CN102069769B - Dangerous goods transport vehicle dynamic monitoring method and early warning device - Google Patents
Dangerous goods transport vehicle dynamic monitoring method and early warning device Download PDFInfo
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- CN102069769B CN102069769B CN201010594681A CN201010594681A CN102069769B CN 102069769 B CN102069769 B CN 102069769B CN 201010594681 A CN201010594681 A CN 201010594681A CN 201010594681 A CN201010594681 A CN 201010594681A CN 102069769 B CN102069769 B CN 102069769B
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Abstract
The invention relates to a dangerous goods transport vehicle dynamic monitoring method and an early warning device. The method comprises the following steps: (1) arranging the early warning device which comprises a collision, rollover and temperature and pressure early warning module, an early warning arithmetic and a threshold value; (2) acquiring the acceleration, the dip angle, the temperature/pressure and image signals of a goods wagon; (3) carrying out calculation on each signal and comparing the signal with the preset threshold value and sending out a corresponding alarm command; (4) displaying alarm information and sending the alarm information to a remote monitoring center through a global position system/general packet radio system (GPS/GPRS); (5) after the alarm is completed, returning to the step (2); and (6) carrying out real-time monitoring on a goods state and the alarm information by a driver through displaying. The corresponding early warning device comprises the GPS/GPRS, cameras, a card reader, a triaxial acceleration sensor, a display screen, an artificial alarm, a buzzing alarm, a temperature/pressure sensor, a dip angle sensor, a secure digital (SD) card storage and an electronic control unit which comprises a microprocessor. The collision, rollover and temperature and pressure early warning module is arranged in the microprocessor. The invention can be used for carrying out real-time monitoring on collision, rollover and temperature and pressure, thereby being beneficial to driving safety and rescue operation.
Description
Technical field
The present invention relates to a kind of vehicle monitoring method and prior-warning device, relate in particular to a kind of method and prior-warning device of realizing the real-time monitoring of hazardous material transportation vehicle dynamic.
Background technology
Along with The development in society and economy, dangerous material constantly occurs, and kind, the quantity of road hazard goods transport constantly increase, and the nature of danger of goods also becomes increasingly complex.With produce, to store link the same, the transit link of dangerous freight also more and more receives people's attention.Dangerous freight in the transportation is just as the potential danger source of flowing one by one, in the over-the-road transportation process, in case hazardous material transportation vehicle occurrence of traffic accident; Compare with common transport vehicle; Not only can cause the loss of personnel and property, and be afraid of characteristic such as bump, probably can cause second accidents such as leakage, blast because dangerous freight has that To Be Protected from Heat; Cause bigger harm and loss, even pollute the environment of periphery.
Dangerous freight control monitor unit function is perfect inadequately at present; Such as the monitoring that lacks chaufeur; Only vehicle collision is reported to the police, vehicle rollover is not reported to the police, only the leakage of goods is reported to the police; Can not realize goods landing, the real-time monitoring of losing etc., and have some problems at aspects such as the anti-interference resistance of method for early warning such as collision, rollover, threshold values.
Summary of the invention
To the problems referred to above, the purpose of this invention is to provide a kind of method and device that can carry out dynamic monitoring and early warning simultaneously to the chaufeur in the hazardous material transportation process, vehicle, goods.
For realizing above-mentioned purpose, the present invention takes following technical scheme: a kind of hazardous material transportation vehicle dynamic method for supervising may further comprise the steps:
1) a hazardous material transportation dynamic real-time monitor prior-warning device is set; Comprise acceleration pick-up, obliquity sensor, temperature/pressure sensor, camera, read-out, GPS/GPRS, SD card memory, card reader; With their electronic control unit that contains microprocessor of control; Be provided with the early warning module of collision, rollover, temperature and pressure in the said microprocessor, preset warning algorithm and threshold value in each early warning module;
2) picture signal of temperature/pressure signal, operator's compartment and the goods of the dip angle signal of the acceleration signal of collection lorry vehicle frame, lorry vehicle frame, goods, the signal of collection all stores the early warning module into;
3) the early warning module of said collision, rollover, temperature and pressure compares incoming signal and predetermined threshold value, sends corresponding alarm command, and abnormal signal and picture are stored;
4) alarm message shows at read-out, and is sent to remote monitoring center through the GPS/GPRS module;
5) after completion is reported to the police, return step 2;
6) chaufeur is monitored cargo state and alarm message in real time through read-out.
