to be unable to send a trigger signal to the detection equipment at the same distance interval.

[0004] Therefore, in the equal distance interval triggered system, how to avoid the influence of vehicle slippage on the sending of the trigger signal is a problem to be solved. SUMMARY

[0005] In view of the problems in the prior art, the present application provides an output control method, system, computer device and storage medium.

[0006] The present application is implemented as follows. An output control method periodically obtains an acceleration of a vehicle in a travel direction according to a first time interval; when it is detected that the acceleration is less than a second threshold value, or the acceleration is greater than or equal to a third threshold value, the encoder is controlled to stop outputting the first signal; an initial speed of the vehicle in a current time period is determined; a distance traveled by the vehicle in the current time period is determined according to the last obtained acceleration and the initial speed, and a first distance is obtained; it is determined whether the first distance is equal to a preset length; the preset length is the product of the fixed number of rotations and the circumference of the wheel; and if so, the encoder is controlled to output the first signal.

[0007] Further, the first time interval is less than a first threshold value; the encoder is installed on the vehicle to calculate the number of rotations of the wheel of the vehicle and output a first signal at a fixed number of rotation interval;

[0008] The second threshold value is less than 0, and the third threshold value is greater than 0.

[0009] The current time period is a time period between a time point of last output of the first signal and a current time point.

[0010] The preset length is a product of the fixed number of revolutions and a circumference of the wheel.

[0011] Further, the first threshold value is a second time interval of the encoder output pulse signal, and the encoder calculates the number of revolutions of the wheel according to the number of the pulse signals.

[0012] Further, after controlling the encoder to output the first signal, the method further comprises: when detecting that the acceleration is greater than or equal to the second threshold value and less than the third threshold value, controlling the encoder to output the first signal at a fixed number of revolution interval.

[0013] The first signal is used to trigger a detection device on the vehicle to send a detection signal to a detection object, so that the detection device generates detection data according to a result of feedback of the detection signal, and the detection data comprises time stamp information.

[0014] If it is determined that the first distance is greater than the preset length, a target time stamp corresponding to a time when the distance traveled by the vehicle reaches the preset length is determined.

[0015] Compensation data is added in the detection data, and time stamp information of the compensation data is the target time stamp.

[0016] The compensation data is corresponded to a vehicle travel mileage at the preset length.

[0017] Further, the first signal is used to trigger a detection device on the vehicle to send a detection signal to a detection object, so that the detection device generates detection data according to a result of feedback of the detection signal, and the detection data comprises time stamp information.

[0018] If it is determined that the first distance is less than the preset length, a target time stamp corresponding to a time when the first distance is equal to the preset length is determined.

[0019] When the time is the target time stamp, the encoder is controlled to output the first signal.

[0020] Further, the acceleration of the vehicle is periodically acquired at the first time interval from a start of the vehicle, and the initial speed of the vehicle in the current time period is determined, comprising:

[0021] determine an initial speed of the vehicle in a second first time interval according to the acceleration obtained in a first first time interval after the vehicle is started, and a length of the first time interval;

[0022] determine a final speed of the vehicle in each first time interval according to the initial speed of the vehicle in the second first time interval, the acceleration obtained, and the length of the first time interval;

[0023] take the final speed of the vehicle in a previous first time interval as the initial speed of the vehicle in a current time period.

[0024] Further, the acceleration of the vehicle in the driving direction is periodically obtained according to the first time interval by using a three-axis acceleration sensor.

[0025] Another object of the present application is to provide a computer device comprising a memory and a processor, wherein the memory stores a computer program, and the computer program is executed by the processor to make the processor execute the steps of the output control method.

[0026] Another object of the present application is to provide a computer readable storage medium storing a computer program, and the computer program is executed by a processor to make the processor execute the steps of the output control method.

[0027] Another object of the present application is to provide an output control system for implementing the output control method, and the output control system comprises:

[0028] an acceleration obtaining module for periodically obtaining the acceleration of the vehicle in the driving direction according to the first time interval, wherein the first time interval is less than a first threshold value; and

[0029] a first control module for controlling the encoder to stop outputting the first signal when it is detected that the acceleration is less than a second threshold value, or the acceleration is greater than or equal to a third threshold value; wherein the second threshold value is less than 0, and the third threshold value is greater than 0.

[0030] an initial speed determining module for determining the initial speed of the vehicle in a current time period; wherein the current time period is a time period between a time point of the last output of the first signal and a current time point.

[0031] a distance determination module configured to determine a distance traveled by the vehicle in the current time period according to the acceleration obtained last time and the initial speed, to obtain a first distance;

[0032] a length determination module configured to determine whether the first distance is equal to a preset length; the preset length is a product of the fixed number of rotations and a circumference of the wheel;

[0033] a second control module configured to control the encoder to output the first signal if yes.

[0034] In combination with the above technical solutions and the technical problems solved, the advantages and positive effects of the technical solutions to be protected by the application are analyzed from the following aspects:

[0035] First, in view of the technical problems existing in the prior art and the difficulty in solving the problems, the technical solutions to be protected by the application and the results and data in the research and development process are combined closely, and the technical problems solved by the technical solutions of the application are analyzed in detail and profoundly, and some creative technical effects brought about after the problems are solved. The specific description is as follows:

[0036] In the embodiment of the application, the acceleration of the vehicle in the driving direction is obtained periodically according to a first time interval, the first time interval is less than a first threshold value; the encoder is installed on the vehicle and is configured to calculate the number of rotations of the wheel of the vehicle and output a first signal according to a fixed number of rotation intervals; when it is detected that the acceleration is less than a second threshold value, or the acceleration is greater than or equal to a third threshold value, the encoder is controlled to stop outputting the first signal; the second threshold value is less than 0, and the third threshold value is greater than 0; an initial speed of the vehicle in a current time period is determined; the current time period is a time period between a time point of outputting the first signal last time and a current time point; a distance traveled by the vehicle in the current time period is determined according to the acceleration obtained last time and the initial speed, to obtain a first distance; it is determined whether the first distance is equal to a preset length; the preset length is a product of the fixed number of rotations and a circumference of the wheel; and the encoder is controlled to output the first signal if yes.

