A motion monitoring system and early warning method for wheeled vehicles

Abstract

This invention discloses a motion monitoring system and early warning method for wheeled vehicles. 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 leaf spring force and motion state parameters of the vehicle wheels during operation in real time. The network system of this invention enables reliable networking between vehicles and real-time monitoring of vehicle operation parameters, ensuring the safety and controllability of vehicle operation. The early warning method involves quantifying and calculating the center of gravity offset parameters and motion state parameters, predicting whether there is an operational risk based on the center of gravity offset parameters, and sending an alarm intervention signal to the vehicle monitoring terminal if a risk is found. This invention can promptly understand the center of gravity distribution and operation of wheeled vehicles, reducing center of gravity offset or fishtailing phenomena during vehicle movement.

Description

Technical Field

[0001] This invention belongs to the field of vehicle safety monitoring technology, and in particular relates to a motion monitoring system and early warning method for wheeled vehicles. Background Technology

[0002] Wheeled vehicles include, but are not limited to, commonly used cars, forklifts, AGVs, wheeled handling robots, center-axle or rear-axle semi-trailers or full trailers. Monitoring the operating parameters of wheeled vehicles and providing necessary references for their safe driving schemes can also provide advance references for driving methods. Currently, research on sensor systems and dedicated computer system units used in vehicles or wheeled vehicles is primarily market-driven. Most studies utilize LiDAR, ultrasonic sensors, machine vision sensors, tire pressure gauges, and accelerometers to monitor the safe operation of wheeled vehicles. Dedicated computer system units calculate and predict the current state of the wheeled vehicle to identify potential risks and provide data to prevent rear-end collisions, pedestrian accidents, etc. However, these designs are all for self-propelled vehicles (vehicles with power take-off wheels). Current designs do not address wheeled vehicles. For vehicles without power take-off wheels, certain safety hazards remain. For example, the center of gravity balance of cargo trailers can only be estimated and cannot be monitored or prevented, such as trailer "fishtailing." The large loads on trailers make it difficult to detect dangerous situations in time and to provide early warnings in case of sudden changes. Therefore, improving the safety of wheeled vehicles has become an urgent problem to be solved. Summary of the Invention

[0003] The purpose of this invention is to provide a motion monitoring system and early warning method for wheeled vehicles. This invention can monitor the operational parameters of wheeled vehicles in real time, understand the center of gravity distribution and operational status, reduce center of gravity shifts or fishtailing during vehicle movement, and ensure the safety and controllability of the vehicle during operation. To achieve the above objective, this invention adopts the following technical solution:

[0004] According to one aspect of the present invention, a motion monitoring system for a wheeled vehicle is provided. 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 acquire the magnitude of the leaf spring force and the motion state parameters of the vehicle wheels during operation in real time. The data transceiver unit is used to receive the magnitude of the leaf spring force and the motion state parameters of the vehicle rotation and send them to the data processing unit. The data processing unit is used to perform quantitative calculations on the center of gravity offset parameters and motion state parameters. The vehicle offset judgment unit predicts whether there is a risk to the vehicle based on the center of gravity offset parameters. The vehicle motion judgment unit compares and analyzes the quantitatively calculated motion state parameters with preset motion state parameters. Based on the comparison results, the vehicle motion judgment unit sends an alarm intervention signal to the vehicle monitoring terminal regarding the vehicle's operating status.

[0005] In a further preferred embodiment of the above scheme, the motion judgment unit also obtains the center of gravity offset direction based on 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 parameters. If there is a risk, an alarm intervention signal is sent to the vehicle monitoring terminal through the data transceiver unit to brake the vehicle.

[0006] In a further preferred embodiment of the above scheme, the data acquisition unit includes an attitude sensor, a laser rangefinder, a vision camera, a strain sensor located at the stress position of the vehicle leaf spring, and a rotary encoder located on the vehicle wheel axle.

[0007] In a further preferred embodiment of the above scheme, the data acquisition unit is also used to detect the distance between the vehicle and surrounding obstacles. When the vehicle motion judgment unit determines that the distance between the vehicle and surrounding obstacles is not greater than a preset safe distance, it compares and analyzes the current motion state parameters of the vehicle wheels with the preset motion state parameters to determine whether it is necessary to send an alarm intervention signal to the vehicle monitoring terminal to brake the vehicle.

[0008] In a further preferred embodiment of the above scheme, 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 Wi-Fi communication module.

