CN116626328A - Whole-course speed measuring equipment and method for underground vehicle - Google Patents
Whole-course speed measuring equipment and method for underground vehicle Download PDFInfo
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- CN116626328A CN116626328A CN202310918968.1A CN202310918968A CN116626328A CN 116626328 A CN116626328 A CN 116626328A CN 202310918968 A CN202310918968 A CN 202310918968A CN 116626328 A CN116626328 A CN 116626328A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/48—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for in-vehicle communication
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
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Abstract
The application relates to the technical field of speed measuring equipment, in particular to whole-course speed measuring equipment and a speed measuring method for an underground vehicle, wherein a vehicle-mounted speed measuring terminal is arranged in a vehicle cab and comprises a three-axis acceleration sensor, an RFID electronic tag, a wireless communication module and an MCU; the speed measuring substation is arranged on a beam at the upper part of the mine roadway and comprises a speed measuring radar, a radio frequency card reader, a wireless communication module and an MCU. The beneficial effects of the application are as follows: the application can be used in mines, is universally applicable to various vehicle types, does not need to modify vehicles, can measure the instantaneous vehicle speed in the whole course, and has the characteristics of simple arrangement and lower cost.
Description
Technical Field
The application relates to the technical field of speed measuring equipment, in particular to whole-course speed measuring equipment and a whole-course speed measuring method for underground vehicles.
Background
Conventional speed measurement schemes such as radar, ultrasonic waves, laser, geomagnetism and video under a mine can only measure the speed of a vehicle at a position of a single bayonet, and cannot measure the speed in the whole course; the interval speed measurement scheme can only obtain the average speed in the interval at the end position, and can not monitor the instantaneous overspeed behavior; the GPS speed measurement scheme cannot be adopted because no signal exists underground; the indoor personnel vehicle positioning system realized by the UWB ultra-wideband technology has the advantages that as the signal transmission distance is relatively short and at least three base stations are needed for positioning, a large number of base stations are required to be distributed underground to realize vehicle positioning, speed measurement is realized through the change of the terminal position, the investment is relatively large, and if the system is only used for realizing the overspeed detection function of the vehicle, the system is obviously uneconomical. Other schemes such as accessing an automobile electric control system to acquire automobile speed data or installing a sensor at an automobile wheel axle are equivalent to parallel arrangement of an automobile speed measuring system, and the automobile speed measuring system is required to be modified, so that the automobile speed measuring system has the difficulties of multiple automobile models, unopened protocols and the like, and is difficult to be commonly accepted by customers.
Therefore, the application designs the whole-course speed measuring equipment for the underground vehicle, so as to solve the problems.
Disclosure of Invention
The application provides a whole-course speed measuring device and a whole-course speed measuring method for a downhole vehicle in order to make up for the defects in the prior art.
The application is realized by the following technical scheme:
the whole-course speed measuring equipment for the underground vehicle comprises a vehicle-mounted speed measuring terminal and a speed measuring substation, wherein the vehicle-mounted speed measuring terminal is arranged in a vehicle cab and comprises a three-axis acceleration sensor, an RFID electronic tag, a wireless communication module and an MCU; the speed measuring substation is arranged on a beam at the upper part of the mine roadway and comprises a speed measuring radar, a radio frequency card reader, a wireless communication module and an MCU.
