CN112356795B - Remote intelligent one-key window breaking control system for large vehicle - Google Patents

Remote intelligent one-key window breaking control system for large vehicle Download PDF

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Publication number
CN112356795B
CN112356795B CN202011219597.0A CN202011219597A CN112356795B CN 112356795 B CN112356795 B CN 112356795B CN 202011219597 A CN202011219597 A CN 202011219597A CN 112356795 B CN112356795 B CN 112356795B
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vehicle
window
remote
module
instruction
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CN112356795A (en
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王力
王玉林
刘世达
何忠贺
任叶
吉鸿海
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North China University of Technology
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North China University of Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • A—HUMAN NECESSITIES
    • A62—LIFE-SAVING; FIRE-FIGHTING
    • A62B—DEVICES, APPARATUS OR METHODS FOR LIFE-SAVING
    • A62B3/00—Devices or single parts for facilitating escape from buildings or the like, e.g. protection shields, protection screens; Portable devices for preventing smoke penetrating into distinct parts of buildings
    • A62B3/005—Rescue tools with forcing action
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/02—Occupant safety arrangements or fittings, e.g. crash pads
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R2021/0104—Communication circuits for data transmission
    • B60R2021/01081—Transmission medium
    • B60R2021/01088—Transmission medium wireless
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R2021/01204—Actuation parameters of safety arrangents
    • B60R2021/01252—Devices other than bags
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Business, Economics & Management (AREA)
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  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
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Abstract

The invention provides a remote intelligent one-key window breaking control system of a large vehicle, which comprises a remote command platform, a window breaking command sending module and a window breaking command sending module, wherein the remote command platform is used for monitoring video data transmitted from a vehicle-mounted terminal and sending a window breaking command if an emergency situation is confirmed; the interactive server is used for receiving the instruction of the remote command platform and carrying out remote digital control; the remote encryption technology module is used for starting and monitoring a specified service port; the vehicle-mounted terminal is in communication connection with the remote command platform through the interactive server and is in communication connection with the window breaker execution module; the controller is respectively connected with other modules, outputs signals to the window breaker execution module to start the control switch module, and the function control module controls the knocking times of the window breaker and enables the induction coil of the window breaker to be electrified to generate magnetic force to push the tungsten steel head of the window breaker to hit glass.

Description

Remote intelligent one-key window breaking control system for large vehicle
Technical Field
The invention relates to a remote intelligent one-key window breaking control system for a large vehicle.
Background
When a large vehicle runs in a high-risk area, riot molecular hijacking events can be frequently encountered. At this time, the quick opening of the escape passage in the vehicle is very important. At present, the escape passage of the large-sized vehicle is opened mainly by manual opening, the automation degree is low, and various modes lack linkage. Today, there are two main categories of window breaking systems for large vehicles: manual and driver push buttons. The manual operation is that the passenger in the vehicle can flap the window breaker after rotating the cover for 90 degrees, and the glass on the vehicle can be broken. The driver button is a button which is specially used for controlling the window glass and arranged on a control console in front of a driver, and the window can be opened only by pressing the button by the driver, so that passengers can escape through the window.
However, when some emergency situations occur, such as the driver and the passenger are hijacked, or the passenger cannot find the window breaker, the intelligent remote one-touch window breaking control system is particularly important at this time. Under the state of the internet of vehicles, when a large vehicle is hijacked, collided and in other emergency situations, the vehicle can be remotely controlled. One-key window breaking is a core technology for remotely controlling a vehicle, is terminal equipment installed in the vehicle, and is a main technical means for passengers to escape in the future. The intelligent remote one-key window breaking control system realizes one-key window breaking of all side windows and rear windows of a vehicle by optimizing electronic and mechanical structural design.
Research results and technical equipment formed by the remote control system can provide a new theoretical method and a new technical means for riot and terrorist monitoring, effectively prevent the occurrence of riot and terrorist events and improve the safety of public transportation places; meanwhile, under the condition that the riot and terrorist event occurs, key support can be provided for emergency disposal scheme formulation and command scheduling of the riot and terrorist event, the emergency disposal efficiency is effectively improved, the influence range of the riot and terrorist event is reduced, and the personnel can be rapidly and safely evacuated.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a remote intelligent one-key window breaking control system for a large vehicle, which can still ensure the control of the vehicle under special emergency conditions, effectively evacuate passengers and ensure that the passengers safely and quickly leave an accident site.
