CN111824291B - Vehicle abnormal movement management method and system and vehicle management system - Google Patents
Vehicle abnormal movement management method and system and vehicle management system Download PDFInfo
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- CN111824291B CN111824291B CN202010635993.5A CN202010635993A CN111824291B CN 111824291 B CN111824291 B CN 111824291B CN 202010635993 A CN202010635993 A CN 202010635993A CN 111824291 B CN111824291 B CN 111824291B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62H—CYCLE STANDS; SUPPORTS OR HOLDERS FOR PARKING OR STORING CYCLES; APPLIANCES PREVENTING OR INDICATING UNAUTHORIZED USE OR THEFT OF CYCLES; LOCKS INTEGRAL WITH CYCLES; DEVICES FOR LEARNING TO RIDE CYCLES
- B62H5/00—Appliances preventing or indicating unauthorised use or theft of cycles; Locks integral with cycles
- B62H5/20—Appliances preventing or indicating unauthorised use or theft of cycles; Locks integral with cycles indicating unauthorised use, e.g. acting on signalling devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
- B60R25/10—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles actuating a signalling device
- B60R25/102—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles actuating a signalling device a signal being sent to a remote location, e.g. a radio signal being transmitted to a police station, a security company or the owner
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
- B60R25/30—Detection related to theft or to other events relevant to anti-theft systems
- B60R25/32—Detection related to theft or to other events relevant to anti-theft systems of vehicle dynamic parameters, e.g. speed or acceleration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
- B60R25/30—Detection related to theft or to other events relevant to anti-theft systems
- B60R25/33—Detection related to theft or to other events relevant to anti-theft systems of global position, e.g. by providing GPS coordinates
Abstract
The application provides a vehicle abnormal movement management method and system and a vehicle management system, and the method comprises the following steps: acquiring attitude information of a vehicle; identifying whether the vehicle is in an abnormal moving state or not according to the attitude information; when the vehicle is identified to be in an abnormal moving state, receiving alarm information sent by the vehicle; generating and sending a first control instruction according to the alarm information; and receiving positioning information sent by the vehicle based on the first control instruction. By using the method and the device, once the situation that the posture of the vehicle in the locked state is greatly changed is identified, the control module can send a positioning instruction to the vehicle after receiving the alarm information, so that the vehicle starts the positioning module to start continuous positioning, the positioning result is reported to the control module according to the preset threshold value period, the positioning information of the vehicle is reported to the control module according to the threshold value period, and the position information of the alarm vehicle is continuously monitored; the balance between the power consumption and the asset preservation problem is fully considered, and important technical support is provided for vehicle asset preservation.
Description
Technical Field
The invention belongs to the technical field of vehicle positioning, and relates to a method and a system for recognizing abnormal movement of a vehicle and tracking and positioning the vehicle.
Background
With the development of internet technology, shared bicycles rising in various large and medium-sized cities in China are almost visible everywhere, compared with public bicycles with piles, the shared bicycle without piles for taking and parking at any time brings great convenience to users, and meanwhile, the shared bicycle is found to have behaviors of privately transporting the bicycle, privately hiding the bicycle, damaging the bicycle and the like under the condition that the shared bicycle is used in an abnormal unlocking state, so that great loss of shared bicycle assets is caused.
The shared vehicle can be generally positioned by using satellite positioning technology, and the position of the vehicle is tracked. However, when the technology is used for positioning, the power consumption is high, the electric quantity of the vehicle is limited, and the vehicle cannot be normally opened, particularly when the vehicle is in a locked state. Therefore, how to track the vehicle in a locked state by reasonably utilizing satellite positioning is an important subject, and the implementation of the technical scheme is a problem that the monitoring is low in power consumption and can be performed for a long time.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, the present invention aims to provide a method and a system for managing abnormal vehicle movement, which can perform monitoring for a long period of time with low power consumption.
In order to achieve the above object, the present invention provides a vehicle abnormal movement management method, including:
s1, acquiring the attitude information of the vehicle;
s2, identifying whether the vehicle is in an abnormal moving state or not according to the posture information;
s3: when the vehicle is identified to be in the abnormal moving state in the S2, receiving alarm information sent by the vehicle;
s4: generating and sending a first control instruction according to the alarm information;
s5: and receiving positioning information sent by the vehicle based on the first control instruction.
Preferably, the method for managing abnormal vehicle movement, wherein S1 specifically includes:
s11: acquiring standard attitude information and periodically acquiring the attitude information according to a preset period;
s12: calculating the attitude information of a plurality of preset periods in a time sequence, and calculating a first included angle difference value between the attitude information of the current period and the attitude information of the previous period and a second included angle difference value between the attitude information of each period and standard attitude information;
s13: and generating and sending alarm information when the first included angle difference value and the second included angle difference value exceed a preset included angle conversion threshold value.
Preferably, the method for managing abnormal vehicle movement, wherein S13 specifically includes:
s131: identifying an on-off lock state of the vehicle;
s132: and when the first included angle difference value and the second included angle difference value exceed a preset included angle conversion threshold value, selectively generating and sending alarm information according to the locking and unlocking state.