In the step 3), carry out according to the following steps about the identifying of collision:
1. sampling frequency is set;
2. gather the acceleration/accel of X, Y, three directions of Z;
3. carry out the A/D conversion;
4. filtering is less than the signal of 2g;
5. the signal greater than 2g calculates by three axial resultant acceleration collision warning algorithms, and compares with preset threshold, judges whether to bump;
6. not that 2. collision is returned;
7. be collision, judge crash type;
8. carry out early warning.
Said three axial resultant acceleration collision warning algorithm expression formulas are:
Wherein: S is three axial velocity composition product components, and n is a current point in time, and k is that sampling point is a window width, and ρ characterizes the weight of both direction acceleration/accel in composition algorithm, a for synthetic factor
x(i), a
y(i), a
z(i) be respectively vehicle heading, laterally and the acceleration/accel sampled value on the vertical direction.
The threshold value that sets is S
Th=0.2gs.
The recognition expression formula of said crash type is:
d|a
x(t)|/dt＞d|a
y(t)|/dt，
If relational expression is set up, and then is head-on crash; Otherwise be side collision.
In the step 3), carry out as follows about the identifying of rollover:
1. sampling frequency and bandwidth are set;
2. gather dip angle signal, carry out the A/D conversion;
3. judge that whether the interior dip angle signal of bandwidth is all greater than threshold value;
4. all greater than then reporting to the police, otherwise return 2..
In the step 3), temperature and pressure early warning process is judged as follows:
1. temperature alarming: first order alarming threshold value T
0For 40 ℃ of local historical high temperature, when highest temperature was higher than the carrier material flash-point, getting the material flash-point was alarming value T
0, the second stage is 1.5～2 times of first order alarming threshold value, the first order is an onsite alarming, need not report monitoring and control centre, the above online monitoring and control centre that reports simultaneously in the second stage;
2. pressure alarm: a high position is provided with two-stage, and first order alarming threshold value is container normal operating pressure upper limit P
180%, the second stage is the Vessel Design pressure P
280%, the first order is an onsite alarming, need not report monitoring and control centre, the second stage is above must the online monitoring and control centre that reports of while; The low level setting is at least one-level, and alarming threshold value is the lower limit P of normal operating pressure
0
A kind of hazardous material transportation vehicle dynamic monitoring early-warning device, it comprises GPS/GPRS, camera, card reader, 3-axis acceleration sensor, read-out, artificial warning, buzzing warning, temperature/pressure sensor, obliquity sensor, SD card memory, contains the electronic control unit of microprocessor; Said electronic control unit is above-mentioned each part of control linkage respectively; Be provided with the early warning module of collision, rollover, temperature and pressure in the said microprocessor, preset warning algorithm and threshold value in the early warning module.
Said 3-axis acceleration sensor is fixedly mounted on the body shell steel plate, and avoids that liquid overflows or the direct zone of splash; Said obliquity sensor is horizontally fixed on the vehicle centroid position, and therefore, obliquity sensor can be fixed on close positions with crash sensor, horizontal positioned; Said temperature/pressure sensor is installed in the container; Said camera is two, and one is installed in the trailer front end, and another is installed in operator's compartment, is fixed on close positions with 3-axis acceleration sensor, horizontal positioned.
Said electronic control unit adopts the MAX232 chip to carry out level conversion; Adopt the LM3S2948 chip to carry out digital to analogy conversion; Adopt AT45DB161 serial storage chip to carry out data logging; Adopt the FM24CL64 chip to carry out the doubtful point data logging in the driving process.
