CN112248930A - Intelligent automobile warning device - Google Patents
Intelligent automobile warning device Download PDFInfo
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- CN112248930A CN112248930A CN202011136080.5A CN202011136080A CN112248930A CN 112248930 A CN112248930 A CN 112248930A CN 202011136080 A CN202011136080 A CN 202011136080A CN 112248930 A CN112248930 A CN 112248930A
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- warning
- box
- module
- control module
- warning box
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q7/00—Arrangement or adaptation of portable emergency signal devices on vehicles
- B60Q7/005—Devices without lamps
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
Abstract
The invention relates to the technical field of safety prevention, in particular to an intelligent automobile warning device which comprises a fixed seat and a warning box, wherein the fixed seat is fixedly arranged at the bottom of a vehicle, the warning box is connected with the fixed seat through a first locking device, and the first locking device is connected with a control system of the vehicle, so that when the vehicle collides, the first locking device releases the warning box; the warning box comprises a box body, a wheel body, a warning plate, a control module and a power module, wherein a trigger button is arranged on one surface of the box body facing the fixing groove; the control module group obtains during trigger button's trigger signal, the control module group is through controlling two the in-wheel motor will the box body removes to the setting position after, control the jack is opened, so that the warning board stretches out to place the chamber outside. The invention can automatically move to a proper position to early warn the rear vehicle when the vehicle has a car accident.
Description
Technical Field
The invention relates to the technical field of safety prevention, in particular to an intelligent automobile warning device.
Background
The triangular warning board on the existing automobile needs to be manually placed behind the automobile after an automobile accident as a warning sign to prevent the occurrence of a secondary accident. Because the safety consciousness of personnel is not in place or the performance of personnel on the automobile is temporarily lost due to the automobile accident, the triangular plate is not placed on the automobile accident site correctly in time, and the secondary automobile accident happens.
Disclosure of Invention
In order to solve the problems, the invention provides an intelligent automobile warning device which can automatically move to a proper position to warn a rear vehicle when an automobile accident happens.
In order to achieve the purpose, the invention adopts the technical scheme that:
an intelligent automobile warning device comprises a fixed seat and a warning box, wherein the fixed seat is fixedly arranged at the bottom of a vehicle, a fixed groove is concavely arranged on one surface of the fixed seat, which faces away from the vehicle, the warning box is embedded in the fixed groove, the warning box is connected with the fixed seat through a first locking device, and the first locking device is connected with a control system of the vehicle, so that when the vehicle collides, the first locking device releases the warning box;
the warning box comprises a box body, a wheel body, a warning board, a control module and a power module,
the two wheel bodies are respectively connected with two ends of the box body through hub motors;
a placing cavity is formed in the box body, a reserved opening communicated with the placing cavity is formed in one surface, facing the fixing groove, of the box body, the warning plate is located in the placing cavity, and one end of the warning plate is connected with the box body through a retracting and releasing mechanism, so that one end, far away from the retracting and releasing mechanism, of the warning plate can extend out of the placing cavity through the reserved opening;
a trigger button is arranged on one side, facing the fixed groove, of the box body;
the control module group respectively with in-wheel motor the jack mechanism trigger button and power module electricity are connected, so that the control module group obtains during trigger button's trigger signal, the control module group is through controlling two in-wheel motor will the box body removes to after setting up the position, control jack mechanism opens, so that the warning board stretches out to place the chamber outside.
Furthermore, the first locking device is arranged at two sides of the warning box and comprises an electromagnetic strip, a locking piece and a release spring, the fixed seat is provided with a cavity, the electromagnetic strip is arranged at two sides of the fixed groove and is fixedly arranged in the cavity, the electromagnetic strip is connected with a control system of the vehicle,
a plurality of openings communicated with the cavity are formed in two sides of the fixing groove, a plurality of locking pieces are arranged, one end of each locking piece penetrates into the cavity through the opening and is rotatably connected with the fixing seat, the other end of each locking piece faces the fixing groove, an iron block is arranged at one end, located in the cavity, of each locking piece, and when the electric magnetic strips are electrified, the electric magnetic strips can attract the iron blocks so that the warning box is abutted and fixed in the fixing groove by the locking pieces; the release spring is located in the cavity, just release spring both ends respectively with the iron plate reaches fixing base fixed connection, when the electricity is lost to the electric magnetic stripe the elasticity effect of release spring is down, the locking piece is kept away from the one end of cavity is towards keeping away from the fixed slot direction is rotated, so that the warning box can be followed the fixed slot roll-off.
