CN104442836B - Intelligent cable car speed control apparatus - Google Patents
Intelligent cable car speed control apparatus Download PDFInfo
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- CN104442836B CN104442836B CN201410707232.0A CN201410707232A CN104442836B CN 104442836 B CN104442836 B CN 104442836B CN 201410707232 A CN201410707232 A CN 201410707232A CN 104442836 B CN104442836 B CN 104442836B
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- 230000007246 mechanism Effects 0.000 claims abstract description 19
- 238000001914 filtration Methods 0.000 claims description 19
- 238000004891 communication Methods 0.000 claims description 13
- 238000010295 mobile communication Methods 0.000 claims description 13
- 238000012545 processing Methods 0.000 claims description 12
- 238000000034 method Methods 0.000 claims description 7
- 230000008569 process Effects 0.000 claims description 7
- 230000005021 gait Effects 0.000 claims description 3
- 238000000926 separation method Methods 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 description 9
- 230000005540 biological transmission Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 4
- 229910000831 Steel Inorganic materials 0.000 description 3
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- 230000009471 action Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
- B61B7/00—Rope railway systems with suspended flexible tracks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61C—LOCOMOTIVES; MOTOR RAILCARS
- B61C17/00—Arrangement or disposition of parts; Details or accessories not otherwise provided for; Use of control gear and control systems
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
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- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The present invention relates to a kind of intelligent cable car speed control apparatus, including the first image recognizer, second image recognizer, cable car drive mechanism and Freescale single-chip microcomputer MC9S12XS128 composition, first image recognizer for shooting go up a hill queue up point go up a hill visitor's image and to described go up a hill visitor's image perform visitor's quantity identification, second image recognizer for shooting go down the hill queue up point go down the hill visitor's image and to described go down the hill visitor's image perform visitor's quantity identification, Freescale single-chip microcomputer and the first image recognizer, second image recognizer and cable car drive mechanism connect respectively, recognition result based on the first image recognizer and the recognition result of the second image recognizer, control cable car drive mechanism to arrange the speed of service of cable car.By means of the invention it is possible in real time control the cable car speed of service according to passenger's quantity of queuing up, decide whether startup brake unit by the stress mornitoring of carrier cable simultaneously, improve the automatization level of cable car control.
Description
Technical field
The present invention relates to cable car monitoring field, particularly relate to a kind of intelligent cable car speed control apparatus.
Background technology
Cable car is to be driven steel wire rope by driving machine, and traction compartment is along being laid on earth's surface and having certain slope
Track on cable car run, in order to promote or to transfer the Transport Machinery of personnel and goods.He is multiplex workmanship
Mining area, city or the vehicles of landscape excursion district, be to utilize wire rope traction, it is achieved personnel or goods
The general designation of the equipment of conveying purpose or general appellation.
Cable car is common in the tourist attractions being positioned at mountain area, the hardship climbed the mountain to help visitor to flee from, quickly
Climb up mountain peak to view and admire sight spot, be respectively provided with cable car operation station at the foot of the hill with mountain top, two operations
Visitor is transported back and forth by cable wire between standing.But often take tourism cable car mountain-climbing visitor it can be seen that
The speed of service of cable car is the most fixing, will not how much and automatically to adjust operation speed because of queuing visitor
Degree, immediately has the change of speed, is also that cable car management personnel manually operate at operation bench, simultaneously
Cable car lacks the stress mornitoring emergency mechanism to cable wire.
Therefore, visitor quickly goes up a hill or goes down the hill for convenience, it is ensured that the safe operation of cable car, needs one
Plant new cable car and control equipment, it is possible to according to overstocked visitor's quantity a little of queuing up under queue up under mountain point and mountain
The most automatically adjust the cable car speed of service, reduce the queuing time of visitor, additionally be able in real time cable car
Cable wire stress detects, it is ensured that the safe operation of cable car.
Summary of the invention
In order to solve the problems referred to above, the invention provides a kind of intelligent cable car speed control apparatus, change
Make the existing cable car excessively relying on Artificial Control and detection and control equipment, introduce image acquisition and identification
Technology judges queuing visitor's quantity at cable car two ends, automatically controls cable car according to queuing visitor's quantity and runs
Speed, improves the operation of cable car, and the application that stress detection device is on carrier cable, also ensure
Take the personal safety of the visitor of cable car.
