CN111627225B - Multi-dimensional judgment method for type of axle facing nuclear load monitoring in substation - Google Patents
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- G—PHYSICS
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- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
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- G08G1/02—Detecting movement of traffic to be counted or controlled using treadles built into the road
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Abstract
The application discloses a multidimensional judgment method for the type of an axle facing nuclear load monitoring in an over-station control, which relates to the technical field of vehicle weighing systems and comprises the following steps: step 1, initializing; step 2, vehicleFirst speed measurement ground induction coil for reaching off-site overtaking pointTime triggering and timing; step 3, detecting the direction of the friction force; step 4, weighing platformMeasuring the axle weight of each axleAnd passes through the road side unitComputing vehicleGross weight of vehicle and goods(ii) a Step 5, the vehicleContinuously driving and reaching the second speed-measuring ground induction coil of the off-site overtaking pointTime-triggered timing, road side unitCalculating the vehicle speed according to the real-time transmitted detection data(ii) a Step 6, road side unitCalculating the distance between the axles and establishing an axle model; step 7, treating the hypercenterAnd (4) carrying out overload judgment by combining the vehicle overrun overload determination standard and the obtained gross weight of the vehicle and the goods. This application has picture and the video of avoiding relying on the camera of controlling the super point completely and shooing, and effectively distinguishes drive shaft and driven shaft, realizes automatic accurate super effect of controlling.
Description
Technical Field
The application relates to the technical field of vehicle weighing systems, in particular to a multidimensional judgment method for the type of an axle facing nuclear load monitoring in an over-station control.
Background
Under the scene of off-site overload control, different vehicle axle types need to be distinguished to obtain corresponding nuclear loads, and whether a certain vehicle is overloaded or not is judged by combining the total weight data of the vehicle and the goods returned by the off-site overload control point.
The Chinese patent with publication number CN106530425A discloses a novel dynamic weighing system for toll stations, which comprises a toll computer, a video card, a toll controller and an outdoor controller which are respectively connected with the toll computer, a camera connected with the video card, a lane signal lamp, an alarm, a display screen and a railing machine which are respectively connected with the toll controller, and an axle weight detection table, an axle identifier, an infrared vehicle separator and a vehicle detector which are respectively connected with the outdoor controller; the vehicle detector comprises an annular induction coil, a coil detector and a signal cable; the wheel axle identifier consists of a set of pressure sensors.
In the practical application of the novel toll station dynamic weighing system, although the electromagnetic coil and the side vertical sensor are adopted to realize wheel axle identification, compared with the manual identification and determination of the vehicle axle type, the effects of reducing the labor burden and saving the time are achieved; however, when axle distribution is inferred by image recognition of wheel distribution, and corresponding nuclear load matching is realized to control overtime, the axle type classification method combined with machine learning depends on pictures and videos shot by a camera, and the shooting effects of the pictures and the videos are affected in severe weather (such as night, rainy days, snowy days, haze days and the like) and scenes with high vehicle density (occlusion exists), so that great challenges are brought to the trained model for realizing axle type classification. In addition, in vehicles having the same axle distribution type, if the number and distribution of the transaxles are different, the nuclear load is also different in the vehicle overrun overload determination standard. The driving wheels are connected with the driving axle, and the driving wheels and the driven wheels of the vehicle are distinguished only through pictures or videos shot by the superstation camera, so that the problems of high difficulty and insufficient accuracy are solved.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a multidimensional determination method for determining a type of an axle facing a nuclear monitoring in a superstation, so as to achieve automatic axle type resolution without additional human resources, and effectively avoid the influence of severe weather and vehicle density. The specific scheme is as follows:
a multi-dimensional judgment method for the type of an axle facing nuclear load monitoring of a control substation comprises the following steps:
step 2, vehicleFirst speed measurement ground induction coil for reaching off-site overtaking pointTime-triggered timing, recording time asStarting to move the vehicleGround induction coil for detection and speed measurementReal-time transmission of detection data to roadside units;
Step 3, force measuring sensorAnd a vehicleThe contact area of the wheel is locally deformed to detect the direction of the frictional force, and the force sensorReal-time transmission of detection data to roadside units;
Step 4, weighing platformMeasure every carAxle weightAnd a weighing platformReal-time transmission of detection data to roadside unitsRoad side unitComputing vehicleGross weight of vehicle and goods;
Step 5, the vehicleContinuously driving and reaching the second speed-measuring ground induction coil of the off-site overtaking pointTime-triggered timing, recording time asAnd proceed with the vehicleAnd speed-measuring ground induction coilReal-time transmission of detection data to roadside unitsRoad side unitCalculating the vehicle speed according to the real-time transmitted detection data;
step 7, treating the hypercenterAnd (4) carrying out overload judgment by combining the vehicle overrun overload determination standard and the obtained gross weight of the vehicle and the goods.
