Vehicle operating state detection method, system and computer readable storage medium

Abstract

The present invention discloses a vehicle working state detection method, system and computer-readable storage medium, and relates to the field of vehicle detection. The method comprises: obtaining the acceleration data of the target engineering vehicle at the current moment; calculating the vehicle body pitch angle at the current moment according to the first three-axis acceleration data; calculating the boom pitch angle at the current moment according to the second three-axis acceleration data; calculating the angle difference between the vehicle body pitch angle and the boom pitch angle at the current moment; when the angle difference is greater than a preset threshold, determining that the vehicle state is a working state; when the angle difference is less than or equal to the preset threshold, taking the current moment as the end moment of the preset time period, obtaining the acceleration data of the target engineering vehicle at each moment in the preset time period, and obtaining an acceleration data group; calculating the variance of the acceleration data group, and comparing the variance with the preset variance threshold, and determining the detection result according to the comparison result. The present invention can detect the vehicle state in real time.

Description

Technical Field

[0001] The present invention relates to the field of vehicle detection, and in particular to a vehicle working state detection method, system and computer-readable storage medium. Background Art

[0002] Safety is of paramount importance in the production process of all walks of life, especially in industrial sites, which involve many safety risks. Among them, cranes have clear and detailed operating specifications during operation to prevent safety problems as much as possible. During the operation of the crane and after the operation is completed, the current working status of the crane must be detected in real time, and an alarm reminder must be issued in real time to avoid personal injury to passers-by.

[0003] At present, the implementation of standardized operation and parking of cranes depends entirely on the safety awareness of the operators themselves, and there are no relevant auxiliary means to provide more reliable and effective guarantees. Summary of the invention

[0004] The object of the present invention is to provide a vehicle operating status detection method, system and computer-readable storage medium, which can detect the vehicle status in real time.

[0005] To achieve the above object, the present invention provides the following solution.

[0006] A vehicle working state detection method, the detection method comprising: obtaining acceleration data of a target engineering vehicle at a current moment; the acceleration data comprising first three-axis acceleration data and second three-axis acceleration data; the first three-axis acceleration data is the three-axis acceleration data of a body of the target engineering vehicle; the second three-axis acceleration data is the three-axis acceleration data of a boom of the target engineering vehicle.

[0007] The vehicle body pitch angle at the current moment is calculated according to the first three-axis acceleration data.

[0008] The boom pitch angle at the current moment is calculated according to the second three-axis acceleration data.

[0009] The angle difference between the vehicle body pitch angle and the boom pitch angle at the current moment is calculated.

[0010] When the angle difference is greater than a preset threshold, it is determined that the vehicle state is a working state.

[0011] When the angle difference is less than or equal to a preset threshold, the current moment is taken as the end moment of the preset time period, the acceleration data of the target engineering vehicle at each moment in the preset time period is obtained, and an acceleration data group is obtained.

[0012] The variance of the acceleration data group is calculated, and the variance is compared with a preset variance threshold, and a detection result is determined according to the comparison result; the detection result is that the vehicle state is a working state or a stopped working state.

[0013] Optionally, an accelerometer is used to obtain acceleration data of the target engineering vehicle at the current moment.

[0014] Optionally, the calculation formula of the vehicle body pitch angle is: .

[0015] The calculation formula of the boom pitch angle is: .

[0016] in, is the vehicle body pitch angle; is the boom pitch angle; is the value of the first three-axis acceleration data in the y-axis direction; is the value of the first three-axis acceleration data in the z-axis direction; is the value of the second three-axis acceleration data in the y-axis direction; is the value of the second three-axis acceleration data in the z-axis direction.

[0017] Optionally, the process of determining the preset variance threshold specifically includes: acquiring an acceleration sample data set of the target engineering vehicle in a stopped working state; the acceleration sample data set is first three-axis acceleration data at each moment continuously collected in a preset collection time period.

[0018] The acceleration sample data set is divided according to a preset time length to obtain a plurality of acceleration data groups arranged in time sequence.

[0019] The variance of each of the acceleration data groups is calculated to obtain a plurality of initial variances.

[0020] A preset number of initial variances before each of the initial variances sorted from large to small are eliminated to obtain a plurality of selected variances.

[0021] The mean of the post-selection variances is calculated to obtain an initial variance mean, and the initial variance mean is used as a preset variance threshold.

[0022] Optionally, the process of determining the preset variance threshold specifically includes: acquiring an acceleration sample data set of the target engineering vehicle in a stopped working state; the acceleration sample data set is a plurality of first three-axis acceleration data collected continuously at each moment in a preset collection time period.

[0023] The acceleration sample data set is divided according to a preset time length to obtain a plurality of acceleration data groups arranged in time sequence.

