CN113022416A - Refrigerator car safe transportation monitoring method and system - Google Patents
Refrigerator car safe transportation monitoring method and system Download PDFInfo
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- CN113022416A CN113022416A CN201911351155.9A CN201911351155A CN113022416A CN 113022416 A CN113022416 A CN 113022416A CN 201911351155 A CN201911351155 A CN 201911351155A CN 113022416 A CN113022416 A CN 113022416A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
- B60P3/20—Refrigerated goods vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
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Abstract
The application discloses refrigerator car safe transportation monitoring method and system, vibration acceleration of a refrigerator car is obtained in real time, an amplitude value and a vibration frequency value of the current refrigerator car are obtained, according to the amplitude value, an amplitude tolerance level threshold value and a vibration frequency value of the current transported goods of the refrigerator car and a vibration frequency tolerance level threshold value of the current transported goods of the refrigerator car, the amplitude parameter and the vibration frequency parameter of the current refrigerator car are respectively determined, according to preset amplitude weight and vibration frequency weight, the amplitude parameter and the vibration frequency parameter are weighted and summed, a vibration total parameter value is obtained, and when the vibration total parameter value is larger than or equal to a vibration total parameter preset value, vibration state adjustment reminding information is output. Therefore, the method and the system for monitoring the safe transportation of the refrigerator car can output the reminding information when the vibration is too large due to the too high speed of the refrigerator car on the premise that the refrigerator car keeps the higher speed of the refrigerator car so as to be delivered quickly, and prevent goods from being damaged in the transportation process.
Description
Technical Field
The application relates to the technical field of cold chain transportation, in particular to a method and a system for monitoring safe transportation of a refrigerator car.
Background
With the improvement of the living standard nowadays, the demand of people on cold chain logistics is continuously increased, and the demand of a cold chain transport vehicle is further improved as one of the core links of the cold chain logistics. The cold chain transport vehicle is generally divided into a van-type refrigerated vehicle and a semi-trailer refrigerated vehicle, wherein a refrigerated compartment, a chassis and a vehicle head of the van-type refrigerated vehicle are all integrated; the semi-trailer refrigerator car consists of a semi-trailer and a refrigerator compartment, and the semi-trailer can be driven by a tractor to run.
In the prior art, a refrigerator car is generally used for transporting goods such as fresh vegetables and fruits which cannot be stored for a long time, the goods still need to be delivered to a destination quickly on the premise of refrigeration equipment, but the goods are easily damaged due to jolt if the speed of the refrigerator car is too fast. Therefore, during the transportation process of the refrigerator car, the requirements of maintaining high speed of the car so as to quickly reach the car and preventing goods from being damaged due to too high speed of the car cannot be simultaneously met.
Disclosure of Invention
In order to solve the technical problem, the application provides a refrigerator car safe transportation monitoring method and system, which can output reminding information when vibration is too large due to too high speed of the refrigerator car on the premise that the refrigerator car keeps high speed of the refrigerator car so as to be delivered quickly, and prevent goods from being damaged in the transportation process.
The invention provides a refrigerator car safe transportation monitoring method in a first aspect, which comprises the following steps:
acquiring the vibration acceleration of the refrigerated vehicle;
obtaining an amplitude value and a vibration frequency value of the refrigerated vehicle according to the vibration acceleration;
determining an amplitude parameter corresponding to the amplitude value according to the amplitude value and an amplitude tolerance level threshold of the current transported goods of the refrigerated vehicle;
determining a vibration frequency parameter corresponding to the vibration frequency value according to the vibration frequency value and a vibration frequency tolerance level threshold value of the current transported goods of the refrigerated vehicle;
weighting and summing the amplitude parameter and the vibration frequency parameter by using a preset amplitude weight and a preset vibration frequency weight to obtain a vibration total parameter value;
and if the vibration total parameter value is greater than or equal to the vibration total parameter preset value, outputting vibration state adjustment reminding information.
Preferably, the obtaining of the vibration acceleration of the refrigerated vehicle comprises obtaining the vibration acceleration of the refrigerated vehicle in the vertical direction and obtaining the vibration acceleration of the refrigerated vehicle in the front-rear direction.
Preferably, if the vibration total parameter value is greater than or equal to the vibration total parameter preset value, outputting vibration state adjustment reminding information specifically includes:
if the vibration total parameter value is larger than or equal to the vibration total parameter preset value, acquiring the speed of the refrigerated vehicle, and comparing the speed with a preset speed grade threshold value to obtain a comparison result; and a process for the preparation of a coating,
when the comparison result shows that the vehicle speed is higher than a first vehicle speed grade threshold value, outputting first vibration state adjustment reminding information;
when the comparison result shows that the vehicle speed is lower than or equal to a first vehicle speed grade threshold value and the vehicle speed is higher than or equal to a second vehicle speed grade threshold value, outputting second vibration state adjustment reminding information;
and outputting third vibration state adjustment reminding information when the comparison result shows that the vehicle speed is lower than a second vehicle speed grade threshold value.
A second aspect of the present invention provides a refrigerator car safe transportation monitoring system, including:
the data acquisition module is used for acquiring the vibration acceleration of the refrigerated vehicle;
the data processing module is used for obtaining an amplitude value and a vibration frequency value of the refrigerated vehicle according to the vibration acceleration;
the data processing module is further used for determining an amplitude parameter corresponding to the amplitude value according to the amplitude value and an amplitude tolerance level threshold of the current transported goods of the refrigerated vehicle;
the data processing module is further used for determining a vibration frequency parameter corresponding to the vibration frequency value according to the vibration frequency value and a vibration frequency tolerance level threshold value of the current transported goods of the refrigerated vehicle;
the data processing module is used for weighting and summing the amplitude parameter and the vibration frequency parameter by utilizing a preset amplitude weight and a preset vibration frequency weight to obtain a vibration total parameter value;
the information output module is used for outputting vibration state information according to the vibration total parameter value and the vibration total parameter preset value; wherein the content of the first and second substances,
and if the vibration total parameter value is greater than or equal to the vibration total parameter preset value, the vibration state information is vibration state adjustment reminding information.
