CN201909965U - Dynamic monitoring and prewarning device for dangerous goods transport vehicle - Google Patents
Dynamic monitoring and prewarning device for dangerous goods transport vehicle Download PDFInfo
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- CN201909965U CN201909965U CN2010206670945U CN201020667094U CN201909965U CN 201909965 U CN201909965 U CN 201909965U CN 2010206670945 U CN2010206670945 U CN 2010206670945U CN 201020667094 U CN201020667094 U CN 201020667094U CN 201909965 U CN201909965 U CN 201909965U
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Abstract
The utility model relates to a dynamic monitoring and prewarning device for a dangerous goods transport vehicle. The dynamic monitoring and prewarning device comprises a GPS (Global Positioning System)/ GPRS (General Packet Radio Service), a camera, a card reader, a triaxial acceleration sensor, a display screen, a manual alarm, a buzzing alarm, a temperature/pressure sensor, a dip angle sensor, an SD (Secure Digital) card memorizer and an electronic control unit containing a microprocessor, wherein the above-described parts are controlled by and connected with the electronic control unit; a collision, side-turnover and temperature/pressure prewarning module is arranged in the microprocessor, and prewarning algorism and threshold are preset in the prewarning module. The dynamic monitoring and prewarning device can monitor collision, side-turnover and temperature/pressure in real time, and is good for safe traveling and rescue work.
Description
Technical field
The utility model relates to a kind of device for monitoring vehicle, relates in particular to a kind of prior-warning device of realizing the real-time monitoring of Dangerous Goods Transport vehicle dynamic.
Background technology
Along with The development in society and economy, dangerous material constantly occur, and kind, the quantity of road hazard freight transportation constantly increase, and the nature of danger of goods also becomes increasingly complex.With produce, to store link the same, the transit link of dangerous cargo also more and more is subject to people's attention.Dangerous cargo in the transportation is just as the potential danger source of flowing one by one, in the road transport process, in a single day traffic hazard takes place in the Dangerous Goods Transport vehicle, compare with common haulage vehicle, not only can cause the loss of personnel and property, and be afraid of characteristic such as bump, probably can cause second accidents such as leakage, blast because dangerous cargo has that To Be Protected from Heat, cause bigger harm and loss, even pollute the environment of periphery.
Dangerous cargo supervising device function is perfect inadequately at present, such as the monitoring that lacks the driver, only vehicle collision is reported to the police, vehicle rollover is not reported to the police, only the leakage of goods is reported to the police, can not realize goods landing, the real-time monitoring of losing etc., and have some problems at aspects such as the anti-interference of method for early warning such as collision, rollover, threshold values.
Summary of the invention
At the problems referred to above, the purpose of this utility model provides a kind of prior-warning device that can carry out dynamic monitoring to the driver in the Dangerous Goods Transport process, vehicle, goods simultaneously.
For achieving the above object, the utility model is taked following technical scheme: a kind of Dangerous Goods Transport vehicle dynamic monitoring early-warning device, and it comprises GPS/GPRS, camera, card reader, 3-axis acceleration sensor, display screen, artificial warning, buzzing warning, temperature/pressure sensor, obliquity sensor, SD card memory, contains the electronic control unit of microprocessor; Described electronic control unit is above-mentioned each part of control linkage respectively; Be provided with the early warning module of collision, rollover, temperature and pressure in the described microprocessor, preset warning algorithm and threshold value in the early warning module.
Described 3-axis acceleration sensor is fixedly mounted on the body shell steel plate, and avoids that liquid overflows or the direct zone of splash; Described obliquity sensor is horizontally fixed on the vehicle centroid position, and therefore, obliquity sensor can be fixed on close positions with crash sensor, horizontal positioned; Described temperature/pressure sensor is installed in the container; Described camera is two, and one is installed in the trailer front end, and another is installed in pilothouse, is fixed on close positions with 3-axis acceleration sensor, horizontal positioned.
Described electronic control unit adopts the MAX232 chip to carry out level conversion; Adopt the LM3S2948 chip to carry out digital-to-analog conversion; Adopt AT45DB161 serial storage chip to carry out data recording; Employing FM24CL64 chip carries out the doubtful point data recording in the driving process.
