CN113954632B - Vehicle speed control device and method for vehicles in factory - Google Patents

Vehicle speed control device and method for vehicles in factory Download PDF

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Publication number
CN113954632B
CN113954632B CN202111418101.7A CN202111418101A CN113954632B CN 113954632 B CN113954632 B CN 113954632B CN 202111418101 A CN202111418101 A CN 202111418101A CN 113954632 B CN113954632 B CN 113954632B
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vehicle
module
state
speed
vehicle speed
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CN113954632A (en
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梁峰
陈云霞
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Techbloom Beijing Information Technology Co ltd
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Techbloom Beijing Information Technology Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/18—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including a device to audibly, visibly, or otherwise signal the existence of unusual or unintended speed to the driver of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems

Abstract

The invention provides a device and a method for controlling the speed of vehicles in a factory, and belongs to the field of internal road traffic control. The device comprises: the vehicle-mounted intelligent control system comprises a base and a main body shell arranged on one side of the base, wherein a six-axis sensor, a vehicle speed calculating module, a vehicle state judging module, a communication module, a power supply module and a display module are arranged in the main body shell; the six-axis sensor collects the acceleration and the angular velocity of three axes and transmits the acceleration and the angular velocity to the vehicle speed calculation module, and simultaneously transmits the acceleration or the angular velocity of any axis serving as a state axis to the vehicle state judgment module; the vehicle speed calculating module calculates real-time speed, and the vehicle state judging module judges a moving or static state according to the acceleration or the angular speed of the state shaft; when stationary, executing a low power mode; when the vehicle moves, the vehicle state is judged, the real-time speed and the vehicle state are sent to the display module through the communication module, and a driver controls the vehicle speed in an interactive mode. The invention is suitable for the low-speed working state in a factory, realizes low power consumption and simplifies the installation process.

Description

Vehicle speed control device and method for vehicles in factory
Technical Field
The invention belongs to the field of internal road traffic control, and particularly relates to a speed control device and method for vehicles in a factory.
Background
Vehicles traveling on internal roads such as factories generally have a fixed area and route, and need to repeatedly travel at a plurality of points, and generally have a short distance, and the vehicle speed needs to be controlled within a certain threshold range, and thus cannot travel as on normal roads. Therefore, the speed measurement and the vehicle speed control have different requirements from those of a normal road. Because different factories have different requirements, the speed of the vehicle is controlled by adding a vehicle speed control device on the vehicle in the factory so as to meet the individual requirements.
In the prior art, the instantaneous speed of a vehicle in a factory is generally measured by a hall speed measuring device, so that the control of the speed of the vehicle is realized. The Hall speed measuring device consists of a magnet, a Hall element sensor and a support. The magnet is fixed on the inner side of a hub of a vehicle to be measured, and the Hall element sensor is fixed outside a distance of 2-5 mm from the magnet through a support. When the wheels of the vehicle move forward or backward for one circle, the Hall element sensor senses the magnet and triggers Hall signal data, the Hall signal data are converted into pulse signal data which can be identified by a single chip microcomputer in the Hall speed measuring device, the single chip microcomputer is used for pulse counting, accordingly, the rotating speed of the tires of the vehicle is measured, and the vehicle speed is further controlled.
However, when the hall speed measuring device is used for modifying a vehicle in a factory, the problems of complex installation, difficult wiring and electricity taking and the like exist, the vehicle in the factory generally runs slowly, and the speed of the hall speed measuring device is resolved and updated slowly when the running speed is slow, so that the control of the vehicle speed is not facilitated.
Disclosure of Invention
In view of the above-mentioned defects or shortcomings in the prior art, the present invention aims to provide a device and a method for controlling vehicle speed of a vehicle in a factory, which adopt a three-axis positioning manner to realize low-power consumption and wireless vehicle speed measurement, improve the accuracy and precision of vehicle speed control in the factory, and simplify the installation process of the vehicle speed control device, aiming at the characteristics of fixed driving road and low driving speed of the vehicle in the factory.