Preferably, the obtaining of the vibration acceleration of the refrigerated vehicle comprises obtaining the vibration acceleration of the refrigerated vehicle in the vertical direction and obtaining the vibration acceleration of the refrigerated vehicle in the front-rear direction.
Preferably, the information output module is specifically configured to output vibration state information according to the vibration total parameter value and a vibration total parameter preset value; wherein the content of the first and second substances,
if the vibration total parameter value is larger than or equal to the vibration total parameter preset value, acquiring the speed of the refrigerated vehicle, and comparing the speed with a preset speed grade threshold value to obtain a comparison result;
when the comparison result shows that the vehicle speed is higher than a first vehicle speed grade threshold value, the vibration state information is first vibration state adjustment reminding information;
when the comparison result is that the vehicle speed is lower than or equal to a first vehicle speed level threshold value and the vehicle speed is higher than or equal to a second vehicle speed level threshold value, the vibration state information is second vibration state adjustment reminding information;
and when the comparison result shows that the vehicle speed is lower than a second vehicle speed level threshold value, the vibration state information is third vibration state adjustment reminding information.
Preferably, the data acquisition module is further configured to acquire a first positive pressure parameter of the semi-trailer of the refrigerated vehicle relative to the tractor and acquire a second positive pressure parameter of the semi-trailer of the refrigerated vehicle relative to the axle;
the data processing module is further used for determining the cargo mass center position of the refrigerated vehicle according to the first positive pressure parameter and the second positive pressure parameter;
the information output module is also used for outputting the state information of the position of the center of mass of the goods according to the position of the center of mass of the goods and the preset range of the position of the center of mass of the goods;
and if the cargo centroid position is not within the preset range of the cargo centroid position, the cargo centroid position state information is the cargo centroid position adjustment reminding information.
Preferably, the acquiring of the second positive pressure parameter of the semi-trailer of the refrigerated vehicle relative to the axle comprises acquiring a left second positive pressure parameter of the semi-trailer of the refrigerated vehicle relative to a left axle and acquiring a right second positive pressure parameter of the semi-trailer of the refrigerated vehicle relative to a right axle;
the determining of the goods mass center position of the refrigerated vehicle comprises determining the goods mass center position of the refrigerated vehicle in the front-back direction and determining the goods mass center position of the refrigerated vehicle in the left-right direction.
Preferably, the data processing module is further configured to determine a cargo weight of the refrigerated vehicle according to the first positive pressure parameter and the second positive pressure parameter;
the information output module is also used for outputting cargo weight state information according to the cargo weight and the cargo weight preset value;
and if the weight of the goods is greater than the preset weight of the goods, the weight state information of the goods is weight adjustment reminding information of the goods.
Preferably, the data acquisition module is further configured to acquire a front image signal of a front end of a tractor of the refrigerator car, acquire a rear image signal of a front end of the tractor of the refrigerator car, acquire a rear image signal of a front end of a semitrailer of the refrigerator car, and acquire a front image signal of a rear end of the semitrailer of the refrigerator car;
the data processing module is further used for forming a panoramic image according to the front image signal of the front end of the tractor of the refrigerated vehicle, the rear image signal of the front semi-trailer of the refrigerated vehicle and the front image signal of the rear semi-trailer of the refrigerated vehicle;
the information output module is further used for outputting the panoramic image.
The method and the system for monitoring the safe transportation of the refrigerator car provided by the invention obtain the amplitude value and the vibration frequency value of the current refrigerator car by acquiring the vibration acceleration of the refrigerator car in real time, respectively determine the amplitude parameter and the vibration frequency parameter of the current refrigerator car according to the amplitude value, the amplitude tolerance level threshold value and the vibration frequency value of the current transported goods of the refrigerator car and the vibration frequency tolerance level threshold value of the current transported goods of the refrigerator car, perform weighted summation on the amplitude parameter and the vibration frequency parameter according to the preset amplitude weight and vibration frequency weight to obtain the vibration total parameter value, and output vibration state adjustment reminding information when the vibration total parameter value is greater than or equal to the preset vibration total parameter value. Therefore, the method and the system for monitoring the safe transportation of the refrigerator car can output the reminding information when the vibration is too large due to the too high speed of the refrigerator car on the premise that the refrigerator car keeps the higher speed of the refrigerator car so as to be delivered quickly, and prevent goods from being damaged in the transportation process.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart of a monitoring method for safe transportation of a refrigerator car according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a monitoring system for safe transportation of a refrigerator car according to an embodiment of the present invention;
fig. 3 is a schematic diagram illustrating an installation of a data acquisition module according to an embodiment of the present invention;
fig. 4 is a schematic installation diagram of another data acquisition module according to an embodiment of the present invention;
fig. 5 is a schematic installation diagram of another data acquisition module according to an embodiment of the present invention;
fig. 6 is an installation diagram of another data acquisition module according to an embodiment of the present invention;
fig. 7 is a schematic installation diagram of another data acquisition module according to an embodiment of the present invention;
fig. 8 is a schematic installation diagram of another data acquisition module according to an embodiment of the present invention.
Detailed Description
In order to make those skilled in the art better understand the technical solutions in the present application, 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.
It will be understood that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or be indirectly disposed on the other element; when an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings that is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the present application.
Furthermore, the terms "first", "second" and "first" are used 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 one or more of that feature. In the description of the present application, the meaning of a plurality of or a plurality of is two or more unless specifically limited otherwise.
It should be understood that the structures, ratios, sizes, and the like shown in the drawings and described in the specification are only used for understanding and reading the contents disclosed in the specification, and are not used for limiting the conditions that the present application can implement, so the present invention has no technical significance, and any structural modification, ratio relationship change or size adjustment should still fall within the scope of the technical content disclosed in the present application without affecting the efficacy and the achievable purpose of the present application.
In one aspect, an embodiment of the present invention provides a method for monitoring safe transportation of a refrigerator car, referring to fig. 1, the method includes:
and S100, acquiring the vibration acceleration of the refrigerator car.
