CN112161699A - Resonance monitoring system and method for unmanned automobile - Google Patents
Resonance monitoring system and method for unmanned automobile Download PDFInfo
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- CN112161699A CN112161699A CN202010859754.8A CN202010859754A CN112161699A CN 112161699 A CN112161699 A CN 112161699A CN 202010859754 A CN202010859754 A CN 202010859754A CN 112161699 A CN112161699 A CN 112161699A
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 25
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- 238000010586 diagram Methods 0.000 claims abstract description 19
- 238000004891 communication Methods 0.000 claims abstract description 15
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- 238000013500 data storage Methods 0.000 claims description 9
- 210000005069 ears Anatomy 0.000 claims description 3
- 238000001514 detection method Methods 0.000 description 6
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H17/00—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves, not provided for in the preceding groups
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M7/00—Vibration-testing of structures; Shock-testing of structures
- G01M7/02—Vibration-testing by means of a shake table
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Abstract
A resonance monitoring system of an unmanned automobile comprises a vehicle-mounted central computer, a 5G communication module, an excitation source vibration signal acquisition device, a noise signal acquisition device, a vibration data acquisition module, a noise data acquisition module, a vibration signal processing module, a noise signal processing module, a vehicle-mounted processing module and a remote server terminal; the monitoring method is characterized in that a vehicle-mounted processing module compares a noise waveform diagram obtained after processing with vibration waveform diagrams of different excitation sources, and finds out the excitation source causing resonance, so that the excitation source is reported to a controller at a remote terminal, the controller can know the driving state of the automobile more fully, and meanwhile, the riding experience of passengers can be improved.
Description
Technical Field
The invention relates to the technical field of equipment monitoring and diagnosis, in particular to a resonance monitoring system of an unmanned automobile and a monitoring method thereof.
Background
In recent years, research on unmanned vehicles has been rapidly advanced, public acceptance has been increasingly improved, and test points have been opened in individual cities. However, due to the particularity of the unmanned automobile, problems of the automobile may not be found in time, and thus certain potential safety hazards exist. Moreover, since the panels of the vehicle have different natural frequencies, when the vehicle is excited by a large number of excitation sources and by a large number of external excitations, the components of the vehicle body may have the possibility of resonance, which greatly affects the riding experience and may also hurt the service life of the vehicle. Disclosure of Invention
In order to solve the problems, the invention provides a resonance monitoring system and a monitoring method of an unmanned automobile.
The invention is realized by the following technical scheme: a resonance monitoring system of an unmanned automobile comprises a vehicle-mounted central computer, a 5G communication module, an excitation source vibration signal acquisition device, a noise signal acquisition device, a vibration data acquisition module, a noise data acquisition module, a vibration signal processing module, a noise signal processing module, a vehicle-mounted processing module and a remote server terminal;
the excitation source vibration signal acquisition device comprises an excitation source and one or more vibration sensors, and the noise signal acquisition device is a group of sound level meters;
the sound level meters are symmetrically arranged on the seats in the vehicle and close to two sides of human ears;
the vibration data acquisition module and the noise data acquisition module respectively comprise a controller and a wireless transmitter, and the output end of the controller is respectively connected with the input end of the vibration sensor and the input end of the wireless transmitter;
the vibration signal processing module and the noise signal processing module respectively comprise a wireless transmission device, a processor and a data storage device, the vibration signal processing module receives data of the vibration data acquisition module through the wireless transmission device, the processor processes vibration signals, the data storage device is used for storing the data, the noise signal processing module receives the data of the noise data acquisition module through the wireless transmission device, the processor processes the noise signals, and the data storage device is used for storing the data;
the vehicle-mounted processing module comprises a vehicle-mounted central computer and a 5G communication module;
the remote server terminal includes a processor and a display device.
Further preferably, the vibration sensor is disposed on the excitation source.
And further optimizing, the vibration signal processing module processes the vibration signal and outputs a vibration oscillogram, and the noise signal processing module processes the vibration signal and outputs the vibration oscillogram.
A monitoring method of a resonance monitoring system of an unmanned automobile is characterized in that a vehicle-mounted processing module receives vibration signals acquired and processed by a vibration data acquisition module and a vibration signal processing module and noise signals acquired and processed by a noise signal acquisition device and a noise data acquisition module, the vibration signals are processed and compared by a vehicle-mounted central computer, and data are transmitted to a remote server terminal in real time through a 5G communication module.
