Motion monitoring system and early warning method for wheeled vehicle

Abstract

The invention discloses a motion monitoring system and early warning method for a wheeled carrier, and the system comprises a data processing unit, a data receiving and transmitting unit, a data collection unit, a carrier deviation judgment unit, and a carrier motion judgment unit. And the data acquisition unit is used for monitoring and acquiring the stress of the plate spring in the operation process of the carrier and the motion state parameters when the carrier wheel rotates in real time. The networking system provided by the invention can realize reliable networking between vehicles and can monitor the running related parameters of the vehicles in real time, so that the safety and controllability of the vehicles in the running process are ensured; the early warning method comprises the following steps: performing quantitative calculation processing on the gravity center shift parameter and the motion state parameter, pre-judging whether the carrier has an operation risk at present according to the gravity center shift parameter, and if the risk exists, sending an alarm intervention signal to the carrier monitoring end. The gravity center distribution and operation condition of the wheel type carrier can be known in time, and the phenomenon that the gravity center shifts or drifts in the movement process of the wheel type carrier is reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle safety monitoring, and in particular relates to a motion monitoring system and an early warning method for a wheeled vehicle. Background Art

[0002] Wheeled vehicles include but are not limited to commonly used cars, forklifts, AGVs, wheeled transport robots, mid-axle or rear-axle semi-trailers or full trailers. The operating parameters of wheeled vehicles are monitored and necessary references are provided for their safe driving plans. Preliminary references can also be provided for driving methods. At present, the research on the sensor system and dedicated computer system unit used in the vehicle or in the wheeled vehicle is basically based on the vehicles in the market. Most of them use laser radar, ultrasonic probe, machine vision sensor, tire pressure gauge and acceleration sensor to monitor the safe driving of the wheeled vehicle, and calculate or predict whether there is a risk in the current state of the wheeled vehicle through a dedicated computer system unit, and can give recommended data to prevent the risk from occurring, so as to prevent rear-end collision, collision with pedestrians, etc.; the above designs are all for self-propelled vehicles (vehicles with power output wheels), and the current design is not for wheeled vehicles; there are still certain safety hazards for non-power output wheels, such as the center of gravity balance of the loading trailer can only be estimated and cannot be monitored and prevented, such as the "tail swing" phenomenon of the trailer, etc., the trailer is heavy, it is difficult to detect dangerous situations in time, and it is impossible to issue warnings when changes occur in sudden situations. Therefore, how to improve the safety of wheeled vehicles has become a problem that needs to be solved urgently. Summary of the invention

[0003] The purpose of the present invention is to provide a motion monitoring system and early warning method for a wheeled vehicle, which can monitor the operation-related parameters of the wheeled vehicle in real time, understand the distribution of the center of gravity and the operation of the wheeled vehicle, reduce the center of gravity offset or tail swing during the movement of the wheeled vehicle, and ensure the safety and controllability of the vehicle during driving. In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0004] According to one aspect of the present invention, a motion monitoring system for a wheeled vehicle is provided, the motion monitoring system comprising a data processing unit, a data transceiver unit, a data acquisition unit, a vehicle offset judgment unit and a vehicle motion judgment unit, the data acquisition unit being used for real-time monitoring and collecting the magnitude of the force applied to the leaf spring during the operation of the vehicle and the motion state parameters of the vehicle wheel when the vehicle rotates, the data transceiver unit being used for receiving the magnitude of the force applied to the leaf spring and the motion state parameters when the vehicle rotates and sending them to the data processing unit, the data processing unit being used for quantitatively calculating and processing the center of gravity offset parameters and the motion state parameters, the vehicle offset judgment unit predicting whether the vehicle currently has a risk based on the center of gravity offset parameters, the vehicle motion judgment unit performing comparative analysis based on the motion state parameters processed by the quantitative calculation and the preset motion state parameters, the vehicle motion judgment unit performing comparative analysis based on the motion state parameters and the preset motion state parameters, and sending an alarm intervention signal to the vehicle operation state and the vehicle monitoring terminal based on the comparison result.

