CN107176098A - A kind of poor automatic monitoring warning device in blind area of lubrication groove and control method - Google Patents
A kind of poor automatic monitoring warning device in blind area of lubrication groove and control method Download PDFInfo
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- CN107176098A CN107176098A CN201710557434.5A CN201710557434A CN107176098A CN 107176098 A CN107176098 A CN 107176098A CN 201710557434 A CN201710557434 A CN 201710557434A CN 107176098 A CN107176098 A CN 107176098A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
- B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention discloses a kind of poor automatic monitoring warning device in blind area of lubrication groove, including：Motor, it is arranged on vehicle body right side front wheel, trailing wheel top, and the motor is provided with transmission mechanism；Sensor arm, its rear end is connected with the transmission mechanism, and front end is hinged with bodywork surface；Infrared photoelectric sensor, it is fixedly connected with the front end of the sensor arm；Microcontroller, it is by controlling circuit to connect the motor.The poor automatic monitoring warning device in blind area of lubrication groove that the present invention is provided, can be in vehicle turns right, the poor dead zone information of monitoring lubrication groove, and send warning information when finding dangerous in real time.Simultaneously, present invention also offers a kind of control method based on BP neural network, its lubrication groove that can be every time turned right according to vehicle difference blind area is different, adjusts the angle of infrared ray sensor, the acquisition range of infrared ray sensor is set to cover the poor blind area of whole lubrication groove, to provide more accurately warning information.
Description
Technical field
The invention belongs to technical field of automotive electronics, more particularly to a kind of poor automatic monitoring warning device in blind area of lubrication groove and control
Method processed.
Background technology
In recent years, developing rapidly with China's economy, China turns into qualified automobile superpower.But automobile
Increase and also bring more traffic accidents, the accident of wherein oversize vehicle be cause major traffic accidents main cause it
One.Lubrication groove difference refers to the difference of the radius of turn of the preceding lubrication groove of Ackermann steer angle and the radius of turn of rear lubrication groove.Due to lubrication groove difference
In the presence of Ackermann steer angle, the movement locus of forward and backward wheel is misaligned.In driving if only note front-wheel can by and forget
Remember that lubrication groove is poor, it is possible to cause rear lubrication groove to roll road surface or the accident collided with other objects away from.
Truck is higher due to vehicle body, and driver is sitting on the driver's seat on the left side, and its easy generation vision is blind when vehicle is turned right
Area, and only with backsight sem observation right back, visual range is limited, the vehicle that its car body is easily run at high speed with fast lane occurs
Collision；Due to bogie, in right turn to there is larger lubrication groove poor, add driver sometimes get the wrong sow by the ear, careless and inadvertent, load-carrying
Very likely with non-motor vehicle side impact occurs for car.Therefore, when vehicle is turned right, the early warning that the poor blind area of lubrication groove is carried out to driver is ten
Divide necessary.The poor prior-warning device of existing lubrication groove uses camera mostly, the poor blind area of collection lubrication groove such as sensor with the presence or absence of vehicle,
The obstacle informations such as pedestrian, and driver is reminded.But because vehicle steering angle is different, lubrication groove difference blind zone position also can be corresponding
Change, because sensor radiation is limited in scope, if can cause some positions can not spoke in fixed position install sensor
It is mapped to, causes collection information deviation occur.In addition, certain mistake occurs in the theoretical lubrication groove difference derived using the poor geometrical model of lubrication groove
Difference, therefore, the angle of control infrared ray sensor, is very necessary to cover the poor blind area of whole lubrication groove in real time.
The content of the invention
, can be in vehicle turns right it is an object of the invention to provide a kind of poor automatic monitoring warning device in blind area of lubrication groove
When, the poor dead zone information of monitoring lubrication groove, and warning information is sent when finding dangerous in real time.
It is a further object to provide a kind of control method based on BP neural network, it can be each according to vehicle
The poor blind area of the lubrication groove of right-hand bend is different, adjusts the angle of infrared ray sensor, covers the acquisition range of infrared ray sensor
The whole poor blind area of lubrication groove, to provide more accurately warning information.
