CN101271161B - Travelling caution system amounted on transport facility - Google Patents
Travelling caution system amounted on transport facility Download PDFInfo
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- CN101271161B CN101271161B CN2007100884144A CN200710088414A CN101271161B CN 101271161 B CN101271161 B CN 101271161B CN 2007100884144 A CN2007100884144 A CN 2007100884144A CN 200710088414 A CN200710088414 A CN 200710088414A CN 101271161 B CN101271161 B CN 101271161B
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- bright band
- caution
- diffraction pattern
- transport facility
- travelling
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Abstract
A driving warning system which is arranged on a transport vehicle comprises a first diffraction grating, a first light source which is used for projecting the light to the first diffraction grating to form a first diffraction pattern on an object, a video capture module which is used for capturing the first diffraction pattern and a control module which is electrically connected with the video capture module and is used for judging relative position of the transport vehicle to the object according to the result judgment of the first diffraction pattern that is captured by the video capture module.
Description
Technical field
The present invention relates to a kind of travelling caution system that is installed on a transport facility, particularly relate to a kind of judge this transport facility and the relative position of an object and the travelling caution system of distance and the relevant driving situation of record.
Background technology
When people during as main transport facility, have had higher standard requirement to travel safety and comfortableness with automobile, make that lift-launch electronic equipment and electronic system are more popular in the car.Past, the initial conception of mirror surface (Back mirror, rearview mirror) is set outside Che Nei or car, main target is to reduce car to clash into possibility to external world, try to achieve the increase automotive service life, but in fact only rely on three driving visions that Back mirror provides and message, probably also be difficult to satisfy the driver for the driving safety demand.For instance, for many drivers or new hand's driving, reversing warehouse-in or curb parking are very painful things.But, radar for backing car equipment just in time can assist the driver to solve this difficult problem, and principles such as utilization radar emission, reflection, reception provide warning function to the driver; Therefore, can see that many auto electronics manufacturer enters automobile-used radar for backing car market one after another.In general, automobile-used radar for backing car is the auxiliary equipment of using of parking of automobile safety, can inform driver's peripheral obstacle situation with sound or more direct demonstration, removed the driver when stopping or start vehicle, the not enough caused puzzlement in the visual field all around, and help the driver to avoid driving behavior defectives such as blind area or blurred vision, improve drive safety.
Radar for backing car on the market generally all is an action principle of utilizing the ultrasonic feedback at present, be to launch the ultrasonic computing feedback time by the sensor reception, use and draw vehicle and obstacle distance, but for fear of sound wave in airborne decay, prevent being made as the master so only be confined to short-range collision, but,, there is no too big effectiveness as the calculating of car and following distance in the crashproof application of long distance.In the prior art aspect, U.S. Pat 4552456 has disclosed utilizes many photoelectric subassemblys to reach the function that vehicle is found range with the emission of shortwave and the mistiming of acceptance, yet this is the design of a cost costliness, and does not have the function whether other vehicle of scanning enters its fence coverage; U.S. Pat 5283622 has disclosed the power of utilizing intensity of reflected light and has changed the distance of judging vehicle, yet this detection mode is subjected to environmental influence greatly (as fog etc.), so and be not suitable for automobile collision preventing, and it does not also have the function whether other vehicle of scanning enters its fence coverage; In addition, U.S. Pat 5594413 has disclosed the method for vehicle range finding, but it does not also have the function whether other vehicle of scanning enters its fence coverage.So how to design one have long distance ranging function and can scan the travelling caution system whether other vehicle enters its fence coverage function, just for promoting the problem of the required effort of travel safety now.
Summary of the invention
The invention provides a kind of the judge relative position of a transport facility and an object and the travelling caution system of distance, to solve the above problems.
The present invention discloses a kind of travelling caution system that is installed on a transport facility, it includes one first diffraction grating, one first light source, be used for throw light to this first diffraction grating, on an object, to form one first diffraction pattern, one image acquisition module, be used for capturing this first diffraction pattern, an and control module, be electrically connected on this image acquisition module, be used for judging the relative position of this transport facility and this object according to the result that this image acquisition module captures this first diffraction pattern.