According to an aspect of the present invention, it is provided that a kind of intelligent cable car speed control apparatus, set described in
For including the first image recognizer, the second image recognizer, cable car drive mechanism and Freescale monolithic
Machine MC9S12XS128 forms, and described first image recognizer is for shooting going up a hill of queuing point of going up a hill
Visitor's image also performs visitor's quantity identification, described second image recognizer to described visitor's image of going up a hill
For shooting going down the hill queue up point go down the hill visitor's image and to described go down the hill visitor's image perform visitor's number
Amount identifies, described Freescale single-chip microcomputer and described first image recognizer, described second image recognition
Device and described cable car drive mechanism connect respectively, recognition result based on described first image recognizer and
The recognition result of described second image recognizer, controls described cable car drive mechanism to arrange the fortune of cable car
Line speed.
More specifically, in described intelligent cable car speed control apparatus, described equipment also includes: use
Family input equipment, according to the operation of user, the input minimum speed of service, maximum operational speed, cable car
Spacing, cable car maximum carrying visitor's quantity, cable car stoppage in transit moment on the same day and default minimum tension threshold value；
Memorizer, is connected with described user input device, be used for receiving and store the described minimum speed of service,
Described maximum operational speed, described cable car spacing, described cable car maximum carrying visitor's quantity, described work as
It cable car stoppage in transit moment and default minimum tension threshold value, described memorizer has also prestored visitor's upper limit
Gray threshold and visitor's lower limit gray threshold, described visitor's upper limit gray threshold and visitor's lower limit gray scale threshold
Value is for by the visitor in image and background separation；Hawser tension detector, detects and defeated for real-time
Go out the tension force of carrier cable；Timer, exports current time in real time；Described cable car drive mechanism
Including driving motor, it is connected with carrier cable, for according to the target control speed controlling cable received
The speed of service of car, the gait of march of the most described carrier cable of the speed of service of described cable car；Described cable
Car drive mechanism also includes track brake, is connected with cable car compartment and cable car rail, for according to connecing
The cable car brake signal received controls cable car compartment and holds tightly on cable car rail；Described first image recognition
Device includes the first high-definition camera, visitor's image of going up a hill of queuing point of going up a hill for shooting；Described first
Image recognizer also includes the first image processor, with described first high-definition camera and described memorizer
Connect respectively, including the first pretreatment unit, the first median filter unit, first visitor's recognition unit
With first visitor's quantity statistics unit, described first pretreatment unit is with described first high-definition camera even
Connect, the described visitor's of going up a hill image to be performed successively contrast enhancement processing and gray processing process, output
Gray level image, described first median filter unit is connected with described first pretreatment unit, with to described
Gray level image performs medium filtering, exports filtering image, described first visitor's recognition unit and described the
One median filter unit and described memorizer connect respectively, with by gray value in filtering image on visitor
Limit the pixel identification between gray threshold and visitor's lower limit gray threshold and form multiple visitor's subimage,
Described first visitor's quantity statistics unit is connected with described first visitor's recognition unit, is used for adding up described
The quantity of multiple visitor's subimages of first visitor's recognition unit output is the most defeated as first visitor's quantity
Go out；Described second image recognizer includes, the second high-definition camera, point of queuing up of going up a hill for shooting
Go up a hill visitor's image；Described second image recognizer also includes the second image processor, with described second
High-definition camera and described memorizer connect respectively, including the second pretreatment unit, Second Intermediate Value filtering
Unit, second visitor's recognition unit and second visitor's quantity statistics unit, described second pretreatment unit
It is connected with described second high-definition camera, the described visitor's of going down the hill image to be performed successively contrast enhancing
Processing and gray processing processes, output gray level image, described Second Intermediate Value filter unit is second pre-with described
Processing unit connects, and so that described gray level image is performed medium filtering, exports filtering image, and described the
Two visitor's recognition units are connected respectively with described Second Intermediate Value filter unit and described memorizer, filtering
In ripple image, gray value pixel between visitor's upper limit gray threshold and visitor's lower limit gray threshold is known
Not and form multiple visitor's subimage, described second visitor's quantity statistics unit is known with described second visitor
Other unit connects, for adding up the number of multiple visitor's subimages of described second visitor's recognition unit output
Amount also exports as second visitor's quantity；Described Freescale single-chip microcomputer and described memorizer, described steel
Rope tensility detector, described timer, described driving motor, described track brake, described first
Image processor and described second image processor connect respectively, when the tension force of described carrier cable is less than
During equal to described default minimum tension threshold value, send cable car brake signal to described track brake, will
Maximum in described first visitor's quantity and described second visitor's quantity, will as reference visitor's quantity
The described cable car stoppage in transit moment on the same day subtracts each other to obtain the current residual time, by described with described current time
Cable car quantity is needed, by institute divided by described cable car maximum carrying visitor's quantity to obtain with reference to visitor's quantity
Stating needs cable car quantity and described cable car spacing to be multiplied to acquisition to need carrier cable length, by described need
Want carrier cable length divided by the described current residual time to obtain with reference to the speed of service, if with reference to fortune
When line speed is less than or equal to the described minimum speed of service, using the described minimum speed of service as target control
Speed, if be more than or equal to described maximum operational speed with reference to the speed of service, by described maximum operation
Speed as target control speed, if with reference to the speed of service the described minimum speed of service and described
Time between the big speed of service, using the described reference speed of service as target control speed；Radio communication connects
Mouthful, it is connected with described Freescale single-chip microcomputer, with by the tension force of described carrier cable, described target control
Speed processed, described first visitor's quantity and described second visitor's quantity are sent to the cable car control of far-end in real time
Tubulation platform.