The technical scheme that the present invention is provided is：
Steering wheel angle sensor；
Infrared photoelectric sensor rotating mechanism, it includes：
Motor, it is arranged on vehicle body right side front wheel, trailing wheel top, and the motor is provided with transmission mechanism；
Sensor arm, its rear end is connected with the transmission mechanism, and front end is hinged with bodywork surface；
Infrared photoelectric sensor, it is fixedly connected with the front end of the sensor arm；
Microcontroller, it connects the steering wheel angle sensor and by controlling circuit to connect the motor.
Preferably, the transmission mechanism uses gear ＆ rack structure.
Preferably, the rear end of the sensor arm is fixedly connected with the rack of transmission mechanism.
Preferably, the poor automatic monitoring warning device in blind area of the lubrication groove also includes alarm module, and it sets close to instrument board
Put and connect the microprocessor, the alarm module includes：
Chinese fonts lcd module, it uses 12864 LCDs with Chinese word library；
Voice warning module, it is using the serial recording and playback ics of ISD0；
Photoelectricity alert module, it uses high-brightness light emitting diode as warning lamp.
Preferably, the infrared photoelectric sensor uses reflective photoelectric sensor.
Preferably, the microcontroller uses STM32F103RCT6 type single-chip microcomputers.
Preferably, the poor automatic monitoring warning device in blind area of the lubrication groove also includes power module, and it uses AMS1117-
5.0 and L6932-3.3 chips carry out voltage stabilizing and go out voltage needed for 5V and 3.3V both systems.
The control method of the poor automatic monitoring warning device in blind area of a kind of lubrication groove, it is characterised in that when vehicle turns right
The angle information transmitted according to steering wheel angle sensor, vehicle min. turning radius, vehicle wheel base, vehicle wheelbase is based on
BP neural network regulates and controls to the infrared photoelectric sensor angle of the forward and backward side of vehicle, comprises the following steps：
Step 1: successively by vehicle wheel base l, vehicle wheelbase s, vehicle min. turning radius r, steering wheel sensor turns
Standardized to angle, θ, determine input layer vector x={ x of three layers of BP neural network1,x2,x3,x4}；Wherein, x1For vehicle
Wheel base coefficient, x2For vehicle wheelbase coefficient, x3Vehicle min. turning radius coefficient, x4For steering wheel sensor steering angle
Coefficient；
Step 2: the input layer DUAL PROBLEMS OF VECTOR MAPPING is to intermediate layer, the intermediate layer vector y={ y1,y2,…,ym}；During m is
Interbed node number；
Step 3: obtaining output layer vector z={ z1,z2}；Wherein, z1Adjusted for vehicle front side infrared photoelectric sensor angle
Save coefficient, z2Vehicle rear-side infrared photoelectric sensor angular adjustment coefficient, makes
αi+1=z1 iαmax,
βi+1=z2 iβmax,
Wherein, z1 i、z2 iRespectively ith sample cycle output layer vector parameter, αmax、βmaxThe vehicle respectively set
Maximum angle, the maximum angle of vehicle rear-side infrared photoelectric sensor, α of front side infrared photoelectric sensori+1、βi+1Respectively
Angle, the angle of vehicle rear-side infrared photoelectric sensor of vehicle front side infrared photoelectric sensor during i+1 sampling period；With
And
In the step one, by vehicle wheel base l, vehicle wheelbase s, vehicle min. turning radius r, steering wheel sensing
Device steering angle θ carries out normalization progress normalization formulae：
Wherein, xjFor the parameter in input layer vector, XjRespectively parameter l, s, r, θ, j=1,2,3,4；XjmaxAnd Xjmin
The respectively maximum and minimum value of relevant parameter.
Preferably, in the step 3, under initial operating state, the angle of vehicle front side infrared photoelectric sensor,
The angle of vehicle rear-side infrared photoelectric sensor, meets empirical value：
α0=0.85 αmax,
β0=0.67 βmax,
Wherein, α0、β0The respectively initial angle of vehicle front side infrared photoelectric sensor, vehicle rear-side infrared photoelectric sensing
The initial angle of device；αmax、βmaxThe maximum angle of the vehicle front side infrared photoelectric sensor respectively set, vehicle rear-side are infrared
The maximum angle of photoelectric sensor.