The present invention takes above technical scheme; It has the following advantages: 1, the present invention is based on the synthetic collision warning algorithm of 3-axis acceleration; Got rid of interference, realized effective warning of collision, can also differentiate crash type (front, rear-end impact and side collision).2, the present invention is based on the dynamic monitoring that obliquity sensor has been realized vehicle rollover, the early warning of can actv. turning on one's side is compared with gyroscope, has reduced equipment cost.3, the present invention is based on the temperature and pressure sensor, to goods temperature and pressure value and rate of change carried out monitoring and early warning.4, the present invention includes the SD card memory, can store error state information and pictorial information.5, camera and read-out have been installed by system, realize the dynamic monitoring of goods, and realize in the operator's compartment and the picture collection of goods through camera.Can also prevent missing package in the transportation.6, the over-the-road transportation of dangerous chemical should be equipped with the driver with this field headquarters fortune license, so integrated IC-card card reader interface in the monitoring system, through gathering IC-card validation of information driver identity and goods information.7, use GPS/GPRS, realize local early warning, satellite GPS location, long-range GPRS communication and remote real time monitoring, help traffic safety and salvage work.
Description of drawings
Fig. 1 is a system chart of the present invention;
Fig. 2 is a collision recognition algorithm flow chart of the present invention;
Fig. 3 a is that X, Y, Z under the standard washboard pavement operating mode is to accelerating curve;
Fig. 3 b is that X, Y, Z under the dislocation washboard pavement operating mode is to accelerating curve;
Fig. 3 c is that X, Y, Z under the operating mode of pebble pavement is to accelerating curve;
Fig. 3 d is that X, Y, Z under the operating mode of Block Road first road surface is to accelerating curve;
Fig. 3 e is that X, Y, Z under the operating mode of Block Road second road surface is to accelerating curve;
Fig. 3 f is that the X, Y, Z of collision is to accelerating curve;
Fig. 4 a is three resultant acceleration curves under the standard washboard pavement operating mode;
Fig. 4 b is three resultant acceleration curves under the dislocation washboard pavement situation;
Fig. 4 c is three resultant acceleration curves under the operating mode of pebble pavement;
Fig. 4 d is three resultant acceleration curves under the operating mode of Block Road first road surface;
Fig. 4 e is three resultant acceleration curves under the operating mode of Block Road second road surface;
Fig. 4 f is three resultant acceleration curves of collision;
Fig. 5 is of the present invention based on obliquity sensor rollover warning algorithm diagram of circuit;
Fig. 6 is a dangerous freight temperature alarming algorithm flow chart of the present invention;
Fig. 7 is a dangerous freight pressure alarm algorithm flow chart of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing and instance the present invention is carried out detailed description.
As shown in Figure 1, the inventive method may further comprise the steps:
1) a hazardous material transportation dynamic real-time monitor prior-warning device is set; It comprises acceleration pick-up, obliquity sensor, temperature/pressure sensor, camera, read-out, GPS/GPRS, SD card memory, card reader; With their electronic control unit that contains microprocessor of control; Be provided with the early warning module of collision, rollover, temperature and pressure in the said microprocessor, preset warning algorithm and threshold value in each early warning module;
2) picture signal of temperature/pressure signal, operator's compartment and the goods of the dip angle signal of the acceleration signal of collection lorry vehicle frame, lorry vehicle frame, goods, the signal of collection all stores the early warning module into;
3) the early warning module of said collision, rollover, temperature and pressure compares incoming signal and predetermined threshold value, sends corresponding alarm command, and abnormal signal and picture are stored;
4) alarm message shows at read-out, and is sent to remote monitoring center through the GPS/GPRS module;
5) after completion is reported to the police, return step 2;
6) chaufeur is monitored cargo state and alarm message in real time through read-out.
In the step 3), the identifying of said collision is as shown in Figure 2, carries out according to the following steps:
1. sampling frequency is set;
2. gather the acceleration/accel of X, Y, three directions of Z;
3. carry out the A/D conversion;
4. filtering is less than the signal of 2g;
5. the signal greater than 2g calculates by three axial resultant acceleration collision warning algorithms, and compares with preset threshold, judges whether to bump;
6. not that 2. collision is returned;
7. be collision, judge crash type;
8. carry out early warning.
Here, collision algorithm is to have used for reference the two-way resultant acceleration algorithm of known air bag, has constructed three axial resultant acceleration collision warning algorithms.
The strong similar correlativity that the two-way resultant acceleration algorithm of air bag utilizes bidirectional acceleration signal in the interference of road surface breaks through the restriction that traditional algorithm is only considered the horizontal direction acceleration/accel, the synthetic airbag control algorithm of structure bidirectional acceleration, and the expression formula of algorithm is following:
Wherein: S is three axial velocity composition product components, and n is a current point in time, and k is that sampling point is a window width, and ρ characterizes the weight of both direction acceleration/accel in composition algorithm, a for synthetic factor
x(i), a
z(i) be respectively acceleration/accel sampled value on vehicle heading, the vertical direction.