[0037] In the above method, the first time interval for obtaining the acceleration is less than the first threshold value, which can ensure that the distance traveled by the vehicle calculated according to the acceleration is very close to the actual distance. When the acceleration of the vehicle is less than the second threshold value, or the acceleration is greater than or equal to the third threshold value, the vehicle is in a slipping state, at this time, the first distance traveled by the vehicle is calculated according to the obtained acceleration, and the encoder is controlled to output the first signal when the first distance reaches the preset length, which ensures that the first signal can still be output according to the fixed distance interval of the vehicle when the encoder slips.

[0038] Second, as a whole or from the perspective of the product, the technical effect and advantages of the technical solution to be protected by the application are described as follows:

[0039] The method of the application periodically acquires the acceleration of the vehicle in the driving direction according to a first time interval; when it is detected that the acceleration is less than a second threshold value, or the acceleration is greater than or equal to a third threshold value, the encoder is controlled to stop outputting the first signal; the initial speed of the vehicle in the current time period is determined; the distance traveled by the vehicle in the current time period is determined according to the last acquired acceleration and the initial speed, and a first distance is obtained; it is determined whether the first distance is equal to a preset length; the preset length is the product of the fixed number of revolutions and the circumference of the wheel; if so, the encoder is controlled to output the first signal. The above method ensures that when the encoder slips, the first signal can still be output according to the fixed distance interval of the vehicle driving, thereby realizing the division of the vehicle driving process into three states: acceleration greater than or equal to the third threshold value, acceleration less than the second threshold value, and acceleration greater than the second threshold value and less than the third threshold value. When the acceleration of the vehicle driving is greater than or equal to the third threshold value or less than the second threshold value, by determining whether the first distance is equal to the preset length, if the first distance is equal to the preset length, the encoder is controlled to output the first signal, and then in calculating the driving distance of the vehicle, the encoder calculates the total number of revolutions of the wheel in a period of time according to the total number of pulse signals (first signal) in the period of time, and then calculates the total distance of the wheel in a period of time according to the product of the circumference of the wheel and the total number of revolutions, i.e. the distance of the vehicle driving.

[0040] Third, as the creative evidence of the claims of the application, it is also embodied in the following important aspects:

[0041] (1) The expected income and commercial value of the technical solution of the application after transformation are:

[0042] The scheme of the application avoids the influence of the slip of the vehicle on the sending of the trigger signal when the acceleration of the vehicle driving is greater than or equal to the third threshold value or less than the second threshold value in the prior art, thereby affecting the mileage of the driving vehicle. By determining whether the first distance is equal to the preset length, if the first distance is equal to the preset length, the encoder is controlled to output the first signal, and then in calculating the driving distance of the vehicle, the encoder calculates the total number of revolutions of the wheel in a period of time according to the total number of pulse signals in the period of time, and then calculates the total distance of the wheel in a period of time according to the product of the circumference of the wheel and the total number of revolutions, i.e. the distance of the vehicle driving.

[0043] (2) The technical solution of the application fills the technical gap in the industry at home and abroad:

[0044] The technical scheme of the present application fills the technical gap in the prior art that it is difficult to accurately detect the mileage of a running vehicle due to the slippage of the vehicle during running when detecting the mileage of the running vehicle.

[0045] (3) The technical scheme of the present application solves the technical problem that people have been eager to solve but have failed to successfully solve:

[0046] The technical scheme of the present application solves the problem in the prior art that the wheels of a vehicle will slip during the starting, braking, accelerating and decelerating of the vehicle, and the encoder and the wheels can also slip. The slippage phenomenon causes the deviation between the distance of the vehicle calculated by the encoder according to the number of wheel rotations and the actual distance of the vehicle, and further causes the encoder to be unable to keep the same distance interval to send a trigger signal to a detection device, thereby making the detection of the mileage of the running vehicle inaccurate. BRIEF DESCRIPTION OF DRAWINGS

[0047] Figure 1 The step flow chart of the first output control method provided for the embodiment of the present application;

[0048] Figure 2 The step flow chart of the second output control method provided for the embodiment of the present application;

[0049] Figure 3 One of the schematic diagrams of the detection data corresponding to the distance of the vehicle provided for the embodiment of the present application;

[0050] Figure 4 The second schematic diagram of the detection data corresponding to the distance of the vehicle provided for the embodiment of the present application;

[0051] Figure 5 The structural block diagram of an output control device provided for the embodiment of the present application;

[0052] Figure 6 The structural block diagram of an electronic device provided for the embodiment of the present application. DETAILED DESCRIPTION

[0053] In order to make the purpose, technical scheme and advantages of the present application clearer, the present application will be further described in detail below with reference to the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0054] I. Explanation of Embodiments. In order for those skilled in the art to fully understand how the present application is specifically implemented, this part is an explanation of the embodiments of the technical solutions of the claims.

