CN111650874A - Roller coaster overspeed protection monitoring system and method based on Internet of things - Google Patents

Roller coaster overspeed protection monitoring system and method based on Internet of things Download PDF

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CN111650874A
CN111650874A CN202010329463.8A CN202010329463A CN111650874A CN 111650874 A CN111650874 A CN 111650874A CN 202010329463 A CN202010329463 A CN 202010329463A CN 111650874 A CN111650874 A CN 111650874A
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roller coaster
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things
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王伟
彭细华
邬婧
谭向婷
黎华
陈映波
刘锐
周来
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Yueyang Vocational Technical College
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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    • G16Y40/00—IoT characterised by the purpose of the information processing
    • G16Y40/50—Safety; Security of things, users, data or systems
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
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Abstract

The invention belongs to the technical field of overspeed protection monitoring, and discloses a roller coaster overspeed protection monitoring system and method based on the Internet of things, wherein the roller coaster overspeed protection monitoring system based on the Internet of things comprises: the system comprises a vehicle speed detection module, a video monitoring module, a load detection module, a main control module, a state monitoring module, an internet of things communication module, a speed judgment module, a speed reduction module, an alarm module, a virtual module, a data storage module and a display module. According to the invention, the problem of lack of real-time monitoring means of the motion state of the roller coaster is solved through the state monitoring module, the monitoring capability of the motion state of the roller coaster is improved, and the monitoring effect of the motion state of the roller coaster is enriched; the angle change data of the corresponding time of the vehicle in the running process of the roller coaster is measured in advance through the virtual module, and the reverse angle value correction is carried out on the playing visual angle of the virtual reality film, so that the film does not rotate along with the rotation of the roller coaster, and the influence on the virtual reality experience of passengers caused by the rotation is avoided.

Description

Roller coaster overspeed protection monitoring system and method based on Internet of things
Technical Field
The invention belongs to the technical field of overspeed protection monitoring, and particularly relates to a roller coaster overspeed protection monitoring system and method based on the Internet of things.
Background
Roller coasters (also known as skies) are a motorized amusement ride commonly found in amusement and theme parks. Roller coasters, although thriller, are essentially very secure facilities, enjoying a great deal of popularity among many young tourists. A basic roller coaster configuration, including climbing, sliding, reversing (no reversing of the children's roller coaster), is not necessarily designed as a complete loop, but may be designed so that the vehicle travels back and forth on the track. Most roller coasters contain 2, 4 or 6 or 8 people per ride car, which are connected to each other by hooks, much like a train. However, the existing roller coaster overspeed protection monitoring system and method based on the internet of things are lack of effective means for monitoring the overall running state of the roller coaster in real time, which brings great potential safety hazards to the safe running of the roller coaster; meanwhile, the virtual reality experience effect of the existing roller coaster is poor.
In summary, the problems of the prior art are as follows: the conventional Internet of things-based roller coaster overspeed protection monitoring system and method lack an effective means for monitoring the overall running state of the roller coaster in real time, which brings great potential safety hazards to the safe running of the roller coaster; meanwhile, the virtual reality experience effect of the existing roller coaster is poor.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a roller coaster overspeed protection monitoring system and method based on the Internet of things.
The invention is realized in such a way that the roller coaster overspeed protection monitoring method based on the Internet of things comprises the following steps:
the method comprises the steps of firstly, detecting driving speed data of the roller coaster through a speed sensor, detecting driving video data of the roller coaster through a camera, and detecting load data of the roller coaster through a weight detector.
Step two, monitoring the motion state of the roller coaster through the host control state monitoring equipment: (I) monitoring the motion state data of the roller coaster through monitoring equipment, constructing a roller coaster operation state model, and obtaining motion state measured values of all positions in the roller coaster operation process;
(II) establishing a state monitoring comparison model by using a roller coaster design model and the monitoring historical data of the normal running state of the roller coaster in the past, and determining the expected value of the motion state of each position in the operation process of the roller coaster;
(III) setting a threshold value of the running state of the roller coaster, comparing the measured value of the running state of each position with the expected value of the running state of each position in the running process of the roller coaster, and judging whether the roller coaster is in an abnormal state or not and whether the roller coaster is in an abnormal position or not in an abnormal position in the normal running process.