Preferably, the method for managing abnormal vehicle movement further includes, after S5:
s6: sequencing the positioning information according to time, making a preset time sliding window with a preset period, performing median filtering on the positioning information in the preset time sliding window, and removing abnormal values of abnormal drift in the positioning information; and calculating the earth surface distance between adjacent points according to the positioning information processed by the abnormal value, and judging whether the vehicle generates displacement according to whether the earth surface distance is continuously greater than a distance threshold value.
Preferably, the method for managing abnormal vehicle movement further includes, after S6, S7: and selectively closing the positioning of the vehicle or adjusting the positioning frequency according to whether the vehicle generates displacement within a preset time period and the attitude information of the vehicle.
Preferably, the method for managing abnormal vehicle movement further includes, after S3: and S31, acquiring the positioning information and sending the routing inspection instruction containing the positioning information to the relevant operation and maintenance personnel.
Preferably, the method for managing abnormal vehicle movement further includes, after S2:
s21: acquiring a low-frequency positioning signal of a vehicle to be checked which is not identified to be in an abnormal moving state;
s22: and analyzing the low-frequency positioning signal, identifying whether the vehicles to be inspected move abnormally or not according to the vehicle position portrait information generated by the low-frequency positioning signal, receiving auxiliary alarm information if the vehicles to be inspected move abnormally, and generating the first control command according to the auxiliary alarm information.
The application also provides a vehicle abnormal movement management system, including:
the attitude detection module is used for acquiring the attitude information of the vehicle;
the gesture recognition module is connected with the gesture detection module and used for recognizing whether the vehicle is in an abnormal moving state or not according to the gesture information;
the communication module is connected with the gesture recognition module and used for receiving alarm information sent by the vehicle when the gesture recognition module recognizes that the vehicle is in an abnormal moving state;
the control module is connected with the communication module and used for generating and sending a first control instruction according to the alarm information;
and the positioning module is connected with the control module and used for receiving positioning information sent by the vehicle based on the first control instruction.
Preferably, the vehicle abnormal shift management system, wherein the posture identifying module includes:
the attitude information acquisition unit is used for acquiring standard attitude information and periodically acquiring the attitude information according to a preset period;
the calculation unit is connected with the attitude information acquisition unit and used for calculating the attitude information of a plurality of preset periods in time sequence, calculating a first included angle difference value between the attitude information of the current period and the attitude information of the previous period and a second included angle difference value between the attitude information of each period and the standard attitude information;
and the warning unit is connected with the calculation unit and used for generating and sending alarm information to the communication module when the first included angle difference value and the second included angle difference value exceed a preset included angle conversion threshold value.
Preferably, the vehicle abnormal shift management system, wherein the posture identifying module further comprises an on-off lock state identifying unit, wherein,
the locking and unlocking state identification unit is connected with the alarm unit and is used for sending the identified locking and unlocking state to the alarm unit;
and the alarm unit is used for selectively generating alarm information according to the locking and unlocking state and sending the alarm information to the communication module when the first included angle difference value and the second included angle difference value exceed a preset included angle conversion threshold value.
Preferably, the vehicle abnormal movement management system further comprises a movement judgment module, wherein the movement judgment module is used for sequencing the positioning information according to time and making a preset time sliding window with a preset period as a period, and the movement judgment module is used for performing median filtering on the positioning information in the preset time sliding window and removing an abnormal value of abnormal drift in the positioning information; and calculating the earth surface distance between adjacent points according to the positioning information processed by the abnormal value, and judging whether the vehicle generates displacement according to whether the earth surface distance is continuously greater than a distance threshold value.
Preferably, the vehicle abnormal movement management system further comprises an adjusting module, the adjusting module is connected with the movement judging module, and the adjusting module is used for selectively sending a second control instruction to the positioning module according to whether the vehicle generates displacement within a preset time period and the posture information of the vehicle; and the positioning module closes or adjusts the positioning frequency according to the received second control instruction.
Preferably, the vehicle abnormal movement management system further comprises an operation and maintenance module, wherein the operation and maintenance module is connected with the positioning module and used for acquiring the positioning information and sending an inspection instruction containing the positioning information to related operation and maintenance personnel.
Preferably, the vehicle abnormal-movement management system further comprises an auxiliary identification module connected to the positioning module, wherein the auxiliary identification module is used for acquiring a low-frequency positioning signal of a vehicle to be checked which is not identified to be in an abnormal-movement state; and the system is used for analyzing the low-frequency positioning signal, identifying whether the vehicles to be inspected move abnormally or not according to the vehicle position portrait information generated by the low-frequency positioning signal, receiving auxiliary alarm information if the vehicles to be inspected move abnormally, generating the first control instruction according to the auxiliary alarm information and sending the first control instruction to the positioning module.
The application also provides a vehicle management system, which is provided with the vehicle abnormal moving management system.