Furthermore, the retraction mechanism comprises a rotating part, a clockwork spring and a second locking device (63), the rotating part is of a disc structure, one side of the outer wall of the rotating part is fixedly connected with one end of the warning board, a rotating shaft is arranged at the circle center of the rotating part, the rotating shaft is rotatably arranged in the rotating part in a penetrating mode and is fixedly connected with the box body, the clockwork spring is sleeved on the rotating shaft, and two ends of the rotating shaft are respectively fixedly connected with the rotating part and the rotating shaft;
the second locking device comprises a fixing sleeve, a clamping piece and an electromagnetic block, one end of the fixing sleeve is fixedly connected with the placing cavity, the other end of the fixing sleeve is provided with a sliding groove, one end of the clamping piece is embedded into the sliding groove in a sliding mode, the other end of the clamping piece faces the rotating piece and is provided with clamping teeth, a rack which is matched with the clamping teeth in a clamping mode is arranged on the outer wall of the rotating piece, a locking spring is arranged in the sliding groove, two ends of the locking spring are respectively abutted to the fixing sleeve and the clamping piece, under the elastic force action of the locking spring, the clamping piece slides towards the rotating piece, the clamping teeth are matched with the rack in a clamping mode, and one end, away from the rotating piece, of the;
the electromagnetism piece is located the sliding tray and with fixed cover fixed connection, just joint spare orientation the one end of sliding tray is iron nature material, the electromagnetism piece with control module group electricity is connected, through control module group control the electromagnetism piece gets electric, the electromagnetism piece is right joint spare carries out the actuation, the latch with the rack separation, with under clockwork spring's the elastic action, the warning board is kept away from the one end of rotating the piece can stretch out through reserving the mouth extremely place extraventricular.
Furthermore, reserve the mouth and be equipped with the locating part to make the warning board extension when placing the chamber outside, state the warning board can with the locating part butt is in order to constitute the angle of slope.
Further, the control module comprises a control module and a driving module,
the control module is used for acquiring a signal of the trigger button;
the driving module is used for acquiring a signal of the trigger button through the control module and driving the two hub motors to rotate so as to enable the warning box to move to a set position behind the vehicle after being separated from the fixed seat;
the control module obtains the signal that the warning box stopped through the drive module, just control module is in the warning box stops the back control receive and release mechanism opens, so that the warning board stretches out to place the chamber outside.
Furthermore, the driving module comprises a distance judgment sub-module and a movement correction sub-module,
the distance judgment submodule is used for calculating the moving distance of the warning box according to the radius of the hub motor and the rotating speed of the hub motor, and the distance judgment submodule controls the two hub motors to stop rotating when the warning box reaches the set moving distance;
the mobile correction submodule is used for acquiring fences on two sides of a road through ultrasonic probes so that the warning box can run in the range of the road, the number of the ultrasonic probes is two, the two ultrasonic probes are respectively positioned at two ends of the box body, and the ultrasonic probes and the hub motor are positioned on the same side face; when the distance from the ultrasonic probe to the fence reaches a threshold value, the moving correction submodule controls the hub motors on the side opposite to the ultrasonic probe to increase the speed until the distance from the ultrasonic probe to the fence is smaller than the threshold value, and the moving correction submodule controls the two hub motors to operate at the same rotating speed.
Furthermore, the driving module further comprises a state sensing module, and the state sensing module acquires the moving and direction states of the warning box through a three-axis gyro sensor; the distance judgment submodule can also calculate the linear distance of the movement correction submodule for moving the warning box when the movement correction submodule controls the warning box to turn according to the state induction mold module, and the distance judgment submodule replaces the turning movement distance of the warning box with the linear movement distance when calculating the movement distance of the warning box.
Further, the control module group still includes balanced module, balanced module is used for passing through two of triaxial gyrosensor system the in-wheel motor, so that it is in balanced state and makes to warn the box warn the board upwards orientation.
Further, the control module group still includes initial position correction module, initial position correction module is used for passing through triaxial gyroscope sensor obtains warning box breaks away from before the fixing base with the angle that the warning box deflects after falling to the ground, initial position correction module calculates the deflection angle, just initial position correction module basis the radius of wheel body reaches in-wheel motor's rotational speed, control one in-wheel motor rotates, another in-wheel motor stops, so that warning box break away from before the fixing base with warning box has the same angle after falling to the ground.
Further, the control module group still includes alarm module, alarm module is used for passing through control module acquires trigger button's signal, just alarm module sends the GPS locating information of vehicle and predetermined warning characters to in the predetermined alarm number.
The invention has the beneficial effects that:
1. the first locking device is connected with a control system of the vehicle, so that when the control system of the vehicle identifies that the vehicle has a collision or an accident, the first locking device releases the warning box to enable the warning box to be separated from the vehicle; after warning box and fixing base break away from, trigger button has produced trigger signal, make control module group control in-wheel motor rotate, the warning box removes to the position of setting for, so that the warning box can shift to the rear of occurence of failure department, simultaneously under the effect of jack, the warning board stretches out outside the box body, thereby realized warning the vehicle at rear, make the driver when the disability ability, the warning box can in time warn the vehicle at rear, prevent the emergence of secondary traffic accident.