Step three, connecting the Internet of things through a wireless transmitter to carry out Internet of things communication: (1) receiving a downlink message generated by the Internet of things, reading a roller coaster identifier in the downlink message, and matching corresponding target data according to the roller coaster identifier;
(2) mapping the downlink message into a corresponding internet of things protocol message according to the type of the internet of things to which the corresponding target data belongs;
(3) and sending the Internet of things protocol message to a corresponding host to indicate the host to perform corresponding communication operation.
Judging whether the driving speed of the roller coaster is overspeed or not through a judgment program; the speed reducer is used for reducing the speed according to the judged overspeed result; and carrying out alarm notification through an alarm according to the overspeed judgment result.
Step five, providing a virtual reality function of the roller coaster through virtual equipment: 1) acquiring the total running time of a single stroke of the vehicle and the angle value change data of the corresponding time in the running process of the vehicle by a measuring tool;
2) making a virtual reality film with the playing duration consistent with the total driving duration, and establishing association between the corresponding angle value change data and the image frames in the virtual reality film in the same time period;
3) and carrying out reverse angle value correction on the image frame playing visual angle of the virtual reality film according to the angle value change data.
Step six, storing the detected data information of the roller coaster speed, the video, the load and the motion state through a memory; and displaying the detected data information of the roller coaster speed, video, load and motion state through a display.
Further, in the first step, the establishing process of the roller coaster operation state model in the step (I) includes:
(1.1) acquiring real-time acceleration and angular speed data of a roller coaster body in the operation process by taking the roller coaster body as a reference;
(1.2) according to the real-time acceleration and angular velocity data obtained by measurement, calculating to obtain the real-time spatial position coordinates of the roller coaster body with the earth as the reference
Figure BDA0002464428000000031
Attitude in space
Figure BDA0002464428000000032
Speed of vehicle body movement
Figure BDA0002464428000000033
And acceleration of vehicle body motion
Figure BDA0002464428000000034
Wherein n represents the serial number of the measuring position in the running process of the roller coaster;
and (1.3) constructing a roller coaster operation state model according to the measurement and calculation results.
Further, the roller coaster operation state model is as follows:
Figure BDA0002464428000000035
in the formula, all parameters are obtained by calculation by taking the earth as a reference system, i represents the ith running of the roller coaster, namely the model is a roller coaster motion state model obtained after the ith running;
x, y and z are coordinates of the running vehicle body;
Figure BDA0002464428000000036
the pitching angle of the vehicle body at the (x, y, z) coordinate point is shown;
Figure BDA0002464428000000037
the rolling angle of the vehicle body at the (x, y, z) coordinate point is shown;
Figure BDA0002464428000000038
the heading angle of the vehicle body at the (x, y, z) coordinate point is shown;
Figure BDA0002464428000000039
is the axial speed of the vehicle body at the (X, y, z) coordinate point X;
Figure BDA00024644280000000310
the axial speed of the vehicle body at a coordinate point Y of (x, Y, z);
Figure BDA00024644280000000311
the Z axial speed of the vehicle body at the (x, y, Z) coordinate point;
Figure BDA0002464428000000041
is the axial acceleration of the vehicle body at the (X, y, z) coordinate point X;
Figure BDA0002464428000000042
is the axial acceleration of the vehicle body at the coordinate point Y of (x, Y, z);
Figure BDA0002464428000000043
is the Z-axis acceleration of the vehicle body at the (x, y, Z) coordinate point.
Further, in the first step, the expected value of the motion state of each location in the roller coaster operation process in the step (II) includes:
Figure BDA0002464428000000044
in the formula, statusD is a theoretical value of the motion state of each position in the roller coaster design model; status1 n,…,statusm nThe measured value of the motion state of the m times of normal operation is recorded in the process of roller coaster operation.