Compared with the prior art, the implementation of the invention achieves the following obvious technical effects:
1. in the invention, the motion state of the vehicle is continuously checked based on the continuous reading of the three-axis acceleration sensor; when the vehicle recognizes that the posture of the vehicle in the locked state is greatly changed, an alarm is sent to a corresponding control module of the vehicle; the three-axis acceleration sensor is low in power consumption, the vehicle attitude can be continuously monitored by adopting the attitude detection module and the attitude identification module, the balance between the power consumption and the asset preservation problem is fully considered by the method for actively positioning and identifying the abnormal vehicle position if abnormal movement exists, and important technical support is provided for the vehicle asset preservation.
2. By using the vehicle abnormal movement management system, once the situation that the posture of the vehicle in the locking state is greatly changed is identified, the control module can send a positioning instruction to the vehicle after receiving the alarm information, so that the vehicle starts the positioning module to start continuous positioning, the positioning result is reported to the control module according to the preset threshold value period, the positioning information of the vehicle is reported to the control module according to the threshold value period, and the position information of the alarm vehicle is continuously monitored.
3. In the invention, if no displacement is found in the reported position within the continuous threshold value period range and the vehicle posture is not continuously abnormally fallen down, the error recognition abnormal movement is judged, and the control module can issue an instruction for closing the positioning module to the vehicle, so that the power consumption of the vehicle can be reduced. When the track is found to have displacement at first and not move any more later, or when the position reported in a continuous threshold value period range is found to have no displacement, and the vehicle posture is continuously abnormally fallen down, the control module sends a positioning frequency reduction command to the vehicle, so that the positioning frequency of the vehicle is reduced, the power consumption is reduced, whether the vehicle has new position change or not is continuously monitored, and the track of the abnormally moved vehicle is tracked.
The conception, the specific structure and the technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, the features and the effects of the present invention.
Drawings
Fig. 1 is a schematic diagram of a preferred embodiment of a vehicle abnormal shift management method in embodiment 1 of the present invention.
Fig. 2 is a schematic view of another preferred embodiment of the abnormal vehicle movement management method in embodiment 1 of the present invention.
Fig. 3 is a schematic diagram of a preferred embodiment of the abnormal vehicle movement management system according to embodiment 2 of the present invention.
Fig. 4 is a schematic diagram of a preferred embodiment of the posture identifying module in the vehicle abnormal movement management system in embodiment 2 of the present invention.
Fig. 5 is a system diagram of a preferred embodiment of a part of modules in the vehicle abnormal shift management system in embodiment 2 of the present invention.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the drawings only show the components related to the present invention rather than the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
Example 1:
as shown in fig. 1, embodiment 1 provides a vehicle abnormal shift management method including:
and S1, acquiring the attitude information of the vehicle. In S1, the posture information of the vehicle may be acquired by using a three-axis acceleration sensor, where the posture information of the vehicle includes standing information and tilting information of the electric vehicle. The vehicle can periodically collect readings (x0, y0, z0) of the triaxial acceleration sensor during standard standing, and the readings can be used as standard attitude information of the triaxial acceleration sensor of the vehicle in the gravity direction and used for correcting the readings of the triaxial acceleration sensor, so that the readings of the triaxial acceleration sensor are more accurate and reliable; when the three-axis acceleration sensor is installed on a vehicle, the initialization correction of the three-axis acceleration sensor is completed, and the reading coordinate systems among vehicles are unified. If the icm20600 chip is horizontally arranged, only one gravity acceleration exists on the z axis, if the chip is inclined, the gravity acceleration is decomposed on the other axis, and the inclination angle rule can be calculated through the acceleration values of the x axis, the y axis and the z axis, so that whether the vehicle stands or falls is judged.
And S2, identifying whether the vehicle is in an abnormal moving state or not according to the posture information. In S2, the attitude information of the vehicle may be continuously checked by the attitude recognition module 20 based on the continuous readings of the three-axis acceleration sensor. Upon recognizing that the vehicle has changed significantly in attitude in the locked state, an alarm is issued to the corresponding control module 40 for that vehicle.
S3: when it is recognized in said S2 that the vehicle is in an abnormal-movement state, alarm information transmitted from the vehicle is received. The gesture recognition module 20 may be employed to transmit the alarm message to the control module 40 using the communication module 30 in S3.
S4: and generating and sending a first control instruction according to the alarm information.
S5: and receiving positioning information sent by the vehicle based on the first control instruction. The first control instruction in S4 or S5 includes an instruction for requesting the start of the positioning function of the vehicle. In S2, the posture identifying module 20 identifies that the vehicle is in a toppling state, and at this time, the communication module 30 sends an alarm message to the control module 40 to trigger the control module 40 to start the positioning function of the vehicle, that is, once it identifies that the posture of the vehicle in the locked state is greatly changed, the control module 40 receives the alarm message and then initiates an instruction to start the positioning function of the vehicle to the vehicle, and the positioning module 50 starts to perform continuous positioning according to a preset threshold period, and reports the positioning result to the control module 40 according to the preset threshold period; if the vehicle is found to be not moving in place by positioning, the abnormal moving condition of the vehicle can be eliminated, and if the vehicle is found to be displaced, which indicates that the vehicle is moved by people with destructive nature, the position information of the alarm vehicle needs to be continuously monitored, and the vehicle which is not moved is tracked.
