CN105711521A - Vehicle state control method and vehicle state control vehicle-mounted robot - Google Patents

Detailed description of the invention

For the ease of understanding the present invention, below with reference to relevant drawings, the present invention is described more fully.Accompanying drawing gives the preferred embodiment of the present invention.But, the present invention can realize in many different forms, however it is not limited to embodiment described herein.On the contrary, the purpose providing these embodiments is to make the understanding to the disclosure more thorough comprehensively.

Unless otherwise defined, all of technology used herein is identical with the implication that the those skilled in the art belonging to the present invention are generally understood that with scientific terminology.The term used in the description of the invention herein is intended merely to the purpose describing specific embodiment, it is not intended that in the restriction present invention.Term as used herein " or/and " include the arbitrary and all of combination of one or more relevant Listed Items.

As it is shown in figure 1, be the vehicle-state control method of one embodiment of the present invention, the vehicle-state control method that the embodiment of the present application provides is preferably adapted to the professional vehicle that the transportation safeties such as the engineering trucks such as slag-soil truck, armoured van and campus car require comparison high.This vehicle-state control method includes:

S110: vehicle-state judges step.That is, obtain the data that infrared sensor gathers, described data are compared with corresponding preset value, determines vehicle-state according to result of the comparison.

In the present embodiment, infrared sensor includes lifting sensor, bare weight sensor and switch-box sensor；Vehicle-state includes lifting state, bare weight state and switch-box state.

Described vehicle-state judges step, i.e. S110, including at least one in lifting state, bare weight state and switch-box condition adjudgement.

Lifting condition adjudgement: obtain the first data of lifting sensor acquisition, described first data are described lifting sensor to headstock launches the distance of described lifting sensor that infrared ray records and headstock, described first data and the first preset value are compared, determines the lifting state of described vehicle according to result of the comparison.

Wherein in an embodiment, described lifting sensor is arranged in the mounting bracket in the one side that front end, compartment is connected with headstock.When the first data are more than the first preset value, the carriage lifting of vehicle is described, it may be determined that lifting state is carriage lifting；Otherwise, illustrate that the compartment of vehicle does not lift, it may be determined that lifting state is the non-lifting in compartment.

Bare weight condition adjudgement: obtain the second data of bare weight sensor acquisition, the distance of the described bare weight sensor that described second data are described bare weight sensor to be recorded to compartment bottom-emissive infrared ray and interior tote upper surface or bottom surface, compartment, described second data and the second preset value are compared, determines the bare weight state of described vehicle according to result of the comparison.

Wherein in an embodiment, bare weight sensor is arranged in mounting bracket.When the second data are less than the second preset value, illustrate that the compartment of vehicle is loaded with a certain amount of tote, it may be determined that the bare weight state of vehicle is loaded vehicle state；Otherwise, illustrate that compartment is not loaded with the tote of q.s, it may be determined that the bare weight state of vehicle is complete vehicle curb condition.

Switch-box condition adjudgement: obtain the 3rd data of switch-box sensor acquisition, described 3rd data are the distance of the described switch-box sensor that records of described switch-box sensor emission infrared ray and car body, described 3rd data and the 3rd preset value are compared, determines the switch-box state of described vehicle according to result of the comparison.

The switch-box state of vehicle is may determine that by obtaining the distance of switch-box sensor and car body.Car body refers to the main body or object relatively-stationary with this main body that vehicle is connected with casing.Wherein in an embodiment, vehicle is slag-soil truck, and switch-box sensor is installed in mounting bracket, and car body refers to the fluffy lid tail end in compartment of vehicle, and the 3rd data are the distance of the switch-box sensor that records of switch-box sensor emission infrared ray and the fluffy lid tail end in compartment.When the 3rd data are less than predeterminable range, illustrate that Peng Gai opens, it may be determined that switch-box state is state of unpacking；Otherwise, illustrate that Peng Gai closes, it may be determined that switch-box state is for closing box like state.