Further, the condition for judging whether the roller coaster is in an abnormal state in the normal operation process is as follows:
||expectn|-|statusin||≤|Thresholdset|；
in the formula, expectnExpected values of motion states of all positions in the operation process of the roller coaster are obtained; statusinThe current roller coaster operation state motion state measured value is obtained; threshold (Threshold)setIs a set roller coaster running state threshold value.
Further, in step five, the obtaining of the angle value change data of the corresponding time in the vehicle running process by the measuring tool in step 1) specifically includes:
1.1) presetting the angle value data acquisition frequency of the measuring tool;
1.2) obtaining the angle value change data based on the acquisition frequency in the process that the vehicle moves on the path in real time through a measuring tool fixed on the vehicle, and generating the angle value change data of the corresponding time, wherein the angle value is a three-dimensional rotation angle value.
Further, the obtaining of the angle value variation data corresponding to the time in the vehicle running process by the measuring tool further includes:
acquiring a position change track of the vehicle moving on the path through a measuring tool fixed on the vehicle, and calculating relative angle change data of the vehicle between two points corresponding to time according to positioning information and a time difference value of any two points on the track;
and generating the angle change data corresponding to the time according to the relative angle change data.
Another object of the present invention is to provide an internet of things-based roller coaster overspeed protection monitoring system, which includes:
the system comprises a vehicle speed detection module, a video monitoring module, a load detection module, a main control module, a state monitoring module, an internet of things communication module, a speed judgment module, a speed reduction module, an alarm module, a virtual module, a data storage module and a display module.
The speed detection module is connected with the main control module and used for detecting the driving speed data of the roller coaster through the speed sensor;
the video monitoring module is connected with the main control module and used for detecting the driving video data of the roller coaster through the camera;
the load detection module is connected with the main control module and used for detecting the load data of the roller coaster through the weight detector;
the main control module is connected with the vehicle speed detection module, the video monitoring module, the load detection module, the state monitoring module, the internet of things communication module, the speed judgment module, the speed reduction module, the alarm module, the virtual module, the data storage module and the display module and is used for controlling each module to normally work through the host;
the state monitoring module is connected with the main control module and used for monitoring the motion state of the roller coaster through the state monitoring equipment;
the Internet of things communication module is connected with the main control module and is used for communicating with the Internet of things through the wireless transmitter to carry out Internet of things communication;
the speed judging module is connected with the main control module and is used for judging whether the driving speed of the roller coaster exceeds the speed or not through a judging program;
the speed reduction module is connected with the main control module and is used for reducing the speed through the speed reducer according to the judged overspeed result;
the alarm module is connected with the main control module and used for carrying out alarm notification according to the overspeed judgment result through the alarm;
the virtual module is connected with the main control module and used for providing a virtual reality function of the roller coaster through virtual equipment;
the data storage module is connected with the main control module and used for storing the detected data information of the speed, the video, the load and the motion state of the roller coaster through the memory;
and the display module is connected with the main control module and used for displaying the detected data information of the speed, the video, the load and the motion state of the roller coaster through the display.
Another object of the present invention is to provide a computer program product stored on a computer readable medium, comprising a computer readable program for providing a user input interface to implement the method for monitoring overspeed protection of a roller coaster based on internet of things when the computer program product is executed on an electronic device.
Another object of the present invention is to provide a computer-readable storage medium storing instructions which, when executed on a computer, cause the computer to execute the method for monitoring overspeed protection of roller coaster based on internet of things.
The invention has the advantages and positive effects that: the real-time X/Y/Z three-axis acceleration, the angular speeds of a pitching axis, a rolling axis and a course axis, the real-time space position coordinate, the space posture and the motion speed of the roller coaster body in the operation process are obtained through a state monitoring module, and whether the roller coaster body is in an abnormal state or not and the position where the abnormal state occurs in the operation process of the roller coaster is determined; the problem that real-time monitoring means of the motion state of the roller coaster are insufficient is solved, the monitoring capability of the motion state of the roller coaster is improved, and the monitoring effect of the motion state of the roller coaster is enriched; meanwhile, the virtual module is used for measuring the angle change data of the corresponding time of the roller coaster in the running process in advance, and correcting the reverse angle value of the playing visual angle of the manufactured virtual reality film. The film is enabled not to rotate along with the rotation of the roller coaster, and therefore influence on virtual reality experience of passengers caused by the rotation is avoided.