The S1 specifically includes:
s11: acquiring standard attitude information and periodically acquiring the attitude information according to a preset period; the posture information obtaining unit 21 is used to obtain readings of the three-axis acceleration sensor periodically at intervals of a preset period. The attitude information acquisition unit 21 may employ a three-axis acceleration sensor, and the reading frequency of the three-axis acceleration sensor may be set to 1S, which may further reduce power consumption. The vehicle can periodically collect readings (x0, y0, z0) of the triaxial acceleration sensor when the vehicle stands in a standard way, can be used as standard attitude information of the triaxial acceleration sensor in the gravity direction of the vehicle, and is used for correcting the readings of the triaxial acceleration sensor and comparing the readings with real-time attitude information to obtain the change size of the attitude information of the vehicle, so that whether the vehicle is in an abnormal moving state or not is judged, and the vehicle is more accurate and reliable; when the three-axis acceleration sensor is installed on a vehicle, the initialization correction of the three-axis acceleration sensor is completed, and the reading coordinate systems among vehicles are unified.
S12: calculating the attitude information of a plurality of preset periods in a time sequence, and calculating a first included angle difference value between the attitude information of the current period and the attitude information of the previous period and a second included angle difference value between the attitude information of each period and standard attitude information; the following calculation unit 22 is used to calculate readings of the three-axis acceleration sensor in multiple periods in a time sequence, and simultaneously check a first included angle difference between the reading in the current period and the reading in the last period, where the first included angle difference refers to an included angle difference between the reading in the x, y, and z axes of the three-axis acceleration sensor in the current period and the reading in the x, y, and z axes of the last period, and a second included angle difference between the readings in consecutive periods, and a cosine formula is used to calculate an included angle in each period.
S13: and generating and sending alarm information when the first included angle difference value and the second included angle difference value exceed a preset included angle conversion threshold value. If the values exceed the preset included angle change threshold (for example, 30 degrees), the alarm unit 23 is used to send an alarm to the server through the communication module 30.
The S13 specifically includes:
s131: identifying an on-off lock state of the vehicle; the state of the switch lock can be judged by the vehicle lock.
S132: and when the first included angle difference value and the second included angle difference value exceed a preset included angle conversion threshold value, selectively generating and sending alarm information according to the locking and unlocking state. Preferably, the current locking/unlocking state of the vehicle identified by the locking/unlocking state identifying unit 24 is referred to eliminate the situation that the vehicle falls down in the unlocking state, generally, if the vehicle is in the unlocking state, the posture change is a normal state, and when the vehicle is in the locking state, and the first included angle difference value and the second included angle difference value both exceed the preset included angle change threshold value, the locking/unlocking state identifying unit 24 generates the alarm information and sends the alarm information to the control module 40. That is, when the difference value of the first included angle and the difference value of the second included angle both exceed the preset included angle conversion threshold value, if the vehicle is in a locking state, generating and sending alarm information; if the vehicle is in the unlocked state, the warning information is not generated and is not transmitted.
As shown in fig. 2, the S5 is followed by S6: sequencing the positioning information according to time, making a preset time sliding window with a preset period as a period, performing median filtering on the positioning information in the preset time sliding window, and removing abnormal values of abnormal drift in the positioning information; and calculating the earth surface distance between adjacent points according to the positioning information processed by the abnormal value, and judging whether the vehicle generates displacement according to whether the earth surface distance is continuously larger than a distance threshold value. S6 may be implemented by the movement determination module 41 described above. And eliminating abnormal values of abnormal drift in the positioning information by adopting an outlier recognition algorithm, and calculating the earth surface distance between adjacent points according to the positioning information processed by the abnormal values, namely calculating the distance generated by the vehicle between adjacent preset time sliding windows. The period of the preset time sliding window can be set according to actual needs, the positioning information of the vehicle can be reported to the control module 40 in a preset period of 2 minutes, the position information of the alarm vehicle is continuously monitored, the positioning information of the vehicle is periodically acquired, the electric quantity consumed by positioning is saved, and the continuity and effectiveness of the acquisition of the positioning information can be ensured.
The S6 is followed by S7: and selectively closing the positioning of the vehicle or adjusting the positioning frequency according to whether the vehicle generates displacement within a preset time period and the attitude information of the vehicle. If the adjustment module 42 does not find a displacement in the position reported in the continuous threshold value period range and the vehicle posture does not fall down continuously and abnormally, the error recognition of abnormal movement is judged, and the control module 40 sends an instruction for closing the positioning module 50 to the vehicle, so that the power consumption of the vehicle can be reduced. If the adjusting module 42 finds that the track has displacement at the beginning and does not move any more afterwards, or finds that the position reported in the continuous threshold period range has no displacement, and the vehicle posture is continuously and abnormally fallen down, the control module 40 sends a positioning frequency reduction command to the vehicle, and the positioning frequency of the vehicle is reduced (for example, once in 30 minutes) to reduce power consumption and continuously monitor whether the vehicle has a new position change.
