TWI794820B - Road safety monitoring system with rotation-vibration assistant and ground surface positioning device - Google Patents

Abstract

A road safety monitoring system with a rotation-vibration auxiliary device and a ground surface positioning device is used for monitoring public facilities on the road network. Positioning device for location and real-time location information; vibration measurement device for outputting vibration information; rotation measurement device for outputting rotation information; receiving rotation information, vibration information and real-time location information, combining and outputting measurement information, and correcting to obtain the actual position Processing device; wireless communication device for transmitting measurement information and actual position; and remote servo center and its central control device, comparing the earth position in the measurement information with the past measurement information in the data storage device to determine the above There is no abnormal vibration in the position.

Description

Road Safety Monitoring System with Rotation-Vibration Auxiliary and Surface Positioning Device

The invention relates to a road safety monitoring system, in particular to a monitoring system for monitoring safety by using land transport equipment passing the road, and the land transport equipment used in the system.

The road system has been the necessary infrastructure for the development of human civilization since ancient times. A perfect road system can promote the exchange of culture, goods and funds among the public. Even economic analysis will include the construction of the road system as a factor in economic growth. One of the factors, its importance to human society is self-evident, and various facilities in the road system will experience natural aging or natural disaster damage over time, and must be regularly inspected and even repaired to ensure their safety.

Among them, the problem of bridges is the most complex and important. Whether it is a road bridge or a railway bridge, because the erection height exceeds the road or water surface, on the one hand, it will vibrate at various frequencies due to the passage of vehicles when it is normally used; on the other hand, the bridge itself Due to factors such as material structure and construction methods, it has a unique range of resonance frequency. Even the wind blowing in the direction of shear force can cause the bridge to vibrate or vibrate due to its resonance frequency. Once the instantaneous stress on the bridge exceeds its tolerance capacity, it will be damaged or even broken suddenly, often causing people and vehicles to fall, damage and casualties, and most bridges have no spare parts for replacement, once an accident occurs, traffic will be interrupted , so bridge maintenance has become the most important part of road system maintenance.

As shown in Figure 10, modern bridge maintenance has gradually begun to pay attention to the prevention and control of vibration damage to bridges. For old bridges 80 will be installed at important positions such as the bridge deck 82 and bridge pier 84 The vibration sensor 81 first measures the characteristic vibration frequency value of the bridge 80 at the above-mentioned bridge as a basis for judgment, and monitors the vibration frequency in real time to perform structural reinforcement or renewal when necessary. However, the vibration sensor itself also has problems with its service life, and sometimes it is accidentally damaged; and not only the vibration sensor itself will have problems, but once the matching signal transmission system is damaged and disconnected, it will also hinder the transmission of the sensing signal , To update or repair, it is necessary to dispatch manpower to the scene in order to confirm the crux of the problem on the spot and deal with it.

On the one hand, the location of the bridge itself may be in the wilderness, causing traffic inconvenience. On the other hand, the installation location of the vibration sensor may also cause construction troubles in dangerous places where it is difficult to climb and stand on the bridge. Professional technicians with high-altitude work licenses perform installation, repair and daily maintenance, which not only increases the burden on personnel, but also makes it difficult to regularly check, maintain or update the vibration sensor, which will further lead to laziness and negligence of the maintenance unit. The Nanfangao Cross-Hong Kong Bridge in Yilan broke and caused more than ten casualties. It was caused by the corrosion of the 13 steel cables and anchorage devices that pulled the bridge deck, and the failure of the proper monitoring process.

In addition, the design of new bridges will include the installation of vibration sensors and reserved signal transmission lines. Although it can make regular maintenance of vibration sensors more convenient, it is still necessary to set up corresponding vibration monitoring equipment for each bridge. Taking the railway network 9 in Fig. 11 as an example, there are a large number of bridges 90 and the positions to be monitored are quite different due to differences in terrain constraints, geological conditions, and construction ages. It is necessary to ensure normality at any time, whether the sleepers are reliable, whether the roadbed is firm, etc., so not only the number of vibration sensors 91 used is very large, but also the follow-up maintenance work also requires a large number of professionally trained and licensed technicians to perform maintenance. The cost remains high and cannot be improved.

In addition, the track length of the railway is often hundreds or even thousands of kilometers. The United States, for example, has a total length of 240,000 kilometers of railway track in commercial transfers. The railway passes through various terrain and climate regions, which often leads to problems such as loss of roadbed, decay of sleepers, and loose track nails, which endanger driving safety. At present, the railway itself Most of the maintenance of the railway system relies on a large number of railway workers to patrol on foot or patrol cars at a slow speed. Not only is the personnel cost too high, but also lacks efficiency, especially the lack of quantitative monitoring data. Therefore, the monitoring and maintenance of the railway system is of great importance to operators. Always a big deal.