2. Under the effect of locking spring, the joint spare slides towards rotating the piece to make latch and rack joint cooperation, make the warning board fix in the box body. After showing the box and removing the position to the settlement, control module group control electromagnetism piece gets electric, and the electromagnetism piece carries out the actuation to the joint spare for the joint spare removes towards the direction of keeping away from the rotation piece, thereby, latch and rack separation, simultaneously under clockwork spring's elastic force effect, the one end that the rotation piece was kept away from to the warning board can stretch out to placing the chamber outside through reserving the mouth, makes the warning board can warn the vehicle at rear, prevents the emergence of secondary traffic accident.
3. Because the place of occurrence of vehicle accident probably is the bend, under the effect of removing the correction submodule piece, can monitor the both sides of road through the ultrasonic probe at the both ends of box body, when the ultrasonic probe of certain one end monitored the distance of rail and reached the threshold value, prove that the warning box is being close to the rail, remove the in-wheel motor speed-up that corrects submodule piece control and this ultrasonic probe one side relatively for the warning box can turn, prevents that the warning box from removing outside the road. The distance judgment submodule calculates the moving distance of the warning box through the radius of the wheel body and the rotating speed of the in-wheel motor, and the distance judgment submodule presets the moving distance of the warning box, and when the warning box turns, the linear distance is shortened, so that the warning effect cannot be timely provided for a rear vehicle.
4. When a vehicle collides, the warning box deflects in the releasing process, and if the warning box still moves linearly after deflecting, the warning box moves towards the front of the vehicle.
Drawings
Fig. 1 is a schematic structural diagram of an intelligent vehicle warning device according to a preferred embodiment of the invention.
Fig. 2 is a schematic structural diagram of a warning box of an intelligent vehicle warning device according to a preferred embodiment of the invention.
Fig. 3 is a schematic diagram of an internal structure of a warning box of an intelligent vehicle warning device according to a preferred embodiment of the invention.
Fig. 4 is a schematic structural diagram of a second locking device of the intelligent vehicle warning device according to a preferred embodiment of the invention.
Fig. 5 is a schematic diagram of a limiting member of an intelligent vehicle warning device according to a preferred embodiment of the invention.
Fig. 6 is a control block diagram of an intelligent vehicle warning device according to a preferred embodiment of the invention.
Fig. 7 is a control circuit diagram of the intelligent vehicle warning device according to a preferred embodiment of the invention.
In the figure, 1-a fixed seat, 11-a fixed groove, 12-a cavity, 13-an opening, 2-a warning box, 21-a box body, 211-a placing cavity, 212-a reserved opening, 213-a trigger button, 214-a limiting part, 22-a wheel body, 221-a hub motor, 23-a warning plate, 24-an ultrasonic probe, 25-a charging socket, 3-a control module, 31-a control module, 32-a driving module, 321-a distance judgment sub-module, 322-a movement correction sub-module, 323-a state induction die module, 33-a balance module, 34-an initial position correction module, 35-an alarm module, 4-a power supply module, 5-an electric magnetic strip, 51-a locking part, 52-a release spring, 53-an iron block, 6-rotating part, 61-clockwork spring, 62-rotating shaft, 63-second locking device, 64-fixing sleeve, 641-clamping part, 642-electromagnetic block, 643-sliding groove, 644-clamping tooth, 645-rack and 646-locking spring.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1 to 7, an intelligent vehicle warning device according to a preferred embodiment of the present invention includes a fixing base 1 and a warning box 2.
Fixing base 1 sets firmly in the bottom of vehicle, and the concave fixed slot 11 that is equipped with of fixing base 1 one side back to the vehicle, and warning box 2 inlays in fixed slot 11, and warning box 2 is connected with fixing base 1 through first locking device, and first locking device is connected with the control system of vehicle to when making the vehicle send the collision, first locking device releases warning box 2.
In this embodiment, the first locking device is located at two sides of the warning box 2, the first locking device includes an electromagnetic strip 5, a locking member 51 and a release spring 52, the fixing base 1 is provided with a cavity 12, the electromagnetic strip 5 is located at two sides of the fixing groove 11 and is fixedly arranged in the cavity 12, and the electromagnetic strip 5 is connected with a control system of the vehicle. In the present embodiment, the electromagnetic strip 5 is supplied with power by the battery 14, and the battery 14 is charged by the battery of the vehicle.
The both sides of fixed slot 11 are equipped with a plurality of opening 13 that communicate with cavity 12, locking piece 51 is equipped with a plurality of, and locking piece 51 one end penetrate in cavity 12 through opening 13 and rotate with fixing base 1 and be connected, the other end is towards fixed slot 11, the one end that locking piece 51 is located cavity 12 is equipped with iron plate 53, when 5 circular telegrams of electromagnetism strip, electromagnetism strip 5 can carry out the actuation to iron plate 53, so that locking piece 51 will warn 2 butt of box and fix in fixed slot 11. Release spring 52 is located cavity 12, and release spring 52 both ends respectively with iron plate 53 and fixing base 1 fixed connection, when electric magnetic stripe 5 loses the electricity, under release spring 52's elastic force effect, the one end of cavity 12 is kept away from to locking piece 51 is towards keeping away from fixed slot 11 direction and is rotated to make warning box 2 can follow fixed slot 11 roll-off.