Because accident between vehicle, i.e. the accident of vehicle and vehicle collision is divided into head-on crash, rear-end impact, side collision, the collision of the contact-type when overtaking other vehicles and the side collision when turning is arranged etc. when turning greatly.The acceleration characteristic of multi-form collision is different, and vehicle its forms of collision in the process of moving is unknown, and two-way resultant acceleration algorithm is an actv. to collision on a certain direction, and may be weaker for the determine effect of other direction.Therefore the present invention is through installing three-axis acceleration sensor on the hazardous material transportation vehicle; Acceleration/accel on three directions of extraction vehicle ' process also carries out three-dimensional and synthesizes; With the resultant acceleration value with preestablish threshold value and compare and judge vehicle collision accident; And then judge the collision that belongs to which kind of form, make algorithm have more practicality.
Three axial resultant acceleration collision warning algorithm expression formulas are following:
In the formula (2): a
x(i), a
y(i), a
z(i) be respectively vehicle heading, laterally and the acceleration/accel sampled value on the vertical direction.
Here, the collision threshold value is to confirm that through the real train test signal three axial acceleration synthesizes threshold value.As shown in Figure 3, for seeking optimal threshold, test has been carried out analysis and computing to a large amount of acceleration informations, is the different accelerating curves that disturb road surface and collision among the figure.Can find out that by Fig. 3 curve acceleration peak value all is no more than 2g on the interference road surface, therefore the collision peak value for reducing the calculated amount of treater, will leach greater than the acceleration/accel of 2g then much larger than 2g, does not calculate.
After X, Y, Z three axial acceleration were synthesized, various ground-surface resultant acceleration curves were as shown in Figure 4.Can find out that by Fig. 4 head-on crash process three axial resultant accelerations are much larger than disturbing the road surface resultant acceleration.Therefore, through analyzing above-mentioned data and curves, set collision warning threshold value S
Th=0.2gs.This alarm threshold value must should satisfy and under the non-collision situation, not send wrong report in assignment procedure, also will when collision, accurately send alerting signal.
After judging whether to collision, also to further judge it is the collision of which kind of type, the present invention provides the recognition expression formula of crash type to be:
D|a
x(t) |/dt＞d|a
y(t) |/dt if relational expression is set up, then is a head-on crash; Otherwise be side collision.
Can draw by Fig. 3 f; When vehicle generation head-on crash; Cause the anterior distortion of vehicle frame absorb can, impact directly passing to sensor tempestuously by vehicle frame, form the precipitous acceleration/accel forward position of travel direction (X to); Go up with laterally (Y to) simultaneously and produce irregular trembling in vertical direction (Z axle), thus form Y to Z to yo-yo acceleration signal.During vehicle generation head-on crash, its X axle acceleration wants fast with respect to Y axle acceleration pace of change, and relatively acceleration change speed (being acceleration ramp) can be judged the vehicle collision form.
In the step 3), said rollover early warning process is as shown in Figure 5, carries out as follows:
1. sampling frequency and bandwidth are set;
2. gather dip angle signal, carry out the A/D conversion;
3. judge that whether the interior dip angle signal of bandwidth is all greater than threshold value;
4. all greater than then reporting to the police, otherwise return 2..
Process finds that to the dip angle signal analysis vibration, acceleration and deceleration, turning etc. are very big to the dip angle signal influence, but for arbitrary interfering signal; When interference exists, influential to dip angle signal, after interference disappears; Influence to dip angle signal disappears, and the inclination angle value reverts to exact value.
Analyze in the vehicle operating process and cause that the inclination angle value is greater than setting threshold θ
MaxThe duration T of interfering signal
0, confirm a sampling time section W＞T
0, to the θ of W in the time
nValue is if interfering signal, then at W θ in the time
nExistence is less than the point of threshold value, when all values during all greater than threshold value, thinks that vehicle is in the hole, reports to the police.