It should be noted that, in the embodiment of the present invention, the refrigerator car is generally used for transporting goods that cannot be stored for a long time, such as fresh vegetables and fruits, and the goods still need to be delivered to a destination faster on the premise of having a refrigeration device, but if the speed is too fast during transportation, the goods are easily damaged due to too large vibration. Therefore, it is required to acquire the vibration acceleration of the refrigerator car in real time, wherein the vibration acceleration of the refrigerator car can be acquired in real time through a vibration sensor mounted on the refrigerator car and converted into a corresponding electrical signal. The vibration sensor may be an optical-electrical type or a mechanical type or other types of vibration sensors in the prior art, and is not limited in this respect.
And S200, obtaining an amplitude value and a vibration frequency value of the refrigerated vehicle according to the vibration acceleration.
In this embodiment, after obtaining the vibration acceleration electrical signal of the refrigerator car, the vibration acceleration electrical signal may be further processed to obtain an amplitude value and a vibration frequency value of the refrigerator car, respectively.
S300, determining an amplitude parameter corresponding to the amplitude value according to the amplitude value and an amplitude tolerance level threshold of the current transported goods of the refrigerator car.
In this embodiment, the amplitude tolerance level may be defined as a plurality of levels, each level corresponds to a different amplitude range value, and each type of cargo has a different amplitude tolerance level. After the amplitude value of the refrigerator car is obtained, the amplitude value of the refrigerator car at the moment can be compared with the amplitude tolerance level threshold of the current transported goods, so that the amplitude parameter of the current refrigerator car can be determined. Preferably, the average value of the amplitude values may be counted over a duration of 30s, and compared with the threshold value of the amplitude tolerance level of the currently transported goods.
In a specific implementation, the amplitude tolerance level may be defined as five levels, wherein the first level is less than 1.2mm, the second level is greater than or equal to 1.2 and less than 2.5mm, the third level is greater than or equal to 2.5mm and less than 5mm, the fourth level is greater than or equal to 5mm and less than 10mm, and the fifth level is greater than or equal to 10mm, and the amplitude tolerance level of the cargo may be determined according to the cargo type before the cargo is transported; in addition, the amplitude parameters may be defined as 1 and 0, and when the amplitude value exceeds the amplitude tolerance level threshold of the currently transported cargo, the amplitude parameter corresponding to the amplitude value is determined as 1, otherwise, the amplitude parameter corresponding to the amplitude value is determined as 0. For example, if the amplitude tolerance level of the currently transported cargo is the third level, it is known that the threshold value of the amplitude tolerance level is 5mm, and when the average value of the amplitudes within the duration of 30s is 6.1mm, since the average value of the amplitudes of the refrigerator car at this time is greater than the threshold value of the amplitude tolerance level of the currently transported cargo, it may be determined that the amplitude parameter corresponding to the amplitude value at this time is 1, and vice versa.
S400, determining a vibration frequency parameter corresponding to the vibration frequency value according to the vibration frequency value and a vibration frequency tolerance level threshold value of the current transported goods of the refrigerator car.
In this embodiment, the vibration frequency tolerance level may be defined as a plurality of levels, each level corresponds to a different vibration frequency range value, and each type of cargo has a different vibration frequency tolerance level. After the vibration frequency of the refrigerator car is obtained, the vibration frequency of the refrigerator car at the moment can be compared with the vibration frequency tolerance level threshold of the current transported goods, so that the vibration frequency parameter of the current refrigerator car is determined. Preferably, the average value of the vibration frequency is counted for a duration of 30s, and the average value of the vibration frequency is compared with the threshold value of the vibration frequency tolerance level of the currently transported cargo.
In a specific implementation, the vibration frequency tolerance level may also be defined as five levels, wherein the first level is less than 10Hz, the second level is greater than or equal to 10Hz and less than 25Hz, the third level is greater than or equal to 25Hz and less than 50Hz, the fourth level is greater than or equal to 50Hz and less than 100Hz, and the fifth level is greater than or equal to 100Hz, and before the cargo is transported, the vibration frequency tolerance level of the cargo may be determined according to the type of the cargo. In addition, the vibration frequency parameters can also be defined as 1 and 0, when the vibration frequency value exceeds the vibration frequency tolerance level threshold value of the current transported goods, the vibration frequency parameter corresponding to the vibration frequency value is determined to be 1, otherwise, the vibration frequency parameter corresponding to the vibration frequency value is determined to be 0. For example, if the vibration frequency tolerance level of the currently transported cargo is the third level, it is known that the threshold value of the vibration frequency tolerance level is 50Hz, and when the average value of the vibration frequency is 61Hz within the duration of 30s, since the average value of the vibration frequency of the refrigerator car at this time is greater than the threshold value of the vibration frequency tolerance level of the currently transported cargo, it may be determined that the vibration frequency parameter corresponding to the vibration frequency value at this time is 1, and vice versa.
S500, weighting and summing the amplitude parameter and the vibration frequency parameter by utilizing the preset amplitude weight and the preset vibration frequency weight to obtain a vibration total parameter value.
In this embodiment, since the characteristic quantity amplitude has a greater influence on the load when vibrating than the characteristic quantity vibration frequency, the vibration state of the refrigerator car can be obtained more accurately by setting the amplitude and the vibration frequency to different weights, respectively. Specifically, after the amplitude parameter and the vibration frequency parameter of the current refrigerator car are obtained, the amplitude parameter and the vibration frequency parameter may be weighted and summed according to the preset amplitude weight and vibration frequency weight to obtain the vibration total parameter value.
In specific implementation, the amplitude weight and the vibration frequency weight may be set to 0.6 and 0.4, respectively, and the amplitude weight is slightly larger than the vibration frequency weight.
S600, if the vibration total parameter value is larger than or equal to the vibration total parameter preset value, outputting vibration state adjustment reminding information.
In the embodiment, after the vibration total parameter value of the current refrigerator car is obtained, the vibration total parameter value is compared with the preset vibration total parameter preset value, if the vibration total parameter value is larger than or equal to the vibration total parameter preset value, the current vibration of the refrigerator car is judged to be overlarge, the vibration state adjustment reminding information is output, the speed of the refrigerator car can be reduced or other measures can be taken to reduce the vibration, and goods are prevented from being damaged in the transportation process.
