CN112215980A - Driving safety monitoring system, method, storage medium and equipment - Google Patents
Driving safety monitoring system, method, storage medium and equipment Download PDFInfo
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- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0841—Registering performance data
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- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
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- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
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Abstract
The invention provides a monitoring system, a method, a storage medium and equipment for traffic safety, wherein the monitoring system for traffic safety comprises: the monitoring module is used for monitoring the operation data of the travelling crane; the operation data is working information and fault information of the travelling crane during running; the signal processing and analyzing module is used for carrying out safety comparison processing on the operation data and generating a driving operation control instruction corresponding to the operation data according to a safety comparison result, wherein the driving operation control instruction comprises a normal driving operation instruction and an abnormal driving operation instruction; and the display module is used for carrying out corresponding display according to the running control instruction. The invention can effectively monitor and protect the power supply system of each part of the travelling crane, and avoids the occurrence of travelling crane accidents to the maximum extent.
Description
Technical Field
The invention belongs to the technical field of metallurgy, relates to a driving safety monitoring system, and particularly relates to a driving safety monitoring system, a driving safety monitoring method, a storage medium and driving safety monitoring equipment.
Background
At present, the production practice of using the traveling crane for years in the production and manufacturing process shows that the traveling crane causes irreparable serious accidents and economic losses once the electric system is out of control in the working process. In general, when a traveling crane is designed and manufactured, the aspects of electrical protection, mechanical interlocking, reliable braking and the like of the traveling crane are comprehensively considered according to the regulations of traveling crane design specifications and traveling crane safety regulations, and certain protection measures are taken. However, in actual work, the environment is complex, the technical level and experience of users and maintenance personnel are limited, and the fault point of the traveling crane cannot be timely judged, so that the traveling crane can operate with diseases in a fault state, and serious accidents are caused.
In the production and manufacturing of well-known enterprises, equipment accidents with the loss of the well-known degree are less likely to occur; in the process from the raw materials to the production of finished products, the materials are lifted by using a travelling crane. When the supply of the product is not in line with the demand, the production rhythm is very fast to meet the requirements of customers, the running equipment is required to stably run, and the principle that people-oriented life is up is met. However, in the prior art, a mature integrated safety monitoring control technology is not provided in driving application.
Therefore, how to provide a driving safety monitoring system, method, storage medium and device to solve the defects that the prior art cannot reliably and stably ensure safe production and reduce accidents to the maximum extent becomes a technical problem to be solved by technical personnel in the field.
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, an object of the present invention is to provide a driving safety monitoring system, method, storage medium and device, which are used to solve the problem that the prior art cannot reliably and stably ensure safe production and reduce accidents to the maximum extent.
To achieve the above and other related objects, an aspect of the present invention provides a driving safety monitoring system, including: the monitoring module is used for monitoring the operation data of the travelling crane; the operation data is working information and fault information of the travelling crane during running; the signal processing and analyzing module is used for carrying out safety comparison processing on the operation data and generating a driving operation control instruction corresponding to the operation data according to a safety comparison result, wherein the driving operation control instruction comprises a normal driving operation instruction and an abnormal driving operation instruction; and the display module is used for carrying out corresponding display according to the running control instruction.
In an embodiment of the invention, the monitoring module includes at least one of the following units: the limit sensing unit is used for detecting the main lifting, brakes of the cart and the trolley and the limit of the running direction in the travelling crane, and is arranged in the all-aluminum shell and internally provided with an electromagnetic induction controller; the load sensing unit is used for detecting the pressure applied to the travelling crane by the hung heavy object; the distance measurement sensing unit is used for detecting the travelling distance of two ends of a cart travelling in unit time; the electromagnetic induction unit is used for detecting the distance between a large vehicle of the traveling crane and the rail tread; the electric signal sampling unit is used for detecting a collector abrasion signal and a slide wire cracking signal of the travelling crane; and/or a motor running state sampling unit for detecting running state signals of a lifting motor, a cart motor and a trolley motor of the travelling crane; accordingly, the job data includes at least one of the following data: the limit signal is a signal for limiting and monitoring a position with distance change in the process of travelling crane operation, and comprises a main lifting brake limit signal and a main lifting running direction limit signal of a travelling crane, a cart brake limit signal and a cart running direction limit signal of the travelling crane, and a cart brake limit signal and a cart running direction limit signal of the travelling crane; the load signal is a pressure signal of a heavy object borne by the main hoisting; the cart wriggling signal is a difference value between a first ranging signal and a second ranging signal of the ranging sensing unit; the cart track trip signal is at least four electromagnetic induction signals from the electromagnetic induction unit; the power supply signal of the slide wire detection device is used for detecting whether a current collector of a running vehicle is worn or not and whether the slide wire cracks or not; and/or motor running state data which are voltage, current, rotating speed, load and torque signals of the running of the motors of the main hoisting and large and small vehicles of the traveling crane.
In an embodiment of the present invention, the signal processing and analyzing module includes: the sensing signal processing unit is used for carrying out amplification filtering processing of an analog signal, difference calculation processing of a digital signal and signal classification processing of the operation data on the operation data; the data analysis unit is used for receiving the signal result processed by the sensing signal processing unit and carrying out safety analysis on the signal result according to a corresponding safety preset value so as to form a safety analysis result; and the central processing unit is used for carrying out safety judgment on a safety analysis result and generating a corresponding control instruction according to safety information of the safety judgment, wherein the safety information is indication information including whether limit is normal or not, whether overload is caused or not, whether a cart is twisted or not and exceeds a standard or not, whether a cart track trip string exceeds a standard or not, whether power supply of a slide wire detection device is normal or not and/or whether running states of motors of a travelling crane are normal or not.