The utility model is taked above technical scheme, it has the following advantages: 1, the utility model adopts 3-axis acceleration sensor to synthesize collision warning, realized effective warning of collision, can also differentiate crash type (front, rear-end impact and side collision).2, the utility model has been realized the dynamic monitoring of vehicle rollover based on obliquity sensor, and the early warning of can effectively turning on one's side is compared with gyroscope, has reduced equipment cost.3, the utility model is based on the temperature and pressure sensor, to goods temperature and pressure value and rate of change carried out monitoring and early warning.4, the utility model includes the SD card memory, can store abnormality information and pictorial information.5, camera and display screen have been installed by system, realize the dynamic monitoring of goods, and realize in the pilothouse and the picture collection of goods by camera.Can also prevent missing package in the transportation.6, the road transport of hazardous chemical should be equipped with the driver with this field headquarters fortune license, so integrated IC-card card reader interface in the monitoring system, by gathering IC-card validation of information driver identity and goods information.7, the utility model uses GPS/GPRS, realizes local early warning, satellite GPS location, long-range GPRS communication and remote real time monitoring, helps traffic safety and rescue work.
Description of drawings
Fig. 1 is a system chart of the present utility model;
Fig. 2 is the collision recognition algorithm flow chart;
Fig. 3 a is that X, Y, Z under the standard washboard pavement operating mode is to accelerating curve;
Fig. 3 b is that X, Y, Z under the dislocation washboard pavement operating mode is to accelerating curve;
Fig. 3 c is that X, Y, Z under the operating mode of pebble pavement is to accelerating curve;
Fig. 3 d is that X, Y, Z under the operating mode of Block Road first road surface is to accelerating curve;
Fig. 3 e is that X, Y, Z under the operating mode of Block Road second road surface is to accelerating curve;
Fig. 3 f is that X, Y, the Z of collision is to accelerating curve;
Fig. 4 a is three resultant acceleration curves under the standard washboard pavement operating mode;
Fig. 4 b is three resultant acceleration curves under the dislocation washboard pavement situation;
Fig. 4 c is three resultant acceleration curves under the operating mode of pebble pavement;
Fig. 4 d is three resultant acceleration curves under the operating mode of Block Road first road surface;
Fig. 4 e is three resultant acceleration curves under the operating mode of Block Road second road surface;
Fig. 4 f is three resultant acceleration curves of collision;
Fig. 5 is based on obliquity sensor rollover warning algorithm process flow diagram;
Fig. 6 is the temperature alarming algorithm flow chart;
Fig. 7 is the pressure alarm algorithm flow chart.
Embodiment
Below in conjunction with accompanying drawing and example the utility model is described in detail.
As shown in Figure 1, the Dangerous Goods Transport vehicle dynamic monitoring early-warning device that the utility model provides comprises GPS/GPRS1, first camera 2, second camera 3, card reader 4,3-axis acceleration sensor 5, display screen 6, manually reports to the police 7, buzzing reports to the police 8, temperature/pressure sensor 9, obliquity sensor 10, SD card memory 11, contain the electronic control unit ECU 12 of microprocessor; Be provided with the early warning module of collision, rollover, temperature and pressure in the microprocessor, warning algorithm and threshold value are arranged in the early warning module; Electronic control unit ECU 12 is above-mentioned each part of control linkage respectively.
3-axis acceleration sensor 5 sense acceleration signals also flow to ECU, and signal is 3 tunnel simulating signals.The installation of 3-axis acceleration sensor 5 to satisfy following some: 1,3-axis acceleration sensor 5 should be installed on the body shell steel plate, is installed in the place near two block plates welding as far as possible, causes false alarm to avoid vehicle under the high speed vibration situation.2,3-axis acceleration sensor 5 is answered fixed-direction and angle, and will guarantee to have enough spatial operations and reseting sensor again.3, the zone that liquid overflows or have the direct splash of water should be avoided in 3-axis acceleration sensor 5 installation sites.
The temperature, pressure signal that temperature/pressure sensor 9 detects goods also flows to ECU, and signal is 2 tunnel simulating signals, and temperature/pressure sensor is installed in the container (tank body).