Drawings
Fig. 1 is a flow chart of a coaster overspeed protection monitoring method based on the internet of things provided by the embodiment of the invention.
Fig. 2 is a structural block diagram of a coaster overspeed protection monitoring system based on the internet of things, provided by the embodiment of the invention;
in the figure: 1. a vehicle speed detection module; 2. a video monitoring module; 3. a load detection module; 4. a main control module; 5. a state monitoring module; 6. an Internet of things communication module; 7. a speed judgment module; 8. a deceleration module; 9. an alarm module; 10. a virtual module; 11. a data storage module; 12. and a display module.
Fig. 3 is a flowchart of a method for monitoring a motion state of a roller coaster by a host control state monitoring device according to an embodiment of the present invention.
Fig. 4 is a flowchart of a method for communicating with an internet of things through a wireless transmitter according to an embodiment of the present invention.
Fig. 5 is a flowchart of a method for providing a virtual reality function of a roller coaster through a virtual device according to an embodiment of the present invention.
Detailed Description
In order to further understand the contents, features and effects of the present invention, the following embodiments are illustrated and described in detail with reference to the accompanying drawings.
The structure of the present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1, the coaster overspeed protection monitoring method based on the internet of things provided by the embodiment of the invention comprises the following steps:
s101, detecting the driving speed data of the roller coaster through a speed sensor; and detecting the driving video data of the roller coaster through the camera.
S102, detecting the load data of the roller coaster through a weight detector; the normal work of the roller coaster overspeed protection monitoring system is controlled by the host.
S103, monitoring the motion state of the roller coaster through state monitoring equipment; and the wireless transmitter is connected with the Internet of things to carry out Internet of things communication.
S104, judging whether the driving speed of the roller coaster is overspeed or not through a judgment program; and the speed reducer is used for reducing the speed according to the judged overspeed result.
S105, performing alarm notification according to the overspeed judgment result through an alarm; the virtual reality function of the roller coaster is provided through the virtual equipment.
S106, storing the detected data information of the roller coaster speed, the video, the load and the motion state through a memory; and displaying the detected data information of the roller coaster speed, video, load and motion state through a display.
As shown in fig. 2, the coaster overspeed protection monitoring system based on the internet of things provided by the embodiment of the invention comprises: the system comprises a vehicle speed detection module 1, a video monitoring module 2, a load detection module 3, a main control module 4, a state monitoring module 5, an internet of things communication module 6, a speed judgment module 7, a speed reduction module 8, an alarm module 9, a virtual module 10, a data storage module 11 and a display module 12.
The vehicle speed detection module 1 is connected with the main control module 4 and used for detecting the driving speed data of the roller coaster through a speed sensor.
And the video monitoring module 2 is connected with the main control module 4 and used for detecting the driving video data of the roller coaster through the camera.
And the load detection module 3 is connected with the main control module 4 and used for detecting the load data of the roller coaster through the weight detector.
The main control module 4 is connected with the vehicle speed detection module 1, the video monitoring module 2, the load detection module 3, the state monitoring module 5, the internet of things communication module 6, the speed judgment module 7, the speed reduction module 8, the alarm module 9, the virtual module 10, the data storage module 11 and the display module 12, and is used for controlling the normal work of each module through the host.
And the state monitoring module 5 is connected with the main control module 4 and used for monitoring the motion state of the roller coaster through monitoring equipment.
And the Internet of things communication module 6 is connected with the main control module 4 and is used for communicating with the Internet of things through the wireless transmitter to carry out Internet of things communication.
And the speed judging module 7 is connected with the main control module 4 and is used for judging whether the driving speed of the roller coaster exceeds the speed through a judging program.
And the speed reduction module 8 is connected with the main control module 4 and is used for reducing the speed through the speed reducer according to the judged overspeed result.