[0009] According to another aspect of the present invention, the present invention provides a monitoring and early warning method for 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 and the current motion state parameters of the vehicle wheels during operation, and quantitative calculation of the center of gravity offset parameters and motion state parameters;

[0011] Step 2: Based on the center of gravity offset parameters, predict whether there is any operational risk to the vehicle. 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] In a further preferred embodiment of the above scheme, 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 parameters. If there is a risk, an alarm intervention signal is sent to the vehicle monitoring terminal through the data transceiver unit.

[0014] In a further preferred embodiment of the above scheme, the data processing unit performs quantization calculations on the center of gravity offset parameter, including the following steps:

[0015] Step S1: Obtain the force magnitude at the force-bearing points between the leaf springs 1 on both sides of the vehicle and the vehicle wheel axle, and assume that the width of the two force-bearing points O2 and O3 between the leaf springs 1 on both sides in the lateral direction is L, and the longitudinal length between the two force-bearing points O1 and O4 on the same leaf spring 1 is H.

[0016] Step S2: Using the force-bearing area S formed by O1, O2, O3, and O4, with the force-bearing point O2 as the origin, O2 and O3 as the abscissa, and O2O1 as the ordinate, calculate the weights W1, W2, W3, and W4 of the corresponding force-bearing points based on the magnitudes of the force-bearing points O1, O2, O3, and O4, and calculate the coordinates (Δx, y) of the center force-bearing point M of the vehicle.

[0017]

[0018] Step S3: Determine whether the coordinates (Δx,y) of the central force point M are located within the force-bearing area surface S. If they are located within the force-bearing area surface S, 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] In a further preferred embodiment of the above scheme, if the coordinates (Δx,y) of the central force point M are not located within the force-bearing area S, the current center of gravity position of the vehicle is used to determine whether it is overweight or in a state of severe deviation, 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 wheeled vehicles in real time, understand the center of gravity distribution and operation of wheeled vehicles, reduce the center of gravity shift or tail swing phenomenon during the movement of wheeled vehicles (trailers), ensure the safety and controllability of the vehicle during driving, prevent accidents from occurring, 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 data of the operation of wheeled vehicles in real time so as to make timely warnings in case of emergencies. For vehicles with large loads (trailers), it can detect and adjust the center of gravity of the trailer in real time and provide timely warnings and eliminate dangers, so as to make early judgments on the risk of side deviation and tail swing. Attached Figure Description

[0023] Figure 1 This is a system schematic diagram of a motion monitoring system for a wheeled vehicle according to the present invention;

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

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

[0026] Figure 4 This is a flowchart illustrating a motion monitoring and early warning method for a wheeled vehicle according to the present invention. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be 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 merely to provide the reader with a thorough understanding of one or more aspects of the invention, and these aspects of the invention can be implemented even without these specific details.

[0028] Combination Figure 1As shown, according to a motion monitoring system for a wheeled vehicle according to 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 acquire in real time the magnitude of the leaf spring force and the motion state parameters of the vehicle wheels during operation. The motion state parameters include, but are not limited to, vehicle attitude parameters, wheel acceleration, and wheel rotation speed. The data transceiver unit is used to receive the leaf spring force and the motion state parameters of the vehicle rotation and send them to the data processing unit. The data processing unit is used to perform quantitative calculations on the center of gravity offset parameters and motion state parameters. The vehicle offset judgment unit predicts the vehicle's motion based on the center of gravity offset parameters. To determine whether there is a current risk, the vehicle motion judgment unit compares and analyzes the motion state parameters processed by quantitative calculation with preset motion state parameters. Based on the comparison result, the vehicle motion judgment unit sends an alarm intervention signal to the vehicle monitoring terminal regarding the vehicle's operating status. In this invention, the data acquisition unit is also used to detect the distance between the vehicle and surrounding obstacles. If the vehicle motion judgment unit determines that the distance between the vehicle and surrounding obstacles is not greater than a preset safe distance, it compares and analyzes the current motion state parameters of the vehicle wheels with the preset motion state parameters to determine whether it is necessary to send an alarm intervention signal to the vehicle monitoring terminal to brake the vehicle.

[0029] In this invention, the motion judgment unit also obtains the direction of the center of gravity offset 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 a risk exists, an alarm intervention signal is sent to the vehicle monitoring terminal through the data transceiver unit. During the driving process of wheeled vehicles, especially during turning, lateral deviation may occur. The position of the center of gravity is determined based on the magnitude of the force on the leaf springs of the wheeled vehicle. Therefore, the direction of the vehicle's deviation can be known based on the center position. When the center of gravity deviation exceeds a preset value, the rotation parameters of the vehicle's wheels are determined based on the motion state parameters, and the driver is alerted to brake the vehicle to lower the vehicle's center of gravity. This avoids wheeled vehicle rollover accidents and improves operational safety.