Preferably: in step 2, when the vehicle is runningOff-ground induction coilTime is recorded as(ii) a Deployed ground sensing coil in close proximity to load cellAt a mutual distance ofAnd is andless than the distance from the rear wheel to the tail of the vehicle and less than the safety distance of the vehicle。
Preferably: in step 3, the load cellAnd a vehicleThe local deformation generated in the contact area of the wheel is a three-dimensional shape.
Preferably: the force sensorThe driving wheel and the driven wheel are distinguished by measuring the friction force direction of each group of tires (one group of coaxial tires) of the vehicle and the ground, and the contact time point of each group of tires and the tire is recorded and stored as the following tuples:
wherein:as vehiclesThe identity of (2);identifying a tire group;as vehiclesTo (1) aAssembling tires;for tyres and force-measuring sensorsThe direction of the frictional force therebetween;is a tire and force sensorFor subsequent axle spacing calculation;
and according to each group of tires corresponding to one axle, recording asI.e. byAs vehiclesThe corresponding number of axles.
Preferably: when the vehicle is runningOff-ground induction coilTime road side unitReset force cellIs/are as follows(ii) a And in step 4, the road side unitWill be weightedWith corresponding tuplesAnd (7) corresponding.
Preferably: in step 5, the road side unitThe vehicle speed is calculated by the following calculation formula:
Wherein,for recording timeAnd recording the time of day asTiming time difference of, i.e.;Is a ground induction coilGround induction coilThe pitch of (2).
wherein,as vehiclesTo (1) aRoot axis and the firstDistance between the axles;the resulting vehicle speed;is as followsContact time of set of tiresAnd a firstContact time point of set of tiresThe difference of (a).
Preferably: the method for establishing the shaft model is a road side unitThe following data are established:
Preferably: in step 6, after the axle model is established, the road side unitAnalyzing the axle distance ratio through videos and pictures shot by a camera, and verifying the axle model result;
wherein the road side unitAnalysis of axle-to-axle distance ratio by video and photo taken by cameraVehicleAll camera axle pitch ratios(ii) a And pass throughCalculating to obtain the axle distance ratio;
The road side unitComparing the values by the following calculation formulaAndand (3) performing relevance analysis:
wherein,in order to analyze the results of the analysis,indicating vehiclesThe serial number of the axle;
Preferably: the verification of the shaft model result comprises controlling the over-centerThe degree of freedom is calculated by the following calculation formula:
wherein,representing a check comparisonThe number of methods;representing the number of axial spacing ratios, i.e.;
And according to the statistical information comprehensive analysis, adjusting the threshold value of the verification confidence coefficient;
Degree of freedom of combinationAnd confidence thresholdInquiring the card boundary value table to obtain the critical value;
If it isThen the verification is passed and the hypercenter is controlledDetermining standard and judging overload according to the vehicle overrun and overload;
if it isThen the verification is failed and the hypercenter is controlledThis example is assigned to the staff to perform an override decision.