A whole-course speed measurement method for an underground vehicle comprises the following steps:
s1, placing a vehicle-mounted speed measuring terminal on each vehicle to be measured, wherein a vehicle-mounted speed measuring terminal MCU reads acceleration data of a triaxial acceleration sensor, integrates the acceleration data to obtain a speed variation, and adds the speed variation to the vehicle speed at the previous moment to obtain the current instantaneous vehicle speed;
s2, when the vehicle is stopped, the vehicle-mounted end MCU judges that the vehicle is in a static state now because the acceleration data measured by the acceleration sensor is continuously lower than a certain threshold value, and the vehicle-mounted end MCU corrects the current vehicle speed to 0;
s3, arranging the speed measuring substations every several hundred meters to several kilometers, wherein the arrangement distance depends on the wireless type and the communication distance of the wireless module, and the speed measuring substations are arranged on the beam above the roadway;
s4, when the vehicle passes through the speed measuring substation, the speed measuring substation MCU only obtains the vehicle speed to be the effective vehicle speed through measuring the vehicle speed of the vehicle through the speed measuring radar, meanwhile, the RFID electronic tag of the vehicle-mounted speed measuring terminal is read through the radio frequency card reader, the ID number of the vehicle-mounted speed measuring terminal equipment of the vehicle is obtained, the speed data measured by the speed measuring radar is transmitted to the vehicle-mounted speed measuring terminal of the ID number through the wireless module, the electronic tag is a passive anti-metal electronic tag, the passive anti-metal electronic tag is stuck to the front surface of a shell of the vehicle-mounted speed measuring terminal and faces the front, the shell of the vehicle-mounted speed measuring terminal is made of a metal material, the effect of shielding rear side signals is achieved, and therefore, only the RFID electronic tag can be read from the front of the RFID electronic tag, namely only the electronic tag of the vehicle can be read;
s5, when two vehicles happen to meet in the speed measuring range of the speed measuring substation, only the speed and the ID number of the vehicles are obtained, so that the situation that the speed and the ID number are not matched incorrectly does not occur, and the situation that two vehicles travelling in the same direction are simultaneously in the radar speed measuring and tag reading range does not need to be considered because the underground roadway driving prescribes that the underground driving is not allowed to follow the vehicles;
s6, the vehicle-mounted speed measuring terminal acquires own vehicle speed data from the speed measuring substations through the wireless module, updates the data to the current vehicle speed, calculates the next moment of the vehicle-mounted terminal, adds the vehicle speed data obtained from the speed measuring substations as the speed relative variation obtained by integrating the speed and the acceleration at the previous moment to obtain the current vehicle speed, and corrects the vehicle speed once when the vehicle-mounted speed measuring terminal passes through one speed measuring substation, so that the vehicle speed accumulation error calculated by the acceleration sensor is kept within the allowable range;
s7, the vehicle-mounted end and the speed measuring substation which is closer in distance are always in a connection state through the wireless communication module, speed information with the ID number of the vehicle is sent to the speed measuring substation in real time, the speed measuring substation is connected to an underground communication network, and vehicle speed data is reported to a server for overspeed early warning and monitoring of various vehicles.
Further, in order to better implement the present application, in the specific speed variation calculation process in S1, the MCU reads the acceleration data of XYZ axes respectively, and integrates the acceleration of X axis in time without gravitational acceleration, to obtain the variation of speed in the integration time period in the X axis direction; similarly, the speed variation in the Y and Z directions is calculated by the same method, so that three speed variation vector values in the three-dimensional space are obtained, the three speed vector values in the XYZ direction are synthesized according to the parallelogram rule, the final speed variation in the integration time period can be obtained, and if the integration time period is set to be 1 second, the instantaneous vehicle speed which is continuously updated with the period of 1 second is obtained.
Further, in order to better realize the application, the vehicle speed measured by the vehicle-mounted speed measuring terminal is obtained according to the following formulaWherein->For the vehicle speed at the previous moment +.>For the relative change value of the speed in the integration period,/->The vehicle speed at the current moment is calculated.
Further, in order to better realize the application, the RFID electronic tag of the vehicle-mounted speed measuring terminal stores the unique ID number of the terminal for identifying the vehicle and the vehicle-mounted terminal, wherein the ID number can be the license plate number of the vehicle or the number customized by the user, and the RFID electronic tag uniformly faces the running direction of the vehicle.
Further, in order to better realize the application, the vehicle-mounted speed measuring terminal corrects the accumulated error of the speed measurement of the accelerometer in the following two ways, firstly, when the vehicle is stopped, the vehicle-mounted speed measuring terminal corrects the vehicle speed to 0; and secondly, when the vehicle passes through the speed measuring substation, the vehicle-mounted speed measuring terminal corrects the vehicle speed to a speed value returned by the speed measuring substation.
Further, in order to better realize the application, the speed measuring substation communication interface is connected into the underground ring network, and the vehicle speed uploaded by the vehicle-mounted speed measuring terminal and the ID number thereof are packaged and uploaded to the upper computer for vehicle overspeed early warning and monitoring application programs.
The beneficial effects of the application are as follows:
the application can be used in mines, is universally applicable to various vehicle types, does not need to modify vehicles, can measure the instantaneous vehicle speed in the whole course, and has the characteristics of simple arrangement and lower cost.