The S3 further includes: and S31, acquiring the positioning information and sending the routing inspection instruction containing the positioning information to the relevant operation and maintenance personnel. When the vehicle finds continuous displacement, the positioning module 50 continuously collects the position information of the monitored vehicle and tracks the track of the abnormally moved vehicle; further, according to the placement place where the vehicle is finally abnormally moved, the operation and maintenance module 43 is utilized to generate an inspection instruction to the local area for operation and maintenance personnel, the operation and maintenance personnel are assigned to the place to check whether the vehicle is hidden, privately occupied and damaged, and corresponding measures are taken according to the situation.
The S2 further includes: s21: starting a positioning module 50 of the vehicle to be inspected which is not identified by the gesture identification module 20 and is in an abnormal moving state; s22: the method comprises the steps of acquiring and analyzing low-frequency positioning signals acquired by the positioning module 50, generating vehicle position portrait information through the low-frequency positioning signals, identifying whether vehicles to be inspected move abnormally or not, if so, sending auxiliary alarm information to the control module 40, and generating a first control instruction by the control module 40 according to the auxiliary alarm information. S21, S22 may be implemented using the assistant recognition module 44 described below.
Example 2:
as shown in fig. 3, embodiment 2 provides a vehicle abnormal movement management system, which includes a posture detecting module 10, a posture identifying module 20, a communication module 30, a control module 40, and a positioning module 50, wherein,
the attitude detection module 10 is configured to obtain attitude information of a vehicle;
the gesture recognition module 20 is connected to the gesture detection module 10, and is configured to recognize whether the vehicle is in an abnormal moving state according to the gesture information.
The vehicle abnormal movement management system further comprises a communication module 30 and a control module 40, wherein the control module 40 is connected with the posture recognition module 20 through the communication module 30; the gesture recognition module 20 is further configured to send alarm information to the control module 40 through the communication module 30 when it is recognized that the vehicle is in an abnormal moving state; the control module 40 is configured to generate a first control instruction according to the acquired alarm information.
The positioning module 50 is connected to the control module 40 and configured to receive positioning information sent by the vehicle based on the first control instruction. And the positioning module 50 is turned on after receiving the first control instruction, and is configured to acquire positioning information of the vehicle according to a preset threshold period and send the positioning information to the control module 40 according to the preset threshold period. Once the vehicle is identified to have changed greatly in the attitude in the locked state, after receiving the warning information, the control module 40 sends a positioning instruction to the vehicle to let the vehicle start the positioning module 50 to start continuous positioning, and reports the positioning result to the control module 40 according to a preset threshold period, and the positioning information of the vehicle can be reported to the control module 40 in a threshold period of 2 minutes to continuously monitor the position information of the warning vehicle. The positioning module 50 adopts a GPS module, and has a real-time positioning function.
The first control instruction comprises an instruction about starting the positioning module 50 of the vehicle, the vehicle is normally in a locked state and is in a standing state, and if the posture identification module 20 identifies that the vehicle is in a toppling state, the vehicle can be preliminarily judged to be in an abnormal moving state; at this time, the triggering control module 40 starts the positioning function, if the vehicle is found to be moving in place by positioning, the abnormal moving of the vehicle can be eliminated, and if the vehicle is found to be displaced, which indicates that the vehicle is moved by people with destructive nature, the position information of the alarming vehicle needs to be continuously monitored, and the vehicle which is not moved is tracked.
In the system for managing abnormal movement of a vehicle, the attitude detection module 10 may employ a three-axis acceleration sensor, and the attitude information of the vehicle includes standing information and dumping information of the electric vehicle. The normal operation and maintenance personnel need to unlock before moving the vehicle, and non-operation and maintenance personnel can not sweep the sign indicating number operation and unlock before moving the vehicle, if fall down, the first kind is probably unexpected condition, for example wind blows over or carelessly bumps over, the second kind is probably to be destroyed the nature by the people and moves, above two kinds of condition, all are through gesture recognition module 20 discernment vehicle is in and topples over the state. The tri-axial acceleration sensor can adopt an icm20600 chip of invensense, if the icm20600 chip is horizontally arranged, only one gravity acceleration exists on a z axis, if the chip is inclined, the gravity acceleration can be decomposed on other axes, the inclination angle rule can be calculated through the acceleration values of the x axis, the y axis and the z axis, and therefore whether the vehicle stands or falls is judged, wherein the posture recognition module 20 continuously checks the posture information of the vehicle based on the continuous reading of the tri-axial acceleration sensor. When the vehicle recognizes that the vehicle has changed significantly in attitude in the locked state, an alarm is issued to the corresponding control module 40 of the vehicle. The control module 40 can be a server or other intelligent terminal corresponding to the vehicle, the three-axis acceleration sensor has low power consumption, the attitude detection module 10 and the attitude identification module 20 can be used for continuously monitoring the attitude of the vehicle, and if the vehicle is abnormally moved, the method for actively positioning and identifying the abnormal vehicle position fully considers the balance between the power consumption and the asset preservation problem, and provides important technical support for the vehicle asset preservation. The vehicle abnormal movement management system provided in embodiment 2 is consistent with the working principle of the vehicle abnormal movement management method in embodiment 1, and is not repeated here any more, the attitude information of the vehicle is monitored in real time, an alarm is actively issued under the condition of abnormal attitude information, the all-day supervision is realized under the condition of low power consumption, and the monitoring can be performed for a long time.