According to the scheme, the multidimensional judgment method for the type of the axle facing the nuclear load monitoring in the overtaking station has the following beneficial effects:
1. the multidimensional axle type judgment is realized by combining the time of the vehicle passing through a road weighing platform, the measured running speed, the direction of the friction force applied to each group of tires and the video and the picture shot by a camera;
2. the driving shaft and the driven shaft are distinguished by measuring the direction of the friction force, so that the purposes of analyzing the distribution condition of the driving shaft of the vehicle and accurately controlling the excess are achieved;
3. through automatic shaft type distinguishing without additional human resources, labor cost is reduced, and efficiency and precision of shaft identification are effectively improved;
4. through not totally relying on the camera, the first three dimension measured values of utilization can not receive the influence of bad weather, vehicle density to realize showing promotion of shaft identification precision.
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In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a superordinate station of the multi-dimensional decision method disclosed in the present application;
FIG. 2 is a block flow diagram of a multi-dimensional decision method disclosed herein;
fig. 3 is a schematic diagram of an axis model constructed in a first embodiment of the multi-dimensional determination method disclosed in the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The following specifically describes a multidimensional determination method for the type of an axle facing nuclear load monitoring in the substation overtaking mode according to the embodiment of the present invention:
as shown in fig. 1 and 2, a multidimensional determination method for determining the type of an axle facing a nuclear load monitoring in an over-station includes the following steps:
step 2, vehicleFirst speed measurement ground induction coil for reaching off-site overtaking pointTime-triggered timing, recording time asStart to drive the vehicleAnd speed-measuring ground induction coilReal-time transmission of detection data to roadside units;
When the vehicle is runningOff-ground induction coilTime is recorded as(ii) a Deployed ground sensing coil in close proximity to load cellAt a mutual distance ofAnd is andless than the distance from the rear wheel to the tail of the vehicle and less than the safety distance of the vehicle;
Step 3, force measuring sensorAnd a vehicleThe contact area of the wheel is locally deformed and the force sensorAnd a vehicleThe local deformation generated in the contact area of the wheel is a three-dimensional shape; wherein:
force sensorBy measuring the direction of friction between each set of tyres (of a set of coaxial tyres) of the vehicle and the groundDriving wheels and driven wheels are divided, and the contact time point of each group of tires with the tire is recorded and stored as the following tuples:
wherein:as vehiclesThe identity of (2);identifying a tire group;as vehiclesTo (1) aAssembling tires;for tyres and force-measuring sensorsThe direction of the frictional force therebetween;is a tire and force sensorFor subsequent axle spacing calculation;
and according to each group of tires corresponding to one axle, recording asI.e. byAs vehiclesThe corresponding number of axles;
and as a vehicleOff-ground induction coilTime road side unitReset force measurementSensor with a sensor elementIs/are as follows;
Step 4, weighing platformMeasuring the axle weight of each axleAnd a weighing platformReal-time transmission of detection data to roadside unitsRoad side unitWill be weightedWith corresponding tuplesCorrespond and calculate the vehicleGross weight of vehicle and goods;
Step 5, the vehicleContinuously driving and reaching the second speed-measuring ground induction coil of the off-site overtaking pointTime-triggered timing, recording time asAnd proceed with the vehicleAnd speed-measuring ground induction coilReal-time transmission of detection data to roadside units(ii) a Road side unitThe vehicle speed is calculated by the following calculation formula:
Wherein,for recording timeAnd recording the time of day asTiming time difference of, i.e.;Is a ground induction coilGround induction coilThe pitch of (d);
step 6, road side unitCalculating the axle distance, the calculation method of the axle distance is a road side unitObtained by:
wherein,as vehiclesTo (1) aRoot axis and the firstDistance between the axles;the resulting vehicle speed;is as followsContact time of set of tiresAnd a firstContact time point of set of tiresA difference of (d);
and establishing an axis model, wherein the establishment method of the axis model is a road side unitThe following data are established:
Step 7, road side unitAnalyzing the axle distance ratio through videos and pictures shot by a camera, and verifying the axle model result;
wherein the road side unitAnalysis of axle-to-axle distance ratio by video and photo taken by cameraVehicleAll camera axle pitch ratios(ii) a And pass throughCalculating to obtain the axle distance ratio;
The road side unitComparing the values by the following calculation formulaAndto carry outAnd (3) correlation analysis:
wherein,in order to analyze the results of the analysis,indicating vehiclesThe serial number of the axle;
Checking the shaft model result includes controlling the over-centerThe degree of freedom is calculated by the following calculation formula:
wherein,representing the number of verification comparison methods;representing the number of axial spacing ratios, i.e.;
And according to the statistical information comprehensive analysis, adjusting the threshold value of the verification confidence coefficient;
Degree of freedom of combinationAnd confidence thresholdInquiring the card boundary value table to obtain the critical value;
Step 8, ifThen the verification is passed and the hypercenter is controlledCarrying out overload judgment according to the vehicle overrun overload determination standard and the obtained gross weight of the vehicle and the goods;
Example one
As shown in fig. 1 and 2, a multidimensional determination method for determining the type of an axle facing a nuclear load monitoring in an over-station includes the following steps:
step 2, vehicleFirst speed measurement ground induction coil for reaching off-site overtaking pointTime-triggered timing, recording time asHere, the time interval error of the ground induction coil is set as(ii) a And start to drive the vehicleAnd speed-measuring ground induction coilReal-time transmission of detection data to roadside units;
When the vehicle is runningOff-ground induction coilTime is recorded as(ii) a Deployed ground induction coilClosely adjacent to the load cell at a mutual distance ofAnd is andless than the distance from the rear wheel to the tail of the vehicle and less than the safety distance of the vehicle(where the vehicle speed is taken asLower safe inter-vehicle distance) to ensure the sameInner vehicleAll wheels are connected with force transducersContact and no other vehicle can reach the load cell during the period;
Step 3, force measuring sensorAnd a vehicleThe contact area of the wheel is locally deformed and the force sensorAnd a vehicleThe local area generated by the contact area of the wheel becomes threeDimensional shape; wherein:
force sensorThe driving wheel and the driven wheel are distinguished by measuring the friction force direction of each group of tires (one group of coaxial tires) of the vehicle and the ground, and the contact time point of each group of tires and the tire is recorded and stored as the following tuples:
wherein:as vehiclesThe identity of (2);identifying a tire group;being vehiclesFirst, theAssembling tires;for tyres and force-measuring sensorsThe direction of the frictional force between the vehicle and the vehicle is 1The same direction of travel, 0 indicates the direction of friction and the direction of travel of the vehicleThe driving direction is opposite;is a tire and force sensorFor subsequent axle spacing calculation;
And according to each group of tires corresponding to one axle, recording asI.e. byAs vehiclesCorresponding number of axles can be obtained;
And the force measuring transducerSensor for measuring body weightReal-time transmission of detection data to roadside units;
And as a vehicleOff-ground induction coilTime road side unitReset force cellIs/are as followsI.e. after reset;
Step 4, weighing platformMeasuring the axle weight of each axleAre respectively as,,,,,(ii) a And the weighing platformReal-time transmission of detection data to roadside unitsRoad side unitWill be weightedWith corresponding tuplesCorrespond and calculate the vehicleTotal weight of vehicle and cargoI.e. by;
Step 5, the vehicleContinuously driving and reaching the second speed-measuring ground induction coil of the off-site overtaking pointTime-triggered timing, recording time asAnd proceed with the vehicleAnd speed-measuring ground induction coilReal-time transmission of detection data to roadside units(ii) a Road side unitThe vehicle speed is calculated by the following calculation formula:
Wherein,for recording timeAnd recording the time of day asTiming time difference of, i.e.;Is a ground induction coilGround induction coilAnd a distance of;
Step 6, road side unitCalculating the axle distance, the calculation method of the axle distance is a road side unitObtained by:
wherein,as vehiclesTo (1) aRoot axis and the firstDistance between the axles;the resulting vehicle speed;is as followsContact time of set of tiresAnd a firstContact time point of set of tiresA difference of (d);