The beneficial effects of the invention are as follows：The poor automatic monitoring warning device in blind area of lubrication groove that the present invention is provided, can be in vehicle
When bending to right, the poor dead zone information of monitoring lubrication groove, and warning information is sent when finding dangerous in real time.Meanwhile, the present invention is also carried
A kind of control method based on BP neural network is supplied, its lubrication groove that can be every time turned right according to vehicle difference blind area is different, adjustment
The angle of infrared ray sensor, makes the acquisition range of infrared ray sensor cover the poor blind area of whole lubrication groove, more accurate to provide
Warning information.
Brief description of the drawings
Fig. 1 is that the infrared photoelectric sensor rotating mechanism of the poor automatic monitoring warning device in blind area of lubrication groove of the present invention shows
It is intended to.
Fig. 2 is the poor automatic monitoring warning device module connection diagram in blind area of lubrication groove of the present invention.
Fig. 3 is the poor automatic monitoring warning device workflow schematic diagram in blind area of lubrication groove of the present invention.
Fig. 4 is the pin distribution schematic diagram of microcontroller of the present invention.
Fig. 5 is the overall architecture of the poor automatic monitoring warning device in blind area of lubrication groove of the present invention.
Embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings, to make those skilled in the art with reference to specification text
Word can be implemented according to this.
As Figure 1-4, the invention provides a kind of poor automatic monitoring warning device in blind area of lubrication groove, it can be according to vehicle
Steering angle is different, adjusts the angle of infrared ray sensor.Meanwhile, infrared ray sensor is collected into warning information is included in
On literary LCDs, and voice and light flash warning are carried out, and when accident occurs in turn inside diameter, will through GSM network
The information such as user geographical position and time is sent to traffic police Surveillance center in the form of short message.Automatically supervise the poor blind area of the lubrication groove
Surveying prior-warning device includes steering wheel angle sensor, and it connects microcontroller 110, and the steering wheel angle sensor turns in vehicle
To when wheel steering angle signal is transferred to microcontroller 110；Microcontroller 110 uses STM32F103RCT6 type monolithics
Machine.Motor 120, it is arranged on vehicle body right side front wheel, above trailing wheel and with by controlling circuit and microcontroller 110 to connect
Connect, motor 120 is provided with transmission mechanism, the transmission mechanism includes roller gear 121 and rack 122；Sensor arm 130,
Its rear end is fixedly connected on rack 122, and front end is hinged with bodywork surface；Infrared photoelectric sensor 140, itself and sensor arm
130 front end is fixedly connected.When vehicle turns right, steering wheel angle signal is transferred to micro-control by steering wheel angle sensor
Device 110 processed, microcontroller 110 send signal to the motor control circuit, start and control motor 120 drive with
The rack 122 that roller gear 121 is meshed does transverse movement, so as to drive before the sensor arm 130 being fastened with rack 122
End is hinged basic point rotation around itself and bodywork surface, and then drives infrared photoelectric sensor 140 to be rotated around the basic point.Sensor arm
130 be telescopic structure, when the corner of infrared photoelectric sensor 140 is larger, sensor arm 130 extends therewith, when infrared
When the corner of photoelectric sensor 140 is smaller, sensor arm 130 shortens.
Infrared photoelectric sensor 140, its main function is when lorry is turned, in " blind area " region, to obstacle
Thing (pedestrian, vehicle etc.) produces induced signal, and signal then is delivered into microcontroller 110 and carries out judgement processing.Infrared light fax
Sensor 140 uses reflective photoelectric sensor, and it has a pair of Infrared emitting and receiving pipes, and transmitting tube launches certain frequency
Infrared ray, when detect direction run into barrier (reflecting surface) when, infrared reflection returns to be received by reception pipe, by comparator
After processing of circuit, green indicating lamp can be lighted, synchronous signal output interface output digit signals (low level signal).Goods
Chinese herbaceous peony side infrared photocell data pin connects the PC0 pins of microcontroller, and is set to hopping edge external interrupt；It is red on rear side of lorry
Outer photoelectric tube data pin connects the PC1 pins of microcontroller, and is set to hopping edge external interrupt, hinders when having pedestrian, vehicle etc.