[0055] As shown in the figure, a step flow chart of a first output control method provided by an embodiment of the present application is shown. Figure 1

[0056] Referring to Figure 1 , the method comprises:

[0057] Step 101, periodically acquire the acceleration of the vehicle in the driving direction according to a first time interval, the first time interval being less than a first threshold; the encoder is installed on the vehicle to calculate the number of revolutions of the wheel of the vehicle and output a first signal according to a fixed number of revolutions interval.

[0058] In tunnel disease detection, a vehicle loaded with detection equipment is made to pass through the tunnel, an encoder is installed on the wheel to acquire the distance traveled by the vehicle, and a distance interval for triggering the detection equipment to send a detection signal is set. Whenever the encoder detects a fixed number of revolutions of the wheel, it is considered that the vehicle has traveled a fixed distance, at which time the encoder sends a first signal to the detection equipment to trigger the action of the detection equipment sending a detection signal, and the detection equipment acquires detection data of the positions of the inner wall of the tunnel, the ground, etc. according to the returned data.

[0059] However, if the wheel slips, for example, the wheel will slip during the processes of starting, braking, accelerating, decelerating, etc. of the vehicle, which causes the angle of rotation of the wheel to not correspond to the distance traveled by the wheel. For example, when the vehicle is braking, the wheel is locked and no longer rotates, but the vehicle still has a distance to travel. If the distance traveled by the vehicle is calculated according to the number of revolutions of the wheel, the distance traveled is 0, but the actual distance traveled by the vehicle is not 0. In order to make the encoder truly trigger the first signal according to the actual distance traveled by the vehicle, an accelerometer can be used to calculate the actual distance traveled by the vehicle.

[0060] Firstly, because the acceleration of the vehicle changes over time, in order to accurately calculate the distance traveled by the vehicle using the acceleration, an accelerometer with a very high triggering frequency can be used, such as acquiring the acceleration of the vehicle every first time interval. In order to ensure that the first time interval is a very small time interval, a minimum value can be set as the first threshold, so that the first time interval is less than the first threshold. In this way, the acceleration can be acquired at a very high frequency.

[0061] Secondly, because the ground on which the vehicle travels can have geographical trends such as uphill and downhill, the direction of the acquired acceleration is not necessarily the driving direction of the vehicle. In order to obtain the accurate distance traveled by the vehicle, the acceleration value needs to be corrected to the acceleration value in the driving direction of the vehicle.​

[0062] Optionally, the periodically acquiring the acceleration of the vehicle in the driving direction at the first time interval comprises periodically acquiring the acceleration of the vehicle in the driving direction at the first time interval by using a three-axis acceleration sensor.

[0063] In the embodiment of the present application, the acceleration sensor uses the principle that different accelerations produce different pressures by using the inertial coefficient of the object, and uses different resistances to distinguish different accelerations. The three-axis acceleration sensor detects the acceleration in three mutually perpendicular directions. The output signal of the three-axis acceleration sensor is acquired, and the acceleration of the vehicle in the driving direction is corrected according to the pitch angle of the vehicle and the vertical acceleration of the vehicle body, to obtain the acceleration of the vehicle in the driving direction.

[0064] Optionally, the first threshold value is a second time interval of the pulse signal output by the encoder, and the encoder calculates the number of revolutions of the wheel according to the number of the pulse signals.

[0065] In the embodiment of the present application, the encoder sends a pulse signal every time the wheel rotates a fixed angle. The encoder calculates the total number of revolutions of the wheel in a period of time according to the total number of pulse signals in the period of time, and then calculates the total distance of the wheel in the period of time, i.e., the distance of the vehicle, according to the product of the circumference of the wheel and the total number of revolutions.

[0066] In order to make the measurement of the distance of the vehicle more accurate, a higher frequency than the pulse signal output by the existing encoder can be set to acquire the acceleration value of the vehicle, so that the accuracy of the distance measurement is higher than that of the encoder. That is, the first threshold value is set to the time interval of the pulse signal output by the encoder, i.e., the second time interval.

[0067] For example, the frequency of the pulse signal output by the encoder is generally 5000 pulse signals per revolution of the wheel, and the time for one revolution of the wheel is about 1 second. Therefore, the acceleration acquisition frequency can be set to 10000 times per revolution of the wheel, i.e., 10000 times per second, and the first time interval is 1 / 10000 second.

[0068] In step 102, when it is detected that the acceleration is less than a second threshold value, or the acceleration is greater than or equal to a third threshold value, the encoder is controlled to stop outputting the first signal; the second threshold value is less than 0, and the third threshold value is greater than 0.

[0069] In the embodiment of the present application, the acceleration can represent the driving state of the vehicle. In the tunnel disease detection, the normal state of the vehicle is uniform driving, and the acceleration is greater than 0 m / s 2 2 ​, when the vehicle brakes, the direction of the acceleration is opposite, and the acceleration is negative, far less than 0 m / s 2 In addition, when the vehicle accelerates during driving, the acceleration is far greater than 0 m / s 2 When the vehicle decelerates during driving, the acceleration is far less than 0 m / s 2 .

[0070] During the starting, braking, accelerating, and decelerating of the vehicle, the force acting on the wheels changes, and slippage is bound to occur. Therefore, the slippage of the vehicle can be determined according to the acceleration of the vehicle.

[0071] According to experiments, the second threshold value can be determined when the acceleration value of the vehicle during deceleration is minimum, and the wheel starts to slip. The third threshold value can be determined when the acceleration value of the vehicle during acceleration is minimum, and the wheel starts to slip. Assuming that the second threshold value is p, the third threshold value is q, and the acceleration is a, when a < p or a ≥ q, the vehicle is in a slippage state; and when p < a ≤ q, the vehicle is not in a slippage state.