[0005] The above scheme is further preferred, that the motion judgment unit also obtains the center of gravity offset direction based on the center of gravity offset parameters, and comprehensively analyzes whether there is a risk in the current motion state of the vehicle in combination with the motion state parameters; if there is a risk, an alarm intervention signal is sent to the vehicle monitoring end through the data transceiver unit to perform braking control on the vehicle.

[0006] The above scheme is further preferred, wherein the data acquisition unit includes a posture sensor, a laser ranging sensor, a visual camera, a strain sensor arranged at the force position of the vehicle leaf spring, and a rotary encoder arranged on the vehicle wheel axle.

[0007] The above scheme is further preferred, that the data acquisition unit is also used to detect the distance between the vehicle and the surrounding obstacles, and when the vehicle motion judgment unit judges that the distance between the vehicle and the surrounding obstacles is not greater than a preset safety preset distance, the current motion state parameters of the vehicle wheels are compared and analyzed with the preset motion state parameters to determine whether it is necessary to send an alarm intervention signal to the vehicle monitoring end to perform braking control on the vehicle.

[0008] The above scheme is further preferred, wherein the data transceiver unit includes a long-range wireless communication module and a short-range wireless communication module; the long-range wireless communication module is a 4G communication module, a 2.4G wireless communication module or a RoLA wireless communication module, and the short-range wireless communication module is a Bluetooth communication module or a WiFi communication module.

[0009] According to another aspect of the present invention, the present invention provides a monitoring and early warning method of a motion monitoring system of a wheeled vehicle, the monitoring and early warning method comprising the following steps:

[0010] Step 1: Real-time monitoring and collection of the leaf spring force during the operation of the vehicle and the current motion state parameters when the vehicle wheels rotate, and quantitative calculation and processing of the center of gravity offset parameters and motion state parameters;

[0011] Step 2: Predict whether the vehicle currently has an operating risk based on the center of gravity offset parameters. If there is a risk, compare the current motion state parameters with the preset motion state parameters;

[0012] Step 3: Determine the vehicle's operating status based on the comparative analysis results and send an alarm intervention signal to the vehicle monitoring terminal.

[0013] The above scheme is further preferred, and the monitoring and early warning method also includes obtaining the center of gravity offset direction through the center of gravity offset parameters, and comprehensively analyzing whether there is a risk in the current motion state of the vehicle in combination with the current motion state parameters. If there is a risk, an alarm intervention signal is sent to the vehicle monitoring end through the data transceiver unit.

[0014] In the above scheme, it is further preferred that the data processing unit performs quantitative calculation processing on the center of gravity offset parameter, including the following steps:

[0015] Step S1, obtain the force magnitude of the force points between the leaf springs 1 on both sides of the vehicle and the vehicle axle, and assume that the width of the two force points O2 and O3 between the leaf springs 1 on both sides in the transverse direction is L, and the longitudinal length between the two force points O1 and O4 on the same leaf spring 1 is H,

[0016] Step S2, taking the force area surface S formed by O1, O2, O3 and O4, taking the force point O2 as the origin, O2 O3 as the horizontal coordinate, and O2 O1 as the vertical coordinate, according to the size conversion of the force points O1, O2, O3 and O4, the weight sizes W1, W2, W3 and W4 of the corresponding force points are calculated, and the coordinates (Δx, y) of the central force point M of the vehicle are calculated respectively;

[0017]

[0018] Step S3, determine whether the coordinates (Δx, y) of the central force point M are located within the force area surface S. If so, compare the current motion state parameters with the preset motion state parameters to determine whether there is a risk in the current operating state of the vehicle.

[0019] The above scheme is further preferred. If the coordinates (Δx, y) of the central force point M are not located within the force area surface S, the current center of gravity position of the vehicle is used to determine whether it is overweight or in a serious offset state, and whether there is a risk based on the current motion state parameters.