When hindering thing in sensor detection range, skip signal can be exported, triggering microcontroller 110 receives sensing data.
Connection breaking chinese liquid crystal display screen 150 in microcontroller 110, microcontroller 110 gathers infrared electric transducer 140
The signal reflected carries out computing, processing, and warning message transmission is sent on chinese liquid crystal display screen 150.Chinese liquid crystal
Show that module 150 uses 12864 LCDs with Chinese word library, the safe feelings of blind area on front side of lorry can be shown in lines
The security situation of blind area on rear side of condition, lorry.If it is blind that lorry enters lubrication groove difference during turning apart from barriers such as pedestrians
Area, system can on liquid crystal display display alarm information.
Voice warning module 160 is using the serial recording and playback ics of ISD0.It can be in 4K to 12K with Multitake recording, sample rate
Between adjust, supply district can be in 2.4V between 5.5V.The data of connection breaking phonic warning module 160 in microcontroller 110
Pin, in the case of pedestrian is detected in generation lorry turning blind area, can make system carry out field speech to driver in time
Alarm prompt：" note, lorry is turned dangerous！”
Photoelectricity alert module 170 connects microcontroller 110, and it uses high-brightness light emitting diode as warning lamp, passes through light
Lighting it is bright come further to point out driver now to turn dangerous.
Power module 180, its use AMS1117-5.0 and L6932-3.3 chips to go out 5V and 3.3V come voltage stabilizing both are
Voltage needed for system.
The poor automatic monitoring warning device in blind area of the lubrication groove also includes the GMS automatic alarms module 190 based on GPS location,
It uses SIM300GSM modules as wireless telecommunication interface equipment.The SIM card holder of inside modules integration standard, so may be used
To facilitate user's SIM card, access network controls gsm module and car owner by computer or single-chip microcomputer using AT command set
Mobile phone is communicated.Microcontroller 110 drives GSM automatic alarms module 190 using serial ports.GMS automatic alarms module 190 connects
The vibrating sensor that lorry in-car is installed is connect, it passes through a NOT gate output digit signals.When there is no vibration signal, sensor
Conducting, NOT gate input is high level, non-reverse behind the door by TTL, so output end is low level, is passed when there is vibration signal
Sensor ends, and NOT gate input is low level, output end excessively reversely after be high level, and time of vibration is longer, and sensor is cut
Only the time also increases.The PA2 interfaces connection of the vibrating sensor and single-chip microcomputer, enters data into microcontroller 110.It is micro-
The P1 mouths of controller 110 as alarm signal output end because P1 mouthfuls be by I/0 bidirectional static interfaces, with output lock
Deposit function, the convenient control that alarm is realized by software.
When the vibration monitor does not export digital pulse signal, microcontroller 110 just circulates in main program always.Shake
During dynamic monitor output digital pulse signal, the program of microcontroller 110 just jumps to interruption subroutine EXT0 execution, and triggering GPS determines
Position system detectio alert locations, the current location information that GPS positioning system is exported is by GMS automatic alarms module 190 with information
Mode is sent to traffic department, is alarmed.
The poor automatic monitoring warning device in blind area of the lubrication groove also includes AccessPort modular circuit 210, by serial ports, can be with
Variable, gsm module returning result, implementing result of observation etc. will be needed to print on upper computer software in software program, so
It can more be fully understood by software execution flow journey, accelerate writing and stably for software.
As shown in figure 5, the present invention provides lubrication groove the poor automatic monitoring warning device in blind area, with microcontroller (STM32 monolithics
Machine) it is core, carry out front end signal using infrared photoelectric sensor gathers in real time, because lorry wants right side to turn, therefore, in goods
An infrared photoelectric sensor is respectively installed in forward and backward position on the right side of car, enters when having car or pedestrian due to being taken charge of caused by lubrication groove difference
During machine " blind area " region, the signal that 2 infrared photoelectric sensor collections are reflected send microcontroller to carry out computing, place
Reason.Warning message is included on chinese liquid crystal display screen, and carries out voice and light flash warning, to remind driver to danger
Situation is judged in advance.If accident occurs in turn inside diameter, the vibrating sensor on vehicle can pass collision alarm
To microcontroller, GPS module receives the satellite-signal from gps antenna unit, by processing obtain user geographical position and
Information such as time, and send into gsm module, then by GSM antenna transmitting through gsm wireless communication network by user geographical position and time
Traffic police Surveillance center is sent in the form of short message etc. information.