Many developed countries have generally experienced economic stagnation or even recession for more than ten years. There are a large number of old railway roads and bridges in these countries due to lack of funds and neglect of maintenance and monitoring. For example, in 2018, Genova, Italy Provincial highway bridges collapsed due to heavy rain, and many bridges in the United States, such as the Golden Gate Bridge in San Francisco, were completed in 1937, the Brooklyn Bridge in New York was built in 1869, and the St. Louis Bridge on the Mississippi River was completed in 1874. It was included in the safety watch list in 2000, and there is no reconstruction plan so far.

As for developing countries or undeveloped countries, due to the lack of professional technology and funds, even the construction of road systems is difficult to maintain and monitor. Therefore, all countries in the world urgently need a road safety monitoring system that is cheap, easy to maintain and maintain. . Therefore, the above-mentioned various shortcomings of the prior art and the urgent demand in the current market are exactly one of the problems to be solved by the present invention.

However, whether it is a bridge or a railroad track, if you only try to use the vehicle or carriage to carry GPS as a tool for locating abnormal vibrations, since the update frequency of the GPS signal is fixed, once the speed of the vehicle becomes faster and faster, the error range of its GPS positioning will also increase. Large, resulting in the final location of the abnormal place, it still takes a lot of time and manpower to confirm. In addition, the error of the GPS positioning signal may also cause the monitoring personnel to misjudge two or more nearby abnormal vibrations as a single abnormal point, causing safety concerns. In order to cope with long-distance road and railway systems, in addition to the above-mentioned vehicles equipped with GPS, There must be a method for further reducing the error range, which is also the problem to be solved by the present invention.

One purpose of the present invention is to provide a road safety monitoring system which can continuously monitor the vibration information of the road, so as to detect the deterioration of road facilities in advance and repair them in advance, so as to avoid casualties and financial losses caused by accidents.

Another object of the present invention is to provide an off-site road safety monitoring system, which is easy to maintain and greatly saves labor cost and reduces the risk of work safety.

Another object of the present invention is to provide an off-site road safety monitoring system, which can complete the monitoring by passing the ground transportation equipment, so that the reliability of road safety monitoring can be improved.

Another object of the present invention is to provide a road safety monitoring system for land transport equipment, by means of the vibration sensor on the land transport equipment, the vibration information of the land transport equipment itself and the road system can be measured synchronously, greatly reducing the road safety monitoring system. Hardware costs to ensure road safety.

Yet another object of the present invention is to provide a rotation-vibration assist device and corresponding processing device or central control device, in addition to GPS positioning signals, to further narrow the error range, improve positioning accuracy, and reduce monitoring and maintenance costs.

In order to achieve the above purpose, the present invention discloses a road safety monitoring system with a rotation-vibration assist device and a surface positioning device, which is suitable for the safety monitoring of public facilities on at least one earth-wide road network, wherein the above-mentioned earth-wide road network is configured with a plurality of The moving route with known exact coordinates, the positions of multiple targets with known exact coordinates and the corresponding global positioning system, including: a plurality of land transport vehicles, respectively including: a ground transport machine body, at least partially moving along the above moving route; at least A transmission device, and the transmission device includes at least one rotating shaft, the aforementioned rotating shaft The rotation is directly related to the above-mentioned movement; a positioning device is used to output the earth position of the above-mentioned land transport implement body and the real-time position information of the measurement time according to at least one external positioning signal provided by the above-mentioned positioning system, and output the above-mentioned land transport implement body through The earth position and measurement time of the above-mentioned object position are respectively used as a reference position and a reference time; at least one rotation-vibration auxiliary device is used to measure the rotation information of the above-mentioned transmission device and the vibration information of the above-mentioned land transport equipment body, including: At least one rotation detection device for detecting the rotation speed of the above-mentioned rotating shaft, and converting the above-mentioned rotation speed into a rotation information output; and at least one vibration measurement device for outputting a vibration information corresponding to the above-mentioned transmission device and the above-mentioned land transport machine body; at least one processing A device for receiving the above-mentioned rotation information, the above-mentioned vibration information and the above-mentioned real-time location information, and simultaneously outputting a measurement information corresponding to the above-mentioned real-time location information; and a wireless communication device for wirelessly transmitting the above-mentioned measurement information; and at least one remote The service center includes: at least one wireless transceiver device for receiving the above-mentioned measurement information uploaded by the above-mentioned wireless communication device; at least one data storage device for storing the above-mentioned measurement information; and at least one information link between the above-mentioned wireless transceiver device and the above-mentioned data storage device The central control device; wherein, the above-mentioned processing device and/or the above-mentioned central control device compare the above-mentioned reference position, the above-mentioned reference time, and the above-mentioned rotation information corresponding to the above-mentioned real-time position information one by one, and calculate along the above-mentioned moving route of the above-mentioned land transport equipment body Obtain an actual position calculated from the position of the above-mentioned object, and combine and output an integrated information corresponding to the above-mentioned actual position and the above-mentioned vibration information; thereby, the above-mentioned central control device compares all the information corresponding to the above-mentioned actual position in the above-mentioned data storage device Past measurement information is used to determine whether abnormal vibrations have occurred at the above actual location.