The invention specifically adopts the following technical scheme:
a remote intelligent one-key window breaking control system of a large vehicle comprises a remote command platform, a window breaking control module and a window breaking control module, wherein the remote command platform is used for monitoring video data transmitted from a vehicle-mounted terminal and issuing a window breaking command if an emergency situation is confirmed;
the interactive server comprises a remote communication module used for receiving the instruction of the remote command platform and carrying out remote digital control;
the remote encryption technology module is used for starting and monitoring a specified service port;
the vehicle-mounted terminal is in communication connection with the remote command platform through the interactive server and is in communication connection with the window breaker execution module;
the window breaker execution module comprises a function control module, a control switch module and a window breaker;
and the controller is respectively connected with the remote command platform, the interactive server, the vehicle-mounted terminal and the window breaker execution module, signals output by the controller are sent to the window breaker execution module to start the control switch module, and the function control module controls the knocking times of the window breaker and enables the induction coil of the window breaker to be electrified to generate magnetic force to push the tungsten steel head of the window breaker to hit glass.
Preferably, the remote communication module is a 485 remote communication module.
Preferably, the remote window breaking control method adopted by the controller is as follows:
a. defining u as an input signal, y as an output signal, y d A desired output signal;
Figure BDA0002761588080000021
Figure BDA0002761588080000022
y＝0；
b. the single discrete-time nonlinear system is defined as:
y(k+1)＝f(y(k),...,y(k-n y ),u(k),...,u(k-n u ))
wherein u (k) and y (k) respectively represent input and output of the system at the moment k;
c. definition when y and y d When the difference is not the same, an error signal e is generated and transmitted to the vehicle-mounted terminal, and the vehicle-mounted terminal transmits u to the window breaker for breaking the window after receiving the error signal e;
d. defining that a normal message is sent when window breaking is not needed; when the side window needs to be broken, sending a side window breaking message; and when the tail window needs to be broken, sending a tail window breaking message.
Preferably, the remote command platform communicates with the interior of the vehicle after receiving the alarm signal, and if the message is true, the remote command platform issues a window breaking instruction to the interactive server;
after receiving a window breaking instruction sent by the remote command platform, the interactive server firstly communicates with the interior of the vehicle, and if the condition is true, the interactive server sends the window breaking instruction to the vehicle-mounted terminal;
and after receiving the window breaking instruction, the vehicle-mounted terminal sends the window breaking instruction to a one-key window breaking execution end in the vehicle to break the window.
Preferably, the in-vehicle terminal includes:
the data access and standardization module is used for accessing detection data of vehicle-mounted inflammable volatile matters, explosives, navigation positioning and the like in real time;
the video processing and analyzing module is used for supporting intelligent analysis of vehicle-mounted video images and early warning of abnormal behaviors;
the large-capacity storage module is used for supporting the local storage of detection data such as pictures, inflammable volatile matters, explosives, navigation and positioning and the like;
the wireless communication module is used for supporting real-time transmission and retrieval of video images, and real-time transmission of early warning information such as abnormal behaviors, inflammable volatile matters, explosives, navigation positioning, abnormal tracks and the like and vehicle remote control instructions;
the emergency communication module is used for supporting the real-time transmission of early warning information such as abnormal behaviors, inflammable volatile matters and explosives, navigation positioning and abnormal tracks under the conditions of wireless communication abnormity or interruption and the like;
the vehicle remote speed limiting and forced stopping module is used for transmitting a control instruction to the vehicle speed control unit through the vehicle CAN bus based on a wireless access vehicle speed limiting or forced stopping instruction so as to realize vehicle speed limiting or forced stopping;
the emergency power supply module is used for supporting emergency power supply under the condition that the vehicle-mounted power supply system is damaged, ensuring normal operation of vehicle-mounted terminal equipment and effectively acquiring key data of a happening time period;
the safety protection module is used for protecting the outside of the equipment and ensuring the vibration resistance, the collision resistance, the high temperature resistance and the like of the equipment.
Advantageous effects
By adopting the technical scheme, the invention can still ensure the control of the vehicle under the special emergency condition, effectively evacuate passengers and ensure that the passengers safely and quickly leave the accident site.