[0072] When the vehicle slips, the driving distance of the vehicle measured by the encoder is no longer accurate. Therefore, if the first signal is output according to the inaccurate driving distance, an error will occur. Therefore, the encoder is controlled to stop outputting the first signal at this time.

[0073] Step 103, determining the initial speed of the vehicle in the current time period; the current time period is the time period between the time when the first signal is output last time and the current time.

[0074] If the time when the first signal should be output next time according to a fixed distance interval is to be calculated, the actual driving distance of the vehicle needs to be calculated. Therefore, it is necessary to determine the initial speed of the vehicle in the current time period. Because the present scheme starts from the starting of the vehicle, and the acceleration of the vehicle is obtained at each first time interval, the initial speed of the vehicle at the starting is 0, and the speed of the vehicle at each first time interval can be calculated in turn.

[0075] The initial speed in the current time period is the speed of the vehicle at the time when the first signal is output last time.

[0076] Step 104, determining the distance traveled by the vehicle in the current time period according to the acceleration obtained last time and the initial speed of the vehicle in the current time period, to obtain a first distance;

[0077] Because the first time interval for obtaining the acceleration is very short, the acceleration of the vehicle obtained last time can be used as the acceleration of the vehicle during driving from the first time stamp. The current time period is the time period between the first time stamp and the current time.

[0078] Let the last acquired acceleration of the vehicle be a, the initial speed of the vehicle in the current time period be v0, and the time period between the first time stamp and the current time be t, then the first distance

[0079] Step 105, determining whether the first distance is equal to a preset length, the preset length being the product of the fixed number of revolutions and the circumference of the wheel.

[0080] The preset length is a distance interval at which the trigger detection device is set to send a detection signal, i.e., when the encoder outputs two adjacent first signals, the vehicle travels a fixed distance.

[0081] When the wheel slips, the first signal is output according to the fixed number of revolution intervals of the wheel, which will be wrong. Therefore, the actual distance traveled by the vehicle, i.e., the first distance, is calculated according to the acceleration, and the first distance is compared with the preset length.

[0082] Step 106, if yes, then controlling the encoder to output the first signal.

[0083] When the wheel slips, once the actual distance traveled by the vehicle calculated according to the acceleration is equal to the preset length, the encoder is manually controlled to output the first signal, so that the vehicle travels the preset length of distance every time the first signal is output.

[0084] In the embodiment of the present application, the acceleration of the vehicle in the driving direction is periodically acquired according to a first time interval, and the first time interval is less than a first threshold value; the encoder is installed on the vehicle and used to calculate the number of revolutions of the wheel of the vehicle and output a first signal according to a fixed revolution interval; when it is detected that the acceleration is less than a second threshold value or the acceleration is greater than or equal to a third threshold value, the encoder is controlled to stop outputting the first signal; the second threshold value is less than 0, and the third threshold value is greater than 0; the initial speed of the vehicle in a current time period is determined; the current time period is a time period between the time point of the last output of the first signal and the current time point; the distance traveled by the vehicle in the current time period is determined according to the last acquired acceleration and the initial speed, and a first distance is obtained; whether the first distance is equal to a preset length is determined; the preset length is the product of the fixed revolution number and the circumference of the wheel; and if yes, the encoder is controlled to output the first signal. In the above method, the first time interval for acquiring the acceleration is less than the first threshold value, so that the distance traveled by the vehicle calculated according to the acceleration is very close to the actual distance. When the acceleration of the vehicle is less than the second threshold value or the acceleration is greater than or equal to the third threshold value, the vehicle is in a slipping state, at this time, the first distance traveled by the vehicle is calculated according to the acquired acceleration, and the encoder is controlled to output the first signal when the first distance reaches the preset length, so that the encoder can still output the first signal according to the fixed distance interval traveled by the vehicle when the encoder is slipping.

[0085] As shown in Figure 2 , a step flow chart of a second output control method provided by the embodiment of the present application is shown.

[0086] Referring to Figure 2 , the method comprises:

[0087] Step 201, periodically acquiring the acceleration of the vehicle in the driving direction according to a first time interval, and the first time interval is less than a first threshold value; the encoder is installed on the vehicle and used to calculate the number of revolutions of the wheel of the vehicle according to the number of pulse signals and output a first signal according to a fixed revolution interval.

[0088] In the embodiment of the present application, step 201 can refer to step 101, which will not be repeated here.

[0089] Step 202, when it is detected that the acceleration is less than a second threshold value or the acceleration is greater than or equal to a third threshold value, the encoder is controlled to stop outputting the first signal; the second threshold value is less than 0, and the third threshold value is greater than 0.

[0090] In the embodiment of the present application, step 202 can refer to step 102, which will not be repeated here.

[0091] Step 203, determining the initial speed of the vehicle in the second first time interval according to the acceleration obtained in the first first time interval after the vehicle starts, and the length of the first time interval.

[0092] At the first time interval t after the vehicle starts, the acceleration a1 of the vehicle in the driving direction is obtained, and the speed v1 of the vehicle at this time is the initial speed v20 of the vehicle in the second first time interval. Since the initial speed v10 of the vehicle at the start is 0, there is v20=v1=1 / 2a1t2.

[0093] Step 204, determining the final speed of the vehicle in each first time interval in turn according to the initial speed of the vehicle in the second first time interval, the obtained acceleration, and the length of the first time interval.

[0094] According to the initial speed of the vehicle in the second first time interval, the obtained acceleration, and the length of the first time interval, the final speed of the vehicle in the second first time interval can be determined, which is also the initial speed of the vehicle in the third first time interval. The final speed of the vehicle in the third first time interval can be determined from the initial speed, and so on, so that the final speed of the vehicle in each first time interval can be obtained.