[0030] In this invention, such as 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 Wi-Fi communication module; the data acquisition unit includes an attitude sensor, a laser rangefinder, a vision camera, a strain sensor located at the force-bearing position of the vehicle leaf spring 1, and a rotary encoder located on the vehicle wheel axle 2; the laser rangefinder is used to detect and sense the distance to pedestrians and obstacles around the vehicle to achieve obstacle avoidance. When an obstacle or pedestrian is sensed, the vehicle's dedicated operation control system is activated, and the front-view camera and rear-view camera located on the vehicle are used to view pedestrians, avoiding visual busy zones, thereby avoiding collisions with pedestrians. This invention assesses the safety of a wheeled vehicle by monitoring its motion parameters and the force on the leaf spring 1. By using these monitored parameters for braking and control, it prevents the semi-wheeled vehicle from veering off course, fishtailing, and colliding with obstacles, thus mitigating personal injury and property damage. In this invention, whether the wheeled vehicle is stationary or in motion, strain sensors detect the force on the leaf spring 1 to determine the vehicle's center position, cargo balance, and whether the cargo is overloaded or exceeds the maximum safe driving limit, providing suggestions for adjusting the cargo load. During dynamic parameter monitoring (in motion), an accelerometer senses the vehicle's speed and state, combined with the force on the leaf spring 1, to prevent lateral deviation and fishtailing during driving. Therefore, the system can sense the vehicle's posture (including forward tilt, backward tilt, left tilt, right tilt, rollover, and tipping over) in real time, whether the vehicle is stationary or in motion. In addition to wheeled vehicles (mid-axle or rear-axle semi-trailers or full trailers), the monitoring system of this invention can also be applied to vehicles with powered output wheels. It can also be widely used in AGVs, self-propelled forklifts, and wheeled robotic transporters. It can monitor trailers with heavy loads and high centers of gravity in real time, thereby predicting the risk of side slip and tail swing in advance. The data is transmitted in real time to the vehicle monitoring terminal at the driver's position of the wheeled vehicle via a short-range wireless communication module for display and interaction, and for braking control of the wheeled vehicle. The real-time monitored center of gravity offset parameters and motion state parameters are also sent to the central server set up in the background via a remote wireless communication module, so as to understand the relevant state parameters of the vehicle in real time.

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

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

[0033] The data processing unit performs quantization calculations on the center of gravity offset parameters, including the following steps:

[0034] Step S11: Obtain the force magnitude at the force points between the leaf springs 1 on both sides of the vehicle and the vehicle wheel axle 2, and assume that the width of the two force points O2 and O3 between the leaf springs 1 on both sides in the lateral 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: Using the force-bearing area S formed by O1, O2, O3 and O4, with the force-bearing point O2 as the origin, O2 and O3 as the abscissas and O3 and O4 as the ordinates, calculate the weights W1, W2, W3 and W4 of the corresponding force-bearing points based on the magnitudes of the force-bearing points O1, O2, O3 and O4. Calculate the coordinates (Δx, y) of the center force-bearing point M of the vehicle based on the weights W1, W2, W3 and W4 respectively.

[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 they are located within the force area surface S, 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 coordinates (Δx, y) of the central force point M (center of gravity) fall on 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, and the weight of the loaded cargo is too large, causing the vehicle's center of gravity to shift, the loaded cargo distribution will be unbalanced. Therefore, it is necessary to adjust the cargo loading distribution position to reduce the vehicle's deviation or tail-wagging phenomenon.

[0038] Step 2: Based on the center of gravity offset parameters, predict whether there is a risk to the vehicle. If there is a risk, compare the current motion state parameters with the preset motion state parameters. When the vehicle overturns to the left or right, the center of gravity of the vehicle also moves. When the center of gravity moves within the force-bearing area S, determine whether the vehicle is turning or braking suddenly based on the current motion state parameters. Adjust the braking to ensure the vehicle travels under reasonable conditions, thereby preventing the risk of the vehicle overturning 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 parameter, 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 terminal through the data transceiver unit. If the coordinates (Δx,y) of the center force point M are not located in the force area surface S, it is determined whether the vehicle is overweight or in a serious offset state by the current center of gravity position of the vehicle, and whether there is a risk based on the current motion state parameters.