The reading frequency of the triaxial acceleration sensor can be 1S, so that the power consumption can be further reduced. The vehicle can periodically collect readings (x0, y0, z0) of the triaxial acceleration sensor during standard standing, and the readings can be used as standard attitude information of the triaxial acceleration sensor of the vehicle in the gravity direction and used for correcting the readings of the triaxial acceleration sensor, so that the readings of the triaxial acceleration sensor are more accurate and reliable; when the three-axis acceleration sensor is installed on a vehicle, the initialization correction of the three-axis acceleration sensor is completed, and the reading coordinate systems among vehicles are unified.
As shown in fig. 4, the gesture recognition module 20 includes a gesture information obtaining unit 21, a calculating unit 22, and an alarming unit 23, where the gesture information obtaining unit 21 is configured to obtain standard gesture information and obtain the gesture information periodically according to a preset period; the calculation unit 22 is connected to the attitude information acquisition unit 21, and is configured to calculate the attitude information of multiple preset periods in a time sequence, and calculate a first included angle difference between the attitude information of the current period and the attitude information of the previous period, and a second included angle difference between the attitude information of each period and standard attitude information; and the warning unit 23 is connected with the calculating unit 22 and is used for generating warning information and sending the warning information to the control module 40 when the first included angle difference value and the second included angle difference value both exceed a preset included angle conversion threshold value.
The attitude information obtaining unit 21 obtains readings of the three-axis acceleration sensor periodically every other preset period, and the calculating unit 22 calculates readings of the three-axis acceleration sensor in a plurality of periods in a time sequence, and simultaneously checks a difference value between an included angle between the reading in the current period and the reading in the previous period and a difference value between included angles of the readings in consecutive periods. If the values exceed the preset included angle change threshold (for example, 30 degrees), the alarm unit 23 may send an alarm to the server through the communication module 30.
The gesture recognition module 20 further includes an on-off lock state recognition unit 24, wherein the on-off lock state recognition unit 24 is connected to the alarm unit 23, and the on-off lock state recognition unit 24 is configured to send the recognized on-off lock state to the alarm unit 23; and the alarm unit 23 is configured to selectively generate alarm information according to the locking and unlocking state and send the alarm information to the control module 40 when the first included angle difference value and the second included angle difference value both exceed a preset included angle conversion threshold value. The warning unit 23 refers to the current locking/unlocking state of the vehicle identified by the locking/unlocking state identification unit 24 to eliminate the situation that the vehicle falls down in the unlocking state, generally, if the vehicle is in the unlocking state, the posture change is a normal state, and when the vehicle is in the locking state, and the first included angle difference and the second included angle difference both exceed the preset included angle conversion threshold, at this time, the warning information needs to be generated and sent to the control module 40.
As shown in fig. 5, the mobile determining module 41 is further included, the mobile determining module 41 orders the positioning information according to time, and makes a preset time sliding window with a preset period as a period, and the mobile determining module 41 is configured to perform median filtering on the positioning information in the preset time sliding window, and remove an abnormal value of abnormal drift in the positioning information; and calculating the earth surface distance between adjacent points according to the positioning information processed by the abnormal value, and judging whether the vehicle generates displacement according to whether the earth surface distance is continuously larger than a distance threshold value. The vehicle continuously reports the positioning information, and the movement judgment module 41 arranges the time sequence according to the reported position information, and sets a time sliding window with a preset period of about 2 minutes. And performing median filtering on the position data in the sliding window to eliminate the locating points with abnormal drift. Calculating the earth surface distance between adjacent points of the positioning points with processed abnormal values, wherein whether the earth surface distance between the positioning points has continuous increasing change in a time sliding window is judged, for example, the distance threshold is more than 100 meters; and if the earth surface distance value in the continuous time window is increased, judging that the earth surface distance value is displaced, and otherwise, judging that the earth surface distance value is not displaced.