[0020] In summary, the present invention adopts the above technical solution, and the present invention has the following technical effects:

[0021] (1) The present invention can monitor the operation-related parameters of the wheeled vehicle in real time, understand the distribution of the center of gravity and the operation status of the wheeled vehicle, reduce the center of gravity shift or tail swing during the movement of the wheeled vehicle (trailer), ensure the safety and controllability of the vehicle during driving, prevent the occurrence of accidents, ensure the accuracy of transportation, and achieve the effect of reducing casualties and property losses caused by accidents.

[0022] (2) The monitoring and early warning system of the present invention can collect, analyze and process the operating data of wheeled vehicles in real time, so as to issue early warnings in emergency situations. For vehicles (trailers) with heavy loads, it can detect and adjust the center of gravity of the trailer in real time and issue early warnings and eliminate dangers, so as to judge the risks of lateral deviation and tail swing in advance. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a system principle diagram of a motion monitoring system for a wheeled vehicle of the present invention;

[0024] Figure 2 It is a schematic diagram of the force of the leaf spring of the wheeled vehicle of the present invention;

[0025] Figure 3 is a schematic diagram of the center of gravity analysis of the wheeled vehicle of the present invention;

[0026] Figure 4 It is a schematic flow chart of a motion monitoring and early warning method for a wheeled vehicle of the present invention; DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and preferred embodiments. However, it should be noted that many details listed in the specification are only for the purpose of enabling the reader to have a thorough understanding of one or more aspects of the present invention, and these aspects of the present invention can be implemented even without these specific details.

[0028] Combination Figure 1As shown, according to a motion monitoring system for a wheeled vehicle of the present invention, the motion monitoring system includes a data processing unit, a data transceiver unit, a data acquisition unit, a vehicle offset judgment unit and a vehicle motion judgment unit, the data acquisition unit is used to monitor and collect the force magnitude of the leaf spring and the motion state parameters of the vehicle wheel when the vehicle is running in real time, the motion state parameters include but are not limited to vehicle posture parameters, wheel acceleration, wheel rotation speed, the data transceiver unit is used to receive the force magnitude of the leaf spring and the motion state parameters of the vehicle when the vehicle is rotating and send them to the data processing unit, the data processing unit is used to perform quantitative calculation and processing on the center of gravity offset parameters and the motion state parameters, and the vehicle offset judgment unit predicts the load according to the center of gravity offset parameters. Whether there is a risk at present, the vehicle motion judgment unit compares and analyzes the motion state parameters processed by quantitative calculation with the preset motion state parameters, and sends an alarm intervention signal to the vehicle monitoring end according to the comparison result. In the present invention, the data acquisition unit is also used to detect the distance between the vehicle and the surrounding obstacles. When the vehicle motion judgment unit judges that the distance between the vehicle and the surrounding obstacles is not greater than the preset safety preset distance, the current motion state parameters of the vehicle wheels are compared and analyzed with the preset motion state parameters to determine whether it is necessary to send an alarm intervention signal to the vehicle monitoring end to brake the vehicle;

[0029] In the present invention, the motion judgment unit also obtains the direction of the center of gravity offset according to the center of gravity offset parameter, and comprehensively analyzes whether there is a risk in the current motion state of the vehicle in combination with the motion state parameter. If there is a risk, an alarm intervention signal is sent to the vehicle monitoring end through the data transceiver unit. During the driving process of the wheeled vehicle, especially during the turning process, the left and right offsets may occur. The position of the center of gravity is determined according to the position of the force magnitude of the leaf spring of the wheeled vehicle, so that the direction of the vehicle offset can be known according to the center position. When the center of gravity offset exceeds the preset value, the rotation parameters of the vehicle wheels are determined according to the motion state parameters and the driver is reminded to brake the vehicle to lower the center of gravity of the vehicle. The occurrence of wheeled vehicle rollover accidents is avoided, and the safety of work is improved.