And the alarm module 9 is connected with the main control module 4 and is used for carrying out alarm notification according to the overspeed judgment result through an alarm.
And the virtual module 10 is connected with the main control module 4 and is used for providing a virtual reality function of the roller coaster through virtual equipment.
And the data storage module 11 is connected with the main control module 4 and used for storing the detected data information of the speed, the video, the load and the motion state of the roller coaster through a memory.
And the display module 12 is connected with the main control module 4 and used for displaying the detected data information of the speed, the video, the load and the motion state of the roller coaster through a display.
The invention is further described with reference to specific examples.
Example 1
The coaster overspeed protection monitoring method based on the internet of things provided by the embodiment of the invention is shown in fig. 1, and as a preferred embodiment, as shown in fig. 3, the method for monitoring the motion state of the coaster by controlling the state monitoring equipment through the host comprises the following steps:
s201, monitoring the motion state data of the roller coaster through monitoring equipment, constructing an operation state model of the roller coaster, and obtaining motion state measured values of all positions in the operation process of the roller coaster.
S202, establishing a state monitoring comparison model according to the roller coaster design model and the past monitoring historical data of the normal running state of the roller coaster, and determining the expected value of the motion state of each position in the operation process of the roller coaster.
S203, setting a roller coaster running state threshold, comparing the measured value of the running state of each position with the expected value of the running state of each position in the running process of the roller coaster, and judging whether the roller coaster is in an abnormal state or not and whether the roller coaster is in the abnormal state or not in the abnormal state in the normal running process.
The process for establishing the roller coaster operation state model in step S201 provided by the embodiment of the present invention includes:
and (1.1) acquiring real-time acceleration and angular speed data of the roller coaster body in the operation process by taking the roller coaster body as a reference.
(1.2) according to the real-time acceleration and angular velocity data obtained by measurement, calculating to obtain the real-time spatial position coordinates of the roller coaster body with the earth as the reference
Figure BDA0002464428000000095
Attitude in space
Figure BDA0002464428000000096
Speed of vehicle body movement
Figure BDA0002464428000000093
And acceleration of vehicle body motion
Figure BDA0002464428000000097
Wherein n represents the serial number of the measuring position in the running process of the roller coaster.
And (1.3) constructing a roller coaster operation state model according to the measurement and calculation results.
The roller coaster operation state model provided by the embodiment of the invention is as follows:
Figure BDA0002464428000000101
in the formula, all the parameters are obtained by calculation by taking the earth as a reference system, i represents the ith running of the roller coaster, namely the model is a roller coaster motion state model obtained after the ith running.
And x, y and z are coordinates of the running vehicle body.
Figure BDA0002464428000000102
The pitch angle of the vehicle body at the (x, y, z) coordinate point is shown.
Figure BDA0002464428000000103
The rolling angle of the vehicle body at the (x, y, z) coordinate point is shown.
Figure BDA0002464428000000104
And the heading angle of the vehicle body at the (x, y, z) coordinate point is shown.
Figure BDA0002464428000000105
Is the vehicle body axial speed at (X, y, z) coordinate point X.
Figure BDA0002464428000000106
Is the vehicle body axial speed at the (x, Y, z) coordinate point Y.
Figure BDA0002464428000000107
Is the Z axial speed of the vehicle body at the (x, y, Z) coordinate point.
Figure BDA0002464428000000108
Is the vehicle body axial acceleration at (X, y, z) coordinate point X.
Figure BDA0002464428000000109
Is the vehicle body axial acceleration at (x, Y, z) coordinate point Y.
Figure BDA00024644280000001010
Is the Z-axis acceleration of the vehicle body at the (x, y, Z) coordinate point.
The expected value of the motion state of each position in the roller coaster operation process of step S202 provided in the embodiment of the present invention includes:
Figure BDA00024644280000001011
in the formula, statusD is a theoretical value of the motion state of each position in the roller coaster design model.
status1 n,…,statusm nThe measured value of the motion state of the m times of normal operation is recorded in the process of roller coaster operation.