More specifically, in described intelligent cable car speed control apparatus, the track grade of described cable car
It is between 15 degree to 25 degree.
More specifically, in described intelligent cable car speed control apparatus, described wireless communication interface is
GPRS mobile communication interface, WCDMA mobile communication interface and TD-LTE mobile communication interface and
One in FDD-LTE mobile communication interface.
More specifically, in described intelligent cable car speed control apparatus, described first high-definition camera
It is 1920*960 with the resolution of described second high-definition camera.
More specifically, in described intelligent cable car speed control apparatus, described wireless communication interface is also
The control instruction that management platform sends is controlled for receiving the cable car of far-end.
More specifically, in described intelligent cable car speed control apparatus, described cable car is circulating cable
Car, carrier cable is an electrodeless circle.
Accompanying drawing explanation
Below with reference to accompanying drawing, embodiment of the present invention are described, wherein:
Fig. 1 is the structure side according to the intelligent cable car speed control apparatus shown in embodiment of the present invention
Block diagram.
Fig. 2 is that the cable car according to the intelligent cable car speed control apparatus shown in embodiment of the present invention drives
The block diagram of motivation structure.
Detailed description of the invention
Below with reference to accompanying drawings the embodiment of the intelligent cable car speed control apparatus of the present invention is entered
Row describes in detail.
Cable car, also known as aerial cableway, is to be driven steel wire rope by driving machine, and traction compartment is along being laid on
Also there are a kind of vehicles run on the track of certain slope on earth's surface.Track grade is unrestricted, typically
It is advisable with 15 degree to 25 degree.Cable car circuit by freight volume, landform and haul distance etc. may be designed to single track,
The various ways such as lay-by or transfer stop is added in the middle of double track and single track.For making passenger's ride comfort, just
In passenger getting on/off and handling goods, in compartment, seat should be with plane-parallel in staged.
The appearance of cable car, the visitor for playing at sight spot, mountain area provides more convenience, and visitor can select
Select and take to go down the hill on cable car, thus save muscle power and time, with more location of playing.Cable car compartment
The speed of service is generally no greater than 13 kilometers per hour.For adapting to orographic condition and the ride comfort of circuit,
The seat of passenger-carrying coach should be with plane-parallel in staged, in order to personnel fill with goods up and down
Unload.Exceed the speed limit when compartment is in operation, transship, offside, have a power failure, the accident such as disconnected rope time, have
Corresponding safety measure ensures passenger safety.
But, although provide on cable car some safety devices ensure cable car operation security, but lack right
Affect the real-time strain detection means of the gang rope of cable car, simultaneously as the spy of this vehicles of cable car
Different property, often too much waits number in an accumulation of waiting, but cable car speed cannot be in real time according to time
Car number is adjusted, and intelligence degree is the highest.
The intelligent cable car speed control apparatus of the present invention, it is possible to visitor's quantity is allowing model according to waiting
Enclose the travel speed of interior real-time change cable car, be mounted with the tension force care testing device of carrier cable simultaneously
To safely provide guarantee as visitor further.