In another embodiment, vehicle is armoured van, switch-box sensor is installed on compartment afterbody, and car body refers to tote in the car door of vehicle or compartment, and the 3rd data are switch-box sensor and the distance of tote in car door or compartment that switch-box sensor launches that to compartment infrared ray records.When the 3rd data are more than predeterminable range, illustrating that car door is opened, the distance measured is switch-box sensor and the distance of tote in compartment, it may be determined that switch-box state is state of unpacking；Otherwise, illustrating that car door is to close, the distance measured is the distance of switch-box sensor and car door, it may be determined that switch-box state is for closing box like state.

S130: vehicle-state appraises and decides step.That is, obtain ECU real time data, determine the effectiveness of described vehicle-state according to described ECU real time data.

Judge vehicle-state according to ECU real time data, and the result being judged vehicle-state that the result of vehicle-state and vehicle-state judge that step judges by ECU real time data is compared, it is determined whether one shows the effectiveness determining vehicle-state.

S150: vehicle-state rate-determining steps.That is, appraise and decide, according to described vehicle-state, the validity result determined in step and send the corresponding control instruction limiting described vehicle-state.Described control instruction includes instruction with described bare weight state corresponding instruction with the described switch-box state corresponding instruction that limit switch for vehicle case operation that limit vehicle traveling that limit vehicle lifting corresponding with described lifting state.Wherein, the instruction that limit vehicle traveling corresponding with bare weight state can be, when vehicle-state is loaded vehicle state, show the travel speed etc. of vehicle.So, it is ensured that when slag-soil truck loads dregs, it is to avoid travel speed is too fast.

Preferably, step S150: vehicle-state rate-determining steps specifically includes:

S1501 (not shown), obtains vehicle location；

S1502 (not shown), appraises and decides, according to described vehicle-state, the validity result determined in step and described vehicle location sends the corresponding control instruction limiting described vehicle-state.

Bare weight condition adjudgement for slag-soil truck, when being loaded vehicle state for vehicle-state, in corresponding vehicle-state rate-determining steps, can determine whether whether vehicle exercises on the enforcement route of regulation by obtaining vehicle location, it is to avoid affect city look and feel or some shipping company deliberately detours to increase operating cost.Switch-box condition adjudgement for armoured van, when being switch-box closed mode for vehicle-state, can determine whether whether armoured van travels on the driving path of regulation by obtaining vehicle location, and the vehicle location of armoured van is only when default position, the switch-box state that could control vehicle is unpacking, ensure the safety of armoured van, switch-box condition adjudgement for campus car, campus car whether form on the travel route of regulation can be determined whether by obtaining vehicle location, and the vehicle location of campus car is only when default position, the switch-box state that could control vehicle is unpacking.

Including vehicle-state, above-mentioned vehicle-state control method, judges that step, vehicle-state appraise and decide step and vehicle-state rate-determining steps.The data of infrared sensor collection can be compared with corresponding preset value, vehicle-state is determined according to result of the comparison, and the effectiveness of described vehicle-state is determined according to described ECU real time data, finally, appraise and decide the validity result determined in step according to vehicle-state and send the corresponding control instruction limiting described vehicle-state.So, it is possible to effectively determine vehicle-state, it is to avoid cheating situation, and according to actual vehicle-state, send the corresponding control instruction limiting vehicle-state, reach the effective management to vehicle.

Preferably, step S130: after vehicle-state appraises and decides step, including:

S140 (not shown), appraises and decides, according to described vehicle-state, the validity result determined in step and sends the corresponding display control instruction showing described vehicle-state；

S142 (not shown), shows described vehicle-state according to described display control instruction.

So, it is possible to enable more people to supervise the operation of vehicle, it is thus understood that the state of vehicle.

Concrete, show that described vehicle-state can be directly displayed by mode word, or shown by the different illuminating states of light.Such as, it is complete vehicle curb condition or loaded vehicle state at LED captions screen display slag-soil truck, shows dregs parking stall complete vehicle curb condition or loaded vehicle state as by installing warning lamp with certain frequency flicker.

Wherein in an embodiment, described vehicle-state judges step, i.e. S110, specifically includes bare weight condition adjudgement.