Optionally, in some embodiments of the present invention, in step S100, acquiring a vibration acceleration of the refrigerator car specifically includes: the method comprises the steps of obtaining vertical direction vibration acceleration of the refrigerator car and obtaining front and rear direction vibration acceleration of the refrigerator car.
In general, the traveling direction of the vehicle is referred to as a front-rear direction, and the left and right sides with respect to the traveling direction are referred to as left-right directions. In this embodiment, because the vehicle often leads to the up-and-down vibration of goods when jolting, often leads to the fore-and-aft vibration of goods when the speed of a motor vehicle changes at the excessive speed, and the goods generally less appears and shakes about. Therefore, the vibration sensor with three degrees of freedom can be selected to obtain the vibration acceleration of the refrigerator car in the vertical direction, the front-back direction and the left-right direction in real time, the vibration acceleration electric signals in the vertical direction and the front-back direction are selected to be further processed after being converted into the electric signals, the amplitude value and the vibration frequency value in the vertical direction of the refrigerator car are obtained according to the vibration acceleration of the refrigerator car in the vertical direction, and the amplitude value and the vibration frequency value in the front-back direction are obtained according to the vibration acceleration of the refrigerator car in the front-back direction, so that the vibration state of the refrigerator car is more accurately obtained.
In specific implementation, the tolerance levels of the vertical amplitude and the front-back amplitude of the refrigerator car and the tolerance levels of the vertical vibration frequency and the front-back vibration frequency of the refrigerator car can be defined as five levels, or can be respectively defined as different levels, and the parameters of each level can be the same as or different from those in the above embodiment, and can be flexibly selected by a person skilled in the art according to needs. Alternatively, the vertical amplitude weight, the front-back amplitude weight, the vertical vibration frequency weight, and the front-back vibration frequency weight may be set to 0.3, 0.2, and 0.2, respectively, and the amplitude weight is slightly larger than the vibration frequency weight.
Optionally, in some embodiments of the present invention, in step S600, if the vibration total parameter value is greater than or equal to the vibration total parameter preset value, the outputting the vibration state adjustment reminding information specifically includes:
if the vibration total parameter value is greater than or equal to the vibration total parameter preset value, acquiring the speed of the refrigerated vehicle, and comparing the speed with a preset speed grade threshold value to obtain a comparison result; and a process for the preparation of a coating,
when the comparison result shows that the vehicle speed is higher than the first vehicle speed grade threshold value, outputting first vibration state adjustment reminding information;
when the comparison result shows that the vehicle speed is lower than or equal to the first vehicle speed level threshold value and the vehicle speed is higher than or equal to the second vehicle speed level threshold value, outputting second vibration state adjustment reminding information;
and outputting third vibration state adjustment reminding information when the comparison result is that the vehicle speed is lower than a second vehicle speed level threshold value.
In this embodiment, the vehicle speed level may be defined as a plurality of levels, and the vibration state adjustment reminding information corresponding to each vehicle speed level is different. Specifically, when the vibration total parameter value is greater than or equal to the vibration total parameter preset value, the current vehicle speed grade can be judged firstly, if the current vehicle speed is higher than a first vehicle speed grade threshold value, the current vehicle speed grade is judged to be a high-speed grade, and the vehicle speed of the refrigerated vehicle cannot be reduced too fast at the moment so as to avoid vehicle instability and even accidents, so that first vibration state adjustment reminding information is output, and the vehicle speed is recommended to be reduced slowly in a high-speed state so as to reduce vibration; if the current vehicle speed is lower than or equal to the first vehicle speed level threshold and higher than or equal to the second vehicle speed level threshold, judging that the current vehicle speed level is a medium-speed level, and relatively quickly reducing the vehicle speed to quickly reduce vibration, so that a second vibration state adjustment reminding message is output, and the vehicle speed is recommended to be reduced in the medium-speed state to reduce vibration; if the current vehicle speed is lower than the second vehicle speed level threshold value, the current vehicle speed level is judged to be a low speed level, and at the moment, the purpose of reducing vibration is difficult to achieve by further reducing the vehicle speed, so that third vibration state adjustment reminding information is output, and road replacement is recommended to reduce the vibration.
In specific implementation, the vehicle speed grade can be defined as three grades, the high speed grade is more than 50m/s, the medium speed grade is 20-50m/s, the low speed grade is 0-20m/s, and the vehicle speed of the refrigerated vehicle can be obtained by a wheel speed sensor on an axle.
In another aspect, an embodiment of the present invention provides a monitoring system for safe transportation of a refrigerator car, please refer to fig. 2 to 8, the system includes:
the data acquisition module 100 is used for acquiring the vibration acceleration of the refrigerated vehicle;
the data processing module 200 is used for obtaining an amplitude value and a vibration frequency value of the refrigerated vehicle according to the vibration acceleration;
the data processing module 200 is further configured to determine an amplitude parameter corresponding to the amplitude value according to the amplitude value and an amplitude tolerance level threshold of the current cargo transported by the refrigerator car;
the data processing module 200 is further configured to determine a vibration frequency parameter corresponding to the vibration frequency value according to the vibration frequency value and a vibration frequency tolerance level threshold of the current transport cargo of the refrigerator car;
the data processing module 200 is further configured to perform weighted summation on the amplitude parameter and the vibration frequency parameter by using a preset amplitude weight and a preset vibration frequency weight to obtain a vibration total parameter value;
the information output module 300 is configured to output vibration state information according to the vibration total parameter value and the vibration total parameter preset value; wherein the content of the first and second substances,
and if the vibration total parameter value is greater than or equal to the vibration total parameter preset value, the vibration state information is vibration state adjustment reminding information.