[0095] Step 205, taking the final speed of the vehicle in the last first time interval as the initial speed of the vehicle in the current time period.

[0096] After the final speed of the vehicle in each first time interval is obtained, the final speed of the vehicle in the last first time interval is obtained, and the final speed is taken as the initial speed of the vehicle in the current time period.

[0097] Step 206, determining the distance traveled by the vehicle in the current time period according to the last obtained acceleration and the initial speed, to obtain a first distance.

[0098] In the embodiment of the application, step 205 can refer to step 104, which will not be described here.

[0099] Step 207, determining whether the first distance is equal to a preset length; the preset length is the product of the fixed number of revolutions and the circumference of the wheel.

[0100] In the embodiment of the application, step 206 can refer to step 105, which will not be described here.

[0101] Step 208, if yes, controlling the encoder to output the first signal.

[0102] In the embodiment of the application, step 207 can refer to step 106, which will not be described here.

[0103] Step 209, if it is determined that the first distance is greater than the preset length, determining a target time stamp corresponding to when the distance traveled by the vehicle reaches the preset length.

[0104] The first signal is used to trigger the detection device on the vehicle to send a detection signal to a detection object, so that the detection device generates detection data according to the result of the detection signal feedback, and the detection data includes time stamp information.

[0105] The first signal is essentially a trigger signal. After receiving the first signal, the detection device triggers the action of sending a detection signal to a detection object, and the detection device generates detection data according to the result of the detection signal feedback. For example, the detection device is an image sensor. After receiving the first signal, the image sensor sends a photographing signal to the tunnel side wall, and generates a detection image according to the photographing signal. The detection data includes time stamp information, which is the time when the encoder outputs the first signal. Because the speed from outputting the first signal to generating the detection data is extremely fast, it is almost at the same time, so the time stamp information can be corresponded to the mileage of the vehicle to determine the position of each detection data in the tunnel.

[0106] In tunnel disease detection, the mileage of the vehicle is not measured by the encoder, but by the image captured by the positioning camera, and is not affected by the slip of the wheel. When the encoder does not slip, the vehicle travels at a constant speed, and the encoder outputs the first signal every time the vehicle travels a preset length. Therefore, the output time stamp of the first signal (which is also the time stamp information of each detection data) is uniformly corresponded to the mileage measured by the positioning camera. When the encoder slips, the wheel rotation speed slows down or speeds up, so that the output time stamp of the first signal also changes, and the output time stamp of the first signal is no longer uniformly corresponded to the mileage measured by the positioning camera. This results in that the time stamp information of the detection data is no longer corresponded to the mileage, and further results in that the position of the detection data in the tunnel cannot be determined according to the time stamp information of the detection data.

[0107] With the method in the embodiment of the present application, when it is determined that the encoder slips, the first distance traveled by the vehicle is calculated by the obtained acceleration, and the first distance is equal to the preset length, and the encoder is controlled to output the first signal. In this way, the output time stamp of the first signal is no longer uniformly corresponded to the mileage when the encoder slips.

[0108] However, the calculation of the first distance, although not complicated, also takes time, so when the first distance is calculated, it is possible that the first distance has already exceeded the preset length. If the calculated first distance exceeds the preset length, it means that the output of the last first signal has been missed, at this time, in order to avoid the time stamp information of the detection data not corresponding to the driving distance, the target time stamp at which the first signal should be output can be calculated.

[0109] That is, the target time stamp corresponding to the distance traveled by the vehicle reaching the preset length is determined. Assuming that the preset length is Sset, then Sset=vinitialt+1 / 2at2, where vinitial is the initial speed of the vehicle in the current time period, a is the last measured acceleration of the vehicle, and Sset is preset, all of which can be obtained. Thus, t can be calculated, and t plus the time stamp of the last output first signal is the target time stamp.

[0110] Figure 3 One of the schematic diagrams provided by the embodiment of the present application for corresponding the detection data and the distance traveled by the vehicle.

[0111] Referring to Figure 3 , the detection device generates detection data 01, 02, 03, 04, and 05, and the detection data also includes time stamp information. The time stamp information of the detection data 01 is t1, the time stamp information of the detection data 02 is t2, the time stamp information of the detection data 03 is t3, the time stamp information of the detection data 04 is t4, and the time stamp information of the detection data 05 is t5. It can be found that the time interval between t3 and t4 is not uniform, which is because the vehicle slips between t3 and t4. The encoder should output the first signal at S4 (corresponding to tset), but because of the slip, the number of wheel revolutions measured by the encoder does not reach the fixed number of revolutions until the time t4, at which time the encoder outputs the first signal, and the detection device correspondingly generates the detection data 04, which carries the time stamp t4.

[0112] Then, when the time stamp of the detection data is corresponded to the driving distance of the vehicle later, according to the same distance interval, the detection data 01 corresponds to the driving distance S1, the detection data 02 corresponds to the driving distance S2, the detection data 03 corresponds to the driving distance S3, the detection data 04 corresponds to the driving distance S4, and the detection data 05 corresponds to the driving distance S5. Obviously, it is wrong to correspond the detection data 04 to the driving distance S4. It should be that the driving distance of the vehicle is S4 at tset, not S4 at t4.

[0113] In Figure 3In the embodiment, if the current time is tmeasured, the time of the last output of the first signal is t3, and the distance actually traveled by the vehicle from t3 to tmeasured has exceeded the preset length, it indicates that the vehicle has slipped, so that the encoder does not output the first signal at the distance of the preset length. In order to make the subsequent detection data correctly correspond to the distance traveled by the vehicle, the target timestamp corresponding to the distance traveled by the vehicle reaching the preset length needs to be calculated, and the target timestamp is calculated as tset. Subsequently, tset needs to be corresponded to S4.