Display screen 6 is installed in the pilothouse, is convenient to the position that the driver watches, and display screen can be realized the switching of two camera videos, simultaneously display alarm information.
Two 2,3, one of cameras are installed in the trailer front end, realize the dynamic demonstration and the picture collection of trailer, and one is installed in pilothouse, realize the collection of pilothouse picture; The inclination angle can be fixed on close positions with 3-axis acceleration sensor 5, horizontal positioned.
The UART circuit of above-mentioned ECU adopts the MAX232 chip to carry out level conversion, and interface uses DB9, and wherein 2,3 pins can connect gyro, and 7,8 pins are reserved, and 1 pin is peripheral hardware power supplies such as gyroscope, and available wire jumper is selected 5V or 12V, and 5 pins are ground.Also comprise main control chip LM3S2948 among the ECU, have the digital-to-analog conversion interface of 8 tunnel 10 precision; Also comprise AT45DB161 serial storage chip, record running car data, when USB flash disk insertion system USB interface, data write USB flash disk automatically, and this chip links to each other with main control chip by the SPI mouth; Also comprise the FM24CL64 chip, use the doubtful point data in the ferroelectric formula storage chip FM24CL64 record driving process, this chip links to each other with main control chip by the I2C interface.
The step that application the utility model carries out early warning control is as follows:
1) a Dangerous Goods Transport dynamic real-time monitor prior-warning device is set, it comprises acceleration transducer, obliquity sensor, temperature/pressure transducer, camera, display screen, GPS/GPRS, SD card memory, card reader, with their electronic control unit that contains microprocessor of control, be provided with the early warning module of collision, rollover, temperature and pressure in the described microprocessor, preset warning algorithm and threshold value in each early warning module;
2) picture signal of temperature/pressure signal, pilothouse and the goods of the dip angle signal of the acceleration signal of collection lorry vehicle frame, lorry vehicle frame, goods, the signal of collection all stores the early warning module into;
3) the early warning module of described collision, rollover, temperature and pressure compares input signal and predetermined threshold value, sends corresponding alarm command, and abnormal signal and picture are stored;
4) warning message shows at display screen, and is sent to remote monitoring center by the GPS/GPRS module;
5) finish warning after, return step 2;
6) driver monitors cargo state and warning message in real time by display screen.
In the step 3), the identifying of described collision is carried out as shown in Figure 2 according to the following steps:
1. sample frequency is set;
2. gather the acceleration of X, Y, three directions of Z;
3. carry out the A/D conversion;
4. filtering is less than the signal of 2g;
5. the signal greater than 2g calculates by three axial resultant acceleration collision warning algorithms, and compares with preset threshold, judges whether to bump;
6. not that 2. collision is returned;
7. be collision, judge crash type;
8. carry out early warning.
Here, collision algorithm is to have used for reference the two-way resultant acceleration algorithm of known air bag, has constructed three axial resultant acceleration collision warning algorithms.
The strong similar correlativity that the two-way resultant acceleration algorithm of air bag utilizes bidirectional acceleration signal in the interference of road surface breaks through the restriction that traditional algorithm is only considered the horizontal direction acceleration, the synthetic airbag control algolithm of structure bidirectional acceleration, and the expression formula of algorithm is as follows:
Wherein: S is three axial velocity composition product components, and n is a current point in time, and k is that sampled point is a window width, and ρ characterizes the weight of both direction acceleration in composition algorithm, a for synthetic factor
x(i), a
z(i) be respectively acceleration sampled value on vehicle heading, the vertical direction.
Because accident between vehicle, i.e. the accident of vehicle and vehicle collision is divided into head-on crash, rear-end impact, side collision, the collision of the contact-type when overtaking other vehicles and the side collision when turning is arranged etc. when turning greatly.The acceleration characteristic difference of multi-form collision, vehicle its forms of collision in the process of moving are unknown, and two-way resultant acceleration algorithm is effectively at collision on a certain direction, and may be weaker for the determine effect of other direction.Therefore the utility model is by installing three-axis acceleration sensor on the Dangerous Goods Transport vehicle, acceleration on three directions of extraction vehicle ' process also carries out three-dimensional and synthesizes, with the resultant acceleration value with preestablish threshold value and compare and judge vehicle collision accident, and then judge the collision that belongs to which kind of form, make algorithm have more practicality.