In order to achieve the above purpose, the embodiment of the invention adopts the following technical scheme:
in a first aspect, an embodiment of the present invention provides a vehicle speed control apparatus for a vehicle in a plant, the apparatus including: the vehicle-mounted device comprises a tire mounting base, a main body shell arranged on one side of the tire mounting base, a six-axis sensor, a vehicle speed calculation module, a vehicle state judgment module, a communication module, a power supply module and a display module used for interacting with a driver, wherein the six-axis sensor, the vehicle speed calculation module, the vehicle state judgment module, the communication module and the power supply module are arranged in the main body shell; wherein the content of the first and second substances,
the tire mounting base is mounted on the outer side of a vehicle tire;
the six-axis sensor is in communication connection with the vehicle speed calculation module and the vehicle state judgment module and is used for acquiring X, Y, Z triaxial acceleration and angular speed in real time, transmitting X, Y, Z triaxial acceleration and angular speed to the vehicle speed calculation module and transmitting any axial acceleration or angular speed to the vehicle state judgment module; any current axis is a state axis, and other axes are non-state axes;
the vehicle speed calculation module is in communication connection with the vehicle state judgment module and is used for calculating the real-time speed and direction of the vehicle according to the acceleration and the angular velocity of the three shafts X, Y, Z and sending the calculation result to the vehicle state judgment module;
the vehicle state judgment module is in communication connection with the communication module and is used for judging the motion or static state of the vehicle according to any axial acceleration or angular velocity sent by the six-axis sensor; when the vehicle is in a motion state, starting the communication module and the non-state shaft in the shutdown state to acquire data, receiving the magnitude and direction of the real-time speed sent by the vehicle speed calculation module, judging the overspeed state, the forward state or the reverse state, and sending the judgment results of the magnitude, direction and state of the real-time speed to the communication module; when the working state is a static state, a working stopping command is sent to the communication module and a non-state shaft of the six-shaft sensor;
the communication module is in wireless communication with the display module and sends data to the display module when receiving the data sent by the vehicle state judgment module;
the display module is used for displaying data;
the power supply module is electrically connected with the six-axis sensor, the vehicle speed calculation module, the vehicle state judgment module and the communication module and used for supplying power to the six-axis sensor, the vehicle speed calculation module, the vehicle state judgment module and the communication module.
As a preferred embodiment of the present invention, the vehicle state determining module is further configured to set an overspeed threshold, determine whether to overspeed or overspeed values according to the threshold and the real-time speed, and determine an overspeed level according to the overspeed values.
As a preferred embodiment of the present invention, the vehicle state determination module is configured to determine according to a real-time speed direction and a vehicle head direction.
As a preferred embodiment of the present invention, the communication module uses a wireless 2.4G communication protocol to communicate with the 2.4G display module by creating a communication link therebetween.
As a preferred embodiment of the present invention, the data displayed by the display module includes: real-time speed magnitude and direction, whether overspeed and overspeed values are exceeded, whether the vehicle is in a forward state or a reverse state.
As a preferred embodiment of the present invention, the display module is integrated in the driver's hand-held terminal through an application interface.
As a preferred embodiment of the present invention, the power supply module charges and discharges a battery, a general lithium battery, or a button battery.
As a preferable embodiment of the present invention, the vehicle speed control device of the in-plant vehicle further includes an alarm module, which is in communication connection with the vehicle state judgment module, and activates the alarm module when the vehicle state judgment module judges that the vehicle is in an overspeed state.
In a second aspect, an embodiment of the present invention further provides a vehicle speed control method for an in-plant vehicle based on the vehicle speed control device, including the following steps:
s1, mounting a main body shell and an internal component of a vehicle speed control device in a factory on a vehicle tire hub through a base, and after power is supplied, establishing a communication link between a display module and a communication module and interacting with a driver;
s2, acquiring the acceleration or the angular speed of the state shaft by the six-shaft sensor and transmitting the acceleration or the angular speed to a vehicle state judgment module;
s3, judging that the current vehicle is in a motion state or a static state by a vehicle state judgment module; when the mobile phone is in a static state, the step S4 is carried out; when in the motion state, executing the step S5;
s4, stopping working of the communication module, stopping acquisition of the non-state shaft data by the six-shaft sensor, and displaying by the display module without vehicle speed control;
step S5, starting a communication module; the six-axis sensor collects data of a non-state axis and transmits the acceleration and the angular speed of the X, Y, Z three axes to the vehicle speed calculation module;
s6, the vehicle speed calculation module calculates the real-time speed and direction of the vehicle according to the acceleration and the angular speed of the X, Y, Z triaxial and sends the calculation result to the vehicle state judgment module;
s7, the vehicle state judgment module receives the real-time speed and direction sent by the vehicle speed calculation module, judges the overspeed state, the forward state or the reverse state and sends the real-time speed, direction and state judgment result to the communication module;
and S8, the communication module sends the received real-time speed, overspeed state, forward state or reverse state to the display module, the display module displays data, and a driver controls the speed according to the display data.