The warning box 2 comprises a box body 21, a wheel body 22, a warning board 23, a control module 3 and a power module 4.
The number of the wheel bodies 22 is two, and the two wheel bodies 22 are respectively connected with two ends of the box body 21 through the hub motors 221. The diameter of the wheel 22 is larger than the maximum height of the box body 21 in this embodiment, so that the box body 21 does not contact with the ground.
Be equipped with in the box body 21 and place chamber 211, and box body 21 is equipped with and places the reservation mouth 212 of chamber 211 intercommunication towards the one side of fixed slot 11, warns board 23 and is located and places the chamber 211, and warns board 23 one end and passes through the radio and tape player and be connected with box body 21 to the one end that makes warning board 23 keep away from the radio and tape player can stretch out to placing outside the chamber 211 through reserving mouth 212.
The case 21 has a trigger button 213 on one surface facing the fixing groove 11.
The control module 3 is electrically connected to the in-wheel motor 221, the retraction mechanism, the trigger button 213 and the power module 4, respectively, so that when the control module 3 obtains the trigger signal of the trigger button 213, the control module 3 controls the retraction mechanism to be opened after controlling the two in-wheel motors 221 to move the box body 21 to the set position, so that the warning plate 23 extends out of the placement cavity 211.
The box body 21 of this embodiment and the surface of warning board 23 all are equipped with the reflection of light strip to the realization is warned the back car and is reminded.
Since the first locking device is connected with the control system of the vehicle, when the control system of the vehicle recognizes that the vehicle has a collision or accident, the first locking device releases the warning box 2 so that the warning box 2 can be separated from the vehicle; after warning box 2 breaks away from with fixing base 1, trigger button 213 has produced trigger signal, make control module 3 control in-wheel motor 221 rotate, warning box 2 removes to the position of setting for, so that warning box 2 can shift to the rear of occurence of failure department, simultaneously under the effect of radio and player mechanism, warning board 23 stretches out outside box body 21, thereby realized warning the vehicle at rear, make the driver when the incapability of taking the action, warning box 2 can in time make the warning to the vehicle at rear, prevent the emergence of secondary traffic accident.
In this embodiment, the retracting mechanism includes a rotating member 6, a spiral spring 61 and a second locking device 63, the rotating member 6 is a disc structure, one side of the outer wall of the rotating member 6 is fixedly connected with one end of the warning plate 23, a rotation shaft 62 is arranged at the center of the circle of the rotating member 6, the rotation shaft 62 is rotatably inserted into the rotating member 6 and is fixedly connected with the box body 21, the spiral spring 61 is sleeved on the rotation shaft 62, and two ends of the rotation shaft 62 are respectively fixedly connected with the rotating member 6 and the rotation shaft 62;
the second locking device 63 includes a fixed sleeve 64, a clamping member 641 and an electromagnetic block 642, one end of the fixed sleeve 64 is fixedly connected with the placing cavity 211, the other end of the fixed sleeve is provided with a sliding groove 643, one end of the clamping member 641 is slidably embedded into the sliding groove 643, the other end of the clamping member 641 faces the rotating member 6 and is provided with a clamping tooth 644, the outer wall of the rotating member 6 is provided with a rack 645 in clamping fit with the clamping tooth 644, a locking spring 646 is arranged in the sliding groove 643, two ends of the locking spring 646 are respectively abutted against the fixed sleeve 64 and the clamping member 641, under the elastic force of the locking spring 646, the clamping member 641 slides towards the rotating member 6, and the clamping tooth 644 is in clamping fit with the rack 645, so that one end;
the electromagnetic block 642 is located the sliding groove 643 and is fixed connection with the fixed cover 64, and the one end of joint spare 641 towards the sliding groove 643 is the iron nature material, and the electromagnetic block 642 is connected with control module 3 electricity, and the control module 3 electricity of getting through electromagnetic block 642, and the electromagnetic block 642 actuation is to joint spare 641, latch 644 and the separation of rack 645 to under clockwork spring 61's elasticity effect, the one end that the warning board 23 kept away from rotating member 6 can stretch out to placing the chamber 211 outside through reserving mouthful 212.
Under the action of the locking spring 61, the snap-in element 641 slides towards the rotating element 6 and brings the latch 644 into snap-fit engagement with the rack 645, so that the warning plate 23 can be fixed in the case. After warning box 2 removed to the position of settlement, control module 3 control electromagnetism piece 642 piece got to the electricity, electromagnetism piece 642 carries out the actuation to the joint spare, make joint spare 641 remove towards the direction of keeping away from the rotation piece, thereby, latch 644 and rack 645 separation, simultaneously under clockwork spring's elasticity effect, the one end that the rotation piece 6 was kept away from to warning board 23 can stretch out to placing outside the chamber 211 through reserving mouthful 212, make warning board 23 can warn the vehicle at rear, prevent the emergence of secondary accident.