Three axial resultant acceleration collision warning algorithm expression formulas are as follows:
In the formula (2): a
x(i), a
y(i), a
z(i) be respectively vehicle heading, laterally and the acceleration sampled value on the vertical direction.
Here, the collision threshold value is to determine that by the real train test signal three axial acceleration synthesizes threshold value.As shown in Figure 3, for seeking optimal threshold, test has been carried out analysis and computing to a large amount of acceleration informations, is the different accelerating curves that disturb road surface and collision among the figure.Disturbed as can be seen by Fig. 3 curve that acceleration peak value all is no more than 2g on the road surface, therefore the collision peak value for reducing the calculated amount of processor, will leach greater than the acceleration of 2g then much larger than 2g, does not calculate.
After X, Y, Z three axial acceleration were synthesized, the resultant acceleration curve on various road surfaces as shown in Figure 4.As seen from Figure 4, head-on crash process three axial resultant accelerations are much larger than disturbing the road surface resultant acceleration.Therefore, by analyzing above-mentioned data and curves, set collision warning threshold value S
Th=0.2gs.This alarm threshold value must should satisfy and not send wrong report under the non-collision situation in assignment procedure, also will accurately send alerting signal when collision.
After judging whether to collision, also to further judge it is the collision of which kind of type, the utility model provides the recognition expression formula of crash type to be:
D | a
x(t) |/dt＞d | a
y(t) |/dt if relational expression is set up, then is a head-on crash; Otherwise be side collision.
Can draw by Fig. 3 f, when vehicle generation head-on crash, cause that the anterior distortion of vehicle frame absorbs energy, impact tempestuously and directly pass to sensor by vehicle frame, form the precipitous acceleration forward position of travel direction (X to), simultaneously in vertical direction (Z axle) and laterally (Y to) goes up and produces irregular trembling, thus form Y to Z to yo-yo acceleration signal.During vehicle generation head-on crash, its X-axis acceleration wants fast with respect to Y-axis acceleration change speed, and relatively acceleration change speed (being acceleration ramp) can be judged the vehicle collision form.
In the step 3), described rollover early warning process is carried out as shown in Figure 5 as follows:
1. sample frequency and bandwidth are set;
2. gather dip angle signal, carry out the A/D conversion;
3. judge that whether the interior dip angle signal of bandwidth is all greater than threshold value;
4. all greater than then reporting to the police, otherwise return 2..
Process finds that to the dip angle signal analysis vibration, acceleration and deceleration, turning etc. are very big to the dip angle signal influence, but for arbitrary undesired signal, when interference exists, influential to dip angle signal, after interference disappears, influence to dip angle signal disappears, and the inclination angle value reverts to exact value.
Analyze in the vehicle operating process and cause that the inclination angle value is greater than setting threshold θ
MaxThe duration T of undesired signal
0, determine a sampling time section W＞T
0, at the θ of W in the time
nValue is if undesired signal, then at W θ in the time
nExistence is less than the point of threshold value, when all values during all greater than threshold value, thinks that vehicle is in the hole, reports to the police.
In order to improve the real-time of warning, W chooses should be as much as possible little.Analysis causes that DIP is greater than θ
MaxX, Y, Z directional acceleration value, according to its duration T
0, determine W＞T
0
When the vehicle side inclination angle greater than θ
MaxTime surpass W second, though do not turn on one's side sometimes (as tempo turn) thinks that also vehicle is in the hole, carry out early warning, the prompting driver reduces the speed of a motor vehicle, does not belong to wrong report.