Described vehicle-state appraises and decides step, i.e. S130, specifically includes:

S131 (not shown): obtaining the ECU real time data gathered, described real time data includes at least one in oil consumption, rotating speed, tire pressure, moment of torsion and speed.

During due to complete vehicle curb condition and loaded vehicle state, the real time data that ECU gathers is different, therefore, it can whether determine in preset range the effectiveness of bare weight state according to real time data.

S133 (not shown): described real time data and preset range are carried out contrast and determines that described vehicle is complete vehicle curb condition or loaded vehicle state, determine the effectiveness of described bare weight state according to described complete vehicle curb condition or loaded vehicle state.

As, oil consumption when oil consumption is significantly lower than loaded vehicle state during complete vehicle curb condition, therefore, it can according to the ECU oil consumption gathered, if in preset range, it is determined that the effectiveness of bare weight state.Specifically, wherein in an enforcement, the oil consumption of complete vehicle curb condition is 0.6 liter every kilometer, and its preset range can be not higher than 0.7 liter every kilometer.

Wherein in an enforcement, described vehicle-state judges step, i.e. S110, also includes switch-box condition adjudgement；

Described vehicle-state rate-determining steps, i.e. S150, including:

Effectiveness according to described bare weight state, described switch-box state and described bare weight state, it is determined that the scope of the travel speed of described vehicle.

Such as, when vehicle is slag-soil truck, if the bare weight state of vehicle is loaded vehicle state effectively, and switch-box state is state of unpacking, for ensureing that dregs in the car compartment that flies out because speed is too fast affect city look and feel, vehicle can only idling traveling, namely its travel speed is low.If loaded vehicle need to normally travel, first switch-box state to be adjusted to closed mode.

Wherein in an embodiment, described vehicle-state also includes before judging step:

Infrared sensor adopts unique mark of described infrared sensor that described data are encrypted.

Described vehicle-state judges step, also includes:

Described data are decrypted by the unique mark according to described infrared sensor, it is determined that the effectiveness of described data.

So, it is possible to promote the effectiveness of vehicle-state judged result further.

Specifically, wherein in an embodiment, described vehicle-state also includes before judging step:

Described second data are encrypted by the unique mark adopting described bare weight sensor.

Described vehicle-state judges step, also includes:

According to described unique mark, described second data of encryption are decrypted, it is determined that the effectiveness of described second data.

Owing to bare weight condition adjudgement is the object of main cheating, therefore, in the present embodiment, only for bare weight condition adjudgement needing the second data used carry out encryption and decryption, to promote the effectiveness of vehicle-state judged result.

Refer to Fig. 2, wherein in an embodiment, further comprise the steps of:

S170: obtain the restriction operation rules in described vehicle time and/or place.

Restriction operation rules can be sometime and/or a certain place forbid lifting or forbid unpack operation.

S175: obtain the current location of current time and/or vehicle, and according to described current time and/or described current location and described restriction operation rules, send restriction operational order.

So, it is ensured that slag-soil truck is forbidden lifting in time and/or the place of regulation or forbids operation of unpacking, in order to avoid affecting city look and feel.Or, it is ensured that armoured van time beyond stipulated time and/or place and/or place forbid carrying out operation of unpacking, it is ensured that the safety of armoured van.

Please continue to refer to Fig. 2, wherein in an embodiment, described vehicle-state judges step, i.e. S110, further comprises the steps of: before

S120: obtain the finger print information of driver, and contrast according to described finger print information and preset fingerprint information, determine whether to forbid ignition operation according to comparing result.

So, it is ensured that illegal drivers, it is impossible to drive vehicle, to guarantee the safety of vehicle.

Wherein in an embodiment, described vehicle-state judges step, i.e. S110, further comprises the steps of: before

S125: the unique mark according to infrared sensor, is scanned determining whether there is abnormal conditions to described infrared sensor, and according to scanning result, it is determined whether forbid ignition operation.

So, it is to avoid the judgement of vehicle-state is practised fraud by driver by infrared sensor, some control instructions are evaded；In this way, it is possible to avoid the situation that driver practises fraud further.