The invention has the following beneficial effects:
the vehicle speed control device and the method for the vehicle in the factory simplify the process of additionally installing the vehicle speed control device on the vehicle in the factory, and solve the problems of wiring, electricity taking and the like of the device; the state axis data of the six-axis sensor is utilized to carry out stop-and-repeat work control on unnecessary working components of the vehicle speed control device, so that low-power-consumption operation is realized; meanwhile, the calculation mode of the X, Y, Z triaxial acceleration and angular speed of the six-axis sensor is utilized, the speed calculation and updating speed is improved, and the method is suitable for the low-speed working state of the vehicle in a factory.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is an external configuration view of a vehicle speed control device for a vehicle in a factory according to an embodiment of the present invention;
FIG. 2 is a schematic view showing the installation of a vehicle speed control device for an in-plant vehicle according to an embodiment of the present invention;
FIG. 3 is an internal structural view of a vehicle speed control device for an in-plant vehicle according to an embodiment of the present invention;
fig. 4 is a flowchart of a method for controlling a vehicle speed of a vehicle in a factory according to an embodiment of the present invention.
Description of reference numerals:
1-vehicle speed control means; 10-a tyre mounting base; 20-a main body housing; 30-six axis sensors; 40-vehicle speed calculation module; 50-a vehicle state judgment module; 60-a communication module; 70-a power supply module; 80-display module.
Detailed Description
The technical problems, technical solutions and advantages of the present invention will be described in detail below with reference to exemplary embodiments and accompanying drawings. The following exemplary embodiments are merely illustrative of the present invention and are not to be construed as limiting the invention.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including 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. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or coupled. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
The inventor of the application aims at the running characteristics of vehicles in factories in the prior art and improves and optimizes the existing vehicle speed measuring and speed controlling method.
Referring to fig. 1 to 3, an embodiment of the present invention provides a vehicle speed control apparatus 1 for an in-plant vehicle, the apparatus including: the vehicle-mounted tire protection device comprises a tire mounting base 10 and a main body shell 20 arranged on one side of the tire mounting base, wherein a six-axis sensor 30, a vehicle speed calculation module 40, a vehicle state judgment module 50, a communication module 60 and a power supply module 70 are arranged in the main body shell 20, and the vehicle-mounted tire protection device further comprises a display module 80 used for interacting with a driver.
The tire mounting base 10 is provided with a main body housing positioning hole and a tire mounting hole, and is preferably made of a non-metal material so as to avoid electromagnetic shielding. In the use state, the tire mounting base 10 mounts the opposite side of the mounting body housing to the outside of the vehicle tire through the tire mounting hole. The tire mounting holes can correspond to the self hole positions on the wheel hub of the vehicle tire, and the base is mounted on the wheel hub in a screw mode during mounting.
The main body shell 20 is provided with a mounting edge and an internal cavity, the mounting edge is provided with a positioning hole, and the main body shell is mounted and positioned with the positioning hole of the main body shell on the base through a screw and the like during mounting; six sensors, a vehicle speed calculation module, a vehicle state judgment module, a communication module and a power supply module are reasonably arranged in the inner cavity. Preferably, the main body case 20 is made of ABS material.