[0114] Step 210, compensation data is added in the detection data, and the timestamp information of the compensation data is the target timestamp.

[0115] In order to avoid that the timestamp information of the detection data does not correspond to the distance traveled by the vehicle, compensation data can be added, and the timestamp information of the compensation data is the target timestamp. After the compensation data is occupied, the compensation data and the subsequent detection data can be normally corresponded to the distance traveled by the vehicle, so that the misplacement in the correspondence is avoided.

[0116] In addition, the function of the compensation data is only to occupy a place, and the specific data information does not need to be considered, which can be preset in advance. For example, if the detection data is an image taken in a tunnel, the compensation data is also an image, and the image content can be pure white or pure black.

[0117] Step 211, the compensation data is corresponded to the distance traveled by the vehicle at the preset length.

[0118] The distance traveled by the vehicle corresponding to the target timestamp is the distance separated from the distance corresponding to the last output of the first signal by the preset length, that is, the compensation data is corresponded to the distance traveled by the vehicle at the preset length. In this way, the subsequent detection data can be corresponded to the distance traveled by the vehicle in turn, so that the misplacement is avoided.

[0119] Figure 4 The second schematic diagram for corresponding the detection data to the distance traveled by the vehicle provided by the embodiment of the application.

[0120] Reference Figure 4 The detection data 001 is compensation data, the detection data 001 is corresponded to tset and S4, and S4 is a position separated from S3 by the preset length. The detection data 04 is corresponded to t4 and S5, and the detection data 05 is corresponded to t5 and S6. In this way, even if the encoder misses the output of the first signal at tset, as long as the compensation data is added at tset, the subsequent detection data can be correctly corresponded to the distance traveled by the vehicle, and the misplacement is avoided.

[0121] Step 212, if it is determined that the first distance is less than the preset length, a target timestamp corresponding to the first distance equal to the preset length is determined.

[0122] If the first distance is less than the preset length, it indicates that the time when the encoder needs to output the first signal has not arrived, and thus the target timestamp when the first signal needs to be output can be determined.

[0123] In step 213, when the time is the target timestamp, the encoder is controlled to output the first signal.

[0124] When the time arrives at the target timestamp, the encoder can be controlled to output the first signal, so that the encoder can not output the first signal on time when the encoder slips.

[0125] In step 214, when it is detected that the acceleration is greater than or equal to the second threshold value and less than the third threshold value, the encoder is controlled to output the first signal at a fixed revolution interval.

[0126] When the acceleration of the vehicle is greater than or equal to the second threshold value and less than the third threshold value, the vehicle is in an approximate uniform speed driving state, and the wheels of the vehicle in the uniform speed driving state will not slip, and thus the encoder can normally output the first signal at a fixed revolution interval.

[0127] In summary, the output control method provided by the embodiment of the present application has the beneficial effects of the output control method in the prior art, and further has the beneficial effects of Figure 1 In addition, when the first distance is greater than the preset length, compensation data is added in the detection data, the timestamp information of the compensation data is the target timestamp, and the compensation data is corresponded to the vehicle driving distance at the preset length, so that the detection data is correctly corresponded to the vehicle driving distance when the encoder does not output the first signal at the correct time, and mispositioning is avoided. Furthermore, when it is detected that the acceleration of the vehicle is greater than or equal to the second threshold value and less than the third threshold value, the encoder is controlled to output the first signal at a fixed revolution interval, so that the encoder outputs the first signal under normal conditions when the encoder does not slip.

[0128] Figure 5 FIG. 3 is a structural block diagram of an output control device provided by the embodiment of the present application. As shown in FIG. 3, the device 300 comprises: Figure 5

[0129] The acceleration acquisition module 301 is configured to periodically acquire the acceleration of the vehicle in the driving direction at a first time interval, the first time interval being less than a first threshold value; the encoder is installed on the vehicle, and is configured to calculate the revolutions of the wheels of the vehicle and output a first signal at a fixed revolution interval.

[0130] The first control module 302 is configured to control the encoder to stop outputting the first signal when it is detected that the acceleration is less than a second threshold value, or the acceleration is greater than or equal to a third threshold value; the second threshold value is less than 0, and the third threshold value is greater than 0.​

[0131] An initial speed determination module 303 is configured to determine an initial speed of the vehicle in a current time period, wherein the current time period is a time period between a time point of last output of the first signal and a current time point.

[0132] A distance determination module 304 is configured to determine a distance traveled by the vehicle in the current time period according to the last-acquired acceleration and the initial speed, to obtain a first distance.

[0133] A length determination module 305 is configured to determine whether the first distance is equal to a preset length, wherein the preset length is a product of the fixed number of revolutions and a circumference of the wheel.

[0134] A second control module 306 is configured to control the encoder to output the first signal if the first distance is equal to the preset length.

[0135] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the system, the device and the unit described above can refer to the corresponding processes in the foregoing method embodiments, which will not be described herein.

[0136] Figure 6 is a structural block diagram of an electronic device 400 provided by an embodiment of the present application. For example, the electronic device 400 can be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, etc.

[0137] Referring to Figure 6 , the electronic device 400 can include one or more of the following components: a processing component 402, a memory 404, a power supply component 406, a multimedia component 408, an audio component 410, an input / output (I / O) interface 412, a sensor component 414, and a communication component 416.