Wherein in an embodiment, described vehicle-state also includes after appraising and deciding step:

Vehicle-state step display: when the effectiveness of described vehicle-state is effective, by described vehicle-state by being shown on the display screen being arranged on car body.So so that it is its pedestrian or driver all can supervise whether vehicle travels in violation of rules and regulations.

As shown in Figure 3, vehicle-state for one embodiment of the present invention controls on-vehicle machines people, and the vehicle-state that the embodiment of the present application provides controls system and is preferably adapted to the professional vehicle that the transportation safeties such as the engineering trucks such as slag-soil truck, armoured van and campus car require comparison high.This vehicle-state controls system and includes:

Described data, for obtaining the data that infrared sensor gathers, are compared with corresponding preset value, determine vehicle-state according to result of the comparison by vehicle-state judge module 110.

In the present embodiment, infrared sensor includes lifting sensor, bare weight sensor and switch-box sensor；Vehicle-state includes lifting state, bare weight state and switch-box state.

Described vehicle-state judge module 110 includes at least one in lifting condition adjudgement unit, bare weight condition adjudgement unit and switch-box condition adjudgement unit.

Lifting condition adjudgement unit, for obtaining the first data of lifting sensor acquisition, described first data are described lifting sensor to headstock launches the distance of described lifting sensor that infrared ray records and headstock, described first data and the first preset value are compared, determines the lifting state of described vehicle according to result of the comparison.

Wherein in an embodiment, described lifting sensor is arranged in the mounting bracket in the one side that front end, compartment is connected with headstock.When the first data are more than the first preset value, the carriage lifting of vehicle is described, it may be determined that lifting state is carriage lifting；Otherwise, illustrate that the compartment of vehicle does not lift, it may be determined that lifting state is the non-lifting in compartment.

Bare weight condition adjudgement unit, for obtaining the second data of bare weight sensor acquisition, the distance of the described bare weight sensor that described second data are described bare weight sensor to be recorded to compartment bottom-emissive infrared ray and interior tote upper surface or bottom surface, compartment, described second data and the second preset value are compared, determines the bare weight state of described vehicle according to result of the comparison.

Wherein in an embodiment, bare weight sensor is arranged in mounting bracket.When the second data are less than the second preset value, illustrate that the compartment of vehicle is loaded with a certain amount of tote, it may be determined that the bare weight state of vehicle is loaded vehicle state；Otherwise, illustrate that compartment is not loaded with the tote of q.s, it may be determined that the bare weight state of vehicle is complete vehicle curb condition.

Switch-box condition adjudgement unit, for obtaining the 3rd data of switch-box sensor acquisition, described 3rd data are the distance of the described switch-box sensor that records of described switch-box sensor emission infrared ray and car body, described 3rd data and the 3rd preset value are compared, determines the switch-box state of described vehicle according to result of the comparison.

The switch-box state of vehicle is may determine that by obtaining the distance of switch-box sensor and car body.Car body refers to the main body or object relatively-stationary with this main body that vehicle is connected with casing.Wherein in an embodiment, vehicle is slag-soil truck, and switch-box sensor is installed in mounting bracket, and car body refers to the fluffy lid tail end in compartment of vehicle, and the 3rd data are the distance of the switch-box sensor that records of switch-box sensor emission infrared ray and the fluffy lid tail end in compartment.When the 3rd data are less than predeterminable range, illustrate that Peng Gai opens, it may be determined that switch-box state is state of unpacking；Otherwise, illustrate that Peng Gai closes, it may be determined that switch-box state is for closing box like state.

In another embodiment, vehicle is armoured van, switch-box sensor is installed on compartment afterbody, and car body refers to tote in the car door of vehicle or compartment, and the 3rd data are switch-box sensor and the distance of tote in car door or compartment that switch-box sensor launches that to compartment infrared ray records.When the 3rd data are more than predeterminable range, illustrating that car door is opened, the distance measured is switch-box sensor and the distance of tote in compartment, it may be determined that switch-box state is state of unpacking；Otherwise, illustrating that car door is to close, the distance measured is the distance of switch-box sensor and car door, it may be determined that switch-box state is for closing box like state.