It should be noted that, in the embodiment of the present invention, the refrigerator car is generally used for transporting goods such as fresh vegetables and fruits which cannot be stored for a long time, and the goods still need to be delivered to a destination faster on the premise of having a refrigeration device, but if the speed of the refrigerator car is too fast during transportation and the goods are easily damaged due to excessive vibration of the goods, the vibration acceleration of the refrigerator car needs to be obtained in real time. The data acquisition module 100 includes a vibration acceleration acquisition unit 110, and the vibration acceleration acquisition unit 110 is installed on the refrigerator car, acquires vibration acceleration of the refrigerator car in real time, and converts the vibration acceleration into a corresponding electrical signal. Specifically, the vibration acceleration acquisition unit 110 may be an optical-electrical or mechanical vibration sensor or another type of vibration sensor in the prior art.
In this embodiment, the data acquisition module 100 acquires the vibration acceleration of the refrigerator car in real time, the data processing module 200 acquires the amplitude value and the vibration frequency value of the current refrigerator car, the amplitude parameter and the vibration frequency parameter of the current refrigerator car are respectively determined according to the amplitude value, the amplitude tolerance level threshold and the vibration frequency value of the current transported goods of the refrigerator car, and the vibration frequency tolerance level threshold of the current transported goods of the refrigerator car, and the amplitude parameter and the vibration frequency parameter are weighted and summed according to the preset amplitude weight and vibration frequency weight to obtain the total vibration parameter value, when the total vibration parameter value is greater than or equal to the preset total vibration parameter value, it is determined that the refrigerator car vibrates excessively due to the fact that the current speed of the refrigerator car is too fast at this moment, and the information output module 300 outputs the vibration state adjustment reminding information. Therefore, the refrigerator car safe transportation monitoring system provided by the invention can output reminding information when the speed of the refrigerator car is too high on the premise that the refrigerator car keeps high speed so as to be delivered quickly, and prevent goods damage caused by too large vibration in the transportation process.
In order to more accurately obtain the vibration state of the refrigerator car, on the basis of the above embodiments, in some embodiments of the present invention, the data acquisition module 100 acquires the vibration acceleration of the refrigerator car, including acquiring the vertical direction vibration acceleration of the refrigerator car and acquiring the front-rear direction vibration acceleration of the refrigerator car.
Further, in some embodiments of the present invention, the information output module 300 is specifically configured to output the vibration state information according to the vibration total parameter value and the vibration total parameter preset value; wherein the content of the first and second substances,
if the vibration total parameter value is greater than or equal to the vibration total parameter preset value, acquiring the speed of the refrigerated vehicle, and comparing the speed with a preset speed grade threshold value to obtain a comparison result;
when the comparison result shows that the vehicle speed is higher than the first vehicle speed grade threshold value, the vibration state information is first vibration state adjustment reminding information;
when the comparison result shows that the vehicle speed is lower than or equal to the first vehicle speed level threshold value and the vehicle speed is higher than or equal to the second vehicle speed level threshold value, the vibration state information is second vibration state adjustment reminding information;
and when the comparison result shows that the vehicle speed is lower than the second vehicle speed level threshold value, the vibration state information is third vibration state adjustment reminding information.
Optionally, in some embodiments of the present invention, the data acquiring module 100 is further configured to acquire a first positive pressure parameter of the semi-trailer of the refrigerated vehicle relative to the tractor and acquire a second positive pressure parameter of the semi-trailer of the refrigerated vehicle relative to the axle;
the data processing module 200 is further configured to determine a cargo centroid position of the refrigerated vehicle according to the first positive pressure parameter and the second positive pressure parameter;
the information output module 300 is further configured to output the cargo centroid position state information according to the cargo centroid position and the cargo centroid position preset range;
and if the cargo centroid position is not within the preset range of the cargo centroid position, the cargo centroid position state information is the cargo centroid position adjustment reminding information.
The cold chain transport vehicle is generally divided into a van refrigerator car and a semi-trailer refrigerator car, wherein a refrigerator compartment, a chassis and a vehicle head of the van refrigerator car are all integrated; the semi-trailer refrigerated vehicle consists of a semi-trailer and a refrigerated compartment, and the semi-trailer can be driven by a tractor to run without specific limitation. The refrigerated truck in the embodiment of the invention comprises a tractor, a semi-trailer and a refrigerated compartment, wherein the tractor is connected with the semi-trailer, the refrigerated compartment is arranged on the semi-trailer, the semi-trailer can be disconnected from the tractor, the refrigerated compartment can also be separated from the semi-trailer, and goods needing cold chain transportation are loaded in the refrigerated compartment. Specifically, the data obtaining module 100 further includes a first pressure obtaining unit 121 and a second pressure obtaining unit 122, and both the first pressure obtaining unit 121 and the second pressure obtaining unit 122 may be strain gauges. Wherein the first pressure obtaining unit 121 is installed at a towing pin of the refrigerator car where the semi-trailer is connected with the towing vehicle, and the second pressure obtaining unit 122 is installed on the axle of the refrigerator car. In order to obtain more accurate positive pressure values, the first pressure obtaining unit 121 may be installed several times in a circumferential direction on a connecting pin of a trailer and a tractor of the refrigerator car, and the second pressure obtaining unit 122 may be installed on each axle of the refrigerator car.
If the gravity center of the vehicle is too large in the normal offset range, the goods are thrown away and damaged easily in the running process of the vehicle, and even rollover accidents and the like are caused. In this embodiment, the first pressure obtaining unit 121 and the second pressure obtaining unit 122 respectively obtain a positive pressure parameter of the semitrailer of the refrigerated vehicle relative to the tractor and a positive pressure parameter of the semitrailer of the refrigerated vehicle relative to the axle, the data processing module 200 determines the cargo centroid position of the refrigerated vehicle through calculation according to the first positive pressure parameter and the second positive pressure parameter, and the information output module 300 outputs cargo centroid position state information according to the cargo centroid position and a preset range of the cargo centroid position; if the goods barycenter position is not in the goods barycenter position preset range, then goods barycenter position state information reminds driver or autopilot control program to make a decision in time for goods barycenter position adjustment reminding information, readjusts the locating position of goods to guarantee that the barycenter position of goods in the refrigerator car's freezer is in the preset barycenter safety range, avoid the refrigerator car accident of turning over to appear, improve the transportation security of refrigerator car.