In an embodiment of the invention, the data analysis unit includes at least one of the following units: the limiting analysis unit is used for receiving limiting signals and carrying out line diagnosis and analysis according to the acquired limiting detection signals, and the limiting detection signals comprise first limiting signals and second limiting signals; the overload analysis unit is used for comparing the acquired load signal with a load preset value, and if the load signal does not exceed the load preset value, determining that the travelling crane is not overloaded; if the load signal exceeds a load preset value, determining that the running vehicle is overloaded; the cart twisting analysis unit is used for comparing a cart twisting signal formed by the difference value of the first ranging signal and the second ranging signal with a twisting preset value, and if the cart twisting signal does not exceed the twisting preset value, determining that the cart normally runs; if the cart twisting signal exceeds a twisting preset value, determining that the cart twists; the track trip string analysis unit is used for comparing the electromagnetic induction signals of the obtained cart track trip string signals to obtain difference values between every two electromagnetic induction signals, comparing each difference value with a track preset value, and determining that the cart track is normal if each difference value does not exceed the track preset value; if at least one difference value exceeds a preset track value, determining a large vehicle track trip string; the power supply analysis unit is used for comparing the acquired power supply signal of the slide wire detection device with a preset power supply range, and if the power supply signal is within the preset power supply range, determining that the collector is not seriously worn; if the power supply signal exceeds the preset power supply range, determining that the current collector is seriously abraded; if the power supply signal is not detected or is not continuously detected, determining that the slide wire is cracked; the running state analysis unit is used for comparing the acquired motor running state data with a preset motor range, and if the motor running state data does not exceed the preset motor range, determining that the running state is normal; if the motor running state data exceeds the motor preset range, determining that the running state of the vehicle is abnormal, wherein the abnormal running state comprises the following steps: overcurrent, phase loss, phase sequence abnormality, undervoltage and overvoltage, overspeed, overload, zero position abnormality and/or leakage.
In an embodiment of the present invention, the position limit analyzing unit is configured to receive a first position limit signal sent by the position limit sensing unit; sending a detection signal to the limit sensing unit after receiving the first limit signal, wherein the detection signal comprises a safe voltage; receiving a second limit signal sent by the limit sensing unit after receiving the detection signal, wherein the second limit signal is a voltage signal which is changed into a voltage signal different from the first limit signal after the electromagnetic induction controller receives the detection signal; and taking the second limit signal as a normal mark signal of the limit line to determine that the limit line is normal.
In one embodiment of the invention, when the display module receives an instruction that the traveling crane runs normally, the voltage, current, rotating speed, load and/or torque data during the traveling crane operation are displayed in real time; and when the display module receives an instruction of abnormal running of the vehicle, displaying a fault point, a fault position and a fault record.
In an embodiment of the present invention, the signal processing and analyzing module is connected to a control execution module, and is configured to perform electrical protection processing at the fault location when the vehicle is abnormally operated; the control execution module includes: the system comprises a cart twisting control unit, a track trip string control unit and/or an operation state abnormity control unit; the cart twisting control unit is used for stopping the running power supply to prevent the running derailment when the cart twisting occurs; the track trip string control unit is used for sending track repair prompt instructions when the cart generates track trip strings; the running state abnormity control unit is used for electric protection processing when main lifting of a travelling crane and the abnormity of overcurrent, phase loss, abnormal phase sequence, undervoltage and overvoltage, overspeed, overload, zero-position abnormity and/or electric leakage and the like of a cart and a trolley occur.
The invention provides a driving safety monitoring method, which comprises the following steps: monitoring operation data of a traveling crane, wherein the operation data is work information and fault information of the traveling crane during operation; carrying out safety comparison processing on the operation data, and sending a control instruction of driving operation according to a safety comparison result, wherein the control instruction comprises an instruction of normal driving operation and an instruction of abnormal driving operation; and correspondingly displaying according to the running control instruction.
A further aspect of the present invention provides a storage medium having a computer program stored thereon, the computer program, when executed by a processor, implementing the method for monitoring driving safety.
A final aspect of the invention provides an apparatus comprising: a processor and a memory; the memory is used for storing computer programs, and the processor is used for executing the computer programs stored by the memory so as to enable the equipment to execute the driving safety monitoring method.
As described above, the driving safety monitoring system, method, storage medium and device of the present invention have the following advantages:
1. the invention can judge the fault point of the traveling crane in time, and avoid major accidents caused by the operation of the traveling crane in a fault state. The abnormity can be detected in time and can be processed relatively quickly by considering from multiple aspects such as traveling limit, load, cart twisting, rail travel and string, power supply of a slide wire detection device, electric protection during operation of each part of motor and the like.
2. A control circuit of the driving speed regulating system and a matched electric protection and limit interlocking device and the like are monitored through a multi-directional detection sensor; various important data information such as voltage, current, rotating speed, load and the like during the operation of equipment are acquired in real time and are displayed after being processed; the accumulated running operation time, the time and the position of the fault and the like are recorded, and the real-time monitoring of the working condition information can be realized.
3. Has reliable electrical protection function. The working condition information acquired and processed by the monitoring device is compared with index parameters stored in the device, if the difference exists, fault alarm and display are immediately carried out, and a corresponding electrical control circuit is cut off in time, so that the equipment is prevented from running in a fault state, and various electrical protections such as overcurrent protection, open-phase protection, phase sequence protection, under-overvoltage protection, overspeed protection, overload protection, zero protection, leakage protection and the like are realized.
Drawings
Fig. 1 is a schematic structural diagram of a driving safety monitoring method according to an embodiment of the present invention.
Fig. 2 is a schematic flow chart illustrating a driving safety monitoring method according to an embodiment of the invention.
Fig. 3 is a flowchart illustrating an initial condition determination process of the driving safety monitoring method according to an embodiment of the invention.
Fig. 4 is a data analysis flowchart illustrating a driving safety monitoring method according to an embodiment of the invention.
Fig. 5 is a flowchart illustrating a driving safety monitoring method according to an embodiment of the present invention.