Vehicle-state appraises and decides module 130, is used for obtaining ECU real time data, determines the effectiveness of described vehicle-state according to described ECU real time data.

Judge vehicle-state according to ECU real time data, and the result being judged vehicle-state that the result of vehicle-state and vehicle-state judge that step judges by ECU real time data is compared, it is determined whether one shows the effectiveness determining vehicle-state.

Vehicle-state controls module 150, sends the corresponding control instruction limiting described vehicle-state for appraising and deciding, according to described vehicle-state, the validity result that module determines.Described control instruction includes instruction with described bare weight state corresponding instruction with the described switch-box state corresponding instruction that limit switch for vehicle case operation that limit vehicle traveling that limit vehicle lifting corresponding with described lifting state.

Wherein, the instruction that limit vehicle traveling corresponding with bare weight state can be, when vehicle-state is loaded vehicle state, show the travel speed etc. of vehicle.So, it is ensured that when slag-soil truck loads dregs, it is to avoid travel speed is too fast.

Preferably, vehicle-state control module 150 specifically includes:

Position acquisition unit 1501 (not shown), is used for obtaining vehicle location；

Status unit 1502 (not shown), for appraising and deciding, according to described vehicle-state, validity result that module 130 determines and described vehicle location sends the corresponding control instruction limiting described vehicle-state.

Bare weight condition adjudgement for slag-soil truck, when being loaded vehicle state for vehicle-state, in corresponding vehicle-state rate-determining steps, can determine whether whether vehicle exercises on the enforcement route of regulation by obtaining vehicle location, it is to avoid affect city look and feel or some shipping company deliberately detours to increase operating cost.Switch-box condition adjudgement for armoured van, when being switch-box closed mode for vehicle-state, can determine whether whether armoured van travels on the driving path of regulation by obtaining vehicle location, and the vehicle location of armoured van is only when default position, the switch-box state that could control vehicle is unpacking, ensure the safety of armoured van, switch-box condition adjudgement for campus car, campus car whether form on the travel route of regulation can be determined whether by obtaining vehicle location, and the vehicle location of campus car is only when default position, the switch-box state that could control vehicle is unpacking.

Above-mentioned vehicle-state controls on-vehicle machines people, and including vehicle-state judge module 110, vehicle-state appraises and decides module 130, and vehicle-state controls module 150.The data of infrared sensor collection can be compared by vehicle-state judge module 110 with corresponding preset value, determines vehicle-state according to result of the comparison；And vehicle-state appraises and decides module 130 and determines the effectiveness of described vehicle-state according to described ECU real time data；Finally, vehicle-state controls module 150 and appraises and decides, according to vehicle-state, the validity result that module 130 determines and send the corresponding control instruction limiting described vehicle-state.So, it is possible to effectively determine vehicle-state, it is to avoid cheating situation, and according to actual vehicle-state, send the corresponding control instruction limiting vehicle-state, reach the effective management to vehicle.

Preferably, also include:

Display control sends module, for 140 (not shown), sends the corresponding display control instruction showing described vehicle-state for appraising and deciding, according to described vehicle-state, the validity result that module 130 determines；

Vehicle-state display module 142 (not shown), for showing described vehicle-state according to described display control instruction.

So, it is possible to enable more people to supervise the operation of vehicle, it is thus understood that the state of vehicle.

Concrete, show that described vehicle-state can be directly displayed by mode word, or shown by the different illuminating states of light.Such as, it is complete vehicle curb condition or loaded vehicle state at LED captions screen display slag-soil truck, shows dregs parking stall complete vehicle curb condition or loaded vehicle state as by installing warning lamp with certain frequency flicker.

Wherein in an embodiment, described vehicle-state judge module 110, specifically include bare weight condition adjudgement unit.

Described vehicle-state appraises and decides module 130, specifically includes:

Real time data acquisition unit 131 (not shown), for obtaining the ECU real time data gathered, described real time data includes at least one in oil consumption, rotating speed, tire pressure, moment of torsion and speed.

During due to complete vehicle curb condition and loaded vehicle state, the real time data that ECU gathers is different, therefore, it can whether determine in preset range the effectiveness of bare weight state according to real time data.