Drawings
FIG. 1 is a schematic view of an installation location of the apparatus of the present application;
FIG. 2 is a schematic diagram of an alternate arrangement of speed measuring substations according to the present application;
FIG. 3 is a schematic diagram of the present application for measuring speed during a vehicle meeting;
FIG. 4 shows the synthesis of velocity variations in different directions by the parallelogram method.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. It will be apparent that the described embodiments are only some, but not all, embodiments of the application. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present application.
Fig. 1-3 are views showing a specific embodiment of the present application, which is a whole-course speed measuring device for an underground vehicle, wherein the device is composed of a vehicle-mounted speed measuring terminal and a speed measuring substation, the vehicle-mounted speed measuring terminal is placed in a vehicle cab, and the vehicle-mounted speed measuring terminal comprises three-axis acceleration sensors, an RFID electronic tag, a wireless communication module, an MCU and other components, as shown in fig. 1; the speed measuring substation is arranged on a beam at the upper part of the mine tunnel and comprises a speed measuring radar, a radio frequency card reader, a wireless communication module, an MCU and the like.
The vehicle speed measured by the vehicle-mounted speed measuring terminal is obtained according to the following formulaWherein->For the vehicle speed at the previous moment +.>For the relative change in speed over the integration period,for the integration period>The vehicle speed at the current moment is calculated.
In concrete implementation, the integration under the mathematical ideal condition needs to be discretized, and the vehicle-mounted speed measuring terminal MCU samples the X-axis acceleration sensor with 0.01 second as a period assuming that 1 second is taken as an integration period, so that the MCU reads 100 groups of acceleration data in 1 integration period, and the formula of the relative speed variation is as followsIs changed into
For the kth acceleration data, in +.>This gives the x-axis velocity variation DeltaVx units +.>The same method calculates the y-axis speed variation delta Vy and the z-axis speed variation delta Vz, and synthesizes the three speeds by a parallelogram method to obtain the final speed variation delta V in the three-dimensional space.
In the specific calculation of the parallelogram method, first, the X-direction velocity Va and the Y-direction velocity Vb may be calculated to obtain the velocity Vab, and the velocity Vab and the velocity Vc in the Z-direction may be synthesized into the final velocity Vabc in the same manner in Y.
The specific calculation process of the speed of the vehicle-mounted speed measuring terminal is as follows: assuming that the vehicle starts to start from a standstill, before the vehicle starts, the vehicle-mounted speed measuring terminal MCU continuously starts the speed at the previous moment because the acceleration data is 0 during the standstillWhen the update is 0 and the acceleration data is not 0 after starting, the speed change value delta V1 in the 1 st second time period is calculated through the above relative speed change amount formula, and the instantaneous vehicle speed at the current moment is v1=0+deltaV 1. And calculating the next moment, taking V1 as the speed at the previous moment, calculating the speed change value delta V2 of the next second, wherein the instantaneous speed at the next moment is V2 = V1+ delta V2, and the like. The RFID electronic tag of the vehicle-mounted speed measuring terminal stores the unique ID number of the terminal and is used for identifying vehicles and vehicle-mounted terminals, and the ID number can be the license plate number of the vehicle or the number customized by a user. The RFID electronic tags face the running direction of the vehicle uniformly.
Because of non-ideal zero errors in both the acceleration sensor and the calculation process, the errors are accumulated continuously, which requires an error cancellation mechanism.
The vehicle-mounted speed measuring terminal corrects the accumulated error of the speed measurement of the accelerometer in the following two modes, (1) when the vehicle is stopped, the vehicle-mounted speed measuring terminal corrects the vehicle speed to 0; (2) When the vehicle passes through the speed measuring substation, the vehicle-mounted speed measuring terminal corrects the vehicle speed into a speed value returned by the speed measuring substation.
The criterion for determining that the vehicle is stationary is that the acceleration sensor measures acceleration data below a certain lower threshold below which the acceleration is considered to be 0 and for a certain period of time, such as 1 second, is required.