In order to improve the real-time of warning, W chooses should be as much as possible little.Analysis causes that DIP is greater than θ
MaxX, Y, Z directional acceleration value, according to its duration T
0, confirm W＞T
0
When the vehicle side inclination angle greater than θ
MaxTime surpass W second, though do not turn on one's side sometimes (like tempo turn) thinks that also vehicle is in the hole, carry out early warning, remind the chaufeur reduction speed of a motor vehicle, do not belong to wrong report.
In the step 3), said temperature and pressure early warning process is judged as follows:
To the early warning of hazardous material transportation tank car medium temperature and pressure, the main early warning that realizes fire, blast and the leakage of tank body.According to the physics and the chemical nature of dangerous freight, adopt fixed gate limit value alarm algorithm, be divided into two-stage respectively according to big young pathbreaker's temperature and pressure of threshold value and report to the police.Below describe respectively:
As shown in Figure 6, temperature alarming: first order alarming threshold value T
0For 40 ℃ of local historical high temperature, when highest temperature was higher than the carrier material flash-point, getting the material flash-point was alarming value T
0The second stage is 1.5～2 times of first order alarming threshold value, is (1.5～2) T
0The first order is an onsite alarming, need not report monitoring and control centre, the above online monitoring and control centre that reports simultaneously in the second stage.
As shown in Figure 7, a pressure alarm high position is provided with two-stage: first order alarming threshold value is container (tank body) normal operating pressure upper limit P
180%, the second stage is the Vessel Design pressure P
280%, the first order is an onsite alarming, promptly only gives chaufeur with information warning, need not report monitoring and control centre, the second stage is above must the online monitoring and control centre that reports of while.Low level is provided with one-level at least, and alarming threshold value is the lower limit P of normal operating pressure
0
As shown in Figure 1, prior-warning device provided by the invention comprises GPS/GPRS1, first camera 2, second camera 3, card reader 4,3-axis acceleration sensor 5, read-out 6, artificially reports to the police 7, buzzing is reported to the police 8, temperature/pressure sensor 9, obliquity sensor 10, SD card memory 11, contain the electronic control unit ECU 12 of microprocessor; Be provided with the early warning module of collision, rollover, temperature and pressure in the microprocessor, warning algorithm and threshold value are arranged in the early warning module; Electronic control unit ECU 12 is above-mentioned each part of control linkage respectively.
3-axis acceleration sensor 5 sense acceleration signals also flow to ECU, and signal is 3 tunnel analog signals.
3-axis acceleration sensor 5 should be installed on the body shell steel plate, is installed in the place near the welding of two block plates as far as possible, under the high speed vibration situation, causes flase alarm to avoid vehicle; 3-axis acceleration sensor 5 is answered fixed-direction and angle, and will guarantee to have enough spatial operations and reseting sensor again; The zone that liquid overflows or have the direct splash of water should be avoided in 3-axis acceleration sensor 5 installation sites.
The temperature, pressure signal that temperature/pressure sensor 9 detects goods also flows to ECU, and signal is 2 tunnel analog signals, and temperature/pressure sensor is installed in the container (tank body).
Read-out 6 is installed in the operator's compartment, is convenient to the position that chaufeur is watched, and read-out can be realized the switching of two camera videos, simultaneously display alarm information.
Two 2,3, one of cameras are installed in the trailer front end, realize the dynamic demonstration and the picture collection of trailer, and one is installed in operator's compartment, realize the collection of operator's compartment picture; The inclination angle can be fixed on close positions with 3-axis acceleration sensor 5, horizontal positioned.
The UART circuit of above-mentioned ECU adopts the MAX232 chip to carry out level conversion, and interface uses DB9, and wherein 2,3 pins can connect gyro, and 7,8 pins are reserved, and 1 pin is peripheral hardware power supplies such as gyroscope, and available wire jumper is selected 5V or 12V, and 5 pins are ground.Also comprise main control chip LM3S2948 among the ECU, have the digital to analogy conversion interface of 8 tunnel 10 precision; Also comprise AT45DB161 serial storage chip, record running car data, when USB flash disk insertion system USB interface, data write USB flash disk automatically, and this chip links to each other with main control chip through the SPI mouth; Also comprise the FM24CL64 chip, use the doubtful point data in the ferroelectric formula storage chip FM24CL64 record driving process, this chip links to each other with main control chip through the I2C interface.