Wherein, the above-mentioned processing device and/or the above-mentioned central control device compare the above-mentioned reference position, the above-mentioned reference time, and the above-mentioned rotation information corresponding to the above-mentioned real-time position information one by one, and calculate and obtain a target from the above-mentioned object location the starting actual position, and combine and output an integrated information corresponding to the above-mentioned actual position and the above-mentioned vibration information; thereby, the above-mentioned central control device determines the above-mentioned Whether abnormal vibration occurs in the actual position.

In order to achieve the above purpose, the present invention also discloses a land transport tool for a road safety monitoring system with a rotation-vibration assist device and a surface positioning device, which is suitable for safety monitoring of public facilities on at least one earth-wide road network, wherein the aforementioned earth-wide The road network is configured with a plurality of moving routes with known exact coordinates, a plurality of target positions with known exact coordinates and corresponding global positioning systems. The aforementioned road safety monitoring system further includes at least one remote servo center, and the aforementioned remote servo The center includes at least one wireless transceiver device, at least one data storage device, and at least one central control device. The above-mentioned land transport equipment includes: a land transport equipment body, at least part of the way is to move along the above-mentioned moving route; Provide at least one external positioning signal, output the real-time position information of the earth position and measurement time of the above-mentioned ground transport equipment body, and output the earth position and measurement time of the above-mentioned land transport equipment body passing the position of the above-mentioned target object as a reference position and A reference time; at least one rotation-vibration auxiliary device for measuring the rotation information of the above-mentioned transmission device and the vibration information of the above-mentioned land transport equipment body, including: at least one rotation detection device for detecting the rotation speed of the above-mentioned rotation shaft, and the above-mentioned rotation speed converted into a rotation information output; at least one vibration measuring device is used to output a vibration information corresponding to the above-mentioned transmission device and the above-mentioned land transport implement body; and at least one processing device is used to receive the above-mentioned rotation information, the above-mentioned vibration information and the above-mentioned real-time position information, Simultaneously integrate and output a measurement information corresponding to the above-mentioned real-time position information; and a wireless communication device for wirelessly transmitting the above-mentioned measurement information through the above-mentioned wireless transceiver device for storage by the above-mentioned data storage device, and comparing the above-mentioned measurement information by the above-mentioned central control device The above-mentioned reference location, the above-mentioned reference time, and the above-mentioned transfer corresponding to the above-mentioned real-time location information in Motion information, along the above-mentioned moving route of the above-mentioned land transport equipment body, calculate and obtain an actual position from the position of the above-mentioned target object, and combine and output an integrated information corresponding to the above-mentioned actual position and the above-mentioned vibration information; thereby, the above-mentioned central control device By comparing all past measurement information corresponding to the actual position in the data storage device, it is determined whether abnormal vibration occurs in the actual position.

In the present invention, the vibration measurement device installed on the land transportation equipment and the positioning device are used to collect the real-time measurement information of the vibration status of the public facilities at each location on the specific operation route and cooperate with the speed information during the repeated operation of the same road by the land transportation equipment. Calculate the actual location of the abnormal vibration based on the location of the target object, and send it back to the cloud server center. The central processing unit calculates and processes it, and immediately finds out the actual location of the public facility where the abnormal vibration occurred, and notifies the repair and maintenance to achieve a road network. Real-time safety monitoring of public facilities, early detection of deterioration of road facilities to repair as soon as possible, because the monitoring device does not need to be installed on the road, not only reduces the cost of laying monitoring devices and subsequent maintenance costs, but also greatly improves the convenience of maintenance In particular, it can simultaneously monitor the vibration of land transport equipment itself and the vibration of road public facilities, so that the road safety monitoring system has more diversified functions.

1, 1': road safety monitoring system

2, 2': land transport equipment

20: Land transport equipment body

21': Rotation detection device

22: Positioning device

23, 23': rotating shaft

24: Rotation-vibration auxiliary device

25': Vibration measuring device

26, 26': processing device

28: Wireless communication device

3': transmission

4: Remote Servo Center

42: Wireless transceiver device

44: data storage device

46: Central control device

5, 5', 80, 90: bridge

6, 6': Target position

81, 91: Vibration sensor

82: bridge deck

84: pier

9: Railway network

R, R': moving route

P, P': position point

FIG. 1 is a schematic diagram of a first preferred embodiment of a road safety monitoring system with a rotation-vibration assist device and a ground surface positioning device according to the present invention.

FIG. 2 is a schematic block diagram of the structure of the first preferred embodiment of the road safety monitoring system with the rotation-vibration assist device and the ground surface positioning device of the present invention.

FIG. 3 is a schematic diagram of vibration measurement performed by the first preferred embodiment of the road safety monitoring system with a rotation-vibration assist device and a ground surface positioning device according to the present invention.

Fig. 4 is a schematic diagram of the rotation speed waveform of the rotating equipment according to the first preferred embodiment of the present invention.

Fig. 5 is a schematic diagram of the vibration fundamental frequency band of the rotating equipment according to the first preferred embodiment of the present invention.