And establishing an axis model, wherein the establishment method of the axis model is a road side unitThe following data are established:
wherein:
and constructing an axis model as shown in fig. 3;
Step 7, road side unitAnalyzing the axle distance ratio through videos and pictures shot by a camera, and verifying the axle model result;
wherein the road side unitAnalysis of axle-to-axle distance ratio by video and photo taken by cameraVehicleAll camera axle pitch ratios(ii) a And pass throughAnd (3) calculating to obtain an axle distance ratio:
the road side unitComparing the values by the following calculation formulaAndand (3) performing relevance analysis:
wherein,in order to analyze the results of the analysis,indicating vehiclesThe serial number of the axle;
Checking the shaft model result includes controlling the over-centerThe degree of freedom is calculated by the following calculation formula:
wherein,representing the number of verification comparison methods;representing the number of axial spacing ratios, i.e.;
And according to the statistical information comprehensive analysis, adjusting the threshold value of the verification confidence coefficient;
Degree of freedom of combinationAnd confidence thresholdInquiring the card boundary value table to obtain the critical value;
Step 8,It indicates that the verification passed, thus overriding the over-centerBased on uploaded axis model andcarrying out overload judgment; matching the obtained result with an over-center database, and defining the axle type corresponding to the vehicle as the core load according to the over-limit and overload identification standard of the road freight vehicleTon, comparativeKnown vehicleAnd is not overloaded.
In summary, the present application provides a vehicleTo a force cellForce sensorThe contact area with the wheel is locally deformed in a three-dimensional shape, and the processor receives the deformation from the sensorGenerating a local deformation profile, which the processor can use to determine the direction of the force of the contact portion; because in the horizontal direction, the tire and the load cellOnly the friction force exists between the two parts, and then the direction of the friction force is detected. The effect of effectively avoiding completely depending on pictures and videos shot by a camera for off-site over-point treatment is achieved, and the effects of distinguishing a driving shaft and a driven shaft, achieving automatic accurate over-point treatment and avoiding the defects that manpower cost is large, dependence on the camera is high, and axle types cannot be distinguished are achieved.
The specific principle of detecting the direction of the friction force is as follows:
the moving direction of the vehicle driving wheel relative to the ground contact point is opposite to the moving direction of the vehicle, so the received friction force is the same as the moving direction of the vehicle; the moving direction of the driven wheel of the vehicle relative to the ground contact point is the same as the moving direction of the vehicle, so the friction force applied to the driven wheel is opposite to the moving direction of the vehicle (namely the driven wheel is opposite to the moving direction of the vehicle)In order to drive the wheels,is a driven wheel) to obtainIs a driven wheel and is provided with a driving wheel,is a driven wheel and is provided with a driving wheel,in order to drive the wheels,is a driven wheel and is provided with a driving wheel,is a driven wheel and is provided with a driving wheel,is a driven wheel. Since the axle corresponds to the wheel, the axle type can be deduced therefrom,Showing the drive shaft or shafts, respectively,representing driven shafts, i.e. shaftsIs a driven shaft, a shaftIs a driven shaft, a shaftFor driving shafts, shaftsIs a driven shaft, a shaftIs a driven shaft, a shaftIs a driven shaft.
References in this application to "first," "second," "third," "fourth," etc., if any, are intended to distinguish between similar elements and not necessarily to describe a particular order or sequence. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Furthermore, the terms "comprises" and "comprising," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, or apparatus.
It should be noted that the descriptions in this application referring to "first", "second", etc. are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present application.
The principle and the implementation of the present application are explained herein by applying specific examples, and the above description of the embodiments is only used to help understand the method and the core idea of the present application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.