The vehicle abnormal movement management system further comprises an adjusting module 42, wherein the adjusting module 42 is connected with the movement judging module 41, and the adjusting module 42 is used for selectively sending a second control instruction to the positioning module 50 according to whether the vehicle generates displacement within a preset time period and the posture information of the vehicle; the positioning module 50 turns off or adjusts the positioning frequency according to the received second control instruction. The control module 40 selectively sends a second control command to the positioning module 50 according to whether the position continuously reported by the vehicle has displacement and whether the posture state of the vehicle is abnormally inclined without recovery. If no displacement is found in the reported positions within the continuous threshold value period range and the vehicle posture is not continuously and abnormally fallen down, the abnormal movement is judged to be recognized by mistake, and the control module 40 sends an instruction for closing the positioning module 50 to the vehicle, so that the power consumption of the vehicle can be reduced. When the track is found to have displacement at first and then does not move any more, or when the position reported in the continuous threshold value period range is found to have no displacement and the vehicle posture is continuously and abnormally fallen down, the control module 40 sends a positioning frequency reduction command to the vehicle, so that the positioning frequency of the vehicle is reduced (for example, once in 30 minutes) to reduce power consumption and continuously monitor whether the vehicle has a new position change.
The application can also comprise an operation and maintenance module 43, wherein the operation and maintenance module 43 is used for acquiring the positioning information of the positioning module 50 and sending the routing inspection instruction containing the positioning information to the relevant operation and maintenance personnel. The vehicle does not have the displacement, and the gesture is the state of continuously falling, will discern, has the vehicle to topple over unusually, differentiatees to put chaotic degree at the parking website and has the problem, waits to detect, and at this moment, fortune dimension module 43 can produce one and be responsible for fortune dimension personnel's instruction for the website region, and suggestion fortune dimension personnel are patrolled and examined to this website, puts the condition to the vehicle and arranges in order. When the vehicle finds continuous displacement, the positioning module 50 continuously collects the position information of the monitored vehicle and tracks the track of the abnormally moved vehicle; further, according to the placement location where the vehicle is finally abnormally moved, the operation and maintenance module 43 generates an inspection instruction to the local area responsible for the operation and maintenance personnel, assigns the operation and maintenance personnel to the location to check whether the vehicle is hidden, privately occupied and damaged, and takes corresponding measures according to the situation.
The control module 40 comprises an auxiliary identification module 44, the auxiliary identification module 44 is configured to turn on a positioning module 50 of a vehicle to be inspected which is not identified by the gesture identification module 20 to be in an abnormal moving state, acquire and analyze a low-frequency positioning signal acquired by the positioning module 50, identify whether the vehicle to be inspected has an abnormally moving vehicle in the vehicle to be inspected through vehicle position portrait information generated by the low-frequency positioning signal, and send auxiliary alarm information to the control module 40 if the vehicle to be inspected has the abnormally moving vehicle, and the control module 40 is configured to generate the first control instruction according to the auxiliary alarm information. The auxiliary identification module 44 starts the positioning module 50 of the part of the vehicle to be inspected which is in the locking state and is not checked by the three-axis acceleration sensor to identify abnormal movement, and collects a low-frequency positioning signal by the positioning module 50, the vehicle position image information is generated according to the continuous low-frequency positioning signal, if the low-frequency positioning signal of the vehicle is changed greatly, which indicates that the vehicle may be abnormally moved, the auxiliary identification module sends auxiliary alarm information to the control module 40, and the auxiliary identification module is used for monitoring whether the abnormally moved vehicle is missed to identify and assisting to determine the specific number of the abnormally moved vehicles.
Example 3:
embodiment 3 also provides a vehicle management system provided with the vehicle abnormal movement management system. With this vehicle management system, upon recognizing that the posture of the vehicle in the locked state has changed greatly, an alarm is issued to the corresponding control module 40 of the vehicle. The method can continuously monitor the vehicle attitude, and actively position and identify the abnormal vehicle position if abnormal movement exists, fully considers the balance between the power consumption and the asset preservation problem, and provides important technical support for vehicle asset preservation.
Storage medium in the above embodiments-any of various types of memory devices or storage devices. The term "storage medium" is intended to include: mounting media such as CD-ROM, floppy disk, or tape devices; computer system memory or random access memory such as DRAM, DDR RAM, SRAM, EDO RAM, Lanbas (Rambus) RAM, etc.; non-volatile memory such as flash memory, magnetic media (e.g., hard disk or optical storage); registers or other similar types of memory elements, etc. The storage medium may also include other types of memory or combinations thereof. In addition, the storage medium may be located in the computer system in which the program is executed, or may be located in a different second computer system connected to the computer system through a network (such as the internet). The second computer system may provide the program instructions to the computer for execution. The term "storage medium" may include two or more storage media that may reside in different locations, such as in different computer systems that are connected by a network. The storage medium may store program instructions (e.g., embodied as a computer program) that are executable by one or more processors.
Of course, the storage medium provided in the embodiments of the present application contains computer executable instructions, and the computer executable instructions are not limited to the operation of the vehicle abnormal movement management system and method and the vehicle management system described above, and may also execute the relevant operation in the vehicle abnormal movement management system and method and the vehicle management system provided in any embodiments of the present application.
It should be noted that the computer readable medium mentioned above in the present application may be a computer readable signal medium or a computer readable medium or any combination of the two. A computer readable medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present application, a computer readable medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In this application, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may be any computer readable medium that is not a computer readable medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.