Drawings
FIG. 1 is a block diagram of a control system;
FIG. 2 is a diagram of a remote window breaking control;
FIG. 3 is a schematic diagram of the operation of the vehicle-mounted terminal;
fig. 4 is a schematic diagram of remote window breaking operation.
Detailed Description
The invention is further illustrated below with reference to fig. 1-4.
The invention relates to a remote intelligent one-key window breaking control device for a large vehicle, which comprises a remote communication module, a remote encryption technology module and a window breaker execution module.
The remote communication module is a 485 remote communication module, the 485 remote communication module adopts a single chip microprocessor and a peripheral chip of a MOTOROLA company to form an intelligent position control unit, receives a unified standard direct current signal (such as a current signal of 4-20 mA), a control valve is sent to the microprocessor through signal processing and A/D conversion, the microprocessor sends processed data to a display unit to display an adjustment result, and a control signal generated after operation processing drives an alternating current motor.
The 485 remote communication module has a communication function, can receive instructions of an upper computer and perform remote digital control, and the 485 remote communication module mainly describes functions of:
(1) The integrated structure design is adopted, the control signals such as 4-20 mA/4-12 mA/12-20 mA/0-5V/1-5V and the like are directly received, and isolated valve position feedback signals of 4-20 mA are output;
(2) The flow meter has a simulation operation function and can operate according to a flow characteristic curve set by a user;
(3) And the control signal has the functions of open circuit fault judgment, alarm and protection. When the circuit is broken, the actuating mechanism can be opened or closed or maintained or preset any value between 0 and 100 percent;
(4) Digital display, display control signal value, valve bit value, fault category;
(5) RS485 remote communication function, the upper computer carries out programming configuration through a communication protocol, and data or graphic processing is carried out on the process quantity and the switching value.
The remote encryption technology module is arranged on the interactive server, the interactive server is started and monitors the designated service port, and the service is provided through the SOCKET.
The vehicle-mounted terminal is powered on and started to be connected to the interactive server through SOCKET, the interactive server identifies the equipment according to the ID transmitted into the equipment end, the channel information is stored in the interactive server, and the equipment end maintains long connection between the interactive server and the equipment through a timing heartbeat mechanism.
The remote command platform initiates a downlink instruction, the instruction comprises an ID with an operating device, the interactive server finds a connecting channel of the device to be operated according to the device identification issued by the remote command platform, and sends data to the device to be operated, namely the window breaker, through the channel.
The window breaker execution module comprises a function control module, a control switch module and a window breaker. When an emergency occurs, the window breaker execution module starts the control switch module by utilizing the electromagnetic induction principle, the function control module controls the knocking times of the window breaker and enables the induction coil of the window breaker to be electrified to generate magnetic force, and the tungsten steel head is pushed to hit glass, so that the effect of breaking the window by one key remotely is achieved.
In the invention, the remote intelligent one-key window breaking control method of the large vehicle adopts the following algorithm:
as shown in FIG. 1, the controller comprises a remote command platform (i.e. a remote platform), an interaction server, and a vehicle-mounted terminal, and defines u as an input signal, y as an output signal, y d Is the desired signal.
The single discrete-time nonlinear system is defined as:
y(k+1)＝f(y(k),...,y(k-n y ),u(k),...,u(k-n u ))
wherein u (k) and y (k) respectively represent the input and output of the system at the time k.
Considering the whole control process, an indirect switching control method is adopted, a model closest to an actual controlled object is selected according to a performance index switching function value at each sampling moment, and a controller based on the model is switched to be a current controller.
Defining a desired output signal
Figure BDA0002761588080000051
Output signal y =0
As can be seen from FIG. 1, when the output signal y and the desired output signal y are present d When the difference is not the same, an error signal e is generated, and the error signal e is transmitted to the control input end, namely the vehicle-mounted terminal.
After receiving the error signal e, the control input signal u transmits the input signal to the controlled object, i.e. the window breaker.
The input signal u is defined here as:
Figure BDA0002761588080000052
on the basis, the input signal u adopts the idea of switching control, and when window breaking is not needed, a normal message is sent; when the side window needs to be broken, sending a side window breaking message; and when the tail window needs to be broken, sending a tail window breaking message.