[0030] In the present invention, Figure 1As shown, the data transceiver unit includes a long-range wireless communication module and a short-range wireless communication module; the long-range wireless communication module is a 4G communication module, a 2.4G wireless communication module or a RoLA wireless communication module, and the short-range wireless communication module is a Bluetooth communication module or a wifi communication module; the data acquisition unit includes a posture sensor, a laser ranging sensor, a visual camera, a strain sensor arranged at the force position of the vehicle leaf spring 1, and a rotary encoder arranged on the vehicle wheel axle 2; the laser ranging sensor is used to detect and sense the distance of pedestrians and obstacles around the vehicle to achieve the purpose of obstacle avoidance. When an obstacle or pedestrian is sensed, the vehicle's dedicated operation control system is started and the pedestrian is viewed through the front camera and rear camera arranged on the vehicle to avoid visual busy areas, thereby avoiding collisions with pedestrians. The present invention determines the safety status of the wheeled vehicle by monitoring the running motion state parameters of the wheeled vehicle and the force applied to the leaf spring 1, and brakes and controls the wheeled vehicle by using the acquired monitoring parameters, thereby preventing the semi-wheeled vehicle from deflecting and swinging its tail and colliding with obstacles, thereby reducing casualties and property losses caused by accidents. In the present invention, when the wheeled vehicle is stationary or moving, the strain sensor senses the force applied to the leaf spring 1 of the vehicle, thereby determining the center position of the vehicle, whether the loaded cargo is balanced, whether the cargo is overweight or exceeds the maximum upper limit of safe driving, and providing a recommended solution for adjusting the cargo loading. During dynamic parameter monitoring (when moving), the acceleration sensor can sense the movement speed and state of the vehicle, and monitor it in combination with the force applied to the leaf spring 1, as well as preventing lateral deviation and avoiding the "swinging" phenomenon during driving. Therefore, no matter the vehicle is stationary or moving, its posture (including forward tilt, backward tilt, left tilt, right tilt, rollover, overturning, etc.) can be sensed in real time; in addition to being applied to wheeled vehicles (mid-axle or rear-axle semi-trailer or full trailer), the monitoring system of the present invention can also be applied to wheels with power output, and can also be widely used in AGV, self-propelled forklifts, and wheeled robot porters. It can monitor trailers with large loads and high centers of gravity in real time, so as to judge the risks of lateral deviation and tail swing in advance, and transmit the information to the vehicle monitoring end at the driving position of the wheeled vehicle in real time through the short-range wireless communication module for display interaction and brake control processing of the wheeled vehicle, and send the center of gravity offset parameters and motion state parameters monitored in real time to the central server set in the background through the remote wireless communication module, so as to understand the relevant state parameters of the vehicle when it is driving in real time.

[0031] According to another aspect of the present invention, Figure 1 , Figure 2 , Figure 3 and Figure 4 The present invention provides a motion monitoring and early warning method for a wheeled vehicle, the monitoring and early warning method comprising the following steps:

[0032] Step 1: Real-time monitoring and collection of the force magnitude of the leaf spring 1 during the operation of the vehicle and the current motion state parameters when the vehicle wheels rotate, and quantitative calculation and processing of the center of gravity offset parameters and motion state parameters;

[0033] The data processing unit performs quantitative calculation processing on the center of gravity offset parameter, including the following steps:

[0034] Step S11, obtaining the force magnitude of the force points between the leaf springs 1 on both sides of the vehicle and the vehicle axle 2, and assuming that the width of the two force points O2 and O3 between the leaf springs 1 on both sides in the transverse direction is L, and the longitudinal length between the two force points O1 and O4 on the same leaf spring 1 is H;

[0035] Step S12, taking the force area surface S formed by O1, O2, O3 and O4, taking the force point O2 as the origin, O2 O3 as the horizontal coordinates, and O3 O4 as the vertical coordinates, according to the size conversion of the force points O1, O2, O3 and O4, the weights W1, W2, W3 and W4 of the corresponding force points are calculated, and the coordinates (Δx, y) of the central force point M of the vehicle are calculated according to the weights W1, W2, W3 and W4;