Fig. 6 is a schematic diagram of the moving route of the first preferred embodiment of the present invention.

Fig. 7 is a schematic diagram of the movement route of the second preferred embodiment of the present invention.

FIG. 8 is a schematic diagram of vibration measurement in the second preferred embodiment of the present invention.

Fig. 9 is a schematic diagram of the transmission device of the second preferred embodiment of the present invention.

FIG. 10 is a schematic diagram of prior art bridges equipped with vibration sensors.

FIG. 11 is a schematic diagram of installing vibration sensors on a railway network in the prior art.

The aforementioned and other technical contents, features and effects of the present invention will be clearly presented in the following detailed description of the preferred embodiments with reference to the drawings; in addition, in each embodiment, the same elements will be similar The label indicates.

Since the road safety monitoring of the present invention must be able to accurately report the location of the public security risk on the road, according to the current technology, it is based on the road network that can be calibrated on the earth's surface or under the earth's surface. As shown in Figures 1 to 6, in the first embodiment, the railway transportation network equipped with a global positioning system is taken as an example, wherein the above-mentioned railway transportation network has a plurality of tracks with known exact coordinates as the movement of the train The route R, and a plurality of object positions 6 whose exact coordinates are known are illustrated as various stops. Although the global positioning system in this example is the US Global Positioning System (Global Positioning System, GPS), it may also be the Beidou Satellite Navigation System (BDS), the Russian GLONASS, or the EU GALILEO system. Since the operating route of the railway transportation network must run along a fixed track, the moving route R and the stop station of the train are known. car, Passenger and cargo transportation is carried out according to the scheduled timetable. The road safety monitoring system 1 includes a locomotive and three passenger carriages, a total of four land transport machines 2, which are illustrated as a railway train, and a remote system, which is illustrated as a traffic control headquarters server. End servo center 4; the vehicle body of each land transport implement 2 is called land transport implement body 20, wherein the electric motor of above-mentioned land transport implement body 20 has the rotor of output, the speed reducer has a plurality of reduction gears, transmission shaft and wheel all have rotating shaft, Therefore, electric motor, speed reducer, transmission shaft and each wheel are all defined as a transmission device here, and each transmission device has at least one rotating shaft 23, so that the train in this example includes a plurality of transmission devices and a plurality of Rotary shaft 23, and above-mentioned ground transport tool body 20 is respectively provided with a positioning device 22 that is interpreted as a GPS receiver, and two rotation-vibration auxiliary devices that are respectively installed on the ground transport tool body 20 examples that are interpreted as front and rear wheel shafts. 24, including a vibration measuring device such as a micro-electromechanical displacement meter and a rotation detection device such as a Hall effect sensor, and a processing device 26 such as a microprocessor and a processing device 26 such as a microprocessor are arranged in each compartment. The wireless communication device 28 is a 4G wireless network card, wherein the processing device 26 is electrically connected to each rotation-vibration assistant 24 to receive the output rotation information and vibration information.

During the operation of the train on the railway, the positioning device 22 on each land transport implement body 20 will serve as an external positioning signal based on the navigation information provided by the GPS satellite system, and output it to the processing device 26; the rotation detection device will detect the rotation of the rotating shaft 23 in real time situation, and output the rotation information to the processing device 26 in real time; the vibration measurement device will also detect the vibration situation of the land transport implement body 20 in real time, and output the vibration information including the vibration frequency amplitude and phase to the processing device 26 in real time; the processing device 26 receives The real-time position information including the earth position and the measurement time of the above-mentioned ground transport equipment body 20 is also received synchronously with the above-mentioned rotation information and vibration information, and then the rotation information, vibration information and real-time position information are integrated to output a corresponding to the above-mentioned real-time position measurement information; It is uploaded to the remote server center 4 by the wireless communication device 28 . That is, the locomotive head will first arrive at a certain point at the first time, and send back a set of measurement information including rotation information, vibration information and real-time position information, and then the second car passes the same fixed point at the second time, and sends back a set of measurement information including rotation information, vibration information and real-time position information. The second piece of measurement information, the third time is when the next train passes through the same fixed point, and the third piece of measurement information is returned; therefore, each train passing through all the fixed points can return a large amount of measurement information.

Because the electric motor in this example is driven by a digital drive signal as shown in Figure 4, even if macroscopically speaking, the command motor follows a sinusoidal drive signal to run at a speed of 2000 revolutions per minute, but under microscopic inspection, the drive signal The rotation speed change of the rotating shaft 23 is not a continuous linear curve, but is spliced by a saw-toothed square wave, so that the actual drive signal and rotation speed actually drift between, for example, 1995 to 2005 rotations; further when the power is output When reaching the reduction gear set, the rotational speed drops again to increase the torque, and the jitter of the reduction gear set will be more complicated; when the power is transmitted to the transmission shaft, the rotational speed and vibration will add more variables.