Further, on the basis of the above embodiments, in some embodiments of the present invention, obtaining the second positive pressure parameter of the semi-trailer of the refrigerated vehicle relative to the axle comprises obtaining a left second positive pressure parameter of the semi-trailer of the refrigerated vehicle relative to the left axle and obtaining a right second positive pressure parameter of the semi-trailer of the refrigerated vehicle relative to the right axle;
determining the cargo centroid position of the refrigerated vehicle, including determining the front and rear cargo centroid position of the refrigerated vehicle and determining the left and right cargo centroid position of the refrigerated vehicle.
In this embodiment, the second pressure obtaining units 122 are two sets, and are respectively installed on the leaf springs on the two sides of the axle of the refrigerator car. Before goods are loaded in the cold storage compartment, the system calibrates the zero position of the self weight of the semi-trailer of the cold storage vehicle, when the goods are loaded in the cold storage compartment, the second pressure acquisition unit 122 generates deformation, and the data processing module 200 analyzes and processes deformation signals, so that the positive pressure of the semi-trailer relative to the tractor, the positive pressure of the semi-trailer relative to each axle on the left side and the positive pressure of the semi-trailer relative to each axle on the right side can be obtained. During specific implementation, the refrigerated vehicle has three axles, the wheelbases between two adjacent axles are equal, positive pressures of the semi-trailer relative to each axle are equal, and the positive pressures of the semi-trailer relative to the single axle on the left side and the right side are also equal.
The position of the center of mass of the cargo in the refrigerated vehicle in the direction of travel can be determined by the following formula:
wherein, F1 is the positive pressure of the semi-trailer relative to the towing vehicle, F2 is the positive pressure of the semi-trailer relative to the first axle, F3 is the positive pressure of the semi-trailer relative to the second axle, F4 is the positive pressure of the semi-trailer relative to the third axle, L1 is the distance between the center of mass position of the goods in the refrigerated vehicle in the driving direction and the towing pin of the refrigerated vehicle, L2 is the distance between the center of mass position of the goods in the refrigerated vehicle in the driving direction and the center of the first axle, L3 is the axle distance between the first axle and the second axle, L4 is the axle distance between the second axle and the third axle, and L is the distance between the towing pin of the refrigerated vehicle and the center of the first axle.
Since L2, L3 and L are all known parameters of the refrigerated vehicle, the data processing module 200 calculates the values of L1 and L2, and can determine the position of the center of mass of the cargo in the refrigerated vehicle in the front-rear direction.
The position of the center of mass of the cargo in the left-right direction in the refrigerated compartment of the refrigerated vehicle can be determined by the following formula:
wherein, the left side of F2, the left side of F3, the left side of F4, the right side of F2, the right side of F3 and the right side of F4 are respectively positive pressure of the left side and the right side of the semitrailer relative to the first axle, the second axle and the third axle, M is the center distance of leaf springs at two sides of the axle, and A is the offset of the center of mass position of goods in the refrigerated truck in the axle direction to the left side relative to the axle center.
Since M is a known parameter, the data processing module 200 calculates a value of a, i.e., determines the position of the center of mass of the cargo in the left and right directions in the refrigerating compartment of the refrigerator car.
If the front-back direction cargo centroid position and/or the left-right direction cargo centroid position of the refrigerator car are not within the preset range, the information output module 300 outputs the front-back direction cargo centroid position adjustment reminding information and/or the left-right direction cargo centroid position adjustment reminding information respectively. And the driver or the automatic driving control program can make a decision in time according to the judgment result to adjust the front and back placement positions and the left and right sides of the goods. Thereby guarantee the barycenter position of goods in the cold-stored railway carriage or compartment of refrigerator car in the barycenter safety range of predetermineeing, avoid the refrigerator car accident of turning over to appear, improve the transportation security of refrigerator car.
Further, on the basis of the above embodiments, in some embodiments of the present invention, the data processing module 200 is further configured to determine the cargo weight of the refrigerated vehicle according to the first positive pressure parameter and the second positive pressure parameter;
the information output module 300 is further configured to output cargo weight state information according to the cargo weight and a cargo weight preset value;
and if the weight of the goods is greater than the preset weight value of the goods, the weight state information of the goods is the reminding information of weight adjustment of the goods.
In this embodiment, the data processing module 200 may determine the weight G of the cargo in the refrigeration compartment of the refrigerated vehicle by summing the first positive pressure of the semitrailer relative to the tractor and the second positive pressure of the semitrailer relative to the axle, and the information output module 300 may output the cargo weight adjustment reminding information when the weight G of the cargo in the refrigeration compartment of the refrigerated vehicle exceeds the cargo weight preset value. Therefore, when the goods are loaded in the refrigeration compartment, a driver or an automatic driving control program can obtain the total weight of the loaded goods in real time and make a decision in time, so that the occurrence of safety accidents caused by overweight of the refrigeration vehicle is prevented.
Optionally, in some embodiments of the present invention, the data acquiring module 100 is further configured to acquire a front image signal of a front end of a tractor of the refrigerated vehicle, acquire a rear image signal of the front end of the tractor of the refrigerated vehicle, acquire a rear image signal of a front end of a semitrailer of the refrigerated vehicle, and acquire a front image signal of a rear end of the semitrailer of the refrigerated vehicle;
the data processing module 200 is further configured to form a panoramic image according to a front image signal of a front end of a tractor of the refrigerator car, a rear image signal of a front end of the tractor of the refrigerator car, a rear image signal of a front end of a semitrailer of the refrigerator car, and a front image signal of a rear end of the semitrailer of the refrigerator car;
the information output module 300 is further configured to output the panoramic image.