[0138] The processing component 402 usually controls overall operations of the electronic device 400, such as operations associated with displaying, making phone calls, data communications, camera operations and recording operations. The processing component 402 can include one or more processors 420 to execute instructions to complete all or part of steps of the methods described above. In addition, the processing component 402 can include one or more modules to facilitate the interaction between the processing component 402 and other components. For example, the processing component 402 can include a multimedia module to facilitate the interaction between the multimedia component 408 and the processing component 402.

[0139] The memory 404 is configured to store various types of data to support the operation of the electronic device 400. Examples of such data include instructions for any application or method operating on the electronic device 400, contact data, phonebook data, messages, pictures, videos, etc. The memory 404 can be implemented by any type of volatile or nonvolatile memory, or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read only memory (EEPROM), erasable programmable read only memory (EPROM), programmable read only memory (PROM), read only memory (ROM), magnetic memory, flash memory, magnetic disc or optical disc.

[0140] The power supply component 406 supplies power for various components of the electronic device 400. The power supply component 406 can include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the electronic device 400.

[0141] The multimedia component 408 includes a screen providing an output interface between the electronic device 400 and a user. In some embodiments, the screen can include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen can be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense a touch, a slide, and a gesture on the touch panel. The touch sensor can not only sense a boundary of a touching or a sliding action, but also detect duration and pressure related to the touching or sliding action. In some embodiments, the multimedia component 408 includes a front camera and / or a back camera. The front camera and / or the back camera can receive external multimedia data when the electronic device 400 is in an operation mode, such as a photographing mode or a video mode. Each of the front camera and the back camera can be a fixed optical lens system or have a focal length and optical zoom capability.

[0142] The audio component 410 is configured to output and / or input an audio signal. For example, the audio component 410 includes a microphone (MIC) configured to receive an external audio signal when the electronic device 400 is in an operation mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signal can be further stored in the memory 404 or transmitted via the communication component 416. In some embodiments, the audio component 410 also includes a speaker for outputting an audio signal.

[0143] The I / O interface 412 provides an interface between the processing component 402 and peripheral interface modules, which can be a keypad, a click wheel, buttons, etc. The buttons can include, but are not limited to, a home button, a volume button, a start button, and a lock button.

[0144] The sensor component 414 includes one or more sensors for providing status assessments for various aspects of the electronic device 400. For example, the sensor component 414 can detect an open / closed position of the device 400, relative positioning of components, such as a display and a keypad of the electronic device 400, a change in position of the electronic device 400 or a component of the electronic device 400, presence or absence of user contact with the electronic device 400, orientation or acceleration / deceleration / g-force and temperature of the electronic device 400. The sensor component 414 can include an optical sensor for detecting ambient light, a proximity sensor configured to detect proximity of an object without any physical contact, or a CMOS or CCD image sensor for use in imaging applications. In some embodiments, the sensor component 414 can further include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

[0145] The communication component 416 is configured to facilitate wired or wireless communication between the electronic device 400 and other devices. The electronic device 400 can access a wireless network based on a communication standard, such as WiFi, Bluetooth®, a cellular network (e.g., 2G, 4G, 4G, or 5G), or a combination thereof. In an example embodiment, the communication component 416 receives broadcast signals or broadcast-related information from an external broadcast management system using a broadcast channel. In an example embodiment, the communication component 416 can further include a Near Field Communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on Radio Frequency Identification (RFID) techniques, infrared data association (IrDA) techniques, ultra-wideband (UWB) techniques, Bluetooth (BT) techniques, and other techniques.

[0146] In an example embodiment, the electronic device 400 can be implemented using one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, micro-controllers, microprocessors, or other electronic elements for performing the above-described methods.

[0147] In an example embodiment, a non-transitory computer-readable storage medium including instructions, such as the memory 404 including instructions, is also provided, which can be executed by the processor 420 of the electronic device 400 to implement the above-described methods. For example, the non-transitory computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disc, and an optical data storage device, etc.

[0148] II. Application Examples. In order to prove the creativity and technical value of the technical solutions of the present application, this part is the application examples of the technical solutions of the claims on specific products or related technologies.

[0149] The method of the present application periodically acquires the acceleration of the vehicle in the driving direction according to a first time interval; controls the encoder to stop outputting the first signal when it is detected that the acceleration is less than a second threshold value, or the acceleration is greater than or equal to a third threshold value; determines the initial speed of the vehicle in the current time period; determines the distance traveled by the vehicle in the current time period according to the last-acquired acceleration and the initial speed, to obtain a first distance; determines whether the first distance is equal to a preset length; the preset length is the product of the fixed number of revolutions and the circumference of the wheel; if yes, controls the encoder to output the first signal. The above method ensures that when the encoder slips, the first signal can still be output according to the fixed distance interval of the vehicle driving, thereby realizing the division of the vehicle driving process into three states: the acceleration is greater than or equal to the third threshold value, the acceleration is less than the second threshold value, and the acceleration is greater than the second threshold value and less than the third threshold value. When the acceleration of the vehicle driving is greater than or equal to the third threshold value or less than the second threshold value, by determining whether the first distance is equal to the preset length, if the first distance is equal to the preset length, the encoder outputs the first signal, and then in the calculation of the driving distance of the vehicle, the encoder calculates the total number of revolutions of the wheel in a period of time according to the total number of pulse signals (first signal) in the period of time, and then calculates the total distance of the wheel rotation in the period of time according to the product of the circumference of the wheel and the total number of revolutions, that is, the driving distance of the vehicle. It should be noted that the embodiments of the present application can be realized by hardware, software or a combination of software and hardware. The hardware part can be realized by using special logic; the software part can be stored in the memory and executed by a suitable instruction execution system, such as a microprocessor or a specially designed hardware. Those skilled in the art can understand that the above-mentioned devices and methods can be realized by computer executable instructions and / or included in processor control code, such as provided on a carrier medium, such as a magnetic disk, CD or DVD-ROM, a programmable memory, such as a read-only memory (firmware), or a data carrier, such as an optical or electronic signal carrier. The device of the present application and its modules can be realized by hardware circuit, such as ultra-large-scale integrated circuit or gate array, semiconductor, such as logic chip, transistor, etc., or programmable hardware device, such as field programmable gate array, programmable logic device, etc., or by software executed by various types of processors, or by a combination of the above-mentioned hardware circuit and software, such as firmware.