In this example, the processing device 26 first converts the above-mentioned rotation speed into rotation information including angular velocity and angular frequency, and then conducts frequency spectrum analysis on the rotation information to obtain a composite frequency curve in the full frequency domain, and for example, the known frequency of the above-mentioned motor is 2000 revolutions per minute, then according to at least one continuous frequency range of the above-mentioned frequency curve, such as from 1990 to 2010 revolutions per minute, as the vibration fundamental frequency band of the aforementioned motor; relatively, the reduction gear set and the rotating shaft 23 also have their own Because the frequency ranges of the three are different, even if one of the vibration sources is the closest to the vibration measurement device, or is the most obvious in the measured data because of the largest amplitude, but because the three are respectively divided by different frequencies With window filtering, as shown in Figure 5, by performing respective filtering operations on all the vibration information, it is possible to select part of the components corresponding to the vibration fundamental frequency bands of each transmission device from the complete vibration information, and generate the corresponding transmission components. The measurement information of the device and output. due to this It does not need to rely on the remote server center 4, so it is defined as a kind of pre-processing for the calculation and processing of the adjacent device side. After this kind of filtering and screening, the amount of data sent after uploading can be greatly reduced.

In order to make up for the error of the GPS signal under high-speed movement, in addition to outputting the measurement information corresponding to the above-mentioned real-time position information, whenever the ground transport equipment body 20 passes the position of the target, such as each stop station explained in the example, the earth position output by the positioning device 22 The real-time location information of position and measurement time will be recorded as a reference position and a reference time respectively, so that whenever the train passes the next target position 6, the earth position and measurement time of the land transport implement body 20 The above reference position and reference time will be updated respectively. Then, the reference position and reference time of the target position 6 will be output to the processing device 26 together with the measurement information corresponding to the real-time position information for the following calculation.

Assuming that the land transport machine body 20 passes through a certain position point P on the above-mentioned moving route R at this moment, the above-mentioned processing device 26 will compare the above-mentioned reference position, the above-mentioned reference time, and the above-mentioned rotation information corresponding to the above-mentioned real-time position information, and use the above-mentioned reference position And above-mentioned reference time is used as the first reference datum of calculation, and the rotation information is carried out integral operation until the position point P obtains the moving path length relative to the first reference datum; Since the moving route R of the ground transport implement body 20 is known exact coordinates The path is calculated from the position 6 of the above-mentioned target object, and the length of the above-mentioned moving path is calculated from the above-mentioned moving route R, and an actual position where the position point P is located can be obtained. And when the above-mentioned ground transport equipment body 20 passes the next target position 6, since the earth position and measurement time of the target position 6 will update the above-mentioned reference position and reference time respectively, the second reference datum is obtained, and the processing device 26 can The second reference base performs an integral operation on the rotation information until the position point P, and obtains the same actual position through the above-mentioned process calculation, and integrates it with the above-mentioned measurement information into an integrated information, which is uploaded to the remote server through the wireless communication device 28 Center 4. In this way, land transport equipment Each position point P on the moving route R of the main body 20 can be further calibrated by using at least two target positions 6 along the aforementioned moving route R as reference benchmarks, so that the actual position uploaded is compared with the instant position output by the positioning device 22 Information has a higher degree of precision.

Since there may be several to dozens of trains passing through the same road section every day, each compartment of each train can be used as a vibration measurement, and the remote servo center 4 can be interpreted as a data storage device 44 of a disk array cabinet in one example. A large amount of measurement information, including vibration information, is stored in the normal state of the rail as a comparison standard. Therefore, when there is a burst of heavy rain to wash away, or an earthquake causes the rail position point P on the bridge 5 to be slightly loosened relative to the fixation of the crossties, the first train passing by will clearly measure the change of the vibration state, and the remote servo center 4. The wireless transceiver device 42 exemplified as a 5G wireless network card will be used to receive the measurement information corresponding to the above-mentioned actual position returned by each car of the train, and a central control device 46 exemplified as a central processing unit will be used to correspond to the above-mentioned actual position. The vibration information of the position is compared with the vibration information of a large number of stored normal states; once there is an excessive vibration such as excessive amplitude, and each car in the train passes through the position point P. The same vibration information is measured, and the central The control device 46 determines that the vibration is abnormal, and according to the actual location in the integrated information, confirms the location that needs to be inspected.

In this embodiment, each operation of each train is used to measure four times. Of course, for general long-distance trains such as freight trains in the interior of the United States or China-Europe trains, each train can be as long as dozens of carriages. , then one train can measure dozens of times for the entire track. In addition, as those with ordinary knowledge in this technical field can easily understand, not every car needs to be equipped with a wireless communication device, and it can also be a group of several cars that are connected to each other by wired communication, and a group of cars is equipped with a The short-distance wireless communication device is transmitted to, for example, the locomotive head, and the locomotive head is unified in communication with the remote servo center 4 to transmit measurement information in batches; In the same way, the processing device 26 does not need to be configured in every car. In response to data storage or power supply problems, the processing device 26 can also be, for example, a central control computer located at the locomotive head; what is more, due to a moving route R There are usually multiple target positions 6 on the Internet, such as multiple docking stations. The calculation process of the above actual position can also be the result calculated by referring to only one or more than two reference benchmarks, which can be allocated by monitoring personnel or the system according to needs.