Claims (5)
1. A multi-dimensional judgment method for the type of an axle facing nuclear load monitoring of a control substation is characterized by comprising the following steps:
step 1, initializing a speed-measuring ground induction coil for off-site over-point treatment (step 1)、) Force sensorAnd a weighing platform;
step 2, vehicleFirst speed measurement ground induction coil for reaching off-site overtaking pointTime-triggered timing, recording time asStart to drive the vehicleAnd speed-measuring ground induction coilReal-time transmission of detection data to roadside units;
Step 3, the force measuring sensorAnd a vehicleThe contact area of the wheel is locally deformed to detect the direction of the frictional force, and the force sensorReal-time transmission of detection data to roadside units;
Step 4, weighing platformMeasuring the axle weight of each axleAnd a weighing platformReal-time transmission of detection data to roadside unitsRoad side unitComputing vehicleGross weight of vehicle and goods;
Step 5, the vehicleContinuously driving and reaching the second speed measuring place with off-site overtaking pointInduction coilTime-triggered timing, recording time asAnd proceed with the vehicleAnd speed-measuring ground induction coilReal-time transmission of detection data to roadside unitsRoad side unitCalculating the vehicle speed according to the real-time transmitted detection data;
step 7, treating the hypercenterCarrying out overload judgment by combining the vehicle overrun overload determination standard and the obtained gross weight of the vehicle and the goods;
wherein the load cellThe driving wheel and the driven wheel are distinguished by measuring the friction direction between each group of tires of the vehicle and the ground, and the friction direction is recordedThe contact time point of each set of tires with itself, stored as the tuple:
wherein:as vehiclesThe identity of (2);identifying a tire group;as vehiclesTo (1) aAssembling tires;for tyres and force-measuring sensorsThe direction of the frictional force therebetween;is a tire and force sensorFor subsequent axle spacing calculation;
the coaxial tires are in a group, and each group of tires corresponds to an axle and is recordedIs recorded asI.e. byAs vehiclesThe corresponding number of axles;
according toCombining the corresponding relation between the axle and the tire to obtain the type of the axle;
wherein,as vehiclesTo (1) aRoot axis and the firstDistance between the axles;the resulting vehicle speed;is as followsContact time of set of tiresAnd a firstContact time point of set of tiresA difference of (d);
In step 6, after the axle model is established, the road side unitAnalyzing the axle distance ratio through videos and pictures shot by a camera, and verifying the axle model result;
wherein the road side unitAnalysis of axle-to-axle distance ratio by video and photo taken by cameraVehicleAll camera axle pitch ratios(ii) a And pass throughCalculating to obtain the axle distance ratio;
The road side unitComparing the values by the following calculation formulaAndand (3) performing relevance analysis:
wherein,in order to analyze the results of the analysis,indicating vehiclesThe serial number of the axle;
The verification of the shaft model result comprises controlling the over-centerThe degree of freedom is calculated by the following calculation formula:
wherein,representing the number of verification comparison methods;representing the number of axial spacing ratios, i.e.;
And according to the systemComprehensively analyzing the information and adjusting the threshold value of the verification confidence;
Degree of freedom of combinationAnd confidence thresholdInquiring the card boundary value table to obtain the critical value;
If it isThen the verification is passed and the hypercenter is controlledCarrying out overload judgment according to the vehicle overrun overload determination standard and the obtained gross weight of the vehicle and the goods;
2. The method of claim 1, wherein the method comprises the following steps: in step 2, when the vehicle is runningOff-ground induction coilTime is recorded as(ii) a Deployed ground sensing coil in close proximity to load cellAt a mutual distance ofAnd is andless than the distance from the rear wheel to the tail of the vehicle and less than the safety distance of the vehicle。
5. The method of claim 1, wherein the method comprises the following steps: in step 5, the road side unitThe vehicle speed is calculated by the following calculation formula:
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