The condition for determining whether the roller coaster is in the abnormal state in the normal operation process of the roller coaster in step S203 provided by the embodiment of the invention is as follows:
||expectn|-|statusin||≤|Thresholdset|。
in the formula, expectnThe expected value of the motion state of each position in the operation process of the roller coaster is obtained. StatusinThe current roller coaster operation state motion state measurement value is obtained. Threshold (Threshold)setIs a set roller coaster running state threshold value.
Example 2
The coaster overspeed protection monitoring method based on the internet of things provided by the embodiment of the invention is shown in fig. 1, and as a preferred embodiment, as shown in fig. 4, the method for communicating with the internet of things through a wireless transmitter to perform internet of things communication provided by the embodiment of the invention comprises the following steps:
s301, receiving a downlink message generated by the Internet of things, reading a roller coaster identifier in the downlink message, and matching corresponding target data according to the roller coaster identifier.
And S302, mapping the downlink message into a corresponding Internet of things protocol message according to the type of the Internet of things to which the corresponding target data belongs.
And S303, sending the Internet of things protocol message to a corresponding host to indicate the host to perform corresponding communication operation.
Example 3
The internet of things-based roller coaster overspeed protection monitoring method provided by the embodiment of the invention is shown in fig. 1, and as a preferred embodiment, as shown in fig. 5, the method for providing a roller coaster virtual reality function through virtual equipment provided by the embodiment of the invention comprises the following steps:
s401, acquiring the total driving time of a single travel of the vehicle and the angle value change data of the corresponding time in the running process of the vehicle through a measuring tool.
S402, a virtual reality film with the playing duration consistent with the total driving duration is manufactured, and the association between the corresponding angle value change data in the same time period and the image frames in the virtual reality film is established.
And S403, performing angle value negative direction correction on the image frame playing visual angle of the virtual reality film according to the angle value change data.
In step S401, the obtaining of the angle value change data corresponding to the time in the vehicle running process by the measuring tool specifically includes:
1.1) presetting the angle value data acquisition frequency of the measuring tool.
1.2) obtaining the angle value change data based on the acquisition frequency in the process that the vehicle moves on the path in real time through a measuring tool fixed on the vehicle, and generating the angle value change data of the corresponding time, wherein the angle value is a three-dimensional rotation angle value.
The method for acquiring the angle value change data of the corresponding time in the vehicle running process through the measuring tool further comprises the following steps:
and acquiring a position change track of the vehicle moving on the path by a measuring tool fixed on the vehicle, and calculating relative angle change data of the vehicle between two points corresponding to time according to positioning information and a time difference value of any two points on the track.
And generating the angle change data corresponding to the time according to the relative angle change data.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When used in whole or in part, can be implemented in a computer program product that includes one or more computer instructions. When loaded or executed on a computer, cause the flow or functions according to embodiments of the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, the computer instructions may be transmitted from one website site, computer, server, or data center to another website site, computer, server, or data center via wire (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL), or wireless (e.g., infrared, wireless, microwave, etc.)). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that includes one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
The above description is only for the purpose of illustrating the present invention and the appended claims are not to be construed as limiting the scope of the invention, which is intended to cover all modifications, equivalents and improvements that are within the spirit and scope of the invention as defined by the appended claims.