The six-axis sensor 30 is in communication connection with the vehicle speed calculation module 40 and the vehicle state judgment module 50, and is used for acquiring X, Y, Z triaxial acceleration and angular velocity in real time, transmitting X, Y, Z triaxial acceleration and angular velocity to the vehicle speed calculation module, and transmitting any axial acceleration or angular velocity to the vehicle state judgment module; and any current axis is a state axis, and other axes are non-state axes.
The vehicle speed calculating module 40 is in communication connection with the vehicle state judging module 50, and is configured to calculate a real-time speed magnitude and a real-time direction of the vehicle according to the acceleration and the angular velocity of the X, Y, Z triaxial, and send a calculation result to the vehicle state judging module.
The vehicle state judgment module 50 is in communication connection with the communication module 60 and is used for judging the motion or static state of the vehicle according to the acceleration or the angular speed of the state shaft sent by the six-shaft sensor; when the vehicle is in a motion state, starting the communication module and the non-state shaft in the shutdown state to acquire data, receiving the magnitude and direction of the real-time speed sent by the vehicle speed calculation module, judging the overspeed state, the forward state or the reverse state, and sending the judgment results of the magnitude, direction and state of the real-time speed to the communication module; and when the shaft is in a static state, sending a work stopping command to the communication module and the non-state shaft of the six-shaft sensor.
Preferably, the determining an overspeed state comprises: judging whether overspeed and overspeed numerical values exist according to the threshold value and the real-time speed, and judging the overspeed level according to the overspeed numerical values; for example, 10-20% overspeed, a three-level response; overspeed is 20-40%, which is a secondary response; overspeed greater than 40% is a first order response. The threshold value is set according to normal logistics and vehicle states in a factory. And judging the forward state or the reverse state according to the real-time speed direction and the vehicle head direction. The static or moving state of the vehicle is directly distinguished by utilizing a single numerical value of the single-axis sensor of the six-axis sensor, and the working state of the non-state axis of the six-axis sensor is determined through the result, so that the unnecessary data acquisition work is avoided, the electric energy consumption is saved, and the low-power consumption operation of the six-axis sensor and the communication unit is realized.
The communication module 60 wirelessly communicates with the display module 80, and transmits data to the display module when receiving the data transmitted from the vehicle state determination module. Preferably, the communication module uses a wireless 2.4G communication protocol to establish a communication link with the 2.4G display module for communication.
The display module 80 is used for data display. The displayed data includes: real-time speed magnitude and direction, whether overspeed and overspeed values are exceeded, whether the vehicle is in a forward state or a reverse state. When the driver reads the data of the display module, the vehicle speed is adjusted according to the displayed data, and the vehicle speed is controlled. The display module can also be integrated in a handheld terminal of a driver through an application interface, for example, integrated in a mobile phone through an APP. Preferably, the display module further comprises a memory for storing all display data in real time.
The power supply module 70 is connected with the six-axis sensor 30, the vehicle speed calculation module 40, the vehicle state judgment module 50 and the communication module power supply 60, and is used for supplying power to the six-axis sensor 30, the vehicle speed calculation module 40, the vehicle state judgment module 50 and the communication module power supply 60. The power supply module 70 may be a charging and discharging battery or a common lithium battery, a button battery, etc. For example, a standard CR2477 button battery is adopted, and the battery is easy and convenient to replace.
Further, the vehicle speed control device 1 of the vehicle in the plant may further include an alarm module (not shown in the figure), which is in communication connection with the vehicle state judgment module, and is activated when the vehicle state judgment module judges that the vehicle is in an overspeed state. Further, the overspeed state can be divided into different levels according to overspeed values and corresponds to different alarm warning tones.
The vehicle speed calculating module 40 and the vehicle state judging module 50 are implemented by a processor. The Processor may be a microprocessor MPU, a Central Processing Unit (CPU), a Network Processor (NP), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), other programmable logic devices, discrete gates, transistor logic devices, discrete hardware components, etc. And when necessary, the vehicle speed calculating module and the vehicle state judging module further comprise a memory, a buffer and the like.
The Memory and the buffer referred to above may be a magnetic medium (e.g., a floppy Disk, a hard Disk, a magnetic tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a Solid State Disk (SSD)), and specifically, the Memory and the buffer may be a Random Access Memory (RAM), a Non-Volatile Memory (NVM).