Description of the element reference numerals
1 monitoring system for driving safety
11 monitoring module
111 limit sensing unit
112 load sensing unit
113 ranging sensing unit
114 electromagnetic induction unit
115 electric signal sampling unit
116 motor running state sampling unit
12 information processing and analyzing module
121 sensing signal processing unit
122 data analysis unit
123 central processing unit
13 display module
14 control execution module
141 cart twist control unit
142 track trip control unit
143 operating state abnormality control unit
S20-S23 traffic safety monitoring method and steps
S221-S226 traffic safety monitoring data analysis step
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
The technical principles of the system, the method, the storage medium and the equipment for monitoring the driving safety are as follows: monitoring operation data of a traveling crane, wherein the operation data is work information and fault information of the traveling crane during operation; carrying out safety comparison processing on the operation data, and sending a control instruction of driving operation according to a safety comparison result, wherein the control instruction comprises an instruction of normal driving operation and an instruction of abnormal driving operation; and correspondingly displaying according to the running control instruction.
Example one
This embodiment provides a monitored control system of driving safety, monitored control system of driving safety includes:
the monitoring module is used for monitoring the operation data of the travelling crane; the operation data is working information and fault information of the travelling crane during running;
the signal processing and analyzing module is used for carrying out safety comparison processing on the operation data and generating a driving operation control instruction corresponding to the operation data according to a safety comparison result, wherein the driving operation control instruction comprises a normal driving operation instruction and an abnormal driving operation instruction;
and the display module is used for carrying out corresponding display according to the running control instruction.
The following describes the driving safety monitoring system provided in the present embodiment in detail with reference to the drawings. It should be noted that the division of the modules of the following system is only a logical division, and the actual implementation may be wholly or partially integrated into one physical entity or may be physically separated. And the modules can be realized in a form that all software is called by the processing element, or in a form that all the modules are realized in a form that all the modules are called by the processing element, or in a form that part of the modules are called by the hardware. For example: the x module may be a separate processing element or may be integrated into a chip of the system described below. The x-module may be stored in the memory of the following system in the form of program code, and may be called by one of the processing elements of the following system to execute the functions of the following x-module. Other modules are implemented similarly. All or part of the modules can be integrated together or can be independently realized. The processing element described herein may be an integrated circuit having signal processing capabilities. In implementation, the steps of the above method or the following modules may be implemented by hardware integrated logic circuits in a processor element or instructions in software.
The following modules may be one or more integrated circuits configured to implement the above methods, for example: one or more Application Specific Integrated Circuits (ASICs), one or more Digital Signal Processors (DSPs), one or more Field Programmable Gate Arrays (FPGAs), and the like. When some of the following modules are implemented in the form of a program code called by a Processing element, the Processing element may be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling the program code. These modules may be integrated together and implemented in the form of a System-on-a-chip (SOC).
Please refer to fig. 1, which is a schematic structural diagram of a driving safety monitoring method according to an embodiment of the present invention. The traveling crane in the embodiment refers to a bridge crane which generally runs in a factory workshop. The bridge crane is generally composed of three parts, mechanical, electrical and metal structures. The mechanical part comprises a hoisting mechanism (some travelling cranes comprise a main hoisting mechanism and an auxiliary hoisting mechanism), a trolley running mechanism and a cart running mechanism. The lifting mechanism is used for vertically lifting objects, the trolley running mechanism is used for carrying loads to move transversely, and the cart running mechanism is used for longitudinally moving the lifted objects so as to carry, load and unload the objects in a three-dimensional space. As shown in fig. 1, the driving safety monitoring system 1 includes: the device comprises a monitoring module 11, a signal processing and analyzing module 12, a display module 13 and a control execution module 14.
And monitoring the operation data of the travelling crane through the monitoring module 11. Specifically, the monitoring module 11 adopts signal detection sensors disposed at different positions of the traveling crane, collects each operation data of the traveling crane in real time during the traveling crane work, and inputs and feeds back the operation data to the signal processing and analyzing module 12 connected with the monitoring module in time, so as to execute the subsequent monitoring program.
In this embodiment, the operation data is operation information and fault information of the traveling crane during operation, and includes at least one of a limit signal, a load signal, a cart twisting signal, a cart track play string signal, a power supply signal of a slide wire detection device, motor operation state data, and the like.
The limit signal is a signal for limiting and monitoring a position with distance change in the process of driving operation, and comprises a main lifting brake limit signal and a main lifting running direction limit signal of a driving, a cart brake limit signal and a cart running direction limit signal of the driving, and a cart brake limit signal and a cart running direction limit signal of the driving.
The load signal is the pressure signal of the heavy object carried by the main lifting.
The cart wriggling signal is the difference between the first ranging signal and the second ranging signal of the ranging sensing unit.
The cart track traveling signal is at least four electromagnetic induction signals from the electromagnetic induction unit.
The power supply signal of the slide wire detection device is a signal for detecting whether a current collector of the travelling crane is worn or not and whether the slide wire is cracked or not, and the current collector and the slide wire are arranged in the slide wire detection device of the travelling crane. And/or
The motor running state data are voltage, current, rotating speed, load and torque signals of the main lifting of the travelling crane and the running of motors of the cart and the trolley.
The monitoring module 11 comprises at least one of the following units: the device comprises a limit sensing unit 111, a load sensing unit 112, a distance measuring sensing unit 113, an electromagnetic induction unit 114, an electric signal sampling unit 115 and a motor running state sampling unit 116.
The limit sensing unit 111 is used for detecting the main lifting in the traveling crane, the brakes of the cart and the trolley and the limit of the running direction.
In practical application, the limit sensing unit 111 locates the limit monitoring points at two ends of the vertical direction of the lifting of the travelling crane, two ends of the transverse direction of the travelling crane trolley and two ends of the longitudinal direction of the travelling crane cart. In the running process of the crane, the brake needs to be mechanically limited for safety, and the limit sensing unit 111 also locates the limit monitoring points at the positions of the main hoisting brake, the trolley brake and the cart brake. The specific implementation is as follows: aiming at the original mechanical limit and running condition of the running vehicle, the limit sensing unit is improved on the basis of the original mechanical limit, the shell of the limit sensing unit 111 is of an all-aluminum type and is used for shielding magnetic flux interference, and an electromagnetic induction controller is arranged in the limit sensing unit. The electromagnetic induction controller is used for switching voltage channels after being electrified and switching a first limit signal output through a first channel into a second limit signal output through a second channel. The first limit signal is a voltage signal, and the second limit signal is a voltage signal which is changed into a voltage signal different from the first limit signal after the electromagnetic induction controller receives the detection signal. If the first limit signal is at high level 5V, the second limit signal is at 0V.