This has disclosed a kind of travelling caution system that is installed on a transport facility, it includes one first light source, be used for throw light to an object, on an object, to form one first pattern, one secondary light source, be used for throw light to this object, on this object, to form one second pattern, one image acquisition module, be used for capturing this first pattern and this second pattern, and a control module, be electrically connected on this image acquisition module, be used for calculating the distance of this transport facility and this object according to the result that this image acquisition module captures this first pattern and this second pattern.
Description of drawings
Fig. 1 is the function block schematic diagram of travelling caution system of the present invention.
Fig. 2 is the optical schematic diagram that first diffraction grating receives light and generation diffraction pattern.
Fig. 3 is the synoptic diagram of the first diffraction pattern.
Fig. 4 is the Luminance Distribution synoptic diagram of the first diffraction pattern.
Fig. 5 is the synoptic diagram of the second diffraction pattern.
Fig. 6 is transport facility of the present invention and the synoptic diagram of object in different relative positions.
Fig. 7 images in the optical path synoptic diagram of sensing component for the present invention's first central bright band and the second central bright band.
Fig. 8 images in the synoptic diagram of sensing component for the present invention's first central bright band and the second central bright band.
The reference numeral explanation
10 travelling caution systems, 11 transport facilitys
12 first diffraction gratings, 14 first light sources
16 first optical modules, 18 objects
20 first diffraction patterns, 201 first central bright bands
202 first side bright bands, 203 second side bright bands
22 second diffraction gratings, 24 secondary light sources
26 second optical modules, 28 second diffraction patterns
281 second central bright band 282 the 3rd side bright bands
283 the 4th side bright bands, 30 image acquisition modules
32 sensing components, 34 image units
36 control modules, 38 caution interfaces
40 memory modules, 42 first sensing images
44 second sensing images
The A1 first caution scope A2 second caution scope
Apart from S1, S2, H1, H2
Embodiment
See also Fig. 1, Fig. 1 is the function block schematic diagram of the present invention's one driving caution system 10, travelling caution system 10 can be installed in the transport facility 11, vehicle etc. for example, travelling caution system 10 includes one first diffraction grating 12, one first light source 14, it can be a LASER Light Source, be used for throw light to the first diffraction grating 12, one first optical module 16, be used for the light that first light source 14 is throwed is converted to the light beam of quasi-parallel, so that the light beam of this quasi-parallel is projected to first diffraction grating 12, on an object 18, to form one first diffraction pattern 20, object 18 can be a vehicle, one second diffraction grating 22, one secondary light source 24, be used for throw light to the second diffraction grating 22, one second optical module 26, be used for the light that secondary light source 24 is throwed is converted to the light beam of quasi-parallel, so that the light beam of this quasi-parallel is projected to second diffraction grating 22, on object 18, to form one second diffraction pattern 28, an and image acquisition module 30, be used for capturing the first diffraction pattern 20 and the second diffraction pattern 28, image acquisition module 30 includes a sensing component 32, its can be a photosensitive coupling component (charge coupleddevice, CCD) or a complementary metal oxide semiconductor (CMOS) (complementary metal-oxidesemiconductor, CMOS) etc., be used for converting the light signal to electrical signal, and an image unit 34, be used for receiving respectively the light that the first diffraction pattern 20 and the second diffraction pattern 28 are transmitted, with imaging respectively on sensing component 32.
Travelling caution system 10 also includes a control module 36, be electrically connected on image acquisition module 30, being used for result according to the image acquisition module 30 acquisition first diffraction patterns 20 and the second diffraction pattern 28 judges the relative position of transport facility 11 and object 18, one caution interface 38, be electrically connected on control module 36, control module 36 may command caution interface 38 presents a caution message, use the caution scope that caution object 18 enters transport facility 11, caution interface 38 can image frame or the form of sending the sound present this caution message, an and memory module 40, be electrically connected on control module 36, be used for storing the information of transport facility 11 and the relative position of object 18.