By using the vibration measurement device on the land transportation equipment of the present invention together with the positioning device, the carpet scan collects the integrated information of each actual position on the operating route and sends it back to the cloud server center, and the central processing unit calculates and immediately finds out the public where abnormal vibration occurs. The location of the facility on the earth allows for immediate repairs to avoid accidents, which can avoid the need to hire a large number of patrolling railway crews or patrol cars in the past, and can also reduce the need for professional technicians to install and maintain road safety monitoring systems buried along the road; Even if the monitoring system buried along the road is still adopted at the same time, because of the existence of the safety monitoring system of the present invention, the device buried on the road can be used as a record, and it will be replaced in batches when the number of failures increases to a certain proportion, without the need Because it relies solely on the traditional buried safety monitoring device to monitor safety, and has dedicated personnel to serve the monitoring device and transmission device all the time, the present invention can achieve the effect of reducing the overall safety monitoring cost and improving the safety factor.

The second preferred embodiment of the present invention is described below, and the same parts as the previous preferred embodiment in this example will not be repeated here. Similar components also use similar names and symbols, and only the differences are described.

Please refer to Figures 7, 8 and 9 together. In this example, road transportation is taken as an example, and a 4G wireless communication base station positioning (LBS, Location Based Service) system is used as a global positioning system, and the road safety monitoring system includes at least A remote servo center, each target position 6', for example, A station, B station, C station and D station, and complex The mobile route R' of several delivery routes, the route is equipped with an appropriate number of trucks to deliver goods in turn according to the predetermined schedule. There is a road bridge 5' on the way of the mobile route R', which is located between Station A and Station B and is also located at Station A Between station C and station C, as long as the truck departs from station A to go to station B, C or D, it will pass through the bridge 5', wherein the truck is used as the land transport equipment 2' in this example, and the land transport equipment body is illustrated as the truck body .

The road safety monitoring system 1' monitors the safety status of the bridge 5' by the real-time vibration information of each truck passing the bridge 5'; compared with the previous preferred embodiment, the illustration in this example is truck The land transportation implement 2' comprises the engine of the main power source, the reduction gear set, and the transmission device 3' of the main transmission shaft. Since the above three are vibration sources, the rotation information is used to determine the A vibration fundamental frequency band filters the vibration information, and the truck in this example can also measure the vibration states of the above-mentioned three vibration sources synchronously by, for example, a single vibration measuring device 25', and each of the transmission device 3' and the front and rear wheel sets Connect with a rotating shaft 23', which is illustrated as a wheel shaft, and a rotation detection device 21', which is illustrated as a Hall-type tachometer and connected to the rotating shaft 23', is installed on the rotating shaft 23'. For the above-mentioned three different vibration sources Respective rotation detection devices 21' are also respectively provided for real-time detection of, for example, the rotational speed of the rotating shaft 23', and the measured rotational speed is converted into rotational information including angular velocity and angular frequency. The processing device 26' first converts the rotational speed converted into rotation information including angular velocity and angular frequency, and respectively performing a discrete Fourier transform process to obtain the frequency range of the fundamental frequency band of vibration of each rotating shaft 23', and then according to the fundamental frequency band of vibration of each rotating shaft 23' The vibration information of each rotating shaft 23' is subjected to a filtering operation, and the vibration information related to the rotation frequency and other vibration information not related to rotation are distinguished by the rotation information of each rotating shaft 23'.

Same as the previous embodiment, once the above-mentioned land transport implement 2' passes the target position 6' Station A, Station B, Station C or Station D will obtain a corresponding reference position and a reference time. The difference between the processing device 26' on the truck and the previous embodiment is that the processing device 26' does not perform post-processing on the obtained information to calculate the actual position, but only receives the above-mentioned rotation information, the above-mentioned vibration information and the above-mentioned real-time position information And a pair of measurement information corresponding to the real-time location information, as well as the above-mentioned reference location and the above-mentioned reference time are output to a remote server center which is interpreted as a central control room. The aforementioned remote server center includes at least one wireless transceiver device, at least one data storage device, and at least one central control device. The above-mentioned processing device 26' uploads the above-mentioned reference position, reference time and measurement information corresponding to the above-mentioned real-time position information to the above-mentioned data storage device for storage through a wireless communication device on the land transportation machine 2' via the above-mentioned wireless transceiver device.