The load cell 112 is used to detect the pressure applied by the suspended weight to the travelling crane.
In this embodiment, the weight is lifted by a lifting mechanism, and the load sensing unit 112 includes a load protection system and a load sensor. Therefore, the load protection system and the load sensor connected with the load protection system are arranged on the hoisting mechanism and used for monitoring the pressure of the hoisted weight on the hoisting mechanism in real time so as to judge whether the travelling crane is overloaded or not.
The distance measuring and sensing unit 113 is used to detect the distance traveled by two ends of a traveling cart in unit time.
In practical application, the distance measuring sensing unit 113 is arranged on a traveling cart, and specifically includes: a first ranging unit and a second ranging unit.
The electromagnetic induction unit 114 is used for detecting the distance between a large vehicle of the traveling crane and the rail tread.
In this embodiment, the rail clamping device is used for detecting the tread of the rail of the cart besides being used as the last guarantee for derailing of the cart. The electromagnetic induction unit 114 is arranged on a rail clamping device of a cart, and the electromagnetic induction unit 114 is at least four groups of electromagnetic induction devices.
The electrical signal sampling unit 115 includes, but is not limited to, the detection of a collector wear signal and a slide wire crack signal in the traveling slide wire detection device.
Specifically, the slide wire detection device is used as a power supply device in the moving operation process of the travelling crane, the abrasion of a current collector and the cracking of the slide wire are two important monitoring indexes of the slide wire detection device, and the typical parameters of the slide wire detection device can be monitored by directly inputting power supply information comprising a wear signal and a cracking signal of the slide wire into the PLC module so as to eliminate the faults of power failure, abnormal electric brush, spark of a guide rail, abnormal travelling sound and the like in the running process of the travelling crane.
The motor running state sampling unit 116 is used for detecting running state signals of a lifting motor, a cart motor and a trolley motor of the travelling crane.
Specifically, in the process of traveling operation, the motors and the electric control systems of the lifting cart, the cart and the trolley are all likely to be abnormal in the operation process, and one implementation form of the embodiment is as follows: the motor running state sampling unit 116 samples values from the frequency converters of the electric control systems of the lifting, cart and trolley connected with the motor running state sampling unit, inputs the running state analog quantity of the motors of the lifting, cart and trolley to the PLC, and the corresponding running states can be seen, and the characteristic curves are drawn according to a certain proportion by the parameters, so that the historical curves can be displayed in real time or consulted. The operation state analog quantity comprises: voltage, current, speed, load and torque. Furthermore, if the hoisting mechanism comprises a main hoisting mechanism and an auxiliary hoisting mechanism, when the auxiliary hoisting mechanism does not work, the main hoisting mechanism is used as the hoisting mechanism for description.
The signal processing and analyzing module 12 is configured to perform a safety comparison process on the operation data, and generate a driving operation control instruction corresponding to the safety comparison result. The driving operation control instruction comprises an instruction that driving operation is normal and an instruction that driving operation is abnormal.
In practical applications, the signal processing and analyzing module 12 disposed in the control cabinet is used as a core component for completing information processing and monitoring, and includes a processor and a PLC programmable controller. A Programmable Logic Controller (PLC) in the signal processing and analyzing module 12 identifies and processes the operation data, and records and stores normal working condition information such as operation time of the vehicle; and when the PLC monitors that the real-time data is different from the normal state parameters, the PLC immediately alarms, transmits fault information to the display terminal and simultaneously sends out corresponding protection instructions.
The signal processing and analyzing module 12 includes: a sensing signal processing unit 121, a data analysis unit 122, and a central processor 123.
The sensing signal processing unit 121 is configured to perform an analog signal amplification and filtering process, a digital signal subtraction calculation process, and a signal classification process on the job data.
The data analysis unit 122 is configured to receive the signal result processed by the sensing signal processing unit, and perform security analysis on the signal result according to a corresponding security preset value to form a security analysis result.
Specifically, the data analysis unit 122 compares the signal result with a safety standard, where the safety standard includes various industry standards and threshold parameter information included in the driving operation standard.
The data analysis unit 122 includes at least one of the following units: the system comprises a limit analysis unit, an overload analysis unit, a cart twisting analysis unit, a track trip analysis unit, a power supply analysis unit and an operation state analysis unit. It should be noted that the limit analysis unit, the overload analysis unit, the cart twisting analysis unit, the rail play string analysis unit, the power supply analysis unit and the operation state analysis unit are sub-units of the data analysis unit.
And the limit analysis unit is used for receiving the limit signal and carrying out line diagnosis and analysis according to the acquired limit detection signal. The limit detection signal comprises a first limit signal and a second limit signal. In this embodiment, the first limit signal is a voltage signal, and the second limit signal is a voltage signal that is different from the first limit signal after the electromagnetic induction controller receives the detection signal. If the first limit signal is at high level 5V, the second limit signal is at 0V.
In this embodiment, the limiting analysis unit is configured to receive a first limiting signal, receive a second limiting signal corresponding to the first limiting signal after sending the probe signal, and use the second limiting signal as a normal flag signal of the limiting line to determine that the limiting line is normal. The detection signal includes a safety voltage. And if the first limit signal and the second limit signal are abnormal, determining that the local automatic condition is abnormal, namely the driving line is abnormal. And if the detection signal is abnormal, determining that the remote automatic condition is abnormal, namely the remote control equipment communicated with the travelling crane is abnormal.
And the overload analysis unit is used for comparing the acquired load signal with a load preset value. If the load signal does not exceed the load preset value, determining that the running vehicle is not overloaded; and if the load signal exceeds a load preset value, determining that the running vehicle is overloaded.
Specifically, if the weight lifted by the main lifting of the travelling crane is 5kg, the preset load value is the rated lifting capacity during travelling crane operation, and is set to be 4kg, determining that the travelling crane is overloaded; and if the preset load value is set to 10kg, determining that the travelling crane is not overloaded, and normally operating.