See also Fig. 2, Fig. 3 and Fig. 4, Fig. 2 is the optical schematic diagram that first diffraction grating 12 receives light and generation diffraction pattern, Fig. 3 is the synoptic diagram of the first diffraction pattern 20, Fig. 4 is the Luminance Distribution synoptic diagram of the first diffraction pattern 20, the light that first light source 14 is projected can be converted to the light beam of quasi-parallel via first optical module 16, light beam can be projected to first diffraction grating 12 afterwards, the diffraction effect that is produced by first diffraction grating 12 can imaging go out diffraction fringe, bright band brightness maximum near central authorities, past more both sides are descending luminance then, the first diffraction pattern 20 includes one first central bright band 201, one first side bright band 202, be positioned at a side of the first central bright band 201, and one second side bright band 203, be positioned at the opposite side of the first central bright band 202.Also comprised the very little bright band of other brightness in the outside of the first side bright band 202 and the second side bright band 203 first diffraction pattern 20 in fact, in this embodiment, only adopt these three bright bands as judging the foundation of transport facility 11 with the relative position of object 18, but the present invention not only is confined to use these three bright bands as the foundation of judging, the diffraction fringe that also can use other number or position is as the foundation of judging.In like manner, see also Fig. 5, Fig. 5 is the synoptic diagram of the second diffraction pattern 28, the second diffraction pattern 28 includes one second central bright band 281, the 3rd side bright band 282, is positioned at a side of the second central bright band 281, and one the 4th side bright band 283, be positioned at the opposite side of the second central bright band 281, the optical principle of second diffraction grating, 22 reception light and generation diffraction pattern and the image-forming principle of the second diffraction pattern 28 are identical with above stated specification, so no longer describe in detail in this.
See also Fig. 6, Fig. 6 is transport facility 11 of the present invention and the synoptic diagram of object 18 in different relative positions, can design when object 18 enters one first caution scope A1 of transport facility 11 (zone that dotted line L1 and L2 are surrounded out), the first side bright band 202 or the second side bright band 203 of the first diffraction pattern 20 can image on the object 18, this moment image acquisition module 30 light that fechtable is transmitted to the first side bright band 202 or the second side bright band 203 on object 18, and transmit a corresponding signal to control module 36, control module 36 just can be controlled caution interface 38 and presents the caution message afterwards, uses and reminds driver's object 18 to enter in the first caution scope A1.In like manner, when object 18 enters one second caution scope A2 of transport facility 11 (zone that dotted line L3 and L4 are surrounded out), the 3rd side bright band 282 or the 4th side bright band 283 of the second diffraction pattern 28 can image on the object 18, the light that image acquisition module 30 this moment fechtable to the three side bright bands 282 or the 4th side bright band 283 on object 18 are transmitted, and transmit a corresponding signal to control module 36, control module 36 just can be controlled caution interface 38 and presents the caution message afterwards, uses caution and drives object 18 and entered in the second caution scope A2.As from the foregoing, travelling caution system 10 has the function whether other vehicle of scanning enters its fence coverage, and the distance (central bright band is directly proportional with fence coverage with the distance of side bright band) of central bright band with the side bright band of diffraction pattern is looked closely in the setting of fence coverage, and can adjust the distance of central bright band and side bright band, and then reach the purpose of the scanning caution scope of adjusting travelling caution system 10 by the raster width of adjusting diffraction grating and the wavelength of the light emitted line of light source.