Further optimization, the specific method for processing and comparing the vibration signals received by the vehicle-mounted processing module comprises the following steps: and the noise signal processing module processes the noise signal into a noise waveform image and transmits the noise waveform image to the vehicle-mounted processing module, the vehicle-mounted processing module monitors the noise waveform image, and if the sound pressure signal of the noise waveform image is suddenly increased by more than 30% and the duration t is more than 5s, the resonance phenomenon is determined to occur at the moment.
Further optimization, the specific method for processing and comparing the noise signals received by the vehicle-mounted processing module comprises the following steps: and the vehicle-mounted processing module respectively compares the noise waveform diagram with vibration waveform diagrams of different excitation sources, if the similarity between the noise waveform diagram and the vibration waveform diagrams is more than 80%, the excitation source is determined to be the excitation source causing resonance, and the result is uploaded to the remote server terminal through the 5G communication module and is alarmed.
Further optimization, the specific method for processing and comparing the noise signals received by the vehicle-mounted processing module comprises the following steps: and after the noise waveform diagrams are respectively compared with the vibration waveform diagrams of different excitation sources by the vehicle-mounted processing module, if the similarity is not higher than 80%, the excitation source causing the resonance is not detected or comes from an excitation source outside the vehicle, and the result is uploaded to the remote server terminal through the 5G communication module and is alarmed.
The invention has the beneficial effects that:
the invention can remotely monitor the running state of the unmanned automobile, timely find out whether the automobile generates resonance phenomenon, and find out the excitation source causing the resonance through comparison of the oscillogram, thereby reporting to the control personnel at the remote terminal, the control personnel can more fully know the running state of the automobile, and meanwhile, the riding experience of passengers can be improved.
Drawings
FIG. 1 is a block diagram of the system architecture of the present invention;
FIG. 2 is a flow chart of the detection and discrimination of the present invention;
FIG. 3 is a flow chart of resonance detection discrimination;
fig. 4 is an excitation source detection and discrimination flow.
Detailed Description
The technical solution of the present invention will be further explained by the following detailed description with reference to the accompanying drawings.
In order to make the objects, technical solutions and novel points of the present invention more clearly apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
A resonance monitoring system of an unmanned automobile comprises a vehicle-mounted central computer, a 5G communication module, an excitation source vibration signal acquisition device, a noise signal acquisition device, a vibration data acquisition module, a noise data acquisition module, a vibration signal processing module, a noise signal processing module, a vehicle-mounted processing module and a remote server terminal; the excitation source vibration signal acquisition device comprises an excitation source and one or more vibration sensors, and the vibration sensors are arranged on the excitation source; the noise signal acquisition device is a group of sound level meters which are symmetrically arranged on the seats in the vehicle and close to two sides of human ears, so that the sound level meters are used for detecting the sound level, and a series of judgments are carried out through data comparison to judge whether resonance noise enough to be felt by passengers occurs; the vibration data acquisition module and the noise data acquisition module respectively comprise a controller and a wireless transmitter, and the output end of the controller is respectively connected with the input end of the vibration sensor and the input end of the wireless transmitter; the vibration signal processing module and the noise signal processing module respectively comprise a wireless transmission device, a processor and a data storage device, the vibration signal processing module receives data of the vibration data acquisition module through the wireless transmission device, the processor processes vibration signals, the data storage device is used for storing the data, the noise signal processing module receives the data of the noise data acquisition module through the wireless transmission device, the processor processes the noise signals, and the data storage device is used for storing the data; the vehicle-mounted processing module comprises a vehicle-mounted central computer and a 5G communication module; the remote server terminal includes a processor and a display device.
The vibration signal processing module processes the vibration signal and outputs a vibration oscillogram, and the noise signal processing module processes the vibration signal and outputs the vibration oscillogram.
A monitoring method of a resonance monitoring system of an unmanned automobile specifically comprises the following steps:
detection of resonance phenomena: the method comprises the following steps that a noise signal processing module processes a noise signal into a noise waveform image and then transmits the noise waveform image to a vehicle-mounted processing module, the vehicle-mounted processing module monitors the noise waveform image, if the sound pressure signal of the noise waveform image is suddenly increased by more than 30% and the duration time t is more than 5s, the resonance phenomenon is determined to occur at the moment, an excitation source is further detected continuously, otherwise, the resonance phenomenon is determined not to occur, and the detection is finished;
detection of excitation source: the vehicle-mounted processing module respectively compares the noise waveform diagram with vibration waveform diagrams of different excitation sources, if the similarity between the noise waveform diagram and the vibration waveform diagrams is greater than 80%, the excitation source is determined to be an excitation source causing resonance, and the result is uploaded to the remote server terminal through the 5G communication module and is alarmed; if the similarity is not found to be higher than 80%, the excitation source causing the resonance is not detected or comes from an excitation source outside the vehicle, and the result is uploaded to the remote server terminal through the 5G communication module and an alarm is given.