The cart twisting analysis unit is used for comparing a cart twisting signal formed by the difference value of the first ranging signal and the second ranging signal with a twisting preset value, and if the cart twisting signal does not exceed the twisting preset value, determining that the cart normally runs; and if the cart twisting signal exceeds a twisting preset value, determining that the cart twists.
In practical application, the first distance measurement signal and the second distance measurement signal are distance signals traveling between units on two sides of the bridge crane, and the twist preset value is a reasonable threshold value of a distance difference when the two sides travel for the same time. If the preset twist value is 100 meters, the first distance measurement signal is 1000 meters, and the second distance measurement signal is 800 meters, the difference value is 200 meters, and is greater than the preset twist value, so that the twist of the cart is determined; if the first distance measurement signal is 1000 meters and the second distance measurement signal is 950 meters, the difference value is 50 meters and is smaller than the preset twist value, and therefore the fact that the cart runs normally is determined.
The track trip analysis unit is used for comparing the electromagnetic induction signals to obtain difference values between every two electromagnetic induction signals, comparing each difference value with a track preset value, and determining that the track of the cart is normal if each difference value does not exceed the track preset value; and if at least one difference value exceeds the preset value of the track, determining the track trip string of the cart.
Specifically, the rail clamping device of the traveling crane is provided with at least four groups of electromagnetic induction devices so as to determine a first electromagnetic induction signal, a second electromagnetic induction signal, a third electromagnetic induction signal and a fourth electromagnetic induction signal. In an ideal state, the values of the four electromagnetic induction signals are equal, if the value of the first electromagnetic induction signal is 10 meters, the value of the second electromagnetic induction signal is 9.6 meters, and the value of the third electromagnetic induction signal and the value of the fourth electromagnetic induction signal are both 10 meters, the track preset value is a safety threshold value for detecting the tread of the cart track, and is set to be 0.5 meter, and the difference between the first electromagnetic induction signal and the second electromagnetic induction signal is 0.4 meter and is smaller than the track preset value by 0.5 meter, so that the cart track is determined to be normal.
The power supply analysis unit is used for comparing the acquired power supply signal of the slide wire detection device with a preset power supply range, and if the power supply signal is within the preset power supply range, determining that the collector is not seriously worn; if the power supply signal exceeds the preset power supply range, determining that the current collector is seriously abraded; and if the power supply signal is not detected or is not continuously detected, determining that the slide wire is cracked.
Specifically, the current of the circuit changes due to the abrasion of the collector brush, the preset power supply range is a current safety threshold range, and when the abrasion of the brush is not serious, the detected current value of the slide wire detection device is within the range. And if the power supply signal value cannot be detected, determining that the slide wire is cracked or the guide rail joint is loosened.
The running state analysis unit is used for comparing the acquired motor running state data with a motor preset range, and if the motor running state data does not exceed the motor preset range, determining that the running state is normal; and if the motor running state data exceeds the preset motor range, determining that the running state of the vehicle is abnormal. The motor preset range refers to a parameter range including motor ratings of a cart and a trolley which are lifted when the traveling crane works normally. The operating condition exception comprises: overcurrent, phase loss, phase sequence abnormality, undervoltage and overvoltage, overspeed, overload, zero position abnormality and/or leakage.
The central processing unit 123 is configured to perform safety judgment on a safety analysis result, and generate a corresponding control instruction according to safety information of the safety judgment, where the safety information includes indication information of whether limit is normal, whether overload is caused, whether a cart is twisted and exceeds a standard, whether a cart track trip string exceeds a standard, whether power supply of a slide wire detection device is normal, and/or whether running states of motors of a traveling vehicle are normal.
The display module 13 is configured to perform corresponding display according to the driving operation control instruction. Specifically, when the display module 13 receives a command for normal operation of the traveling crane, the voltage, current, rotation speed, load and/or torque data during the operation of the traveling crane are displayed in real time, and the data can be displayed by a graphic curve; when the display module 13 receives an instruction of abnormal operation of the traveling crane, a fault point, a fault position and a fault record are displayed.
In this embodiment, the control execution module 14 is connected to the signal processing and analyzing module 12, and is configured to perform an electrical protection process at the fault location when the vehicle is abnormally operated.
The control execution module 14 includes: a cart twisting control unit 141, a rail play string control unit 142 and/or an operation state abnormality control unit 143.
Specifically, the cart twisting control unit 141 is configured to stop the power supply during the cart twisting to prevent the cart from derailing. The track play string control unit 142 is used for sending out a track repair prompt instruction when the cart generates track play strings. The operation state abnormality control unit 143 is used for electrical protection processing when the main hoisting of the traveling crane, the large car and the small car are abnormal in overcurrent, phase loss, phase sequence abnormality, undervoltage and overvoltage, overspeed, overload, zero position abnormality and/or electric leakage and the like.
The monitoring system for driving safety can timely judge the driving fault point, and avoid major accidents caused by the driving running in a fault state. The abnormity can be detected in time and can be processed relatively quickly by considering from multiple aspects such as traveling limit, load, cart twisting, rail travel and string, power supply of a slide wire detection device, electric protection during operation of each part of motor and the like.
Example two
The embodiment provides a driving safety monitoring method, which includes:
monitoring operation data of a traveling crane, wherein the operation data is work information and fault information of the traveling crane during operation;
carrying out safety comparison processing on the operation data, and sending a control instruction of driving operation according to a safety comparison result, wherein the control instruction comprises an instruction of normal driving operation and an instruction of abnormal driving operation;
displaying a visual interface according to an instruction that the traveling crane runs normally; or switching the visual interface into a fault interface according to the abnormal running instruction of the travelling crane so as to display a fault point, a fault position and a fault record.
The following describes the driving safety monitoring method provided in this embodiment in detail with reference to the drawings.