See also Fig. 7 and Fig. 8, Fig. 7 images in the optical path synoptic diagram of sensing component 32 for the present invention's first central bright band 201 and the second central bright band 281, Fig. 8 images in the synoptic diagram of sensing component 32 for the present invention's first central bright band 201 and the second central bright band 281, first central bright band 201 and second central bright band 281 light that sent of projection on object 18 can image in sensing component 32 respectively via image unit 34 respectively, and produces one first sensing image 42 and one second sensing image 44 respectively.And the distance of the image unit 34 of object 18 and transport facility 11 is S1, S1 can be considered the distance of object 18 and transport facility 11, image unit 34 is S2 with the distance of sensing component 32, the spacing of the first central bright band 201 and the second central bright band 281 is H1, and first sensing image 42 that sensing component 32 is sensed and the distance of second sensing image 44 are H2, according to the geometric relationship of similar triangles, can draw the following relationship formula:
H1/S1＝H2/S2；
S1＝S2*H1/H2
Because image unit 34 is a definite value with the spacing H1 apart from S2 and the first central bright band 201 and the second central bright band 281 of sensing component 32, so can be by the distance H 2 that measures first sensing image 42 and second sensing image 44, and draw corresponding object 18 and transport facility 11 apart from S1.As shown in Figure 8, when the distance H 2 of first sensing image 42 and second sensing image 44 is big more, then represent the near more of object 18 and transport facility 11 apart from S1; Otherwise,, then represent the far away more of object 18 and transport facility 11 apart from S1 when the distance H 2 of first sensing image 42 and second sensing image 44 is more little.Can measure the distance of vehicle and other vehicle or barrier by above-mentioned principle, and reach the effect of range finding, and when transport facility 11 and object 18 apart from S1 during less than a threshold value, control module 36 may command caution interface 38 presents a caution message, it is near excessively to use prompting driver's vehicle and other object, it is similar to radar for backing car in short-range application class, and the effect of reminding the driver to remain a safe distance behind the car in front is then arranged in the application of growing distance.
In addition, control module 36 can be with the information of above-mentioned transport facility 11 and the relative position of object 18 and transport facility 11 and object 18 be stored in memory module 40 apart from the information of S1 etc., use driving recording data, also can provide the differentiation of real-time road to use as transport facility 11.
And the present invention's first diffraction grating 12, first light source 14, first optical module 16, second diffraction grating 22, secondary light source 24, second optical module 26, and image acquisition module 30 can be installed on the either side of transport facility 11, for example be installed on the rear of transport facility 11, use the spacing with back car of sending a car at scanning rear, look closely design requirement and decide.
Compared to prior art, travelling caution system utilization of the present invention judges that acquisition diffraction images in the image capture result of the image of measured object, reach the function whether other vehicle of scanning enters its fence coverage and short distance and long distance ranging, signal is decayed in air or the light intensity sensing is subjected to the great problem of environmental influence so there is no, and can reach scanning and the function of finding range accurately, so can promote travel safety effectively.
The above only is preferred embodiment of the present invention, and all equalizations of doing according to claim of the present invention change and modify, and all should belong to the covering scope of patent of the present invention.
Claims (8)
1. travelling caution system that is installed on a transport facility, it includes:
One first diffraction grating;
One first light source is used for throw light to this first diffraction grating, and to form one first diffraction pattern on an object, wherein this first diffraction pattern comprises:
One first central bright band;
One first side bright band is positioned at a side of this first central bright band; And
One second side bright band is positioned at the opposite side of this first central bright band;
One second diffraction grating;
One secondary light source is used for throw light to this second diffraction grating, and to form one second diffraction pattern on this object, wherein this second diffraction pattern comprises:
One second central bright band;
One the 3rd side bright band is positioned at a side of this second central bright band; And
One the 4th side bright band is positioned at the opposite side of this second central bright band;
One image acquisition module is used for capturing this first diffraction pattern and this second diffraction pattern; And
One control module, be electrically connected on this image acquisition module, be used for judging the relative position of this transport facility and this object according to the result that this image acquisition module captures this second central bright band of this first central bright band of this first diffraction pattern and this second diffraction pattern, wherein, warn message according to this first diffraction pattern and this second diffraction pattern to produce one.
2. travelling caution system as claimed in claim 1, wherein this first light source is a LASER Light Source.
3. travelling caution system as claimed in claim 1, it also comprises one first optical module, is used for the light that this first light source is throwed is converted to the light beam of quasi-parallel.
4. travelling caution system as claimed in claim 1, it also comprises a caution interface, wherein when this image acquisition module captures this first side bright band or this second side bright band on this object, this control module is controlled this caution interface and is presented this caution message, uses the one first caution scope that this object of caution enters this transport facility.
5. travelling caution system as claimed in claim 1, wherein this image acquisition module includes: a sensing component; And
One image unit is used for receiving respectively the light that this first central bright band and this second central bright band are transmitted, with in this sensing component imaging one first sensing image and one second sensing image respectively;
Wherein the distance of this transport facility and this object equals (distance of this sensing component and this image unit) * (distance of this first central bright band and this second central bright band)/(distance of this first sensing image and this second sensing image).