Claims (10)

1. The roller coaster overspeed protection monitoring method based on the Internet of things is characterized by comprising the following steps of:
the method comprises the steps that firstly, driving speed data of the roller coaster are detected through a speed sensor, driving video data of the roller coaster are detected through a camera, and load data of the roller coaster are detected through a weight detector;
step two, monitoring the motion state of the roller coaster through the host control state monitoring equipment: (I) monitoring the motion state data of the roller coaster through monitoring equipment, constructing a roller coaster operation state model, and obtaining motion state measured values of all positions in the roller coaster operation process;
(II) establishing a state monitoring comparison model by using a roller coaster design model and the monitoring historical data of the normal running state of the roller coaster in the past, and determining the expected value of the motion state of each position in the operation process of the roller coaster;
(III) setting a roller coaster running state threshold, comparing the measured value of the running state of each position with the expected value of the running state of each position in the running process of the roller coaster, and judging whether the roller coaster is in an abnormal state or not and whether the roller coaster is in an abnormal state or not in an abnormal state occurring position in the normal running process;
step three, connecting the Internet of things through a wireless transmitter to carry out Internet of things communication: (1) receiving a downlink message generated by the Internet of things, reading a roller coaster identifier in the downlink message, and matching corresponding target data according to the roller coaster identifier;
(2) mapping the downlink message into a corresponding internet of things protocol message according to the type of the internet of things to which the corresponding target data belongs;
(3) sending the Internet of things protocol message to a corresponding host to indicate the host to perform corresponding communication operation;
judging whether the driving speed of the roller coaster is overspeed or not through a judgment program; the speed reducer is used for reducing the speed according to the judged overspeed result; alarming and informing through an alarm according to the overspeed judgment result;
step five, providing a virtual reality function of the roller coaster through virtual equipment: 1) acquiring the total running time of a single stroke of the vehicle and the angle value change data of the corresponding time in the running process of the vehicle by a measuring tool;
2) making a virtual reality film with the playing duration consistent with the total driving duration, and establishing association between the corresponding angle value change data and the image frames in the virtual reality film in the same time period;
3) correcting the angle value in the opposite direction according to the angle value change data on the image frame playing visual angle of the virtual reality film;
step six, storing the detected data information of the roller coaster speed, the video, the load and the motion state through a memory; and displaying the detected data information of the roller coaster speed, video, load and motion state through a display.
2. The Internet of things-based coaster overspeed protection monitoring method of claim 1, wherein in step one, the establishing process of the coaster operation state model in step (I) comprises:
(1.1) acquiring real-time acceleration and angular speed data of a roller coaster body in the operation process by taking the roller coaster body as a reference;
(1.2) according to the real-time acceleration and angular velocity data obtained by measurement, calculating to obtain the real-time spatial position coordinates of the roller coaster body with the earth as the reference
Figure FDA0002464427990000021
Attitude in space
Figure FDA0002464427990000022
Speed of vehicle body movement
Figure FDA0002464427990000023
And acceleration of vehicle body motion
Figure FDA0002464427990000024
Wherein n represents the serial number of the measuring position in the running process of the roller coaster;
and (1.3) constructing a roller coaster operation state model according to the measurement and calculation results.
3. The Internet of things-based roller coaster overspeed protection monitoring method of claim 2, wherein the roller coaster operating state model is:
Figure FDA0002464427990000025
in the formula, all parameters are obtained by calculation by taking the earth as a reference system, i represents the ith running of the roller coaster, namely the model is a roller coaster motion state model obtained after the ith running;
x, y and z are coordinates of the running vehicle body;
Figure FDA0002464427990000026
the pitching angle of the vehicle body at the (x, y, z) coordinate point is shown;
Figure FDA0002464427990000027
the rolling angle of the vehicle body at the (x, y, z) coordinate point is shown;
Figure FDA0002464427990000032
the heading angle of the vehicle body at the (x, y, z) coordinate point is shown;
Figure FDA0002464427990000033
is the axial speed of the vehicle body at the (X, y, z) coordinate point X;
Figure FDA0002464427990000034
the axial speed of the vehicle body at a coordinate point Y of (x, Y, z);
Figure FDA0002464427990000035
the Z axial speed of the vehicle body at the (x, y, Z) coordinate point;
Figure FDA0002464427990000036
is a vehicle body(X, y, z) coordinate point X axial acceleration;
Figure FDA0002464427990000037
is the axial acceleration of the vehicle body at the coordinate point Y of (x, Y, z);
Figure FDA0002464427990000038
is the Z-axis acceleration of the vehicle body at the (x, y, Z) coordinate point.
4. The Internet of things-based roller coaster overspeed protection monitoring method of claim 1, wherein in step one, the expected values of motion states of each position in the roller coaster operation process of step (II) comprise:
Figure FDA0002464427990000031
in the formula, statusD is a theoretical value of the motion state of each position in the roller coaster design model; status1 n,···,statusm nThe measured value of the motion state of the m times of normal operation is recorded in the process of roller coaster operation.