The invention specifically operates as follows:
1) A commander issues a wireless instruction through a remote command platform;
2) The vehicle-mounted terminal receives the wireless instruction, converts the instruction into an encrypted message and broadcasts the encrypted message in a communication local area network;
3) The interactive server receives the instruction information in the local area network and translates the instruction information into a specific operation instruction to the vehicle execution module, namely the vehicle-mounted terminal;
4) And after the vehicle execution module acquires the instruction information, issuing a window breaking instruction to realize a remote control function.
5) And after the whole vehicle receives the window breaking instruction, the window breaking device is started to realize the remote one-key window breaking function.
In the invention, the window breaker can utilize the electromagnetic induction principle, and in an emergency, when a control switch is started, the functional control circuit controls the knocking times of the window breaker and enables an induction coil of the window breaker to be electrified to generate magnetic force to push a tungsten steel head to impact glass, so that people can escape smoothly in time when an emergency happens in a closed bin. The window breaker has a manual knocking function, the manual handle is beaten inwards after the manual handle is pulled open, the tungsten steel head is pushed to hit glass, and the window breaker can also escape smoothly in time in case of emergency.
The vehicle-mounted terminal comprises 8 modules, wherein a video processing and analyzing module, an emergency communication module and a vehicle remote speed limiting and forced stopping module are key modules for breaking a window by one key. When the video processing and analyzing module collects abnormal behaviors of people (such as car hijacking and the like), the behaviors are uploaded to a remote command platform and an alarm is given through analyzing the behaviors of people. After receiving the alarm signal, the remote command platform communicates with the interior of the vehicle, and if the message is true, the remote command platform sends an instruction (window breaking instruction) to the interactive server.
The interactive server is connected with the vehicle-mounted terminal and a bridge at the side of the data remote command platform, receives the downlink instruction and forwards the downlink instruction to the vehicle-mounted terminal, and receives the uplink service data and forwards the uplink service data to the data remote command platform. After receiving the instruction sent by the remote command platform, the interactive server firstly communicates with the interior of the vehicle, and if the condition is true, the interactive server sends the instruction to the vehicle-mounted terminal. And after receiving the wireless instruction, the vehicle-mounted terminal sends the instruction to a one-key window breaking execution end in the vehicle, so that the window breaking function is realized.
(1) Data access and standardization module: the real-time access of detection data such as vehicle-mounted inflammable volatile matters, explosives, navigation positioning and the like is mainly realized;
(2) The video processing and analyzing module: the intelligent analysis and the abnormal behavior early warning of the vehicle-mounted video image are mainly supported;
(3) A mass storage module: local storage of detection data such as pictures, inflammable volatile matters, explosives, navigation positioning and the like is supported;
(4) A wireless communication module: the real-time transmission and retrieval of video images, and the real-time transmission of early warning information such as abnormal behaviors, inflammable volatile matters, explosives, navigation positioning, abnormal tracks and the like and vehicle remote control instructions are supported;
(5) An emergency communication module: the real-time transmission of early warning information such as abnormal behaviors, inflammable volatile matters, explosives, navigation positioning, abnormal tracks and the like is supported under the conditions of abnormal or interrupted wireless communication and the like;
(6) The vehicle remote speed limiting and forced stopping module comprises: based on a wireless access vehicle speed limit or forced stop instruction, transmitting a control instruction to a vehicle speed control unit through a vehicle CAN bus to realize vehicle speed limit or forced stop;
(7) The emergency power supply module: the emergency power supply under the condition that the vehicle-mounted power supply system is damaged due to typical terrorist attack events such as fire and explosion or other types of events is supported, normal operation of vehicle-mounted terminal equipment is ensured, and key data of an incident time period are effectively acquired;
(8) Safety protection: through scientific hardware design, configuration optimization and material selection, through the outside protection of equipment, ensure the performance such as the resistant vibrations of equipment, resistant clash, high temperature resistant. And under the terrorist attack conditions such as explosion, fire and collision, the stability and reliability of data storage are ensured.
The interactive server is connected with the vehicle-mounted terminal and the bridge on the side of the remote command platform, receives the downlink instruction and forwards the downlink instruction to the vehicle-mounted terminal, and receives the uplink service data and forwards the uplink service data to the remote command platform. The execution flow is as follows:
1. the interactive server starts and monitors the appointed service port, and provides service through SOCKET.