The above be merely the specific embodiment of the present invention, but protection scope of the present invention is not limited thereto; The structure of each parts, the position is set and connection, vehicle parameter and threshold value all can change to some extent; Any technical personnel of being familiar with the present technique field can be expected changing or replacement, on the basis of technical scheme of the present invention in the technical scope that the present invention discloses easily; To improvement and the conversion that individual component is carried out, all should be within protection scope of the present invention.
Claims (5)
1. hazardous material transportation vehicle dynamic method for supervising, it may further comprise the steps:
1) a hazardous material transportation dynamic real-time monitor prior-warning device is set; Comprise acceleration pick-up, obliquity sensor, temperature/pressure sensor, camera, read-out, GPS/GPRS, SD card memory, card reader; With their electronic control unit that contains microprocessor of control; Be provided with the early warning module of collision, rollover, temperature and pressure in the said microprocessor, preset warning algorithm and threshold value in each early warning module;
2) picture signal of temperature/pressure signal, operator's compartment and the goods of the dip angle signal of the acceleration signal of collection lorry vehicle frame, lorry vehicle frame, goods, the signal of collection all stores the early warning module into;
3) the early warning module of said collision, rollover, temperature and pressure compares incoming signal and predetermined threshold value, sends corresponding alarm command, and abnormal signal and picture are stored;
4) alarm message shows at read-out, and is sent to remote monitoring center through the GPS/GPRS module;
5) after completion is reported to the police, return step 2;
6) chaufeur is monitored cargo state and alarm message in real time through read-out;
In the said step 3), carry out according to the following steps about the identifying of collision:
1. sampling frequency is set,
2. gather the acceleration/accel of X, Y, three directions of Z,
3. carry out the A/D conversion,
4. filtering is less than the signal of 2g,
5. the signal greater than 2g calculates by three axial resultant acceleration collision warning algorithms, and compares with preset threshold, judge whether to bump,
6. not that 2. collision is returned,
7. be collision, judge crash type;
8. report to the police;
Wherein said three axial resultant acceleration collision warning algorithm expression formulas are:
S is three axial velocity composition product components, and n is a current point in time, and k is that sampling point is a window width, and ρ characterizes the weight of both direction acceleration/accel in composition algorithm, a for synthetic factor
x(i), a
y(i), a
z(i) be respectively vehicle heading, laterally and the acceleration/accel sampled value on the vertical direction.
2. hazardous material transportation vehicle dynamic method for supervising as claimed in claim 1 is characterized in that: the collision threshold value that sets is S
Th=0.2gs.
3. hazardous material transportation vehicle dynamic method for supervising as claimed in claim 1 is characterized in that: the recognition expression formula of said crash type is:
d|a
x(t)|/dt＞d|a
y(t)|/dt，
If relational expression is set up, and then is head-on crash; Otherwise be side collision.
4. hazardous material transportation vehicle dynamic method for supervising as claimed in claim 1 is characterized in that: in the said step 3), carry out as follows about the identifying of rollover:
1. sampling frequency and bandwidth are set;
2. gather dip angle signal, carry out the A/D conversion;
3. judge that whether the interior dip angle signal of bandwidth is all greater than threshold value;
4. all greater than then reporting to the police, otherwise return 2..
5. hazardous material transportation vehicle dynamic method for supervising as claimed in claim 1 is characterized in that: in the said step 3), temperature and pressure early warning process is judged as follows:
1. temperature alarming: first order alarm threshold value T
0For 40 ℃ of local historical high temperature, when highest temperature was higher than the carrier material flash-point, getting the material flash-point was alarming value T
0, the second stage is 1.5～2 times of first order alarm threshold value, the first order is an onsite alarming, need not report monitoring and control centre, the above online monitoring and control centre that reports simultaneously in the second stage;
2. pressure alarm: a high position is provided with two-stage, and first order alarm threshold value is the upper limit P of container normal operating pressure 0.8
1, the second stage is the Vessel Design pressure P
280%, the first order is an onsite alarming, need not report monitoring and control centre, the second stage is above must the online monitoring and control centre that reports of while; The low level setting is at least one-level, and alarm threshold value is the lower limit P of normal operating pressure
0
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