The speed measuring substation is used for measuring the speed of vehicles passing under the speed measuring substation through the speed measuring radar, and the speed measuring substation is used for reading the ID numbers of the vehicles passing under the speed measuring substation through the radio frequency card reader, so that the speed measuring substation is used for matching the speed with the ID numbers of the vehicles, and then the speed measuring substation is used for sending the measured speed of the radar to the vehicle-mounted speed measuring terminal corresponding to the ID numbers through the wireless module, so that the accumulated error of the vehicle-mounted speed measuring terminal is eliminated.
Through the process, the instantaneous speed of the vehicle-mounted speed measuring terminal is always updated, meanwhile, the vehicle-mounted speed measuring terminal is continuously connected with a speed measuring substation with a relatively close distance through a wireless module, and the wireless module can be in the modes of Lora, zigbee and the like and continuously reports the instantaneous speed. The speed measuring substation is connected into the underground looped network through an optical fiber or a network cable, packages the vehicle speed uploaded by the vehicle-mounted speed measuring terminal and the ID number thereof, and uploads the vehicle speed and the ID number to the upper computer for the vehicle overspeed early warning monitoring application program.
Based on the whole-course speed measuring equipment for the underground vehicle, the specific speed measuring method comprises the following steps:
1. the speed measuring substations are distributed every several hundred meters to several kilometers, the distribution distance depends on the wireless type and the communication distance of the wireless module, the speed measuring substations are installed on the beam above the roadway, and the direction of the speed measuring substations is alternately distributed when the speed measuring substations are distributed due to the direction difference between the speed measuring radar and the radio frequency card reader of the speed measuring substations, as shown in fig. 2. Because the wireless communication distance is far, a speed measuring substation is arranged at intervals to realize seamless coverage of wireless communication, and a vehicle carrying the vehicle-mounted speed measuring terminal can establish uninterrupted data connection with the speed measuring substation with a relatively close distance through the wireless module even if the vehicle is not in the speed measuring range of the speed measuring substation currently.
The vehicle-mounted speed measuring terminal packages and sends the calculated instantaneous vehicle speed and the calculated vehicle ID number to a speed measuring substation every 1 second, the speed measuring substation is connected to the underground ring network through an optical fiber or a network cable, and the speed measuring substation uploads the vehicle ID number and the vehicle speed data to a server for various vehicle overspeed early warning and monitoring applications.
2. When the vehicle is stationary, the vehicle-mounted end MCU judges that the vehicle is in a stationary state now because the acceleration data measured by the acceleration sensor is continuously lower than a certain lower threshold value, and the vehicle-mounted end MCU corrects the current vehicle speed to 0. In the running process of the vehicle, the human cannot control the speed of the vehicle to be completely unchanged due to jolt up and down, so that the condition that the acceleration is 0 when the vehicle runs is avoided.
3. When the acceleration data is not 0 after the vehicle starts, the current relative speed variation is obtained by reading the acceleration data and integrating, and the current instantaneous vehicle speed is obtained by adding the relative speed variation and the instantaneous vehicle speed at the previous moment.
And calculating the vehicle speed at the next moment, namely adding the instantaneous vehicle speed obtained by the previous calculation with the relative speed variation calculated in the integration time period at the next moment to obtain the instantaneous vehicle speed at the next moment.
4. In the running process of the vehicle, the instantaneous vehicle speed errors calculated through the acceleration integral are accumulated continuously, when the vehicle runs in the radar speed measuring range of the speed measuring substation and the card reader card reading range, the speed measuring substation reads the vehicle speed and the vehicle ID number, and the speed is returned to the vehicle-mounted speed measuring terminal on the ID number vehicle and used for correcting the accumulated error of the vehicle-mounted speed measuring terminal speed, and after the vehicle-mounted speed measuring terminal receives the returned speed, the speed is taken as the instantaneous vehicle speed at the last moment, so that the accumulated error is eliminated.
The vehicle speed measuring terminal corrects the vehicle speed once through one speed measuring substation or once stopping, so that the vehicle speed accumulation error is continuously eliminated.
5. In order to avoid error correction caused by the fact that the speed measuring substation sends the speed of the current vehicle to other vehicles, the application designs a strict vehicle ID number and speed matching mechanism. The passive RFID electronic tag is stuck on the front surface of the metal shell, and the metal shell can shield rear signals, so that the passive RFID electronic tag can only be read by a radio frequency card reader from the front, as shown in fig. 1. The speed measuring radar is also arranged to identify only the speed of an oncoming vehicle, and the speed of a far-going vehicle is discarded, while the speed of the vehicle with the strongest echo signal (the strongest echo speed, representing the vehicle closest to it) is identified in fig. 3.