As shown in fig. 5, the opening 212 is provided with a stopper 213, so that when the warning plate 23 is extended out of the cavity 211, the warning plate 23 can abut against the stopper 213 to form an inclined angle.
In this embodiment, box body 21 is equipped with the interface 25 that charges towards the one side of fixing base 1, and the interface 25 that charges is connected with power module 4 electricity, and fixing base 1 is equipped with charging plug, and charging plug is connected with the battery electricity of vehicle, and when warning box 2 was fixed on fixing base 1, charging plug embedding charges in the interface 25 to charge power module 4, guarantee that warning box 2 has sufficient electric quantity.
In this embodiment, the control module 3 includes a control module 31 and a driving module 32.
The control module 31 is used for acquiring the signal of the trigger button 213.
The driving module 32 is configured to obtain a signal of the trigger button 213 through the control module 31, and drive the two hub motors 221 to rotate, so that the warning box 2 is separated from the fixing base 1 and then moved to a set position behind the vehicle.
The control module 31 obtains a signal indicating that the warning box 2 stops through the driving module 32, and the control module 31 controls the retraction mechanism to open after the warning box 2 stops, so that the warning plate 23 extends out of the placing cavity 211.
The driving module 32 includes a distance determination sub-module 321 and a movement correction sub-module 322.
The distance determining submodule 321 is configured to calculate a moving distance of the warning box 2 according to the radius of the wheel body 22 and the rotation speed of the in-wheel motor 221, and the distance determining submodule 321 controls the in-wheel motors 221 to stop rotating when the warning box 2 reaches the set moving distance.
The mobile correction submodule 322 is used for acquiring fences on two sides of a road through the ultrasonic probes 24 so as to enable the warning box 2 to travel within the range of the road, two ultrasonic probes 24 are arranged, the two ultrasonic probes 24 are respectively positioned at two ends of the box body 21, and the ultrasonic probes 24 and the hub motor 221 are positioned on the same side; when the distance from the ultrasonic probe 24 to the fence reaches the threshold, the correction submodule 322 is moved to control the hub motors 221 on the side opposite to the ultrasonic probe 24 to increase the speed until the distance from the ultrasonic probe 24 to the fence is smaller than the threshold, and the correction submodule 322 is moved to control the two hub motors 221 to operate at the same rotating speed.
Because the place of the vehicle accident may be a curve, under the action of the mobile correction submodule 322, the ultrasonic probes 24 at the two ends of the box body 21 can monitor the two sides of the road, when the distance from the ultrasonic probe 24 at one end to the fence reaches a threshold value, it is proved that the warning box 2 is approaching the fence, and the mobile correction submodule 322 controls the hub motor 221 on the side opposite to the ultrasonic probe 24 to increase the speed, so that the warning box 2 can turn, and the warning box 2 is prevented from moving out of the road.
The driving module 32 further includes a state sensing module 323, and the state sensing module 323 acquires the moving and direction states of the warning box 2 through the three-axis gyro sensor; the distance determination submodule 321 can also calculate the linear distance that the moving correction submodule 322 moves when controlling the warning box 2 to turn according to the state sensing module 323, and the distance determination submodule 321 replaces the turning movement distance of the warning box 2 with the linear movement distance when calculating the movement distance of the warning box 2.
The distance judgment submodule calculates the distance of the warning box 2 through the radius of the wheel body 22 and the rotating speed of the in-wheel motor 221, and meanwhile, the distance judgment submodule 321 presets the moving distance of the warning box 2, when the warning box 2 turns, the linear distance is shortened, so that the warning effect cannot be timely provided for a rear vehicle, the embodiment is under the effect of the three-axis gyro sensor, so that the distance judgment submodule 321 calculates the linear distance of the movement correction submodule 322 for controlling the warning box 2 to turn according to the state sensing module 323, and meanwhile, when the distance judgment submodule 321 calculates the distance of the movement of the warning box 2, the turning moving distance of the warning box 2 is replaced by the linear moving distance, and the warning box 2 is guaranteed to still move to the position of the set linear distance after turning.
The control module 3 further includes a balancing module 33, and the balancing module 33 is configured to control the two hub motors 221 through the three-axis gyro sensor, so that the warning box 2 is in a balanced state and the warning plate 23 faces upward.
The control module 3 further includes an initial position correction module 34, the initial position correction module 34 is configured to obtain an angle of deflection between the front of the warning box 2, which is separated from the fixing base 1, and the rear of the warning box 2, which is fallen to the ground through the three-axis gyro sensor, the initial position correction module 34 calculates the deflection angle, and the initial position correction module 34 controls one of the hub motors 221 to rotate and the other one of the hub motors 221 to rotate according to the radius and the rotation speed of the wheel body 22, so that the same angle is formed between the front of the warning box 2, which is separated from the fixing base 1, and the.