5. The roller coaster overspeed protection monitoring method based on the internet of things as claimed in claim 4, wherein the condition for judging whether the roller coaster is in an abnormal state in the normal operation process is as follows:
||expectn|-|statusin||≤|Thresholdset|；
in the formula, expectnExpected values of motion states of all positions in the operation process of the roller coaster are obtained; statusinThe current roller coaster operation state motion state measured value is obtained; threshold (Threshold)setIs a set roller coaster running state threshold value.
6. The internet-of-things-based roller coaster overspeed protection monitoring method according to claim 1, wherein in step five, the angle value change data of the vehicle in step 1) corresponding to time in the running process is obtained by a measuring tool, specifically:
1.1) presetting the angle value data acquisition frequency of the measuring tool;
1.2) obtaining the angle value change data based on the acquisition frequency in the process that the vehicle moves on the path in real time through a measuring tool fixed on the vehicle, and generating the angle value change data of the corresponding time, wherein the angle value is a three-dimensional rotation angle value.
7. The Internet of things-based roller coaster overspeed protection monitoring method of claim 6, wherein the obtaining of the angle value change data corresponding to time during the vehicle operation by the measurement tool further comprises:
acquiring a position change track of the vehicle moving on the path through a measuring tool fixed on the vehicle, and calculating relative angle change data of the vehicle between two points corresponding to time according to positioning information and a time difference value of any two points on the track;
and generating the angle change data corresponding to the time according to the relative angle change data.
8. An internet-of-things-based roller coaster overspeed protection monitoring system applying the internet-of-things-based roller coaster overspeed protection monitoring method according to any one of claims 1 to 7, wherein the internet-of-things-based roller coaster overspeed protection monitoring system comprises:
the system comprises a vehicle speed detection module, a video monitoring module, a load detection module, a main control module, a state monitoring module, an internet of things communication module, a speed judgment module, a speed reduction module, an alarm module, a virtual module, a data storage module and a display module;
the speed detection module is connected with the main control module and used for detecting the driving speed data of the roller coaster through the speed sensor;
the video monitoring module is connected with the main control module and used for detecting the driving video data of the roller coaster through the camera;
the load detection module is connected with the main control module and used for detecting the load data of the roller coaster through the weight detector;
the main control module is connected with the vehicle speed detection module, the video monitoring module, the load detection module, the state monitoring module, the internet of things communication module, the speed judgment module, the speed reduction module, the alarm module, the virtual module, the data storage module and the display module and is used for controlling each module to normally work through the host;
the state monitoring module is connected with the main control module and used for monitoring the motion state of the roller coaster through the state monitoring equipment;
the Internet of things communication module is connected with the main control module and is used for communicating with the Internet of things through the wireless transmitter to carry out Internet of things communication;
the speed judging module is connected with the main control module and is used for judging whether the driving speed of the roller coaster exceeds the speed or not through a judging program;
the speed reduction module is connected with the main control module and is used for reducing the speed through the speed reducer according to the judged overspeed result;
the alarm module is connected with the main control module and used for carrying out alarm notification according to the overspeed judgment result through the alarm;
the virtual module is connected with the main control module and used for providing a virtual reality function of the roller coaster through virtual equipment;
the data storage module is connected with the main control module and used for storing the detected data information of the speed, the video, the load and the motion state of the roller coaster through the memory;
and the display module is connected with the main control module and used for displaying the detected data information of the speed, the video, the load and the motion state of the roller coaster through the display.
9. A computer program product stored on a computer readable medium, comprising a computer readable program for providing a user input interface for implementing the internet of things based coaster overspeed protection monitoring method of any of claims 1 to 7 when executed on an electronic device.
10. A computer readable storage medium storing instructions which, when executed on a computer, cause the computer to perform the method for monitoring overspeed protection of a roller coaster based on internet of things as claimed in any one of claims 1 to 7.
CN202010329463.8A 2020-04-23 2020-04-23 Roller coaster overspeed protection monitoring system and method based on Internet of things Pending CN111650874A (en)

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Application publication date: 20200911