In the step 3), described temperature and pressure early warning process is judged as follows:
At the early warning of Dangerous Goods Transport tank car medium temperature and pressure, the main early warning that realizes fire, blast and the leakage of tank body.According to the physics and the chemical characteristic of dangerous cargo, adopt fixed gate limit value alarm algorithm, be divided into two-stage respectively according to big young pathbreaker's temperature and pressure of threshold value and report to the police.Below describe respectively:
As shown in Figure 6, temperature alarming: first order alarming threshold value T
0For 40 ℃ of local historical high temperature, when maximum temperature was higher than the carrier material flash-point, getting the material flash-point was alarming value T
0The second level is 1.5～2 times of first order alarming threshold value, is (1.5～2) T
0The first order is an onsite alarming, need not report Surveillance center, the above online Surveillance center that reports simultaneously in the second level.
As shown in Figure 7, a pressure alarm high position is provided with two-stage: first order alarming threshold value is container (tank body) service pressure upper limit P
180%, the second level is the Vessel Design pressure P
280%, the first order is an onsite alarming, promptly only gives the driver with information warning, need not report Surveillance center, the second level above must the while the online Surveillance center that reports.Low level is provided with one-level at least, and alarming threshold value is the lower limit P of service pressure
0
The above; it only is embodiment of the present utility model; but protection domain of the present utility model is not limited thereto; the structure of each parts, the position is set and connection, vehicle parameter and threshold value all can change to some extent; anyly be familiar with those skilled in the art in the technical scope that the utility model discloses; can expect easily changing or replacing; on the basis of technical solutions of the utility model; to improvement and the conversion that individual component is carried out, all should be within protection domain of the present utility model.
Claims (9)
1. Dangerous Goods Transport vehicle dynamic monitoring early-warning device is characterized in that: it comprises GPS/GPRS, camera, card reader, 3-axis acceleration sensor, display screen, artificial warning, buzzing warning, temperature/pressure sensor, obliquity sensor, SD card memory, contains the electronic control unit of microprocessor; Described electronic control unit is above-mentioned each part of control linkage respectively; Be provided with the early warning module of collision, rollover, temperature and pressure in the described microprocessor, preset warning algorithm and threshold value in the early warning module.
2. Dangerous Goods Transport vehicle dynamic monitoring early-warning device as claimed in claim 1 is characterized in that: described 3-axis acceleration sensor sense acceleration signal also flows to ECU, and signal is 3 tunnel simulating signals.
3. as claim 1 back 2 described Dangerous Goods Transport vehicle dynamic monitoring early-warning devices, it is characterized in that: described 3-axis acceleration sensor is installed on the body shell steel plate, and avoids that liquid overflows or the direct zone of splash; Described 3-axis acceleration sensor has fixing direction and angle.
4. Dangerous Goods Transport vehicle dynamic monitoring early-warning device as claimed in claim 1 is characterized in that: described obliquity sensor detects the side rake angle signal of vehicle barycenter and flows to ECU, and signal is 1 tunnel simulating signal.
5. as claim 1 or 4 described Dangerous Goods Transport vehicle dynamic monitoring early-warning devices, it is characterized in that: described obliquity sensor is horizontally fixed on the vehicle centroid position, is fixed on close positions with crash sensor, horizontal positioned.
6. Dangerous Goods Transport vehicle dynamic monitoring early-warning device as claimed in claim 1 is characterized in that: described temperature/pressure sensor detects temperature, the pressure signal of goods and flows to ECU, and signal is 2 tunnel simulating signals.
7. as claim 1 or 6 described Dangerous Goods Transport vehicle dynamic monitoring early-warning devices, it is characterized in that: described temperature/pressure sensor is installed in the container.
8. Dangerous Goods Transport vehicle dynamic monitoring early-warning device as claimed in claim 1, it is characterized in that: described camera is two, and one is installed in the trailer front end, and another is installed in pilothouse, be fixed on close positions with 3-axis acceleration sensor, horizontal positioned.