In this embodiment, the data obtaining module 100 further includes a first image obtaining unit 131, a second image obtaining unit 132, a third image obtaining unit 133, and a fourth image obtaining unit 134, wherein the first image obtaining unit 131 is installed at the front end of the tractor, the center position of the first image obtaining unit 131 is shot forward, the second image obtaining unit 132 is installed at the front end of the tractor, the two sides of the second image obtaining unit 132 are shot backward, the third image obtaining unit 133 is installed at the front end of the semitrailer, the fourth image obtaining unit 134 is installed at the rear end of the semitrailer, and the first image obtaining unit 131, the second image obtaining unit 132, the third image obtaining unit 133, and the fourth image obtaining unit 134 may all adopt a visual camera. The data processing module 200 performs combination operation on all the acquired image signals to form a panoramic image, and outputs the panoramic image through the information output module 300, so that a driver or an automatic driving control program can obtain the panoramic image of 360 degrees around the refrigerator car in the running process of the refrigerator car, thereby avoiding the position of a dead angle of a sight line and ensuring the running safety of the refrigerator car.
Optionally, in some embodiments of the present invention, the data acquisition module 100 further includes a first height acquisition unit 141 for acquiring a height signal of a height-limiting object on the driving route, wherein the first height acquisition unit 141 is installed on a roof at the front or rear of the refrigeration compartment, or on the front and rear sides of the tractor, and the first height acquisition unit 141 may employ a laser radar. In the driving process or the reversing process of the refrigerator car, laser is emitted through the laser radar, the ground clearance H1 of height-limited objects such as culverts or bridges and the like at the front and the rear of the refrigerator car is accurately obtained, when the height of the car body of the refrigerator car exceeds the allowable passing range of the height-limited objects, the information output module 300 outputs the reminding information of incapability of passing, and a driver or an automatic driving control program can take corresponding measures in advance to avoid safety accidents such as collision and the like.
Optionally, on the basis of the above embodiments, in some embodiments of the present invention, the data processing module 200 is further configured to calculate a height of the refrigerated vehicle after the height of the refrigerated vehicle is reduced by using the vehicle suspension height adjustable system, and when the height of the refrigerated vehicle after the height reduction still exceeds the allowable passing range of the height-limited object, the information output module 300 outputs a height-limited no-pass reminder. Specifically, because the refrigerator car is provided with the car body suspension height adjustable system, the car body can be lowered by a certain height through the car body suspension height adjustable system, and after the height of the refrigerator car is lowered by the car body suspension height adjustable system, when the height of the car body after being lowered does not exceed the allowable passing range of the height-limiting object, a driver or an automatic driving control program can drive the refrigerator car to safely pass through the height-limiting object after the car body is lowered by a certain height through the car body suspension height adjustable system; when the height of the vehicle body after the height is reduced still exceeds the allowable passing range of the height-limiting object, the information output module 300 outputs the information for reminding that the vehicle cannot pass, and then a driver or an automatic driving control program can stop the vehicle or pass by detour, so that safety accidents such as collision and the like are avoided.
Optionally, in some embodiments of the present invention, the data acquisition module 100 further includes a first width acquisition unit 151 configured to acquire a width signal of a width-limited object on the driving route, wherein the first width acquisition unit 151 is installed on a roof of a front portion or a rear portion of the refrigerated compartment, or on front and rear sides of the tractor, and the first width acquisition unit 151 may employ a lidar. In the driving process or the reversing process of the refrigerator car, laser is emitted through the laser radar, the width L1 of width-limited objects such as culverts or bridges and the like at the front and the rear of the refrigerator car is accurately obtained, when the width of the car body of the refrigerator car exceeds the allowable passing range of the width-limited objects, the information output module 300 outputs the reminding information which cannot pass, a driver or an automatic driving control program can stop or pass by detour, and safety accidents such as collision and the like are avoided.
Optionally, in some embodiments of the present invention, the data obtaining module 100 further includes a second height obtaining unit 161, configured to obtain a height signal of an obstacle on the driving route, where the second height obtaining unit 161 is installed at a front end of the tractor, and the second height obtaining unit 161 may employ a laser radar. In the running process of the refrigerator car, laser is transmitted through the laser radar to obtain the height B of the barrier on the running route, when the chassis ground clearance of the refrigerator car is smaller than the lowest chassis ground clearance of the barrier allowing the refrigerator car to pass, the information output module 300 outputs the information for reminding that the refrigerator car cannot pass, a driver or an automatic driving control program can avoid in advance or bypass to pass, and safety accidents such as collision are avoided.
Optionally, in some embodiments of the present invention, the data obtaining module 100 further includes a second width obtaining unit, configured to obtain a width signal of an obstacle on the driving route, where the second width obtaining unit is installed at a front end of the tractor, and the second width obtaining unit may employ a laser radar. In the driving process of the refrigerator car, laser is transmitted through the laser radar to obtain the width of a barrier on a driving route, when the chassis accessible width of the refrigerator car is smaller than the lowest chassis accessible width of the barrier allowing the refrigerator car to pass, the information output module 300 outputs the information for reminding that the refrigerator car cannot pass, a driver or an automatic driving control program can avoid in advance or bypass the refrigerator car to pass, and safety accidents such as collision and the like are avoided.
Optionally, in some embodiments of the present invention, the data obtaining module 100 further includes a first air pressure obtaining unit, a temperature obtaining unit, and a second air pressure obtaining unit, where the first air pressure obtaining unit is configured to obtain an air pressure signal of a brake air path of the refrigerator car, the temperature obtaining unit is configured to obtain a temperature signal of a tire of the refrigerator car, and the second air pressure obtaining unit is configured to obtain an air pressure signal of a tire of the refrigerator car, and when the air pressure of the brake air path of the refrigerator car, the temperature of the tire of the refrigerator car, and the air pressure of the tire of the refrigerator car exceed preset ranges, the information output module 300 outputs a corresponding prompt, and a driver or an automatic driving control program may stop in time to seek maintenance, so as to avoid occurrence of a.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A refrigerator car safe transportation monitoring method is characterized by comprising the following steps:
acquiring the vibration acceleration of the refrigerated vehicle;
obtaining an amplitude value and a vibration frequency value of the refrigerated vehicle according to the vibration acceleration;
determining an amplitude parameter corresponding to the amplitude value according to the amplitude value and an amplitude tolerance level threshold of the current transported goods of the refrigerated vehicle;
determining a vibration frequency parameter corresponding to the vibration frequency value according to the vibration frequency value and a vibration frequency tolerance level threshold value of the current transported goods of the refrigerated vehicle;
weighting and summing the amplitude parameter and the vibration frequency parameter by using a preset amplitude weight and a preset vibration frequency weight to obtain a vibration total parameter value;
and if the vibration total parameter value is greater than or equal to the vibration total parameter preset value, outputting vibration state adjustment reminding information.