The computer readable medium may be embodied in the electronic device; or may exist separately without being assembled into the electronic device.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (8)
1. A vehicle abnormal movement management method characterized by comprising:
s1, acquiring the attitude information of the vehicle;
s2, identifying whether the vehicle is in an abnormal moving state or not according to the posture information;
s3: when the vehicle is identified to be in the abnormal moving state in the S2, receiving alarm information sent by the vehicle;
s4: generating and sending a first control instruction according to the alarm information;
s5: receiving positioning information sent by a vehicle based on the first control instruction;
wherein, the S1 specifically includes:
s11: acquiring standard attitude information and periodically acquiring the attitude information according to a preset period;
s12: calculating the attitude information of a plurality of preset periods in a time sequence, and calculating a first included angle difference value between the attitude information of the current period and the attitude information of the previous period and a second included angle difference value between the attitude information of each period and standard attitude information;
s13: and generating and sending alarm information when the first included angle difference value and the second included angle difference value exceed a preset included angle conversion threshold value.
2. The vehicle abnormal stealing management method according to claim 1, further comprising, after S5:
s6: sequencing the positioning information according to time, making a preset time sliding window with a preset period, performing median filtering on the positioning information in the preset time sliding window, and removing abnormal values of abnormal drift in the positioning information; and calculating the earth surface distance between adjacent points according to the positioning information processed by the abnormal value, and judging whether the vehicle generates displacement according to whether the earth surface distance is continuously greater than a distance threshold value.
3. The abnormal vehicle movement management method according to claim 1, further comprising, after the S2:
s21: acquiring a low-frequency positioning signal of a vehicle to be checked which is not identified to be in an abnormal moving state;
s22: and analyzing the low-frequency positioning signal, identifying whether the vehicles to be inspected move abnormally or not according to the vehicle position portrait information generated by the low-frequency positioning signal, receiving auxiliary alarm information if the vehicles to be inspected move abnormally, and generating the first control command according to the auxiliary alarm information.
4. A vehicle abnormal movement management system, characterized by comprising:
the attitude detection module is used for acquiring the attitude information of the vehicle;
the gesture recognition module is connected with the gesture detection module and used for recognizing whether the vehicle is in an abnormal moving state or not according to the gesture information;
the communication module is connected with the gesture recognition module and used for receiving alarm information sent by the vehicle when the gesture recognition module recognizes that the vehicle is in an abnormal moving state;
the control module is connected with the communication module and used for generating and sending a first control instruction according to the alarm information;
the positioning module is connected with the control module and used for receiving positioning information sent by a vehicle based on the first control instruction;
wherein the gesture recognition module comprises:
the attitude information acquisition unit is used for acquiring standard attitude information and periodically acquiring the attitude information according to a preset period;
the calculation unit is connected with the attitude information acquisition unit and used for calculating the attitude information of a plurality of preset periods in time sequence, calculating a first included angle difference value between the attitude information of the current period and the attitude information of the previous period and a second included angle difference value between the attitude information of each period and the standard attitude information;
and the warning unit is connected with the calculation unit and used for generating and sending alarm information to the communication module when the first included angle difference value and the second included angle difference value exceed a preset included angle conversion threshold value.
5. The vehicle abnormal movement management system according to claim 4, wherein the posture identifying module further includes a switch lock state identifying unit, wherein,
the locking and unlocking state identification unit is connected with the alarm unit and is used for sending the identified locking and unlocking state to the alarm unit;
and the alarm unit is used for selectively generating alarm information according to the locking and unlocking state and sending the alarm information to the communication module when the first included angle difference value and the second included angle difference value exceed a preset included angle conversion threshold value.
6. The vehicle abnormal movement management system according to claim 5, further comprising an adjustment module, wherein the adjustment module is connected with a movement judgment module, and the adjustment module is used for selectively sending a second control instruction to the positioning module according to whether the vehicle generates displacement within a preset time period and the posture information of the vehicle; and the positioning module closes or adjusts the positioning frequency according to the received second control instruction.
7. The vehicle abnormal movement management system according to claim 6, further comprising an operation and maintenance module, wherein the operation and maintenance module is connected with the positioning module, and is used for acquiring the positioning information and sending an inspection instruction containing the positioning information to related operation and maintenance personnel.
8. A vehicle management system characterized in that the vehicle abnormal shift management system according to any one of claims 4 to 7 is provided.
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| CN112954002A (en) * | 2021-01-22 | 2021-06-11 | 摩拜(北京)信息技术有限公司 | Method for monitoring a vehicle and vehicle lock |
| CN113830209B (en) * | 2021-09-10 | 2023-06-16 | 摩拜(北京)信息技术有限公司 | Abnormal movement detection method and device, vehicle and server |
| CN113920774A (en) * | 2021-09-30 | 2022-01-11 | 深圳市捷顺科技实业股份有限公司 | Pulse burst passing method, device and equipment for vehicle detector |
| CN115497261B (en) * | 2022-08-24 | 2024-02-20 | 宁波美喵科技有限公司 | Abnormal movement alarming method, equipment, storage medium and device for vehicle |
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