[0024] The variance of the difference between adjacent epochs in each of the acceleration data groups is calculated to obtain a plurality of difference variances.

[0025] A first preset number of difference variances of the difference variances sorted from large to small are eliminated to obtain a plurality of selected difference variances.

[0026] The mean of the difference variances after each selection is calculated to obtain the difference variance mean, and the difference variance mean is used as the preset variance threshold.

[0027] Optionally, the detection result is determined based on the comparison result, specifically including: when the angle difference is less than or equal to a preset threshold and the variance is greater than a preset variance threshold, the detection result is that the vehicle state is a working state.

[0028] When the angle difference is less than or equal to a preset threshold and the variance is less than or equal to a preset variance threshold, the detection result is that the vehicle state is a stopped working state.

[0029] A computer system comprises: a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the above method.

[0030] A computer-readable storage medium stores a computer program, which implements the steps of the above method when executed by a processor.

[0031] According to the specific embodiment provided by the present invention, the present invention discloses the following technical effects: the present invention calculates the boom pitch angle and the body pitch angle as well as the body vibration and the boom vibration according to the first three-axis acceleration data output by the accelerometer installed on the body and the second three-axis acceleration data output by the accelerometer installed on the boom. The vehicle state can be divided into four types, specifically including: (1) the vehicle is working and the boom is working, then the vehicle is judged to be in a working state; (2) the vehicle is not working and the boom is working, then the vehicle is judged to be in a working state; (3) the vehicle is working and the boom is not working, then the vehicle is judged to be in a working state; (4) the vehicle is not working and the boom is not working, then the vehicle is judged to be in a stopped working state. Further, the two situations (1) and (2) are mainly judged based on the pitch angle between the body and the boom; the two situations (3) and (4) are judged based on the vehicle vibration, thereby obtaining the detection result of the vehicle state. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0033] Figure 1 This is a flow chart of the vehicle working status detection method of the present invention.

[0034] Figure 2 The figure is a flow chart of the detection process of the present invention in practical application.

[0035] Figure 3 The present invention is a flow chart of the process of judging the working state of a vehicle based on the pitch angle.

[0036] Figure 4 This is a flow chart of the process of judging the working state of a vehicle using the first method according to the present invention with respect to vehicle vibration.

[0037] Figure 5 This is a flow chart of the process of judging the working state of a vehicle using the second method according to the present invention with respect to vehicle vibration.

[0038] Figure 6 This is a diagram of the internal structure of a computer device. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] The object of the present invention is to provide a vehicle operating status detection method, system and computer-readable storage medium, which can detect the vehicle status in real time.

[0041] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0042] Example 1: Figure 1 As shown, the present invention provides a vehicle working state detection method, and the detection method includes steps S1 to S7.

[0043] Step S1: Acquire the acceleration data of the target engineering vehicle at the current moment; the acceleration data includes first three-axis acceleration data and second three-axis acceleration data; the first three-axis acceleration data is the three-axis acceleration data of the body of the target engineering vehicle; the second three-axis acceleration data is the three-axis acceleration data of the boom of the target engineering vehicle.

[0044] Specifically, an accelerometer is used to obtain acceleration data of the target engineering vehicle at the current moment.

[0045] Step S2: Calculate the vehicle body pitch angle at the current moment according to the first three-axis acceleration data.

[0046] Step S3: Calculate the boom pitch angle at the current moment according to the second three-axis acceleration data.

[0047] Specifically, the calculation formula of the vehicle body pitch angle is: .

[0048] The calculation formula of the boom pitch angle is: .

[0049] in, is the vehicle body pitch angle; is the boom pitch angle; is the value of the first three-axis acceleration data in the y-axis direction; is the value of the first three-axis acceleration data in the z-axis direction; is the value of the second three-axis acceleration data in the y-axis direction; is the value of the second three-axis acceleration data in the z-axis direction.

[0050] Step S4: Calculate the angle difference between the vehicle body pitch angle and the boom pitch angle at the current moment.

[0051] Step S5: When the angle difference is greater than a preset threshold, determining that the vehicle state is a working state.

[0052] Step S6: When the angle difference is less than or equal to a preset threshold, the current moment is taken as the end moment of the preset time period, and the acceleration data of the target engineering vehicle at each moment in the preset time period is obtained to obtain an acceleration data group.

[0053] Step S7: Calculate the variance of the acceleration data set, and compare the variance with a preset variance threshold, and determine a detection result based on the comparison result; the detection result is that the vehicle state is a working state or a stopped working state.

[0054] The process of determining the preset variance threshold includes two determination methods.

[0055] The first method specifically includes steps 7-11 to 7-15.