2. The vehicle-mounted terminal is powered on and started to be connected to the interactive server through the SOCKET, the server identifies the equipment according to the ID of the transmitted equipment end, and the channel information is stored in the interactive server. The device side maintains the long connection between the server and the device through a timing heartbeat mechanism.
3. The remote command platform initiates a downlink instruction (the instruction comprises an ID with an operating device) interaction server to find a connection channel of the device to be operated according to the device identification issued by the remote command platform, and the data is sent to the device to be operated through the channel.
The related instructions comprise a data transmission protocol from a data interaction server to a vehicle-mounted terminal:
the method comprises the following steps that execution instructions such as one-key forced stop and one-key window breaking are transmitted between a data interaction server and a vehicle-mounted terminal through a 4G network, after the vehicle-mounted terminal is connected to a remote command platform (a port of a TCP server 65004) through a TCP Socket, an identification instruction is firstly sent for maintaining a long connection mapping relation between terminal equipment and the remote command platform of the data interaction server, and the instruction format is as follows:
wrapping head Device ID
4 bytes 4 bytes
Wherein: the video packet header comprises: 0xdd55EB90; (2) the device ID is: range 0-0 xffffffffff (vehicle equipment numbering)
After the vehicle-mounted terminal is connected to the interactive server (TCP server 65004 port) through the TCP Socket, the remote command platform sends an execution instruction to the vehicle-mounted terminal through the client Socket of the TCP server, as follows:
Figure BDA0002761588080000081
wherein: the (1) packet head is as follows: 0xcc55EB90; and (2) the equipment ID is: range 0-0 xfffffffff (number of vehicle devices); (3) packet length: the length of the command packet (0 x 00000004).
Test data 1 (sent by the data interaction server):
one-key side window breaking instruction: cc55EB90 000000 00 01 00000004 0000 01
One-key tail window breaking instruction: cc55EB90 000000 00 01 00000004 00 03 01
The remote command platform end is connected to a data interaction server (TCP server 8090 port) through a TCP Socket to send the data format.
In the invention, the remote command platform has the highest priority and plays a decisive role, and the priority is as follows: remote command platform, interactive server, vehicle-mounted terminal, executor (be broken window ware). The specific operation method of the remote vehicle control comprises the following steps:
1. and the vehicle-mounted terminal and the interactive server automatically transmit data to the remote command platform, and when abnormal behaviors and abnormal tracks of the vehicle are detected or inflammable and explosive articles and the like are detected, the remote command platform is in contact with a driver in the vehicle. If the communication is not problematic, the communication is static; and if the communication is problematic, the remote command platform issues an instruction to the interactive server.
2. The interactive server firstly confirms with the remote command platform, and if no instruction is confirmed, the interactive server is static; if the issued command is confirmed, confirming with the interior of the vehicle, and if the interior of the vehicle is not in a condition, stopping; and if the condition exists in the vehicle, the instruction is issued to the vehicle-mounted terminal.
3. The vehicle-mounted terminal firstly confirms with the interactive server and then confirms with the interior of the vehicle, if the conditions are confirmed by the vehicle-mounted terminal and the interior of the vehicle, the command is sent to the actuator, namely the window breaker. If both conditions occur, then the system is static.
4. After the actuator receives the instruction, corresponding operation is carried out: and (5) breaking the window by one key (judging whether a side window or a tail window is broken according to a specific instruction).
5. And after the actuator executes the corresponding task, feeding the result back to the terminal.
6. And after the vehicle-mounted terminal is confirmed with the in-vehicle and the actuator, the result is fed back to the interactive server.
7. And after the interactive server is confirmed with the in-vehicle terminal and the vehicle-mounted terminal, the result is fed back to the remote command platform.
8. And after the remote command platform confirms with the in-vehicle and interactive server, the remote command platform completes the task after receiving the successful execution.