6. travelling caution system as claimed in claim 5, it also comprises a caution interface, and wherein when the distance of this transport facility and this object during less than a threshold value, this control module is controlled this caution interface and is presented this caution message.
7. travelling caution system as claimed in claim 1, it also comprises a caution interface, wherein when this image acquisition module captures the 3rd side bright band or the 4th side bright band on this object, this control module is controlled this caution interface and is presented this caution message, uses the one second caution scope that this object of caution enters this transport facility.
8. travelling caution system as claimed in claim 1, it also comprises a memory module, is used for storing the information of the relative position of this transport facility and this object.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2007100884144A CN101271161B (en) | 2007-03-22 | 2007-03-22 | Travelling caution system amounted on transport facility |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2007100884144A CN101271161B (en) | 2007-03-22 | 2007-03-22 | Travelling caution system amounted on transport facility |
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| Publication Number | Publication Date |
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| CN101271161A CN101271161A (en) | 2008-09-24 |
| CN101271161B true CN101271161B (en) | 2011-03-30 |
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| CN2007100884144A Expired - Fee Related CN101271161B (en) | 2007-03-22 | 2007-03-22 | Travelling caution system amounted on transport facility |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102278972A (en) * | 2011-06-03 | 2011-12-14 | 大连理工大学 | Digital laser range finder capable of video capture |
| KR20150076532A (en) * | 2013-12-27 | 2015-07-07 | 주식회사 만도 | System for measuring distance and Method thereof |
| CN105652286A (en) * | 2014-12-04 | 2016-06-08 | 财团法人金属工业研究发展中心 | Crashproof stereo-depth sensing system and operation method thereof |
| CN104617642A (en) * | 2015-03-04 | 2015-05-13 | 刘君才 | Portable power source with traffic warning lamp |
| TWI570674B (en) * | 2015-12-17 | 2017-02-11 | 合盈光電科技股份有限公司 | Image detection system of vehicle |
| TWI607911B (en) * | 2016-04-28 | 2017-12-11 | H P B Optoelectronic Co Ltd | Vehicle safety protection system and method |
| CN110969068A (en) * | 2018-09-30 | 2020-04-07 | 北京奇虎科技有限公司 | Method and device for drawing vehicle backing line |
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| FR2694415A1 (en) * | 1992-07-30 | 1994-02-04 | Peugeot | Sweeping optical beam of frequency modulated LIDAR detector on vehicle - using tuned laser operating on several adjacent wavelengths, modulating polarisation, and deviating beam first order diffraction line |
| US5313262A (en) * | 1992-09-30 | 1994-05-17 | Imra America, Inc. | Systems and methods for object detection using beam widening optics |
| EP0717288B1 (en) * | 1994-12-14 | 2000-03-15 | Seiko Epson Corporation | Light-sensing device |
| WO2004017022A1 (en) * | 2002-07-19 | 2004-02-26 | Robert Bosch Gmbh | Device and method for distance measurement |
| CN1854682A (en) * | 2005-04-28 | 2006-11-01 | 夏普株式会社 | Multiple-beam optical distance sensor, self-propelled cleaner and air conditioner |
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2007
- 2007-03-22 CN CN2007100884144A patent/CN101271161B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2694415A1 (en) * | 1992-07-30 | 1994-02-04 | Peugeot | Sweeping optical beam of frequency modulated LIDAR detector on vehicle - using tuned laser operating on several adjacent wavelengths, modulating polarisation, and deviating beam first order diffraction line |
| US5313262A (en) * | 1992-09-30 | 1994-05-17 | Imra America, Inc. | Systems and methods for object detection using beam widening optics |
| EP0717288B1 (en) * | 1994-12-14 | 2000-03-15 | Seiko Epson Corporation | Light-sensing device |
| WO2004017022A1 (en) * | 2002-07-19 | 2004-02-26 | Robert Bosch Gmbh | Device and method for distance measurement |
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Non-Patent Citations (1)
| Title |
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| JP特开平9-61157 1997.03.07 |
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