Assuming that one of the delivery routes of the ground transport equipment 2' passes through stations A, B and C in the above-mentioned moving route R', and passes through a point P' on the bridge 5', the above-mentioned central control device will compare the above-mentioned reference position, the above-mentioned reference Time, and the above-mentioned rotation information corresponding to the above-mentioned real-time position information, take one of the object positions 6', such as the above-mentioned reference position of Station A and the above-mentioned reference time as the first reference reference for calculation, and perform integral operations on the rotation information until the position Point P' obtains the length of the moving path relative to the first reference datum; since the moving path R' of the land transport implement 2' is a path with known exact coordinates, starting from the position of the above-mentioned object, along the above-mentioned moving path R' plus the above-mentioned If the moving path is long, an actual position can be obtained. In the same way, with the above-mentioned reference position and the above-mentioned reference time of station B as the second reference reference of the calculation, the central control device can integrate the rotation information with the second reference reference until the position point P', which is the same as the above-mentioned process calculation get the same actual location. Of course, station C as one of the target position 6' can also be used as a reference to calculate the actual position of the position point P'. In this way, no matter whether the delivery route is consistent or not, as long as the measurement information returned by different land transport equipment 2' is accumulated day by day, each location point on the moving route R' P' can be further calibrated by at least two references along the moving route R', so that the uploaded actual position has higher accuracy than the real-time position information output by the positioning device.

Since the vibration frequency of the bridge is generally low, it can be easily distinguished from the vibration source of the truck itself. During the driving of the truck, the measurement information can be used to monitor the operation status of the power system of the truck itself, and can also be accumulated for multiple trucks. The low-frequency vibration state of the bridge when passing the same bridge, once the measurement information is uploaded to the remote servo center, the central control device compares the vibration information of the bridge corresponding to the above-mentioned actual position, and if it determines that the vibration deviates from the normal value, it can immediately issue a warning and notify Relevant highway maintenance personnel handle it. Since the transmitted measurement information can be processed by front-end filtering in the vibration frequency range according to each vibration source and bridge vibration frequency, only low-level processors and network communication devices are required for high-speed data transmission, and after removing noise The measurement information is more accurate and reliable, and the vibration measurement device and the rotation detection device of the transportation equipment can be repaired safely and easily in the maintenance workshop of the ground transportation equipment.

To sum up, during the operation of the ground transport equipment of the present invention, the vibration measurement device on it is matched with the positioning device to scan and collect the measurement corresponding to the above real-time position information on the moving route R' along the unfixed route. The information is sent back to the cloud server center, the central control device calculates the actual location, and integrates with the vibration information to output the integrated information corresponding to the above-mentioned actual location and the above-mentioned vibration information to the above-mentioned data storage device, and judges the public facilities by comparing with the past data The actual location where abnormal vibration occurs is used to conduct high-frequency safety monitoring of public facilities on the road network. Compared with conventional technologies, it has the effect of reducing costs, reducing the probability of public security accidents, and improving monitoring reliability. In particular, if the vibration measurement device is installed on the land transport equipment, there is no need to install a large number of vibration measurement devices on the vast road network, which saves a huge amount of hardware costs, and only requires general technology. Technical personnel can easily maintain it in a safe maintenance workshop, which greatly reduces the difficulty of maintenance work and personnel costs, and has outstanding beneficial effects.

Those with ordinary knowledge in the technical field can easily know that the above-mentioned mobile route R' can also be a system with a fixed route, such as a bus or passenger transport; the position 6' of the target object is not necessarily limited to each station, and the monitor can also add or delete according to needs Target position 6', such as bus stop sign, railway level crossing, traffic light position, etc.; the number of reference references used in the calculation process of the above actual position can also be adjusted according to the situation. When the target position 6' is far away, In order to reduce errors, the number of reference datums required for calculating the actual position may be larger, and relatively, when the positions 6' of objects are densely distributed, the number of reference datums required for calculating the actual position may also be reduced.

Of course, the processing device, the vibration measuring device and the rotation detecting device in the above-mentioned preferred embodiments can all be interchanged according to the needs of each embodiment and are not limited, and the implementation of the used global positioning system can also be based on the requirements. And interchangeable use, all do not hinder the implementation of this case. The above are only preferred embodiments of the present invention, and cannot limit the scope of the present invention with this. All simple equivalent changes and modifications made according to the patent scope of the present invention and the content of the description of the invention should still be It is within the scope covered by the patent of the present invention.

1: Road safety monitoring system

2: Land transport equipment

20: Land transport equipment body

22: Positioning device

24: Rotation-vibration auxiliary device vibration measurement device

26: Processing device

28: Wireless communication device

4: Remote Servo Center

42: Wireless transceiver device

44: data storage device

46: Central control device

Claims (6)