Based on the same idea, an embodiment of the present invention further provides a vehicle speed control method for an in-plant vehicle, referring to fig. 2, the method is based on the in-plant vehicle speed control apparatus provided by the above embodiment, and includes the following steps:
s1, mounting a main body shell and an internal component of a vehicle speed control device in a factory on a vehicle tire hub through a base, and after power is supplied, establishing a communication link between a display module and a communication module and interacting with a driver;
s2, acquiring the acceleration or the angular speed of the state shaft by the six-shaft sensor and transmitting the acceleration or the angular speed to a vehicle state judgment module;
s3, judging that the current vehicle is in a motion state or a static state by a vehicle state judgment module; when the mobile phone is in a static state, the step S4 is carried out; when in the motion state, executing the step S5;
s4, stopping the communication module, stopping the six-axis sensor from acquiring the non-state axis data, and displaying by the display module without controlling the vehicle speed;
step S5, starting a communication module; the six-axis sensor collects data of a non-state axis and transmits the acceleration and the angular speed of the X, Y, Z three axes to the vehicle speed calculation module;
s6, the vehicle speed calculation module calculates the real-time speed and direction of the vehicle according to the acceleration and the angular speed of the X, Y, Z triaxial and sends the calculation result to the vehicle state judgment module;
s7, the vehicle state judgment module receives the real-time speed and direction sent by the vehicle speed calculation module, judges the overspeed state, the forward state or the reverse state and sends the real-time speed, direction and state judgment result to the communication module;
and S8, the communication module sends the received real-time speed, overspeed state, forward state or reverse state to the display module, the display module displays data, and a driver controls the speed according to the display data.
In the step, the display module simultaneously displays a threshold value for judging whether the vehicle is overspeed, and the driver adjusts the vehicle speed to be below the threshold value according to the displayed threshold value.
According to the technical scheme, the vehicle speed control device and the vehicle speed control method for the vehicles in the factory, provided by the embodiment of the invention, simplify the process of additionally installing the vehicle speed control device for the vehicles in the factory, and solve the problems of device wiring, power taking and the like; the state axis data of the six-axis sensor is utilized to carry out stop-and-repeat work control on unnecessary working components of the vehicle speed control device, so that low-power-consumption operation is realized; meanwhile, the calculation mode of the X, Y, Z three-axis acceleration and the angular speed of the six-axis sensor is utilized, the speed calculation and updating speed is improved, and the method is suitable for the low-speed working state of the vehicle in a factory.
The foregoing description is only exemplary of the preferred embodiments of the invention and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the invention herein disclosed is not limited to the particular combination of features described above, but also encompasses other arrangements formed by any combination of the above features or their equivalents without departing from the spirit of the invention. For example, the above features and (but not limited to) features having similar functions disclosed in the present invention are mutually replaced to form the technical solution.

Claims (9)

1. A vehicle speed control apparatus of an in-plant vehicle, characterized by comprising: the vehicle-mounted device comprises a tire mounting base, a main body shell arranged on one side of the tire mounting base, a six-axis sensor, a vehicle speed calculation module, a vehicle state judgment module, a communication module, a power supply module and a display module used for interacting with a driver, wherein the six-axis sensor, the vehicle speed calculation module, the vehicle state judgment module, the communication module and the power supply module are arranged in the main body shell; wherein, the first and the second end of the pipe are connected with each other,
the tire mounting base is mounted on the outer side of a vehicle tire;
the six-axis sensor is in communication connection with the vehicle speed calculation module and the vehicle state judgment module and is used for acquiring X, Y, Z triaxial acceleration and angular speed in real time, transmitting X, Y, Z triaxial acceleration and angular speed to the vehicle speed calculation module and transmitting any axial acceleration or angular speed to the vehicle state judgment module; any current axis is a state axis, and other axes are non-state axes;
the vehicle speed calculation module is in communication connection with the vehicle state judgment module and is used for calculating the real-time speed and direction of the vehicle according to the acceleration and the angular speed of the X, Y, Z triaxial and sending the calculation result to the vehicle state judgment module;
the vehicle state judgment module is in communication connection with the communication module and is used for judging the motion or static state of the vehicle according to the acceleration or the angular speed of the state shaft sent by the six-shaft sensor; when the vehicle is in a motion state, starting the communication module and the non-state shaft in the shutdown state to acquire data, receiving the magnitude and direction of the real-time speed sent by the vehicle speed calculation module, judging the overspeed state, the forward state or the reverse state, and sending the judgment results of the magnitude, direction and state of the real-time speed to the communication module; when the working state is a static state, a working stopping command is sent to the communication module and a non-state shaft of the six-shaft sensor;
the communication module is in wireless communication with the display module and sends data to the display module when receiving the data sent by the vehicle state judgment module;
the display module is used for displaying data;
the power supply module is electrically connected with the six-axis sensor, the vehicle speed calculation module, the vehicle state judgment module and the communication module and used for supplying power to the six-axis sensor, the vehicle speed calculation module, the vehicle state judgment module and the communication module.