Firstly, the range of the passive RFID electronic tag read by a radio frequency reader is limited, the distance is furthest but not more than 30 meters even if the antenna with the maximum power is selected, the radio frequency reader is adjusted to only read a single vehicle within the range of 5-10 meters by selecting proper antenna gain and transmitting power, the speed measuring range of the speed measuring radar is also adjusted to be within the range of 5-20 meters, and the speed of the vehicle with the strongest echo signal is set to be read, so that the speed measuring radar measures the speed of the vehicle closest to the speed measuring radar.
When a single vehicle passes through the speed measuring substation, the ID number read by the radio frequency card reader of the speed measuring substation and the speed measured by the speed measuring radar of the speed measuring substation are both the passing vehicles, and the situation that the speed is erroneously matched with the ID number can not occur.
If two vehicles meet in the reading range of the speed measuring substation radio frequency card reader and the speed measuring radar, the radio frequency card reader can only read the RFID electronic tag of the oncoming vehicle; the speed measuring radar is arranged to read only the forward speed, namely only the speed of the oncoming vehicle is identified; the detected speed and ID number are all of the oncoming vehicles, and the situation that the speed and the ID number are matched incorrectly does not occur.
Because the underground roadway driving regulation requires that the underground driving is not allowed to follow, the radio frequency card reader can only read the ID number of the vehicle within the range of 5-10 meters, and the speed measuring radar measures the speed of the vehicle nearest to the vehicle, two vehicles travelling in the same direction can only match the speed of the approaching vehicle with the ID number of the approaching vehicle which is nearer to the speed measuring substation, and the situation that the speed is incorrectly matched with the ID number can not occur.
Finally, it is noted that the above-mentioned embodiments are merely for illustrating the technical solution of the present application, and that other modifications and equivalents thereof by those skilled in the art should be included in the scope of the claims of the present application without departing from the spirit and scope of the technical solution of the present application.
Claims (7)
1. The utility model provides a whole speed measurement equipment of vehicle in pit, includes on-vehicle speed measurement terminal and the substation that tests the speed, its characterized in that: the vehicle-mounted speed measuring terminal is placed in a vehicle cab and comprises a triaxial acceleration sensor, an RFID electronic tag, a wireless communication module and an MCU; the speed measuring substation is arranged on a beam at the upper part of the mine roadway and comprises a speed measuring radar, a radio frequency card reader, a wireless communication module and an MCU.
2. The underground vehicle whole-course speed measurement method based on the underground vehicle whole-course speed measurement equipment of claim 1, and is characterized by comprising the following steps:
s1, placing a vehicle-mounted speed measuring terminal on each tested vehicle, wherein the vehicle-mounted speed measuring terminal MCU reads acceleration data of a triaxial acceleration sensor in a fixed period, and the initial calculation time or the previous calculation time isThe next calculation time is +.>,For the integration time period, the MCU integrates all the acceleration data read in the time period to obtain the speed variation in the time period, the period for reading the triaxial acceleration sensor is smaller than the integration time period, and the MCU calculates the calculated speed variation and the calculated speed variationAdding the instantaneous vehicle speed at the previous calculation moment to obtain the instantaneous vehicle speed at the current calculation moment;
s2, when the vehicle is stopped, the vehicle-mounted end MCU judges that the vehicle is in a static state now because the acceleration data measured by the acceleration sensor is 0, and the vehicle-mounted end MCU corrects the current vehicle speed to 0;
s3, arranging the speed measuring substations every several hundred meters to several kilometers, wherein the arrangement distance depends on the wireless type and the communication distance of the wireless module which can be achieved in the roadway site, so that the vehicle to be measured is always in the wireless communication coverage area of at least one speed measuring substation no matter where the vehicle is located underground, the speed measuring substations are arranged on the beam above the roadway, and the speed measuring radars and the radio frequency card readers of the speed measuring substations are arranged in different directions, so that the directions of the speed measuring substations are alternately arranged when the speed measuring substations are arranged;