9. Dangerous Goods Transport vehicle dynamic monitoring early-warning device as claimed in claim 1 is characterized in that: described electronic control unit adopts the MAX232 chip to carry out level conversion, and interface uses DB9; Adopt the LM3S2948 chip to carry out digital-to-analog conversion; Adopt AT45DB161 serial storage chip to carry out data recording; Employing FM24CL64 chip carries out the doubtful point data recording in the driving process, links to each other with main control chip by the I2C interface.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010206670945U CN201909965U (en) | 2010-12-17 | 2010-12-17 | Dynamic monitoring and prewarning device for dangerous goods transport vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206670945U CN201909965U (en) | 2010-12-17 | 2010-12-17 | Dynamic monitoring and prewarning device for dangerous goods transport vehicle |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102069769A (en) * | 2010-12-17 | 2011-05-25 | 交通运输部公路科学研究所 | Dangerous goods transport vehicle dynamic monitoring method and early warning device |
| CN105448125A (en) * | 2015-12-28 | 2016-03-30 | 天维尔信息科技股份有限公司 | Rescue vehicle management method and device |
| CN106768633A (en) * | 2016-12-15 | 2017-05-31 | 长江大学 | A kind of multiple-axle vehicle quality and centroid position dynamic measurement device and measuring method |
| CN108287498A (en) * | 2017-12-29 | 2018-07-17 | 国网上海市电力公司 | Warehouse stockyard guidance system |
| CN110806581A (en) * | 2019-10-21 | 2020-02-18 | 边缘智能研究院南京有限公司 | Medical cart anti-collision detection method, device and system |
| CN111667705A (en) * | 2020-06-05 | 2020-09-15 | 吉林大学 | Rollover prevention early warning system for heavy truck at bend |
| CN112660748A (en) * | 2020-12-29 | 2021-04-16 | 美盈森集团股份有限公司 | Heavy packing anti-toppling device |
| CN113570906A (en) * | 2021-07-13 | 2021-10-29 | 淮阴工学院 | System and method for monitoring and early warning of running and safety states of hazardous chemical substance transport vehicle |
| CN115100826A (en) * | 2022-05-20 | 2022-09-23 | 交通运输部水运科学研究所 | Ship dangerous cargo overboard alarm method and system based on real-time monitoring |
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2010
- 2010-12-17 CN CN2010206670945U patent/CN201909965U/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102069769A (en) * | 2010-12-17 | 2011-05-25 | 交通运输部公路科学研究所 | Dangerous goods transport vehicle dynamic monitoring method and early warning device |
| CN102069769B (en) * | 2010-12-17 | 2012-10-03 | 交通运输部公路科学研究所 | Dangerous goods transport vehicle dynamic monitoring method and early warning device |
| CN105448125A (en) * | 2015-12-28 | 2016-03-30 | 天维尔信息科技股份有限公司 | Rescue vehicle management method and device |
| CN105448125B (en) * | 2015-12-28 | 2018-06-08 | 天维尔信息科技股份有限公司 | Breakdown lorry management method and device |
| CN106768633A (en) * | 2016-12-15 | 2017-05-31 | 长江大学 | A kind of multiple-axle vehicle quality and centroid position dynamic measurement device and measuring method |
| CN108287498A (en) * | 2017-12-29 | 2018-07-17 | 国网上海市电力公司 | Warehouse stockyard guidance system |
| CN110806581A (en) * | 2019-10-21 | 2020-02-18 | 边缘智能研究院南京有限公司 | Medical cart anti-collision detection method, device and system |
| CN110806581B (en) * | 2019-10-21 | 2022-03-29 | 边缘智能研究院南京有限公司 | Medical cart anti-collision detection method, device and system |
| CN111667705A (en) * | 2020-06-05 | 2020-09-15 | 吉林大学 | Rollover prevention early warning system for heavy truck at bend |
| CN112660748A (en) * | 2020-12-29 | 2021-04-16 | 美盈森集团股份有限公司 | Heavy packing anti-toppling device |
| CN113570906A (en) * | 2021-07-13 | 2021-10-29 | 淮阴工学院 | System and method for monitoring and early warning of running and safety states of hazardous chemical substance transport vehicle |
| CN115100826A (en) * | 2022-05-20 | 2022-09-23 | 交通运输部水运科学研究所 | Ship dangerous cargo overboard alarm method and system based on real-time monitoring |
| CN115100826B (en) * | 2022-05-20 | 2023-11-07 | 交通运输部水运科学研究所 | Real-time monitoring-based ship dangerous cargo falling water alarm method and system |
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Granted publication date: 20110727 Termination date: 20151217 |
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