The control module 3 further includes an initial position correction module 34, the initial position correction module 34 is configured to obtain an angle of deflection between the front of the warning box 2, which is separated from the fixing base 1, and the rear of the warning box 2, which is fallen to the ground through the three-axis gyro sensor, the initial position correction module 34 calculates the deflection angle, and the initial position correction module 34 controls one of the hub motors 221 to rotate and the other one of the hub motors 221 to rotate according to the radius and the rotation speed of the wheel body 22, so that the same angle is formed between the front of the warning box 2, which is separated from the fixing base 1, and the.
When the warning box 2 deflects, the initial position correction module 34 records the rotation angle alpha in the horizontal direction through the three-axis gyro sensor, then the initial position correction module 34 controls the rotation speeds of the two hub motors 221 respectively, one hub motor 221 is used as an original point, the other hub motor 221 rotates, the arc length L is calculated through the angle alpha, the number of turns of the wheel body 22 needing to rotate is calculated, the warning box 2 is enabled to turn, after correction, the two hub motors 221 rotate at the same speed, and the warning box 2 starts to walk in the direction of the coming vehicle at the moment.
The control module 3 further includes an alarm module 35, the alarm module 35 is configured to obtain a signal of the trigger button 213 through the control module 31, and the alarm module 35 sends the GPS positioning information of the vehicle and the preset alarm text to a preset alarm number. The alarm module 35 is provided with a GPS module, and after the alarm module 35 obtains the signal of the trigger button 213, the alarm module 35 sends the positioning information of the GPS module and the warning words edited in advance to a telephone number set in advance through an NB-LoT module by using a narrow-band internet.
As shown in fig. 7, the control module 3 of this embodiment adopts an MCU chip of STM32F103C8T6 model, and pin 4(TXD) and pin 5(RXD) in the GPS module are respectively connected to pin 32(PA10/RX) and pin 33(PA10/TX) in the STM32F103C8T6 chip to complete the GPS positioning function.
The electromagnetic block 642 is provided with a relay, and pin 3(IN) of the relay is connected with pin 18(PB0) of the STM32F103C8T6 chip to receive an input signal so as to control the opening of the electromagnetic block 642 by the relay.
Pin 1(TXD) and pin 2(RXD) in the NB-LoT module are respectively connected with pin 21(PB10) and pin 22(PB11) in the STM32F103C8T6 chip to realize a communication function.
In the ultrasonic probe 24, a pin 2(TRIG) and a pin 3(ECHO) are connected with a pin 27(PB14) and a pin 28(PB15) on an STM32F103C8T6 to complete the functions of controlling the ultrasonic probe 24 to realize an obstacle avoidance function and keeping driving in a road by a single chip microcomputer;
the hub motor 221 is controlled by pins 1(EN1), 2(IN1) and 7(IN2) of a control motor chip L293D to be connected with pins 11(PA1), 12(PA2) and 13(PA3) corresponding to STM32F103C8T6 to operate, and pins 9(EN2), 10(IN3) and 15(IN4) of the L293D are connected with pins 14(PA4), 15(PA5) and 16(PA6) of the STM32F103C8T6 to control the operation of the other hub motor 221.
The operation process of the intelligent automobile warning device of the embodiment is as follows:
s1, the vehicle control system controls the electric magnetic strip 5 to lose power, and under the action of the elastic force of the release spring 52, one end, far away from the cavity 12, of the locking piece 51 rotates towards the direction far away from the fixing groove 11, so that the warning box 2 can slide out of the fixing groove 11.
S2, the control module 31 obtains a trigger signal of the trigger button 213, after the warning box 2 falls to the ground, the initial position correction module 34 is used for obtaining the deflection angle between the position before the warning box 2 is separated from the fixed seat 1 and the position after the warning box 2 falls to the ground through the three-axis gyro sensor, the initial position correction module 34 calculates the deflection angle, and the initial position correction module 34 controls one in-wheel motor 221 to rotate and the other in-wheel motor 221 to rotate according to the radius and the rotating speed of the wheel body 22, so that the same angle is formed between the position before the warning box 2 is separated from the fixed seat 1 and the position after the warning box 2 falls to.
And S3, after the driving module 32 obtains the signal of the trigger button 213, the driving module controls the two hub motors 221 to rotate, and the warning box 2 moves towards the rear of the vehicle. When the distance from the ultrasonic probe 24 to the fence reaches the threshold, the correction submodule 322 is moved to control the hub motors 221 on the side opposite to the ultrasonic probe 24 to increase the speed until the distance from the ultrasonic probe 24 to the fence is smaller than the threshold, and the correction submodule 322 is moved to control the two hub motors 221 to operate at the same rotating speed.
S4, the distance judgment submodule 321 calculates the moving distance of the warning box 2 through the radius of the wheel body 22 and the rotating speed of the hub motor 221, meanwhile, the distance judgment submodule 321 calculates the linear distance of the movement correction submodule 322 for controlling the warning box 2 to move when the warning box 2 turns according to the state sensing mold module 323, and the distance judgment submodule 321 replaces the turning moving distance of the warning box 2 with the linear moving distance when calculating the moving distance of the warning box 2. When the warning box 2 reaches the set moving distance, the distance determining submodule 321 controls the two hub motors 221 to stop rotating.