A road safety monitoring system with a rotation-vibration auxiliary device and a ground surface positioning device is suitable for the safety monitoring of public facilities on at least one earth-wide road network, wherein the above-mentioned earth-wide road network is configured with a plurality of moving routes with known exact coordinates, A plurality of target positions with known exact coordinates and corresponding global positioning systems, including: a plurality of land transportation equipment, respectively including: a land transportation equipment body, at least part of the way is to move along the above-mentioned moving route; at least one transmission device, and the transmission device It includes at least one rotating shaft, the rotation of the aforementioned rotating shaft is positively related to the above-mentioned movement; a positioning device is used to output the earth position where the above-mentioned land transport implement body is located and the real-time position of the measurement time according to at least one external positioning signal provided by the above-mentioned positioning system Information, and output the earth position and measurement time of the above-mentioned land transport machine body passing the above-mentioned target position as a reference position and a reference time respectively; at least one rotation-vibration auxiliary device for measuring the rotation information of the above-mentioned transmission device, and the above-mentioned The vibration information of the land transport equipment body includes: at least one rotation detection device that detects the rotation speed of the above-mentioned rotating shaft, and converts the above-mentioned rotation speed into a rotation information output; and at least one vibration measurement device for outputting a corresponding transmission device and the above-mentioned land transportation device. Vibration information of the machine tool body; at least one processing device for receiving the above-mentioned rotation information, the above-mentioned vibration information and the above-mentioned real-time position information, and at the same time integrating and outputting a measurement information corresponding to the above-mentioned real-time position information, wherein the above-mentioned processing device determines a vibration fundamental frequency belt, thereby filtering the above-mentioned vibration information; and a wireless communication device for wirelessly transmitting the above-mentioned measurement information; and at least one remote server center, including: at least one wireless transceiver device for receiving the above-mentioned measurement information uploaded by the above-mentioned wireless communication device ; at least one data storage device for storing the above-mentioned measurement information; and at least one central control device for information linking the above-mentioned wireless transceiver device and the above-mentioned data storage device; wherein, the above-mentioned processing device and/or the above-mentioned central control device compare the above-mentioned reference positions one by one , the above-mentioned reference time, and the above-mentioned rotation information corresponding to the above-mentioned real-time position information, along the above-mentioned moving route of the above-mentioned land transport equipment body, calculate and obtain an actual position from the position of the above-mentioned object, and combine and output a corresponding to the above-mentioned actual position and the above-mentioned The integrated information of the vibration information; thereby, the above-mentioned central control device determines whether the above-mentioned actual location has abnormal vibration by comparing all the past measurement information corresponding to the above-mentioned actual location in the above-mentioned data storage device. The road safety monitoring system described in item 1 of the scope of the patent application, wherein the above-mentioned earth positioning system is a satellite navigation system, and the above-mentioned positioning device is a locator for receiving information from the satellite navigation system to determine the real-time position. The road safety monitoring system described in item 1 of the scope of the patent application, wherein the above-mentioned earth positioning system is a communication base station positioning system. The road safety monitoring system described in item 1 of the scope of the patent application, wherein the above-mentioned land transport equipment is A carriage in a railway train. In the road safety monitoring system described in item 1 of the scope of the patent application, the processing device performs discrete Fourier transform on the rotation information to determine the vibration fundamental frequency band. A land transport tool for a road safety monitoring system with a rotation-vibration assistant and a ground surface positioning device, suitable for the safety monitoring of public facilities on at least one earth-wide road network, wherein the above-mentioned earth-wide road network is configured with a plurality of known exact The moving route of the coordinates, the positions of a plurality of objects whose exact coordinates are known, and the corresponding global positioning system, the aforementioned road safety monitoring system further includes at least one remote servo center, and the aforementioned remote servo center includes at least one wireless transceiver device, at least A data storage device, and at least one central control device, the aforementioned ground transport equipment includes: a land transport equipment body, at least part of the way is to move along the above-mentioned moving route; at least one transmission device, and the transmission device includes at least one rotating shaft, the aforementioned rotating shaft The rotation is directly related to the above-mentioned movement; a positioning device is used to output the earth position of the above-mentioned land transport implement body and the real-time position information of the measurement time according to at least one external positioning signal provided by the above-mentioned positioning system, and output the above-mentioned land transport implement body through The earth position and measurement time of the above-mentioned object position are respectively used as a reference position and a reference time; at least one rotation-vibration auxiliary device is used to measure the rotation information of the above-mentioned transmission device and the vibration information of the above-mentioned land transport equipment body, including: At least one rotation detection device for detecting the rotation speed of the above-mentioned rotating shaft, and converting the above-mentioned rotation speed into a rotation information output; At least one vibration measurement device is used to output a vibration information corresponding to the above-mentioned transmission device and the above-mentioned land transport equipment body; The measurement information of the position information, wherein the above-mentioned processing device determines a vibration fundamental frequency band according to the above-mentioned rotation information, thereby filtering the above-mentioned vibration information; and a wireless communication device for wirelessly transmitting the above-mentioned measurement information and providing the above-mentioned data through the above-mentioned wireless transceiver device The storage device stores, and the above-mentioned central control device compares the above-mentioned reference position in the above-mentioned measurement information, the above-mentioned reference time, and the above-mentioned rotation information corresponding to the above-mentioned real-time position information, along the above-mentioned moving route of the above-mentioned land transport machine body, and calculates to obtain a The actual position calculated from the position of the above-mentioned object, and a combined output corresponding to the above-mentioned actual position and the above-mentioned vibration information; thereby, the above-mentioned central control device compares all the past data corresponding to the above-mentioned actual position in the above-mentioned data storage device Measure information to determine whether abnormal vibration occurs at the actual position above.

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