[0036]

[0037] Step S13, determine whether the coordinates (Δx, y) of the central force point M are located within the force area surface S. If so, compare the current motion state parameters with the preset motion state parameters to determine whether there is a risk in the current operating state of the vehicle. When the center of gravity of the coordinates (Δx, y) of the central force point M (center of gravity) falls at the center position O within the force area surface S (the central force point M coincides with the center position), the wheeled vehicle is in a balanced state, and the loaded cargo is in a balanced distribution state. If it is not located at the center position O, if the weight of the loaded cargo is too large, causing the center of gravity of the vehicle to shift, the loaded cargo is unbalancedly distributed. Therefore, it is necessary to adjust the cargo loading distribution position to reduce the deviation or tail-swinging of the vehicle.

[0038] Step 2: Predict whether there is a risk for the vehicle at present based on the center of gravity offset parameters. If there is a risk, compare the current motion state parameters with the preset motion state parameters. When the vehicle flips to the left or right, the center of gravity of the vehicle also moves accordingly. When the center of gravity moves within the force area surface S, judge whether the vehicle is turning or braking based on the current motion state parameters. Adjust the brakes to ensure that the vehicle runs in a reasonable state, thereby preventing the risk of the vehicle flipping to the left.

[0039] Step 3: Determine the vehicle's operating status based on the comparative analysis results and send an alarm intervention signal to the vehicle monitoring terminal.

[0040] The monitoring and early warning method also includes obtaining the center of gravity offset direction through the center of gravity offset parameters, and comprehensively analyzing whether there is a risk in the current motion state of the vehicle in combination with the current motion state parameters. If there is a risk, an alarm intervention signal is sent to the vehicle monitoring end through the data transceiver unit; if the coordinates (Δx, y) of the central force point M are not located within the force area surface S, it is judged whether the vehicle is overweight or in a serious offset state through the current center of gravity position of the vehicle, and whether there is a risk at present based on the current motion state parameters.

[0041] In the present invention, the rotation speed of the wheel during the rotation process is monitored by a rotary encoder. When the attitude sensor monitors that the vehicle operation parameters do not change (when going straight without turning), the output data output by the rotary encoders monitoring the wheels on the left and right sides of the vehicle are basically consistent. When oversteering occurs, the attitude sensor will quickly sense the size of the vehicle's attitude data. At the same time, the data collected by the rotary encoder also shows a large difference. When the attitude data collected by the attitude sensor and the data collected by the rotary encoders of the wheels on both sides do not match, the center of gravity (center force point M) is not located within the force area surface S. At this time, the vehicle slips or deviates sideways. For a trailer whose vehicle is a tractor, the data monitored by the attitude sensor will change alternately between positive and negative for a short period of time, so that it can be judged that the trailer has a tail-swinging phenomenon.

[0042] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A motion monitoring system for a wheeled vehicle, characterized in that: The motion monitoring system includes a data processing unit, a data transceiver unit, a data acquisition unit, a vehicle offset judgment unit and a vehicle motion judgment unit. The data acquisition unit is used to monitor and collect the force magnitude of the leaf spring and the motion state parameters of the vehicle wheel when the vehicle is running in real time. The data transceiver unit is used to receive the force magnitude of the leaf spring and the motion state parameters when the vehicle is rotating and send them to the data processing unit. The data processing unit is used to perform quantitative calculation and processing on the center of gravity offset parameters and the motion state parameters. The vehicle offset judgment unit predicts whether the vehicle is currently at risk based on the center of gravity offset parameters. The vehicle motion judgment unit compares and analyzes the motion state parameters processed by quantitative calculation with the preset motion state parameters. The vehicle motion judgment unit compares the motion state parameters with the preset motion state parameters, and sends an alarm intervention signal to the vehicle operation status to the vehicle monitoring terminal based on the comparison result.