S5, after the control module 31 obtains a signal that the two-hub motor 221 stops rotating, the control module 642 controls the electromagnet block 642 to be electrified, the electromagnet block 642 attracts the clamping piece 641, and the clamping tooth 644 is separated from the rack 645, so that under the action of the elastic force of the clockwork spring 61, one end, far away from the rotating piece 6, of the warning plate 23 can extend out of the placing cavity 211 through the reserved opening 212.
S6, after the alarm module 35 obtains the signal of the trigger button 213, the alarm module 35 sends the positioning information of the GPS module and the warning words edited in advance to a preset telephone number by utilizing a narrow-band internet through an NB-LoT module.
Claims (10)
1. The intelligent automobile warning device is characterized by comprising a fixed seat (1) and a warning box (2), wherein the fixed seat (1) is fixedly arranged at the bottom of a vehicle, a fixed groove (11) is concavely arranged on one surface, back to the vehicle, of the fixed seat (1), the warning box (2) is embedded in the fixed groove (11), the warning box (2) is connected with the fixed seat (1) through a first locking device, and the first locking device is connected with a control system of the vehicle, so that when the vehicle collides, the first locking device releases the warning box (2);
the warning box (2) comprises a box body (21), a wheel body (22), a warning plate (23), a control module (3) and a power module (4),
the number of the wheel bodies (22) is two, and the two wheel bodies (22) are respectively connected with the two ends of the box body (21) through hub motors (221);
a placing cavity (211) is formed in the box body (21), a reserved opening (212) communicated with the placing cavity (211) is formed in one surface, facing the fixing groove (11), of the box body (21), the warning plate (23) is located in the placing cavity (211), one end of the warning plate (23) is connected with the box body (21) through a retraction mechanism, and therefore one end, far away from the retraction mechanism, of the warning plate (23) can extend out of the placing cavity (211) through the reserved opening (212);
a trigger button (213) is arranged on one surface of the box body (21) facing the fixed groove (11);
control module group (3) respectively with in-wheel motor (221) jack mechanism trigger button (213) and power module (4) electricity are connected, so that control module group (3) obtain during the trigger signal of trigger button (213), control module group (3) are through controlling two in-wheel motor (221) will box body (21) remove to set up the position after, control jack mechanism opens, so that warning board (23) stretch out to place outside the chamber (211).
2. The intelligent vehicle warning device of claim 1, wherein: the first locking device is arranged on two sides of the warning box (2), the first locking device comprises an electric magnetic strip (5), a locking piece (51) and a release spring (52), the fixing seat (1) is provided with a cavity (12), the electric magnetic strip (5) is arranged on two sides of the fixing groove (11) and is fixedly arranged in the cavity (12), the electric magnetic strip (5) is connected with a control system of the vehicle,
the warning box is characterized in that a plurality of openings (13) communicated with the cavity (12) are formed in two sides of the fixing groove (11), a plurality of locking pieces (51) are arranged, one ends of the locking pieces (51) penetrate into the cavity (12) through the openings (13) and are rotatably connected with the fixing base (1), the other ends of the locking pieces face the fixing groove (11), iron blocks (53) are arranged at one ends, located in the cavity (12), of the locking pieces (51), and when the electric magnetic stripe (5) is electrified, the electric magnetic stripe (5) can attract the iron blocks (53) so that the warning box (2) can be abutted and fixed in the fixing groove (11) through the locking pieces (51); release spring (52) are located in cavity (12), just release spring (52) both ends respectively with iron plate (53) and fixing base (1) fixed connection, when electric magnetic stripe (5) lose the electricity, under the spring action of release spring (52), locking piece (51) are kept away from the one end of cavity (12) is towards keeping away from fixed slot (11) direction is rotated, so that warning box (2) can be followed fixed slot (11) roll-off.
3. The intelligent vehicle warning device of claim 1, wherein: the retraction mechanism comprises a rotating piece (6), a clockwork spring (61) and a second locking device (63), the rotating piece (6) is of a disc structure, one side of the outer wall of the rotating piece (6) is fixedly connected with one end of the warning plate (23), a rotating shaft (62) is arranged at the circle center of the rotating piece (6), the rotating shaft (62) is rotatably arranged on the rotating piece (6) in a penetrating manner and is fixedly connected with the box body (21), the clockwork spring (61) is sleeved on the rotating shaft (62), and two ends of the rotating shaft (62) are respectively fixedly connected with the rotating piece (6) and the rotating shaft (62);
the second locking device (63) comprises a fixing sleeve (64), a clamping piece (641) and an electromagnetic block (642), one end of the fixing sleeve (64) is fixedly connected with the placing cavity (211), the other end of the fixing sleeve is provided with a sliding groove (643), one end of the clamping piece (641) is slidably embedded into the sliding groove (643), the other end of the clamping piece (641) faces the rotating piece (6) and is provided with a clamping tooth (644), the outer wall of the rotating piece (6) is provided with a rack (645) in clamping fit with the clamping tooth (644), a locking spring (646) is arranged in the sliding groove (643), two ends of the locking spring (646) are respectively abutted against the fixing sleeve (64) and the clamping piece (641), under the elastic force of the locking spring (646), the clamping piece (641) slides towards the rotating piece (6) and enables the clamping tooth (644) to be in clamping fit with the rack (645), so that one end of the warning board (23) far away from the rotating piece (6) is locked in the box body (21);
the electromagnetic block (642) is located in the sliding groove (643) and fixedly connected with the fixed sleeve (64), one end, facing the sliding groove (643), of the clamping piece (641) is made of iron materials, the electromagnetic block (642) is electrically connected with the control module (3), the electromagnetic block (642) is controlled to be electrified through the control module (3), the clamping piece (641) is attracted by the electromagnetic block (642), the clamping teeth (644) are separated from the rack (645), and under the elastic force action of the clockwork spring (61), one end, far away from the rotating piece (6), of the warning plate (23) can extend out of the placing cavity (211) through the reserved opening (212).