It is further noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. A resonance monitoring system of an unmanned automobile comprises a vehicle-mounted central computer, a 5G communication module, an excitation source vibration signal acquisition device, a noise signal acquisition device, a vibration data acquisition module, a noise data acquisition module, a vibration signal processing module, a noise signal processing module, a vehicle-mounted processing module and a remote server terminal;
the excitation source vibration signal acquisition device comprises an excitation source and one or more vibration sensors, and the noise signal acquisition device is a group of sound level meters;
the sound level meters are symmetrically arranged on the seats in the vehicle and close to two sides of human ears;
the vibration data acquisition module and the noise data acquisition module respectively comprise a controller and a wireless transmitter, and the output end of the controller is respectively connected with the input end of the vibration sensor and the input end of the wireless transmitter;
the vibration signal processing module and the noise signal processing module respectively comprise a wireless transmission device, a processor and a data storage device, the vibration signal processing module receives data of the vibration data acquisition module through the wireless transmission device, the processor processes vibration signals, the data storage device is used for storing the data, the noise signal processing module receives the data of the noise data acquisition module through the wireless transmission device, the processor processes the noise signals, and the data storage device is used for storing the data;
the vehicle-mounted processing module comprises a vehicle-mounted central computer and a 5G communication module;
the remote server terminal includes a processor and a display device.
2. The method of claim 1, wherein the vibration sensor is disposed on the excitation source.
3. The monitoring method of the resonance monitoring system of the unmanned aerial vehicle as claimed in claim 1, wherein the vibration signal processing module processes the vibration signal and outputs a vibration waveform map, and the noise signal processing module processes the vibration signal and outputs a vibration waveform map.
4. The monitoring method of claim 1, wherein the vehicle-mounted processing module receives the vibration signals acquired and processed by the vibration data acquisition module and the vibration signal processing module and the noise signals acquired and processed by the noise signal acquisition device and the noise data acquisition module, processes and compares the vibration signals and the noise signals by the vehicle-mounted central computer, and transmits the data to the remote server terminal in real time through the 5G communication module.
5. The monitoring method of the resonance monitoring system of the unmanned vehicle as claimed in claim 4, wherein the specific method for processing and comparing the vibration signals received by the vehicle-mounted processing module comprises: and the noise signal processing module processes the noise signal into a noise waveform image and transmits the noise waveform image to the vehicle-mounted processing module, the vehicle-mounted processing module monitors the noise waveform image, and if the sound pressure signal of the noise waveform image is suddenly increased by more than 30% and the duration t is more than 5s, the resonance phenomenon is determined to occur at the moment.
6. The monitoring method of the resonance monitoring system of the unmanned vehicle as claimed in claim 4, wherein the specific method for processing and comparing the noise signal received by the vehicle-mounted processing module comprises: and the vehicle-mounted processing module respectively compares the noise waveform diagram with vibration waveform diagrams of different excitation sources, if the similarity between the noise waveform diagram and the vibration waveform diagrams is more than 80%, the excitation source is determined to be the excitation source causing resonance, and the result is uploaded to the remote server terminal through the 5G communication module and is alarmed.
7. The monitoring method of the resonance monitoring system of the unmanned vehicle as claimed in claim 4, wherein the specific method for processing and comparing the noise signal received by the vehicle-mounted processing module comprises: and after the noise waveform diagrams are respectively compared with the vibration waveform diagrams of different excitation sources by the vehicle-mounted processing module, if the similarity is not higher than 80%, the excitation source causing the resonance is not detected or comes from an excitation source outside the vehicle, and the result is uploaded to the remote server terminal through the 5G communication module and is alarmed.
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| CN202010859754.8A CN112161699A (en) | 2020-08-24 | 2020-08-24 | Resonance monitoring system and method for unmanned automobile |
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Cited By (2)
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| CN113670586A (en) * | 2021-08-18 | 2021-11-19 | 河南科技大学 | Noise and sound insulation detection device for automobile outer rearview mirror |
| CN115037827A (en) * | 2022-08-11 | 2022-09-09 | 荣耀终端有限公司 | Driving voltage adjusting method, electronic device and storage medium |
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