Present invention also offers a kind of control method of the poor automatic monitoring warning device in blind area of lubrication groove, work as vehicle turns right
When the angle information that is transmitted according to steering wheel angle sensor, vehicle min. turning radius, vehicle wheel base, vehicle wheelbase base
The infrared photoelectric sensor angle of the forward and backward side of vehicle is regulated and controled in BP neural network, following steps are specifically included：
Step 1: setting up BP neural network model；
The BP network architecture that the present invention is used is by up of three layers, and first layer is input layer, common n node, corresponds to
N detection signal of equipment working state is represented, these signal parameters are provided by data preprocessing module.The second layer is hidden layer,
Common m node, is determined in an adaptive way by the training process of network.Third layer is output layer, common p node, by system
Be actually needed output in response to determining that.
The mathematical modeling of the network is：
Input layer vector：X=(x1,x2,…,xn)T
Intermediate layer vector：Y=(y1,y2,…,ym)T
Output layer vector：Z=(z1,z2,…,zp)T
In the present invention, input layer number is n=4, and output layer nodes are p=2.Hidden layer nodes m is estimated by following formula
Draw：
According to the sampling period, 4 parameters of input are, x1For vehicle wheel base coefficient, x2For vehicle wheelbase coefficient, x3
Vehicle min. turning radius coefficient, x4For steering wheel sensor steering angle coefficient；
Determine that the poor factor of blind area 4 of vehicle lubrication groove belongs to different physical quantitys, its dimension is different.Therefore, in data
Input before neutral net, it is necessary to which data requirement to be turned to the number between 0-1.
Specifically, after being standardized for vehicle wheel base l, vehicle wheel base coefficient x is obtained1：
Wherein, lminAnd lmaxThe respectively minimum value and maximum of vehicle wheel base.
Likewise, after being standardized to vehicle wheelbase s, obtaining vehicle wheelbase coefficient x2：
Wherein, sminAnd smaxThe respectively minimum value and maximum of vehicle wheelbase.
After being standardized to vehicle min. turning radius r, vehicle min. turning radius coefficient x is obtained3：
Wherein, rminAnd rmaxThe respectively minimum value and maximum of vehicle min. turning radius.
After being standardized to steering wheel sensor steering angle θ, steering wheel sensor steering angle coefficient x is obtained4：
Wherein, θminAnd θmaxRespectively minimum angles and maximum angle are turned to disk sensor.
2 parameters of output signal are expressed as：z1For vehicle front side infrared photoelectric sensor angular adjustment coefficient, z2
Vehicle rear-side infrared photoelectric sensor angular adjustment coefficient；
Vehicle front side infrared photoelectric sensor angular adjustment coefficient z1It is expressed as vehicle front side in next sampling period red
The ratio between maximum angle set in outer photoelectric sensor angle and current sample period, i.e., in the ith sample cycle, collect
Angle be αi, the angular adjustment coefficient z in ith sample cycle is exported by BP neural network1 iAfterwards, control i+1 sampling
Angle is α in cyclei+1, it is met αi+1=z1 iαmax；
Vehicle rear-side infrared photoelectric sensor angular adjustment coefficient z2It is expressed as the vehicle rear-side in next sampling period
The ratio between maximum angle set in infrared photoelectric sensor angle and current sample period, i.e., in the ith sample cycle, collection
The nozzle angle arrived is βi, the nozzle angle adjustment factor z in ith sample cycle is exported by BP neural network2 iAfterwards, control the
Nozzle angle is β in i+1 sampling periodi+1, it is met βi+1=z2 iβmax；
Step 2：Carry out the training of BP neural network.