Please refer to fig. 2, which is a schematic flow chart illustrating a driving safety monitoring method according to an embodiment of the present invention. As shown in fig. 2, the method for monitoring driving safety specifically includes the following steps:
s20, the readiness for the automatic condition is detected. The automatic conditions include local automatic conditions and remote automatic conditions. The local automatic condition is a normal operation condition of the traveling crane in an operation site, and the remote automatic condition is a normal operation condition of a computer, a console and monitoring equipment which are in remote communication with the traveling crane.
Specifically, please refer to fig. 3, which is a flowchart illustrating an initial condition determining process of the driving safety monitoring method according to an embodiment of the present invention. As shown in fig. 3, after the vehicle starts the operation, it is determined whether the local automatic condition is OK. If the first limit signal can not be normally sent out, the local automatic condition is determined to be not ready, if the first limit signal can be normally sent out, the local automatic condition is determined to be OK, and then whether the remote automatic condition is OK or not is judged. If the detection signal cannot be normally sent or the second limit signal correspondingly fed back after the detection signal is sent cannot be received, it is determined that the remote automatic condition is abnormal, and if the second limit signal can be normally received, it is determined that the remote automatic condition is OK, and S21 is executed. The first limit signal is a voltage signal, and the second limit signal is a voltage signal which is changed into a voltage signal different from the first limit signal after the electromagnetic induction controller receives the detection signal. If the first limit signal is at high level 5V, the second limit signal is at 0V.
And S21, monitoring the operation data of the traveling crane, wherein the operation data is the operation information and the fault information of the traveling crane during operation.
In this embodiment, at least one of the following steps may be specifically performed: detecting the brakes and the running direction limit of the main hoisting, the cart and the trolley in the travelling crane; detecting the pressure applied to the travelling crane by the lifted weight; and detecting the traveling distance of the two ends of the large vehicle in unit time. At least four groups of electromagnetic induction devices are arranged on a rail clamping device of the cart and are used for detecting the distance between the cart and a rail tread of the cart; detecting a collector abrasion signal and a slide wire cracking signal of the travelling crane, wherein the collector and the slide wire are arranged in a slide wire detection device of the travelling crane; and/or detecting running states of a lifting motor, a cart motor and a trolley motor of the travelling crane.
In this embodiment, the operation data includes at least one of a limit signal, a load signal, a cart twisting signal, a cart track running string signal, a power supply signal of a slide wire detection device, motor operation state data, and the like. The limit signal is a signal for limiting and monitoring a position with distance change in the process of driving operation, and comprises a main lifting brake limit signal and a main lifting running direction limit signal of a driving, a cart brake limit signal and a cart running direction limit signal of the driving, and a cart brake limit signal and a cart running direction limit signal of the driving. And the load signal is a pressure signal of a heavy object borne by the main lifting. The cart wriggling signal is the difference between the first range finding signal and the second range finding signal of range finding sensing unit, and slide-wire detection device power supply signal is the signal that whether the current collector that detects the driving is worn and torn and whether the slide-wire has the fracture. And/or motor running state data which are voltage, current, rotating speed, load and torque signals of the running of the motors of the main hoisting and large and small vehicles of the traveling crane.
And S22, performing safety comparison processing on the operation data, and sending a control instruction of running according to a safety comparison result, wherein the control instruction comprises an instruction of normal running and an instruction of abnormal running.
In this embodiment, the job data is subjected to an analog signal amplification filtering process, a digital signal difference calculation process, and a job data signal classification process; receiving the processed signal result, and carrying out safety analysis on the signal result according to a corresponding safety preset value to form a safety analysis result; and carrying out safety judgment on the safety analysis result, and generating a corresponding control instruction according to safety information of the safety judgment, wherein the safety information is indication information of whether limit is normal or not, whether overload exists or not, whether the cart twists and exceeds the standard or not, whether the cart track travel string exceeds the standard or not, whether power supply of a slide wire detection device is normal or not and/or whether running states of motors of a travelling crane are normal or not.
In practical applications, please refer to fig. 4, which is a data analysis flowchart of the driving safety monitoring method according to an embodiment of the present invention. As shown in fig. 4, the S22 includes at least one of the following steps:
and S221, receiving the limit signal and performing line diagnosis and analysis according to the acquired limit detection signal.
In this embodiment, the first limiting signal is received, the second limiting signal corresponding to the first limiting signal is received after the probe signal is sent, and the second limiting signal is used as a normal marking signal of the limiting line to determine that the limiting line is normal. The detection signal includes a safety voltage.
S222, comparing the obtained load signal with a load preset value.
In this embodiment, if the load signal does not exceed the preset load value, it is determined that the traveling crane is not overloaded; and if the load signal exceeds a load preset value, determining that the running vehicle is overloaded. The preset load value is the rated load lifting capacity during traveling operation.
S223, comparing the cart twist signal formed by the difference value of the first ranging signal and the second ranging signal with a twist preset value. If the cart twisting signal does not exceed the twisting preset value, determining that the cart normally runs; and if the cart twisting signal exceeds a twisting preset value, determining that the cart twists. The preset twist value is a reasonable threshold value of the distance difference when the two sides travel for the same time.
S224, comparing the obtained electromagnetic induction signals of the cart track trip signal and making a difference so as to obtain a difference value between every two electromagnetic induction signals.
In practical application, comparing each difference value with a preset track value, and if each difference value does not exceed the preset track value, determining that the track of the cart is normal; and if at least one difference value exceeds the preset value of the track, determining the track trip string of the cart. The track preset value is a safety threshold value for detecting the tread of the cart track.
And S225, comparing the obtained power supply signal of the slide wire detection device with a preset power supply range.
Specifically, if the power supply signal is within a preset power supply range, determining that the relay is not seriously abraded; if the power supply signal exceeds the preset power supply range, determining that the relay is seriously abraded; and if the power supply signal is not detected or is not continuously detected, determining that the slide wire is cracked. The preset power supply range is a current safety threshold range.