Claims (1)

1. The utility model provides a remote intelligence one-key broken window control system of oversize vehicle which characterized in that includes:
the remote command platform is used for monitoring video data transmitted from the vehicle-mounted terminal, if an emergency situation is confirmed, a downlink instruction is initiated, the instruction comprises an ID (identity) with operating equipment, the interactive server finds a connecting channel of the equipment to be operated according to an equipment identifier sent by the remote command platform, sends the data to the equipment to be operated through the channel and sends a window breaking instruction;
the interactive server comprises a remote communication module and is used for receiving the instruction of the remote command platform and carrying out remote digital control;
the remote encryption technology module is arranged on the interactive server, the interactive server is started and monitors a specified service port, and the service is provided through SOCKET;
the vehicle-mounted terminal is electrified and started to be connected to the interactive server through SOCKET, the interactive server identifies equipment according to the ID transmitted into the equipment end and stores channel information in the interactive server, the equipment end maintains long connection between the interactive server and the equipment through a timing heartbeat mechanism, the equipment end is in communication connection with the remote command platform through the interactive server, and the equipment end is in communication connection with the window breaker execution module;
the window breaker execution module comprises a function control module, a control switch module and a window breaker;
the controller is respectively connected with the remote command platform, the interactive server, the vehicle-mounted terminal and the window breaker execution module, signals output by the controller are sent to the window breaker execution module to start the control switch module, the function control module controls the knocking times of the window breaker and enables the induction coil of the window breaker to be electrified to generate magnetic force, and the tungsten steel head of the window breaker is pushed to hit glass;
the remote communication module is a 485 remote communication module;
the remote window breaking control method adopted by the controller comprises the following steps:
a. defining u as an input signal, y as an output signal, y d A desired output signal;
Figure FDF0000019638320000011
Figure FDF0000019638320000012
y＝0；
b. the single discrete-time nonlinear system is defined as:
y(k+1)＝f(y(k),...,y(k-n y ),u(k),...,u(k-n u ) U (k), y (k) respectively represent the input and output of the system at the moment k;
c. definition when y and y d When the difference is not the same, an error signal e is generated and transmitted to the vehicle-mounted terminal, and the vehicle-mounted terminal transmits u to the window breaker for breaking the window after receiving the error signal e;
d. defining that a normal message is sent when window breaking is not needed; when the side window needs to be broken, sending a side window breaking message; when the tail window needs to be broken, sending a tail window breaking message;
after receiving the alarm signal, the remote command platform communicates with the interior of the vehicle, and if the message is true, the remote command platform sends a window breaking instruction to the interactive server;
the interactive server firstly communicates with the inside of the vehicle after receiving a window breaking instruction issued by the remote command platform, and if the condition is true, the interactive server sends the window breaking instruction to the vehicle-mounted terminal;
after receiving the window breaking instruction, the vehicle-mounted terminal sends the window breaking instruction to a one-key window breaking execution end in the vehicle to break the window;
the vehicle-mounted terminal includes: the data access and standardization module is used for accessing vehicle-mounted combustible volatile matter detection data, explosive detection data and navigation positioning detection data in real time;
the video processing and analyzing module is used for supporting intelligent analysis of vehicle-mounted video images and early warning of abnormal behaviors;
the large-capacity storage module is used for supporting the local storage of picture detection data, inflammable volatile matter detection data, explosive detection data and navigation positioning detection data;
the wireless communication module is used for supporting real-time transmission and retrieval of video images and real-time transmission of abnormal behavior early warning information, inflammable volatile matter early warning information, explosive early warning information, navigation positioning early warning information, abnormal track early warning information and vehicle remote control instructions;
the emergency communication module is used for supporting the real-time transmission of abnormal behavior early warning information, inflammable volatile matter early warning information, explosive early warning information, navigation positioning early warning information and abnormal track early warning information under the condition of abnormal or interrupted wireless communication;
the vehicle remote speed limiting and forced stopping module is wirelessly accessed to a vehicle speed limiting or forced stopping instruction, and transmits the control instruction to the vehicle speed control unit through a vehicle CAN bus to realize vehicle speed limiting or forced stopping;
the emergency power supply module is used for supporting emergency power supply under the condition that the vehicle-mounted power supply system is damaged, ensuring normal operation of vehicle-mounted terminal equipment and effectively acquiring key data of a happening time period;
the safety protection module is used for protecting the outside of the equipment, and ensures the vibration resistance, the collision resistance and the high temperature resistance of the equipment.
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