Vehicle-state appraises and decides unit 133 (not shown), for described real time data and preset range being contrasted, it is determined that the effectiveness of described bare weight state.

As, oil consumption when oil consumption is significantly lower than loaded vehicle state during complete vehicle curb condition, therefore, it can according to the ECU oil consumption gathered, if in preset range, it is determined that the effectiveness of bare weight state.Specifically, wherein in an enforcement, the oil consumption of complete vehicle curb condition is 0.6 liter every kilometer, and its preset range can be not higher than 0.7 liter every kilometer.

Wherein in an enforcement, described vehicle-state judge module 110, also include switch-box condition adjudgement unit；

Described vehicle-state controls module 150, including:

Travel speed determines unit, for the effectiveness according to described bare weight state, described switch-box state and described bare weight state, it is determined that the scope of the travel speed of described vehicle.

Such as, when vehicle is slag-soil truck, if the bare weight state of vehicle is loaded vehicle state effectively, and switch-box state is state of unpacking, for ensureing that dregs in the car compartment that flies out because speed is too fast affect city look and feel, vehicle can only idling traveling, namely its travel speed is low.If loaded vehicle need to normally travel, first switch-box state to be adjusted to closed mode.

Wherein in an embodiment, infrared sensor includes:

Data encryption module, for adopting unique mark of described infrared sensor that described data are encrypted.

Described vehicle-state judge module, also includes:

Described data are decrypted, it is determined that the effectiveness of described data by data decryption unit for the unique mark according to described infrared sensor.

So, it is possible to promote the effectiveness of vehicle-state judged result further.

Specifically, wherein in an embodiment, infrared sensor includes:

Data encryption module, for adopting unique mark of described bare weight sensor that described second data are encrypted.

Described vehicle-state judge module, also includes:

Data decryption unit, for being decrypted described second data of encryption according to described unique mark, it is determined that the effectiveness of described second data.

Owing to bare weight condition adjudgement is the object of main cheating, therefore, in the present embodiment, only for bare weight condition adjudgement needing the second data used carry out encryption and decryption, to promote the effectiveness of vehicle-state judged result.

Refer to Fig. 4, wherein in an embodiment, also include:

Restriction rule acquisition module 170, for obtaining the restriction operation rules in described vehicle time and/or place.

Restriction operation rules can be sometime and/or a certain place forbid lifting or forbid unpack operation.

Restriction order sending module 175, for obtaining the current location of current time and/or vehicle, and according to described current time and/or described current location and described restriction operation rules, sends restriction operational order.

So, it is ensured that slag-soil truck is forbidden lifting in time and/or the place of regulation or forbids operation of unpacking, in order to avoid affecting city look and feel.Or, it is ensured that armoured van time beyond stipulated time and/or place and/or place forbid carrying out operation of unpacking, it is ensured that the safety of armoured van.

Please continue to refer to Fig. 4, wherein in an embodiment, also include:

First forbids ignition module 120, for obtaining the finger print information of driver, and contrasts according to described finger print information and preset fingerprint information, determines whether to forbid ignition operation according to comparing result.

So, it is ensured that illegal drivers, it is impossible to drive vehicle, to guarantee the safety of vehicle.

Wherein in an embodiment, also include:

Second forbids ignition module 125, for the unique mark according to infrared sensor, is scanned determining whether there is abnormal conditions to described infrared sensor, and according to scanning result, it is determined whether forbid ignition operation.

So, it is to avoid the judgement of vehicle-state is practised fraud by driver by infrared sensor, some control instructions are evaded；In this way, it is possible to avoid the situation that driver practises fraud further.

Wherein in an embodiment, also include:

Vehicle-state display module, for when the effectiveness of described vehicle-state is effective, by described vehicle-state by being shown on the display screen being arranged on car body.So so that it is its pedestrian or driver all can supervise whether vehicle travels in violation of rules and regulations.

Above example only have expressed the several embodiments of the present invention, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that, for the person of ordinary skill of the art, without departing from the inventive concept of the premise, it is also possible to making multiple deformation and improvement, these broadly fall into protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.