2. The motion monitoring system for a wheeled vehicle according to claim 1, characterized in that: The motion judgment unit also obtains the center of gravity offset direction based on the center of gravity offset parameters, and comprehensively analyzes whether there is a risk in the current motion state of the vehicle in combination with the motion state parameters. If there is a risk, an alarm intervention signal is sent to the vehicle monitoring end through the data transceiver unit to perform braking control on the vehicle.

3. The motion monitoring system for a wheeled vehicle according to claim 1, characterized in that: The data acquisition unit includes a posture sensor, a laser ranging sensor, a visual camera, a strain sensor arranged at the force-bearing position of the vehicle leaf spring, and a rotary encoder arranged on the vehicle wheel axle.

4. The motion monitoring system for a wheeled vehicle according to claim 1, characterized in that: The data acquisition unit is also used to detect the distance between the vehicle and the surrounding obstacles. When the vehicle motion judgment unit judges that the distance between the vehicle and the surrounding obstacles is not greater than the preset safety preset distance, the current motion state parameters of the vehicle wheels are compared and analyzed with the preset motion state parameters to determine whether it is necessary to send an alarm intervention signal to the vehicle monitoring end to perform braking control on the vehicle.

5. The motion monitoring system for a wheeled vehicle according to claim 1, characterized in that: The data transceiver unit includes a long-range wireless communication module and a short-range wireless communication module; the long-range wireless communication module is a 4G communication module, a 2.4G wireless communication module or a RoLA wireless communication module, and the short-range wireless communication module is a Bluetooth communication module or a WiFi communication module.

6. A monitoring and early warning method using a wheeled vehicle motion monitoring system according to any one of claims 1 to 5, characterized in that: The monitoring and early warning method comprises the following steps: Step 1: Real-time monitoring and collection of the leaf spring force during the operation of the vehicle and the current motion state parameters when the vehicle wheels rotate, and quantitative calculation and processing of the center of gravity offset parameters and motion state parameters; Step 2: Predict whether the vehicle currently has an operating risk based on the center of gravity offset parameters. If there is a risk, compare the current motion state parameters with the preset motion state parameters; Step 3: Determine the vehicle's operating status based on the comparative analysis results and send an alarm intervention signal to the vehicle monitoring terminal.

7. The method for monitoring and warning the movement of a wheeled vehicle according to claim 1, characterized in that: The monitoring and early warning method also includes obtaining the center of gravity offset direction through the center of gravity offset parameter, and comprehensively analyzing whether there is a risk in the current motion state of the vehicle in combination with the current motion state parameter. If there is a risk, an alarm intervention signal is sent to the vehicle monitoring end through the data transceiver unit.

8. The method for monitoring and warning the movement of a wheeled vehicle according to claim 1, characterized in that: The data processing unit performs quantitative calculation processing on the center of gravity offset parameter, including the following steps: Step S1, obtaining the force magnitude of the force points between the leaf springs 1 on both sides of the vehicle and the vehicle axle, and assuming that the width of the two force points O2 and O3 between the leaf springs 1 on both sides in the transverse direction is L, and the longitudinal length between the two force points O1 and O4 on the same leaf spring 1 is H; Step S2, taking the force area surface S formed by O1, O2, O3 and O4, taking the force point O2 as the origin, O2 O3 as the horizontal coordinate, and O2 O1 as the vertical coordinate, according to the size conversion of the force points O1, O2, O3 and O4, the weight sizes W1, W2, W3 and W4 of the corresponding force points are calculated, and the coordinates (Δx, y) of the central force point M of the vehicle are calculated respectively; Step S3, determine whether the coordinates (Δxx, y) of the central force point M are located within the force area surface S. If so, compare the current motion state parameters with the preset motion state parameters to determine whether there is a risk in the current operating state of the vehicle.

9. The method for monitoring and warning the movement of a wheeled vehicle according to claim 3, characterized in that: If the coordinates (Δx, y) of the center force point M are not within the force area surface S, the current center of gravity position of the vehicle is used to determine whether it is overweight or in a serious offset state, and whether there is a risk based on the current motion state parameters.

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