[0056] 7-11. Obtain an acceleration sample data set of the target engineering vehicle in a stopped working state; the acceleration sample data set is first three-axis acceleration data collected continuously at each moment in a preset collection time period.

[0057] 7-12. Divide the acceleration sample data set according to a preset time length to obtain a plurality of acceleration data groups arranged in chronological order.

[0058] 7-13. Calculate the variance of each of the acceleration data groups to obtain multiple initial variances.

[0059] 7-14. Eliminate a preset number of initial variances of the initial variances sorted from large to small to obtain a plurality of selected variances.

[0060] 7-15. Calculate the mean of the variances after each selection to obtain the initial variance mean, and use the initial variance mean as the preset variance threshold.

[0061] The second method specifically includes steps 7-21 to 7-25.

[0062] 7-21. Obtain an acceleration sample data set of the target engineering vehicle in a stopped working state; the acceleration sample data set is a plurality of first three-axis acceleration data collected continuously at each moment in a preset collection time period.

[0063] 7-22. Divide the acceleration sample data set according to a preset time length to obtain a plurality of acceleration data groups arranged in chronological order.

[0064] 7-23. Calculate the variance of the difference between adjacent epochs in each of the acceleration data groups to obtain multiple difference variances.

[0065] 7-24. Eliminate a preset number of difference variances of the difference variances sorted from large to small to obtain a plurality of selected difference variances.

[0066] 7-25. Calculate the mean of the difference variances after each selection to obtain the difference variance mean, and use the difference variance mean as the preset variance threshold.

[0067] Further, based on the comparison result, the detection result is determined, which specifically includes the following (1) and (2).

[0068] (1) When the angle difference is less than or equal to a preset threshold and the variance is greater than a preset variance threshold, the detection result is that the vehicle state is a working state.

[0069] (2) When the angle difference is less than or equal to a preset threshold and the variance is less than or equal to a preset variance threshold, the detection result is that the vehicle state is a stopped working state.

[0070] In practical applications, such as Figure 2 and Figure 3 As shown, the vehicle working state is first determined based on the pitch angle, and the pitch angle is calculated by sliding the acceleration data on the x-axis, y-axis and z-axis output by two three-axis accelerometers installed on the vehicle body and the boom. , obtain the body pitch angle (pitch1) and the boom pitch angle (pitch2). If the body pitch angle is greater than the boom pitch angle, it is determined that the vehicle is in working condition; if the body pitch angle is approximately equal to the boom pitch angle, it is necessary to further determine whether the vehicle is in working condition through the vibration of the body and the boom.

[0071] Judging the working status of the vehicle according to the vehicle vibration, such as Figure 4 and Figure 5 As shown, there are two ways to detect. One is to measure n groups of acceleration data of equal time for the top accelerometer of the vehicle in a stationary state, calculate the variance of each group of data (P1~Pn), compare the variance of each group, and eliminate the data with obvious large deviation, that is, the abnormal points on the three axes of the accelerometer are eliminated, which are obviously deviated from the normal data. For example, the data collected by the z-axis of the accelerometer should be around 9.8, but there is 14 in the data, which is an abnormal value and needs to be eliminated. The mean value P of the variance is used as the detection threshold, and a sliding window of size N is set; for the top accelerometer of the vehicle, the acceleration variance Pi of the data in the sliding window is calculated in real time; Pi is compared with the threshold value P, and when it exceeds the threshold, it is judged that the vehicle is in the starting state, otherwise it is considered that the vehicle is not started. After the judgment is completed, the time is updated, and the judgment cycle is performed when the next data arrives. Another method to detect whether a vehicle is moving through vibration is to measure n groups of acceleration data of equal length of time for the top accelerometer of the vehicle in a stationary state, calculate the variance of the difference between adjacent epochs of each group of accelerometer data (P1~Pn), compare the variances of each group, eliminate data with obvious large deviations, use the mean value P of the variance as the detection threshold, set a sliding window of size N, and calculate the zero-bias variance Pi of the acceleration data in the sliding window in real time for the top accelerometer of the vehicle, compare Pi with the threshold value P, and judge that the vehicle is in the starting state when it exceeds the threshold, otherwise it is considered that the vehicle is not started. After the judgment is completed, the time is updated, and the judgment cycle is performed when the next data arrives.

[0072] Specifically, the formula for the variance applied during vibration detection is: .

[0073] Where n represents the window size, represents the i-th accelerometer data in the window, Indicates the mean of the window number n .

[0074] In the present invention, the data in the sliding window of size N is set to take the current moment as the end moment of the preset time period, and the acceleration data group is obtained by acquiring the acceleration data of the target engineering vehicle at each moment in the preset time period.