4. The intelligent vehicle warning device of claim 3, wherein: reserve mouthful (212) and be equipped with locating part (213), so that warning board (23) extension when placing chamber (211) outside, state warning board (23) can with locating part (214) butt, with the angle that constitutes the slope.
5. The intelligent vehicle warning device of claim 1, wherein: the control module (3) comprises a control module (31) and a driving module (32),
the control module (31) is used for acquiring a signal of the trigger button (213);
the driving module (32) is used for acquiring a signal of the trigger button (213) through the control module (31) and driving the two hub motors (221) to rotate so as to enable the warning box (2) to move to a set position behind the vehicle after being separated from the fixed seat (1);
control module (31) are passed through drive module (32) acquire the signal that warning box (2) stopped, just control module (31) are in warning box (2) control after stopping the jack is opened, so that warning board (23) stretch out to place outside the chamber (211).
6. The intelligent vehicle warning device of claim 5, wherein: the driving module (32) comprises a distance judgment sub-module (321) and a movement correction sub-module (322),
the distance judgment submodule (321) is used for calculating the moving distance of the warning box (2) according to the radius of the wheel body (22) and the rotating speed of the in-wheel motors (221), and the distance judgment submodule (321) controls the two in-wheel motors (221) to stop rotating when the warning box (2) reaches the set moving distance;
the mobile correction submodule (322) is used for acquiring fences on two sides of a road through the ultrasonic probes (24) so that the warning box (2) can run in the road range, two ultrasonic probes (24) are arranged, the two ultrasonic probes (24) are respectively positioned at two ends of the box body (21), and the ultrasonic probes (24) and the hub motor (221) are positioned on the same side face; when the distance from the ultrasonic probe (24) on one side to the fence reaches a threshold value, the moving correction submodule (322) controls the hub motor (221) on the side opposite to the ultrasonic probe (24) to increase the speed until the distance from the ultrasonic probe (24) to the fence is smaller than the threshold value, and the moving correction submodule (322) controls the two hub motors (221) to operate at the same rotating speed.
7. The intelligent vehicle warning device of claim 6, wherein: the driving module (32) further comprises a state sensing mold module (323), and the state sensing mold module (323) acquires the moving and direction states of the warning box (2) through a three-axis gyro sensor; the distance judgment submodule (321) can also calculate the linear distance of the movement correction submodule (322) for moving the warning box (2) when the warning box (2) is controlled to turn according to the state sensing mold module (323), and the distance judgment submodule (321) replaces the turning movement distance of the warning box (2) with the linear movement distance when calculating the movement distance of the warning box (2).
8. The intelligent vehicle warning device of claim 7, wherein: control module group (3) still include balanced module (33), balanced module (33) are used for passing through two of triaxial gyrosensor system in-wheel motor (221), so that warning box (2) are in balanced state and make warning board (23) are towards the top.
9. The intelligent vehicle warning device of claim 7, wherein: control module group (3) still includes initial position correction module (34), initial position correction module (34) are used for passing through three-axis gyro sensor obtains warning box (2) break away from before fixing base (1) with the angle that warning box (2) fall to the ground the back and deflect, initial position correction module (34) calculate the deflection angle, just initial position correction module (34) basis the radius of wheel body (22) reaches the rotational speed of in-wheel motor (221), control one in-wheel motor (221) rotates, another in-wheel motor (221) stops, so that warning box (2) break away from before fixing base (1) with warning box (2) fall to the ground the back have the same angle.
10. The intelligent vehicle warning device of claim 5, wherein: control module group (3) still includes alarm module (35), alarm module (35) are used for passing through control module (31) acquire the signal of trigger button (213), just alarm module (35) with the GPS locating information of vehicle and in the warning characters of predetermineeing sent to predetermined alarm number.
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Cited By (1)
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| EP4086115A1 (en) * | 2021-05-07 | 2022-11-09 | Volvo Autonomous Solutions AB | A warning sign arrangement for a vehicle |
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