2. The method of claim 1, wherein the obtaining of the vibration acceleration of the refrigerated vehicle comprises obtaining a vertical direction vibration acceleration of the refrigerated vehicle and obtaining a front-to-back direction vibration acceleration of the refrigerated vehicle.
3. The method according to claim 1 or 2, wherein if the vibration total parameter value is greater than or equal to the vibration total parameter preset value, the outputting the vibration state adjustment reminding message specifically comprises:
if the vibration total parameter value is larger than or equal to the vibration total parameter preset value, acquiring the speed of the refrigerated vehicle, and comparing the speed with a preset speed grade threshold value to obtain a comparison result; and a process for the preparation of a coating,
when the comparison result shows that the vehicle speed is higher than a first vehicle speed grade threshold value, outputting first vibration state adjustment reminding information;
when the comparison result shows that the vehicle speed is lower than or equal to a first vehicle speed grade threshold value and the vehicle speed is higher than or equal to a second vehicle speed grade threshold value, outputting second vibration state adjustment reminding information;
and outputting third vibration state adjustment reminding information when the comparison result shows that the vehicle speed is lower than a second vehicle speed grade threshold value.
4. A refrigerated vehicle safety traffic monitoring system, comprising:
the data acquisition module is used for acquiring the vibration acceleration of the refrigerated vehicle;
the data processing module is used for obtaining an amplitude value and a vibration frequency value of the refrigerated vehicle according to the vibration acceleration;
the data processing module is further used for determining an amplitude parameter corresponding to the amplitude value according to the amplitude value and an amplitude tolerance level threshold of the current transported goods of the refrigerated vehicle;
the data processing module is further used for determining a vibration frequency parameter corresponding to the vibration frequency value according to the vibration frequency value and a vibration frequency tolerance level threshold value of the current transported goods of the refrigerated vehicle;
the data processing module is used for weighting and summing the amplitude parameter and the vibration frequency parameter by utilizing a preset amplitude weight and a preset vibration frequency weight to obtain a vibration total parameter value;
the information output module is used for outputting vibration state information according to the vibration total parameter value and the vibration total parameter preset value; wherein the content of the first and second substances,
and if the vibration total parameter value is greater than or equal to the vibration total parameter preset value, the vibration state information is vibration state adjustment reminding information.
5. The system of claim 4, wherein the obtaining of the vibration acceleration of the refrigerated vehicle comprises obtaining a vertical vibration acceleration of the refrigerated vehicle and obtaining a front-to-back vibration acceleration of the refrigerated vehicle.
6. The system according to claim 4 or 5, wherein the information output module is specifically configured to output vibration status information according to the vibration total parameter value and a vibration total parameter preset value; wherein the content of the first and second substances,
if the vibration total parameter value is larger than or equal to the vibration total parameter preset value, acquiring the speed of the refrigerated vehicle, and comparing the speed with a preset speed grade threshold value to obtain a comparison result;
when the comparison result shows that the vehicle speed is higher than a first vehicle speed grade threshold value, the vibration state information is first vibration state adjustment reminding information;
when the comparison result is that the vehicle speed is lower than or equal to a first vehicle speed level threshold value and the vehicle speed is higher than or equal to a second vehicle speed level threshold value, the vibration state information is second vibration state adjustment reminding information;
and when the comparison result shows that the vehicle speed is lower than a second vehicle speed level threshold value, the vibration state information is third vibration state adjustment reminding information.
7. The system of claim 4, wherein the data acquisition module is further configured to acquire a first positive pressure parameter of the semi-trailer of the refrigerated vehicle relative to a tractor and acquire a second positive pressure parameter of the semi-trailer of the refrigerated vehicle relative to an axle;
the data processing module is further used for determining the cargo mass center position of the refrigerated vehicle according to the first positive pressure parameter and the second positive pressure parameter;
the information output module is also used for outputting the state information of the position of the center of mass of the goods according to the position of the center of mass of the goods and the preset range of the position of the center of mass of the goods;
and if the cargo centroid position is not within the preset range of the cargo centroid position, the cargo centroid position state information is the cargo centroid position adjustment reminding information.
8. The system of claim 7, wherein said obtaining a second positive pressure parameter of the semi-trailer of the refrigerated vehicle relative to the axle comprises obtaining a left second positive pressure parameter of the semi-trailer of the refrigerated vehicle relative to a left axle and obtaining a right second positive pressure parameter of the semi-trailer of the refrigerated vehicle relative to a right axle;
the determining of the goods mass center position of the refrigerated vehicle comprises determining the goods mass center position of the refrigerated vehicle in the front-back direction and determining the goods mass center position of the refrigerated vehicle in the left-right direction.
9. The system of claim 7 or 8, wherein the data processing module is further configured to determine a cargo weight of the refrigerated vehicle based on the first positive pressure parameter and the second positive pressure parameter;
the information output module is also used for outputting cargo weight state information according to the cargo weight and the cargo weight preset value;
and if the weight of the goods is greater than the preset weight of the goods, the weight state information of the goods is weight adjustment reminding information of the goods.
10. The system of claim 4, wherein the data acquisition module is further configured to acquire a front image signal of a tractor front end of the refrigerated vehicle, acquire a rear image signal of a front end of a trailer of the refrigerated vehicle, and acquire a front image signal of a rear end of a trailer of the refrigerated vehicle;
the data processing module is further used for forming a panoramic image according to the front image signal of the front end of the tractor of the refrigerated vehicle, the rear image signal of the front semi-trailer of the refrigerated vehicle and the front image signal of the rear semi-trailer of the refrigerated vehicle;
the information output module is further used for outputting the panoramic image.
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