[0150] The above merely illustrates the specific embodiments of the present application, but the protection scope of the present application is not limited thereto, and any modification, equivalent replacement and improvement within the technical range disclosed by the present application and within the spirit and principle of the present application should be covered within the protection scope of the present application.

Claims

1. An output control method characterized by comprising: The output control method periodically acquires acceleration of the vehicle in the driving direction according to a first time interval; controls the encoder to stop outputting a first signal when it is detected that the acceleration is less than a second threshold value, or the acceleration is greater than or equal to a third threshold value; determines an initial speed of the vehicle in a current time period, and determines a first distance of the vehicle in the current time period according to the last acquired acceleration; determines whether the first distance is equal to a preset length; the preset length is a product of a fixed number of revolutions and a circumference of a wheel; If yes, the encoder is controlled to output the first signal; The first time interval is less than a first threshold value; the encoder is installed on the vehicle to calculate a number of revolutions of a wheel of the vehicle, and outputs a first signal according to a fixed number of revolution interval; The second threshold value is less than 0, and the third threshold value is greater than 0; The current time period is a time period between a time point of last outputting the first signal and a current time point; The preset length is a product of a fixed number of revolutions and a circumference of a wheel; The first threshold value is a second time interval of a pulse signal output by the encoder, and the encoder calculates the number of revolutions of the wheel according to a number of the pulse signals.

2. The output control method according to claim 1, wherein After the encoder is controlled to output the first signal, the method further comprises: when it is detected that the acceleration is greater than or equal to the second threshold value and less than the third threshold value, the encoder is controlled to output the first signal according to the fixed number of revolution interval; The first signal is used to trigger a detection device on the vehicle to send a detection signal to a detection object, so that the detection device generates detection data according to a feedback result of the detection signal, and the detection data comprises time stamp information; after it is determined whether the first distance is equal to the preset length, the method further comprises: If it is determined that the first distance is greater than the preset length, a target time stamp corresponding to a time when the distance of the vehicle reaches the preset length is determined; Compensation data is added in the detection data, and time stamp information of the compensation data is the target time stamp; The compensation data is corresponded to a vehicle driving distance at the preset length.

3. The output control method according to claim 1, wherein The first signal is used to trigger a detection device on the vehicle to send a detection signal to a detection object, so that the detection device generates detection data according to a feedback result of the detection signal, and the detection data comprises time stamp information; after it is determined whether the first distance is equal to the preset length, the method further comprises: If it is determined that the first distance is less than the preset length, a target time stamp corresponding to a time when the first distance is equal to the preset length is determined; When the time is the target time stamp, the encoder is controlled to output the first signal.

4. The output control method according to Claim 1, wherein The acceleration of the vehicle is periodically acquired according to the first time interval since the vehicle is started; the determination of the initial speed of the vehicle in the current time period comprises: According to the acceleration acquired in the first first time interval since the vehicle is started and a time length of the first time interval, the initial speed of the vehicle in the second first time interval is determined; determining a final speed of the vehicle in each of the first time intervals according to an initial speed of the vehicle in a second of the first time intervals, the obtained acceleration, and a length of the first time interval; taking the final speed of the vehicle in a previous one of the first time intervals as the initial speed of the vehicle in a current time period.

5. The output control method according to Claim 1, wherein The acceleration of the vehicle in the driving direction is periodically obtained by a three-axis acceleration sensor according to the first time interval.

6. A computer device, comprising: The computer device comprises a memory and a processor, and the memory stores a computer program, which, when executed by the processor, causes the processor to execute the steps of the output control method according to any one of claims 1-5.

7. A computer readable storage medium storing a computer program, which, when executed by a processor, causes the processor to execute the steps of the output control method according to any one of claims 1-5.

8. An output control system which implements the output control method according to any one of claims 1 to 5, characterized by The output control system comprises: an acceleration obtaining module, configured to periodically obtain an acceleration of the vehicle in the driving direction according to a first time interval, the first time interval being less than a first threshold value; the encoder is installed on the vehicle and configured to calculate a number of revolutions of a wheel of the vehicle and output a first signal according to a fixed revolution interval; a first control module, configured to control the encoder to stop outputting the first signal when it is detected that the acceleration is less than a second threshold value or the acceleration is greater than or equal to a third threshold value; the second threshold value is less than 0, and the third threshold value is greater than 0; an initial speed determining module, configured to determine an initial speed of the vehicle in a current time period; the current time period is a time period between a time point of a previous output of the first signal and a current time point; a distance determining module, configured to determine a distance traveled by the vehicle in the current time period according to the initial speed and the acceleration obtained last time, to obtain a first distance; a length determining module, configured to determine whether the first distance is equal to a preset length; the preset length is a product of the fixed number of revolutions and a circumference of the wheel; a second control module, configured to control the encoder to output the first signal if the first distance is equal to the preset length.

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