S226, comparing the acquired motor running state data with a motor preset range. If the motor running state data does not exceed the preset motor range, determining that the running state is normal; if the motor running state data exceeds the motor preset range, determining that the running state of the vehicle is abnormal, wherein the abnormal running state comprises the following steps: overcurrent, phase loss, phase sequence abnormality, undervoltage and overvoltage, overspeed, overload, zero position abnormality and/or leakage. The motor preset range refers to a parameter range including motor ratings of a cart and a trolley which are lifted when the traveling crane works normally.
And S23, executing corresponding display according to the control command of the running. For example, according to a normal running instruction of a travelling crane, displaying voltage, current, rotating speed, load and/or torque data during travelling crane operation in real time; and displaying a fault point, a fault position and a fault record according to the abnormal running instruction of the travelling crane.
Specifically, please refer to fig. 5, which is a flowchart illustrating a driving safety monitoring method according to an embodiment of the present invention. As shown in fig. 5, the monitoring result of the running of the vehicle is displayed through a large screen to determine whether the vehicle is normal, and if the running of the vehicle is abnormal, the large screen displays fault information and gives an alarm. If the running vehicle runs normally, the large screen displays that all parameters are normal for confirming the normal working state of the running vehicle. The abnormal state in the running process of the vehicle comprises the following steps: the running state, the overload state, the power supply state of the running slide wire detection device, the running limit state, the twisting state of the running cart and/or the track running state of the cart are detected.
The method for monitoring driving safety according to the embodiment of the invention can further comprise the following steps: and step S24, performing electrical protection processing at the fault position when the vehicle is abnormally operated.
Specifically, when the cart is twisted, the running power supply is stopped to prevent the running from derailing; the track trip string control unit sends out a track repair prompt instruction when the cart generates track trip strings; and electrical protection processing is adopted when the main lifting of the travelling crane and the large and small cars have the abnormalities of overcurrent, phase loss, phase sequence abnormality, undervoltage and overvoltage, overspeed, overload, zero position abnormality and/or electric leakage and the like.
The present embodiment provides a computer storage medium, on which a computer program is stored, which, when executed by a processor, implements the driving safety monitoring method.
Those of ordinary skill in the art will understand that: all or part of the steps for implementing the above method embodiments may be performed by hardware associated with a computer program. The aforementioned computer program may be stored in a computer readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned computer-readable storage media comprise: various computer storage media that can store program codes, such as ROM, RAM, magnetic or optical disks.
The driving safety monitoring method can timely judge the driving fault point, and avoid major accidents caused by the driving running in a fault state. The abnormity can be detected in time and can be processed relatively quickly by considering from multiple aspects such as traveling limit, load, cart twisting, rail travel and string, power supply of a slide wire detection device, electric protection during operation of each part of motor and the like.
EXAMPLE III
The present embodiment provides an apparatus, comprising: a processor, memory, transceiver, communication interface, or/and system bus; the memory and the communication interface are connected with the processor and the transceiver through a system bus and are used for completing mutual communication, the memory is used for storing a computer program, the communication interface is used for communicating with other equipment, and the processor and the transceiver are used for running the computer program so as to enable the equipment to execute the steps of the traffic safety monitoring method according to the embodiment one.
The above-mentioned system bus may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The system bus may be divided into an address bus, a data bus, a control bus, and the like. The communication interface is used for realizing communication between the database access device and other equipment (such as a client, a read-write library and a read-only library). The Memory may include a Random Access Memory (RAM), and may further include a non-volatile Memory (non-volatile Memory), such as at least one disk Memory.
The Processor may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the Integrated Circuit may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, or discrete hardware components.
The protection scope of the method for monitoring driving safety of the present invention is not limited to the execution sequence of the steps listed in this embodiment, and all the solutions implemented by adding, subtracting, and replacing the steps in the prior art according to the principle of the present invention are included in the protection scope of the present invention.
The invention also provides a traffic safety monitoring system, which can realize the traffic safety monitoring method, but the implementation device of the traffic safety monitoring method of the invention includes but is not limited to the structure of the traffic safety monitoring system listed in the embodiment, and all structural modifications and substitutions in the prior art made according to the principle of the invention are included in the protection scope of the invention.
In summary, the driving safety monitoring system, method, storage medium and device of the present invention can make a timely judgment on the driving fault point, thereby avoiding major accidents caused by the driving running in a fault state. The abnormity can be detected in time and can be processed relatively quickly by considering from multiple aspects such as traveling limit, load, cart twisting, rail travel and string, power supply of a slide wire detection device, electric protection during operation of each part of motor and the like. The invention effectively overcomes various defects in the prior art and has high industrial utilization value.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (10)
1. A traffic safety monitoring system, comprising:
the monitoring module is used for monitoring the operation data of the travelling crane; the operation data is working information and fault information of the travelling crane during running;
the signal processing and analyzing module is used for carrying out safety comparison processing on the operation data and generating a driving operation control instruction corresponding to the operation data according to a safety comparison result, wherein the driving operation control instruction comprises a normal driving operation instruction and an abnormal driving operation instruction;
and the display module is used for carrying out corresponding display according to the running control instruction.
2. A traffic safety monitoring system according to claim 1,
the monitoring module comprises at least one of the following units:
the limit sensing unit is used for detecting the main lifting, the brakes of the cart and the trolley and the limit of the running direction in the travelling crane; the limit sensing unit is arranged in the all-aluminum shell and internally provided with an electromagnetic induction controller;
the load sensing unit is used for detecting the pressure applied to the travelling crane by the hung heavy object;
the distance measurement sensing unit is used for detecting the travelling distance of two ends of a cart travelling in unit time;
the electromagnetic induction unit is used for detecting the distance between a large vehicle of the traveling crane and the rail tread;
the electric signal sampling unit is used for detecting a collector abrasion signal and a slide wire cracking signal of the travelling crane; and
the motor running state sampling unit is used for detecting running state signals of a lifting motor, a cart motor and a trolley motor of a travelling crane;
accordingly, the job data includes at least one of the following data:
the limit signal is a signal for limiting and monitoring a position with distance change in the process of travelling crane operation, and comprises a main lifting brake limit signal and a main lifting running direction limit signal of a travelling crane, a cart brake limit signal and a cart running direction limit signal of the travelling crane, and a cart brake limit signal and a cart running direction limit signal of the travelling crane;
the load signal is a pressure signal of a heavy object borne by the main hoisting;
the cart wriggling signal is a difference value between a first ranging signal and a second ranging signal of the ranging sensing unit;
the cart track trip signal is at least four electromagnetic induction signals from the electromagnetic induction unit;
the power supply signal of the slide wire detection device is used for detecting whether a current collector of a running vehicle is worn or not and whether the slide wire cracks or not; and/or
The motor running state data are voltage, current, rotating speed, load and torque signals of the main lifting of the travelling crane and the running of the motors of the cart and the trolley.