s4, when the vehicle passes through the speed measuring substation, the speed measuring substation MCU only obtains the vehicle speed to be the effective vehicle speed through the speed measuring radar, meanwhile, the RFID electronic tag of the vehicle-mounted speed measuring terminal is read through the radio frequency card reader, the ID number of the vehicle-mounted speed measuring terminal equipment of the vehicle is obtained, the speed data measured by the speed measuring radar is transmitted to the vehicle-mounted speed measuring terminal of the ID number through the wireless module, the electronic tag is a passive anti-metal electronic tag, the passive anti-metal electronic tag is stuck to the front face of the vehicle-mounted speed measuring terminal and faces to the front, the shell of the vehicle-mounted speed measuring terminal is made of a metal material, and the effect of shielding rear signals is achieved, so that only the RFID electronic tag can be read from the front of the RFID electronic tag, namely only the electronic tag of the vehicle can be read;
s5, when two vehicles happen to meet in the speed measuring range of the speed measuring substation, only the speed and the ID number of the vehicles are obtained, so that the situation that the speed and the ID number are not matched incorrectly does not occur, and the situation that two vehicles travelling in the same direction are simultaneously in the radar speed measuring and tag reading range does not need to be considered because the underground roadway driving prescribes that the underground driving is not allowed to follow the vehicles;
s6, the vehicle-mounted speed measuring terminal acquires own vehicle speed data from the speed measuring substations through the wireless module, updates the data to the current vehicle speed, calculates the next moment of the vehicle-mounted terminal, adds the vehicle speed data obtained from the speed measuring substations as the speed relative variation obtained by integrating the speed and the acceleration at the previous moment to obtain the current vehicle speed, and corrects the vehicle speed once when the vehicle-mounted speed measuring terminal passes through one speed measuring substation, so that the vehicle speed accumulation error calculated by the acceleration sensor is kept within the allowable range;
s7, the vehicle-mounted end and the speed measuring substation which is closer in distance are always in a connection state through the wireless communication module, speed information with the ID number of the vehicle is sent to the speed measuring substation in real time, and the speed measuring substation is connected to an underground communication network through an optical fiber or a network cable, and reports vehicle speed data to a server for overspeed early warning and monitoring of various vehicles.
3. The downhole vehicle whole-course speed measurement method according to claim 2, wherein: the specific speed change amount calculation process in the S1 is that MCU reads the acceleration data of XYZ axes respectively, does not contain gravity acceleration, integrates the acceleration of X axis in time, and obtains the change amount of speed in the integration time period in the X axis direction; similarly, the speed variation in the Y and Z directions is calculated by the same method, so that three speed variation vector values in the three-dimensional space are obtained, the three speed vector values in the XYZ direction are synthesized according to the parallelogram rule, the final speed variation in the integration time period can be obtained, and if the integration time period is set to be 1 second, the instantaneous vehicle speed which is continuously updated with the period of 1 second is obtained.
4. The downhole vehicle whole-course speed measurement method according to claim 2, wherein: the vehicle speed measured by the vehicle-mounted speed measuring terminal is obtained according to the following formulaWherein->For the vehicle speed at the previous moment +.>For the relative change value of the speed in the integration period,/->The vehicle speed at the current moment is calculated.
5. The downhole vehicle whole-course speed measurement method according to claim 2, wherein: the RFID electronic tag of the vehicle-mounted speed measuring terminal stores the unique ID number of the terminal and is used for identifying vehicles and vehicle-mounted terminals, the ID number can be a license plate number of the vehicle or a user-defined number, and the RFID electronic tag faces the running direction of the vehicles uniformly.
6. The downhole vehicle whole-course speed measurement method according to claim 2, wherein: the vehicle-mounted speed measuring terminal corrects the accumulated error of the speed measurement of the accelerometer in the following two ways, firstly, when the vehicle stops, the vehicle-mounted speed measuring terminal corrects the vehicle speed to 0; and secondly, when the vehicle passes through the speed measuring substation, the vehicle-mounted speed measuring terminal corrects the vehicle speed to a speed value returned by the speed measuring substation.
7. The downhole vehicle whole-course speed measurement method according to claim 2, wherein: the speed measuring substation communication interface is connected into the underground ring network, packages and uploads the vehicle speed uploaded by the vehicle-mounted speed measuring terminal and the ID number thereof to the upper computer, and is used for vehicle overspeed early warning and monitoring application programs.
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Application publication date: 20230822 |