Establish after BP neural network nodal analysis method, you can carry out the training of BP neural network.According to the experience number of product
According to the sample for obtaining training, and give the connection weight w between input node i and hidden layer node jij, hidden node j and output
Connection weight w between node layer kjk, hidden node j threshold θj, output node layer k threshold value wij、wjk、θj、θkIt is -1
Random number between to 1.
In the training process, w is constantly correctedijAnd wjkValue, until systematic error be less than or equal to anticipation error when, complete
The training process of neutral net.
As shown in table 1, given the value of each node in one group of training sample and training process.
Each nodal value of the training process of table 1
Step 3: gathered data operational factor input neutral net is regulated coefficient；
The artificial neural network trained is solidificated among chip, hardware circuit is possessed prediction and intelligent decision function,
So as to form Intelligent hardware.After Intelligent hardware power-up starts, the angle [alpha] of vehicle front side infrared photoelectric sensor0=0.85 αmax、
The angle beta of vehicle rear-side infrared photoelectric sensor0=0.67 βmax；
Meanwhile, by vehicle wheel base l, vehicle wheelbase s, vehicle min. turning radius r, steering wheel sensor steering angle
θ primary datas are standardized, and obtain the initial input vector of BP neural networkPass through BP neural network
Computing obtains initial output vector
Step 4：Obtain initial output vectorAfterwards, you can adjust the angle of vehicle front side infrared photoelectric sensor
The angle of degree and vehicle rear-side infrared photoelectric sensor, the angle and vehicle rear-side infrared light of vehicle front side infrared photoelectric sensor
The angle of electric transducer is respectively：
α1=z1 0αmax
β1=z2 0βmax
Vehicle wheel base l, vehicle wheelbase s in the ith sample cycle is obtained by sensor, vehicle minimum is turned partly
Footpath r, steering wheel sensor steering angle θ, the input vector x in ith sample cycle is obtained by standardizei=(x1 i,
x2 i,x3 i,x4 i), the output vector z in ith sample cycle is obtained by the computing of BP neural networki=(z1 i,z2 i), then control
The angle of system regulation vehicle front side infrared photoelectric sensor and the angle of vehicle rear-side infrared photoelectric sensor, adopt i+1
The angle of vehicle front side infrared photoelectric sensor and the angle of vehicle rear-side infrared photoelectric sensor are respectively during the sample cycle：
αi+1=z1 iαmax,
βi+1=z2 iβmax,
By above-mentioned setting, using BP neural network algorithm, to the angle and vehicle of vehicle front side infrared photoelectric sensor
The angle of rear side infrared photoelectric sensor is regulated and controled, and reaches optimal running status, so as to improve the standard of warning information
True property.
Although embodiment of the present invention is disclosed as above, it is not restricted in specification and embodiment listed
With it can be applied to various suitable the field of the invention completely, can be easily for those skilled in the art
Other modification is realized, therefore under the universal limited without departing substantially from claim and equivalency range, the present invention is not limited
In specific details and shown here as the legend with description.
Claims (9)
1. a kind of poor automatic monitoring warning device in blind area of lubrication groove, it is characterised in that including：
Steering wheel angle sensor；
Infrared photoelectric sensor rotating mechanism, it includes：
Motor, it is arranged on vehicle body right side front wheel, trailing wheel top, and the motor is provided with transmission mechanism；
Sensor arm, its rear end is connected with the transmission mechanism, and front end is hinged with bodywork surface；
Infrared photoelectric sensor, it is fixedly connected with the front end of the sensor arm；
Microcontroller, it connects the steering wheel angle sensor and by controlling circuit to connect the motor.
2. the poor automatic monitoring warning device in blind area of lubrication groove according to claim 1, it is characterised in that the transmission mechanism is adopted
Use gear ＆ rack structure.
3. the poor automatic monitoring warning device in blind area of lubrication groove according to claim 1, it is characterised in that the sensor arm
Rear end is fixedly connected with the rack of transmission mechanism.
4. the poor automatic monitoring warning device in blind area of lubrication groove according to claim 1, it is characterised in that also including alarm mould
Block, it sets close to instrument board and connects the microprocessor, and the alarm module includes：
Chinese fonts lcd module, it uses 12864 LCDs with Chinese word library；
Voice warning module, it is using the serial recording and playback ics of ISD0；
Photoelectricity alert module, it uses high-brightness light emitting diode as warning lamp.