3. The driving safety monitoring system according to claim 2, wherein the signal processing and analyzing module comprises:
the sensing signal processing unit is used for carrying out amplification filtering processing of an analog signal, difference calculation processing of a digital signal and signal classification processing of the operation data on the operation data;
the data analysis unit is used for receiving the signal result processed by the sensing signal processing unit and carrying out safety analysis on the signal result according to a corresponding safety preset value so as to form a safety analysis result;
and the central processing unit is used for carrying out safety judgment on a safety analysis result and generating a corresponding control instruction according to safety information of the safety judgment, wherein the safety information is indication information including whether limit is normal or not, whether overload is caused or not, whether a cart is twisted or not and exceeds a standard or not, whether a cart track trip string exceeds a standard or not, whether power supply of a slide wire detection device is normal or not and/or whether running states of motors of a travelling crane are normal or not.
4. A traffic safety monitoring system according to claim 3, wherein the data analysis unit comprises at least one of the following:
the limiting analysis unit is used for receiving limiting signals and carrying out line diagnosis and analysis according to the acquired limiting detection signals, and the limiting detection signals comprise first limiting signals and second limiting signals;
the overload analysis unit is used for comparing the acquired load signal with a load preset value, and if the load signal does not exceed the load preset value, determining that the travelling crane is not overloaded; if the load signal exceeds a load preset value, determining that the running vehicle is overloaded;
the cart twisting analysis unit is used for comparing a cart twisting signal formed by the difference value of the first ranging signal and the second ranging signal with a twisting preset value, and if the cart twisting signal does not exceed the twisting preset value, determining that the cart normally runs; if the cart twisting signal exceeds a twisting preset value, determining that the cart twists;
the track trip string analysis unit is used for comparing the electromagnetic induction signals of the obtained cart track trip string signals to obtain difference values between every two electromagnetic induction signals, comparing each difference value with a track preset value, and determining that the cart track is normal if each difference value does not exceed the track preset value; if at least one difference value exceeds a preset track value, determining a large vehicle track trip string;
the power supply analysis unit is used for comparing the acquired power supply signal of the slide wire detection device with a preset power supply range, and if the power supply signal is within the preset power supply range, determining that the collector is not seriously worn; if the power supply signal exceeds the preset power supply range, determining that the current collector is seriously abraded; if the power supply signal is not detected or is not continuously detected, determining that the slide wire is cracked;
the running state analysis unit is used for comparing the acquired motor running state data with a preset motor range, and if the motor running state data does not exceed the preset motor range, determining that the running state is normal; if the motor running state data exceeds the motor preset range, determining that the running state of the vehicle is abnormal, wherein the abnormal running state comprises the following steps: overcurrent, phase loss, phase sequence abnormality, undervoltage and overvoltage, overspeed, overload, zero position abnormality and/or leakage.
5. A traffic safety monitoring system according to claim 4,
the limit analysis unit is used for receiving a first limit signal sent by the limit sensing unit;
sending a detection signal to the limit sensing unit after receiving the first limit signal, wherein the detection signal comprises a safe voltage;
receiving a second limit signal sent by the limit sensing unit after receiving the detection signal, wherein the second limit signal is a voltage signal which is changed into a voltage signal different from the first limit signal after the electromagnetic induction controller receives the detection signal;
and taking the second limit signal as a normal mark signal of the limit line to determine that the limit line is normal.
6. A traffic safety monitoring system according to claim 1,
when a display module receives an instruction that the traveling crane runs normally, the voltage, the current, the rotating speed, the load and/or the torque data during the traveling crane operation are displayed in real time; and when the display module receives an instruction of abnormal running of the vehicle, displaying a fault point, a fault position and a fault record.
7. A traffic safety monitoring system according to claim 1,
the signal processing and analyzing module is connected with a control execution module and is used for carrying out electrical protection processing at the fault position when the running of the vehicle is abnormal; the control execution module includes: the system comprises a cart twisting control unit, a track trip string control unit and/or an operation state abnormity control unit;
the cart twisting control unit is used for stopping the running power supply to prevent the running derailment when the cart twisting occurs;
the track trip string control unit is used for sending track repair prompt instructions when the cart generates track trip strings;
the running state abnormity control unit is used for electric protection processing when main lifting of a travelling crane and the abnormity of overcurrent, phase loss, abnormal phase sequence, undervoltage and overvoltage, overspeed, overload, zero-position abnormity and/or electric leakage and the like of a cart and a trolley occur.
8. A driving safety monitoring method is characterized by comprising the following steps:
monitoring operation data of a traveling crane, wherein the operation data is work information and fault information of the traveling crane during operation;
carrying out safety comparison processing on the operation data, and sending a control instruction of driving operation according to a safety comparison result, wherein the control instruction comprises an instruction of normal driving operation and an instruction of abnormal driving operation;
and correspondingly displaying according to the running control instruction.
9. A storage medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the method for monitoring driving safety of a vehicle according to claim 8.
10. An apparatus, comprising: a processor and a memory;
the memory is used for storing a computer program, and the processor is used for executing the computer program stored by the memory to make the device execute the traffic safety monitoring method according to claim 8.
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| CN201910630409.4A CN112215980A (en) | 2019-07-12 | 2019-07-12 | Driving safety monitoring system, method, storage medium and equipment |
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| CN201910630409.4A CN112215980A (en) | 2019-07-12 | 2019-07-12 | Driving safety monitoring system, method, storage medium and equipment |
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