[0075] The present invention can perform real-time detection of the working status of the target engineering vehicle and can provide real-time safety reminders based on the detection results. For example, when the target engineering vehicle is working, passers-by are reminded to pay attention to safety. Especially when the working status of the crane is not so obvious, timely reminders are very necessary.

[0076] Embodiment 2: A computer device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the vehicle operating status detection method in Embodiment 1.

[0077] Embodiment 3: A computer-readable storage medium stores a computer program, which implements the steps of the vehicle operating status detection method in Embodiment 1 when executed by a processor.

[0078] Embodiment 4: A computer program product comprises a computer program, which implements the steps of the vehicle operating status detection method in Embodiment 1 when executed by a processor.

[0079] Embodiment 5: A computer device, which may be a database, and its internal structure diagram may be as follows: Figure 6 As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. Among them, the processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store pending transactions. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, the vehicle working state detection method in Example 1 is implemented.

[0080] It should be noted that the object information (including but not limited to object device information, object personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in the present invention are all information and data authorized by the object or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards of relevant countries and regions.

[0081] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided by the present invention can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided by the present invention may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided by the present invention may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0082] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0083] The principles and implementation methods of the present invention are described in this article using specific examples. The description of the above embodiments is only used to help understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A vehicle working state detection method, characterized in that: The detection method comprises: Acquire the acceleration data of the target engineering vehicle at the current moment; the acceleration data includes first three-axis acceleration data and second three-axis acceleration data; the first three-axis acceleration data is the three-axis acceleration data of the body of the target engineering vehicle; the second three-axis acceleration data is the three-axis acceleration data of the boom of the target engineering vehicle; use an accelerometer to acquire the acceleration data of the target engineering vehicle at the current moment; The vehicle body pitch angle at the current moment is calculated according to the first three-axis acceleration data; the calculation formula of the vehicle body pitch angle is: ； The calculation formula of the boom pitch angle is: ； in, is the vehicle body pitch angle; is the boom pitch angle; is the value of the first three-axis acceleration data in the y-axis direction; is the value of the first three-axis acceleration data in the z-axis direction; is the value of the second three-axis acceleration data in the y-axis direction; is the value of the second three-axis acceleration data in the z-axis direction; Calculate the boom pitch angle at the current moment according to the second three-axis acceleration data; Calculating the angle difference between the vehicle body pitch angle and the boom pitch angle at the current moment; When the angle difference is greater than a preset threshold, determining that the vehicle state is a working state; When the angle difference is less than or equal to a preset threshold, taking the current moment as the end moment of the preset time period, acquiring the acceleration data of the target engineering vehicle at each moment in the preset time period, and obtaining an acceleration data group; Calculating the variance of the acceleration data group, and comparing the variance with a preset variance threshold, and determining a detection result according to the comparison result; the detection result is that the vehicle state is a working state or a stopped working state; The process of determining the preset variance threshold specifically includes: Acquire an acceleration sample data set of the target engineering vehicle in a stopped working state; the acceleration sample data set is the first three-axis acceleration data of each moment continuously collected in a preset collection time period; divide the acceleration sample data set according to a preset time length to obtain a plurality of acceleration data groups arranged in chronological order; calculate the variance of each of the acceleration data groups to obtain a plurality of initial variances; remove a preset number of initial variances of each of the initial variances sorted from large to small to obtain a plurality of post-selection variances; calculate the mean of each post-selection variance to obtain the initial variance mean, and use the initial variance mean as a preset variance threshold; Or, obtain an acceleration sample data set of the target engineering vehicle in a stopped working state; the acceleration sample data set is a plurality of first three-axis accelerations collected continuously at each moment in a preset collection time period; divide the acceleration sample data set according to a preset time length to obtain a plurality of acceleration data groups arranged in chronological order; calculate the variance of the difference between adjacent epochs in each of the acceleration data groups to obtain a plurality of difference variances; eliminate a first preset number of difference variances of each of the difference variances sorted from large to small to obtain a plurality of selected difference variances; calculate the mean of each selected difference variance to obtain a difference variance mean, and use the difference variance mean as a preset variance threshold.

2. The vehicle operating status detection method according to claim 1, characterized in that: According to the comparison results, the test results are determined, including: When the angle difference is less than or equal to a preset threshold and the variance is greater than a preset variance threshold, the detection result is that the vehicle state is a working state; When the angle difference is less than or equal to a preset threshold and the variance is less than or equal to a preset variance threshold, the detection result is that the vehicle state is a stopped working state.

3. A computer system comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the vehicle operating status detection method according to any one of claims 1 to 2.

4. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the vehicle operating status detection method described in any one of claims 1-2 are implemented.

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