[0041] In this invention, the rotational speed of the wheels is monitored by a rotary encoder. When the attitude sensor detects no change in the vehicle's operating parameters (when driving straight without turning), the output data is basically consistent with the output data of the rotary encoders monitoring the wheels on both sides of the vehicle. When oversteering occurs, the attitude sensor quickly senses the magnitude of the vehicle's attitude data. At the same time, a large difference appears in the data collected by the rotary encoder. When the attitude data collected by the attitude sensor and the data collected by the rotary encoders on both sides of the wheels do not match, the center of gravity (central force point M) is not located within the force area surface S. At this time, the vehicle slips or veers. For trailers where the vehicle is a tractor, when the data monitored by the attitude sensor undergoes short-term alternating positive and negative changes, it can be determined that the trailer is experiencing a fishtailing phenomenon.

[0042] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within 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 acquire the magnitude of the leaf spring force and the motion state parameters of the vehicle wheels during operation in real time. The data transceiver unit is used to receive the magnitude of the leaf spring force and the motion state parameters of the vehicle rotation and send them to the data processing unit. The data processing unit is used to quantify and calculate the center of gravity offset parameters and motion state parameters. The vehicle offset judgment unit predicts whether there is a risk to the vehicle based on the center of gravity offset parameters. The vehicle motion judgment unit compares and analyzes the quantified motion state parameters with preset motion state parameters, judges the vehicle's operating status based on the comparison results, and sends an alarm intervention signal to the vehicle monitoring terminal. The motion judgment unit also obtains the center of gravity offset direction based on 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 parameters processed by quantitative calculation. If there is a risk, an alarm intervention signal is sent to the vehicle monitoring terminal through the data transceiver unit to brake the vehicle. The data processing unit performs quantization calculations on the center of gravity offset parameters, including the following steps: Step S1: Obtain the force magnitude at the force points between the leaf springs on both sides of the vehicle and the vehicle wheel axle, and assume that the width of the two force points O2 and O3 between the leaf springs on both sides in the lateral 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: Using the force-bearing area S formed by O1, O2, O3 and O4, with the force-bearing point O2 as the origin, O2 and O3 as the abscissa and O2 and O1 as the ordinate, calculate the weights W1, W2, W3 and W4 of the corresponding force-bearing points according to the magnitudes of the force-bearing points O1, O2, O3 and O4, and calculate the coordinates (Δx, y) of the center force-bearing point M of the vehicle respectively. Step S3: Determine whether the coordinates (Δx,y) of the central force point M are located within the force area surface S. If they are located within the force area surface S, compare the motion state parameters processed by the current quantization calculation with the preset motion state parameters to determine whether there is a risk in the current operating state of the vehicle. If the coordinates (Δx,y) of the central force point M are not located within the force-bearing area S, then the current center of gravity position of the vehicle is used to determine whether it is overweight or in a state of severe deviation, and the motion state parameters processed by the current quantization calculation are used to determine whether there is a risk in the current operating state of the vehicle.

2. The motion monitoring system for a wheeled vehicle according to claim 1, characterized in that: The data acquisition unit includes an attitude sensor, a laser rangefinder, a vision camera, a strain sensor located at the stress position of the vehicle leaf spring, and a rotary encoder located on the vehicle wheel axle.

3. 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 surrounding obstacles. When the vehicle motion judgment unit determines that the distance between the vehicle and surrounding obstacles is not greater than a preset safe distance, it compares and analyzes the motion state parameters of the vehicle wheels currently being quantitatively calculated and processed with the preset motion state parameters to determine whether it is necessary to send an alarm intervention signal to the vehicle monitoring terminal to brake the vehicle.

4. 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 Wi-Fi communication module.

5. A monitoring and early warning method using a motion monitoring system for a wheeled vehicle as described in any one of claims 1 to 4, characterized in that: The monitoring and early warning method includes the following steps: Step 1: Real-time monitoring and collection of the leaf spring force and the current motion state parameters of the vehicle wheels during operation, and quantitative calculation of the center of gravity offset parameters and motion state parameters; Step 2: Based on the center of gravity offset parameters, predict whether the vehicle currently faces operational risks. If risks exist, compare the currently quantified 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.

6. The monitoring and early warning method for a motion monitoring system of a wheeled vehicle according to claim 5, 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 motion state parameters processed by the current quantization calculation. If there is a risk, an alarm intervention signal is sent to the vehicle monitoring terminal through the data transceiver unit.

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