2. The device for controlling the speed of a vehicle in a factory according to claim 1, wherein the vehicle state judging module is further configured to set an overspeed threshold, judge whether an overspeed value or an overspeed value is exceeded according to the threshold and the real-time speed, and judge an overspeed level according to the overspeed value.
3. The vehicle speed control device of the in-plant vehicle according to claim 1, wherein the vehicle state judgment module is configured to perform the judgment according to a real-time speed direction and a vehicle head direction.
4. The apparatus of claim 1, wherein the communication module uses a wireless 2.4G communication protocol to communicate with the 2.4G display module to create a communication link.
5. The vehicle speed control apparatus of an in-plant vehicle according to claim 1, wherein the data displayed by the display module includes: real-time speed magnitude and direction, whether overspeed and overspeed values are exceeded, whether the vehicle is in a forward state or a reverse state.
6. The vehicle speed control apparatus of in-plant vehicle according to claim 1, wherein the display module is integrated in a hand-held terminal of a driver through an application interface.
7. The vehicle speed control apparatus of in-plant vehicles according to claim 1, wherein the power supply module charges and discharges a battery, a general lithium battery, or a button battery.
8. The vehicle speed control device of the in-plant vehicle according to any one of claims 1 to 7, characterized in that the vehicle speed control device of the in-plant vehicle further comprises an alarm module, the alarm module is connected with the vehicle state judgment module in a communication manner, and the alarm module is activated when the vehicle state judgment module judges that the vehicle is in an overspeed state.
9. A vehicle speed control method of an in-plant vehicle based on the vehicle speed control apparatus according to any one of claims 1 to 8, characterized by comprising the steps of:
s1, mounting a main body shell and an internal component of a vehicle speed control device in a factory on a vehicle tire hub through a base, and after power is supplied, establishing a communication link between a display module and a communication module and interacting with a driver;
s2, acquiring the acceleration or the angular speed of the state shaft by the six-shaft sensor and transmitting the acceleration or the angular speed to a vehicle state judgment module;
s3, judging that the current vehicle is in a motion state or a static state by a vehicle state judgment module; when the mobile phone is in a static state, the step S4 is carried out; when in the motion state, executing the step S5;
s4, stopping the communication module, stopping the six-axis sensor from acquiring the non-state axis data, and displaying by the display module without controlling the vehicle speed;
step S5, starting a communication module; the six-axis sensor acquires non-state axis data and transmits acceleration and angular speed of X, Y, Z three axes to the vehicle speed calculation module;
s6, the vehicle speed calculation module calculates the real-time speed and direction of the vehicle according to the acceleration and the angular speed of the X, Y, Z triaxial and sends the calculation result to the vehicle state judgment module;
s7, the vehicle state judgment module receives the real-time speed and direction sent by the vehicle speed calculation module, judges the overspeed state, the forward state or the reverse state and sends the real-time speed, direction and state judgment result to the communication module;
and S8, the communication module sends the received real-time speed, overspeed state, forward state or reverse state to the display module, the display module displays data, and a driver controls the speed according to the display data.
CN202111418101.7A 2021-11-26 2021-11-26 Vehicle speed control device and method for vehicles in factory Active CN113954632B (en)

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