5. the poor automatic monitoring warning device in blind area of lubrication groove according to claim 1, it is characterised in that the infrared light fax
Sensor uses reflective photoelectric sensor.
6. the poor automatic monitoring warning device in blind area of lubrication groove according to claim 1, it is characterised in that the microcontroller is adopted
With STM32F103RCT6 type single-chip microcomputers.
7. the poor automatic monitoring warning device in blind area of lubrication groove according to claim 1, it is characterised in that also including power supply mould
Block, its use AMS1117-5.0 and L6932-3.3 chips go out 5V and 3.3V both systems come voltage stabilizing needed for voltage.
8. a kind of control method of the poor automatic monitoring warning device in blind area of lubrication groove, it is characterised in that the root when vehicle turns right
The angle information transmitted according to steering wheel angle sensor, vehicle min. turning radius, vehicle wheel base, vehicle wheelbase is based on BP
Neutral net regulates and controls to the infrared photoelectric sensor angle of the forward and backward side of vehicle, comprises the following steps：
Step 1: successively by vehicle wheel base l, vehicle wheelbase s, vehicle min. turning radius r, steering wheel sensor steering angle
Degree θ is standardized, and determines input layer vector x={ x of three layers of BP neural network1,x2,x3,x4}；Wherein, x1Before and after vehicle
Wheelspan coefficient, x2For vehicle wheelbase coefficient, x3Vehicle min. turning radius coefficient, x4For steering wheel sensor steering angle coefficient；
Step 2: the input layer DUAL PROBLEMS OF VECTOR MAPPING is to intermediate layer, the intermediate layer vector y={ y1,y2,…,ym}；M is intermediate layer
Node number；
Step 3: obtaining output layer vector z={ z1,z2}；Wherein, z1For vehicle front side infrared photoelectric sensor angular adjustment system
Number, z2Vehicle rear-side infrared photoelectric sensor angular adjustment coefficient, makes
αi+1=z1 iαmax,
βi+1=z2 iβmax,
Wherein, z1 i、z2 iRespectively ith sample cycle output layer vector parameter, αmax、βmaxThe vehicle front side respectively set is red
Maximum angle, the maximum angle of vehicle rear-side infrared photoelectric sensor, α of outer photoelectric sensori+1、βi+1Respectively i+1 is individual
Angle, the angle of vehicle rear-side infrared photoelectric sensor of vehicle front side infrared photoelectric sensor during the sampling period；And
In the step one, by vehicle wheel base l, vehicle wheelbase s, vehicle min. turning radius r, steering wheel sensor turns
Carrying out normalization progress normalization formulae to angle, θ is：
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<mn>1</mn>
<mo>,</mo>
<mn>2</mn>
<mo>,</mo>
<mn>3</mn>
<mo>,</mo>
<mn>4</mn>
<mo>;</mo>
</mrow>
Wherein, xjFor the parameter in input layer vector, XjRespectively parameter l, s, r, θ, j=1,2,3,4；XjmaxAnd XjminRespectively
The maximum and minimum value of relevant parameter.
9. the control method of the poor automatic monitoring warning device in blind area of lubrication groove as claimed in claim 8, it is characterised in that described
In step 3, under initial operating state, the angle of vehicle front side infrared photoelectric sensor, vehicle rear-side infrared photoelectric sensor
Angle, meets empirical value：
α0=0.85 αmax,
β0=0.67 βmax,
Wherein, α0、β0The respectively initial angle of vehicle front side infrared photoelectric sensor, vehicle rear-side infrared photoelectric sensor
Initial angle；αmax、βmaxMaximum angle, the vehicle rear-side infrared electro of the vehicle front side infrared photoelectric sensor respectively set
The maximum angle of sensor.
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| CN110065450A (en) * | 2019-04-18 | 2019-07-30 | 深圳技术大学 | Lubrication groove difference blind area detection system and its lorry blind area monitoring method |
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| CN114049773A (en) * | 2021-11-04 | 2022-02-15 | 哈尔滨工业大学 | Constructor safety risk assessment early warning method and system |
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