Fig. 1 is the structure side according to the intelligent cable car speed control apparatus shown in embodiment of the present invention
Block diagram, described equipment includes that first image recognizer the 2, second image recognizer 3, cable car drive machine
Structure 4 and Freescale single-chip microcomputer 1 form, and the model of Freescale single-chip microcomputer 1 is MC9S12XS128,
Described first image recognizer 2 being gone up a hill for shooting the visitor's image going up a hill to described of going up a hill of point of queuing up
Visitor's image performs visitor's quantity identification, and described second image recognizer 3 goes down the hill to queue up a little for shooting
Go down the hill visitor's image and to described go down the hill visitor's image perform visitor's quantity identification, described Freescale
Single-chip microcomputer 1 drives with described first image recognizer 2, described second image recognizer 3 and described cable car
Motivation structure 4 connects respectively, recognition result based on described first image recognizer 2 and described second figure
As the recognition result of evaluator 3, control described cable car drive mechanism 4 to arrange the speed of service of cable car.
Then, continue the concrete structure of the intelligent cable car speed control apparatus of the present invention is entered one
The explanation of step.
Described intelligent cable car speed control apparatus also includes: user input device, according to the behaviour of user
Make, the minimum speed of service of input, maximum operational speed, cable car spacing, cable car maximum carrying visitor's number
Amount, cable car stoppage in transit moment on the same day and default minimum tension threshold value.
Described intelligent cable car speed control apparatus also includes: memorizer, with described user input device
Connect, be used for receiving and store the described minimum speed of service, described maximum operational speed, described cable car
Spacing, described cable car maximum carrying visitor's quantity, described cable car stoppage in transit moment on the same day and default Xiao Zhang
Power threshold value, described memorizer has also prestored visitor's upper limit gray threshold and visitor's lower limit gray scale threshold
Value, described visitor's upper limit gray threshold and visitor's lower limit gray threshold are for by the visitor in image and the back of the body
Scape separates.
Described intelligent cable car speed control apparatus also includes: hawser tension detector, for inspection in real time
Survey and export the tension force of carrier cable；Timer, exports current time in real time.
As in figure 2 it is shown, described cable car drive mechanism 4 includes driving motor 41, it is connected with carrier cable,
For the speed of service according to the target control speed controlling cable car received, the operation speed of described cable car
The gait of march of the most described carrier cable of degree；Described cable car drive mechanism 4 also includes track brake 42,
It is connected with cable car compartment and cable car rail, for controlling cable car car according to the cable car brake signal received
Railway carriage or compartment is held tightly on cable car rail.
Described first image recognizer 2 includes the first high-definition camera, point of queuing up of going up a hill for shooting
Go up a hill visitor's image；Described first image recognizer 2 also includes the first image processor, with described
One high-definition camera and described memorizer connect respectively, including the first pretreatment unit, the first intermediate value filter
Ripple unit, first visitor's recognition unit and first visitor's quantity statistics unit, described first pretreatment list
First and described first high-definition camera is connected, so that the described visitor's of going up a hill image to perform contrast increasing successively
Strength reason and gray processing process, output gray level image, described first median filter unit and described first
Pretreatment unit connects, and so that described gray level image is performed medium filtering, exports filtering image, described
First visitor's recognition unit is connected respectively with described first median filter unit and described memorizer, to incite somebody to action
Gray value pixel between visitor's upper limit gray threshold and visitor's lower limit gray threshold in filtering image
Identify and form multiple visitor's subimage, described first visitor's quantity statistics unit and described first visitor
Recognition unit connects, for adding up multiple visitor's subimages of described first visitor's recognition unit output
Quantity also exports as first visitor's quantity.
Described second image recognizer 3 includes the second high-definition camera, point of queuing up of going up a hill for shooting
Go up a hill visitor's image；Described second image recognizer 3 also includes the second image processor, with described
Two high-definition cameras and described memorizer connect respectively, including the second pretreatment unit, Second Intermediate Value filter
Ripple unit, second visitor's recognition unit and second visitor's quantity statistics unit, described second pretreatment list
First and described second high-definition camera is connected, so that the described visitor's of going down the hill image to perform contrast increasing successively
Strength reason and gray processing process, output gray level image, described Second Intermediate Value filter unit and described second
Pretreatment unit connects, and so that described gray level image is performed medium filtering, exports filtering image, described
Second visitor's recognition unit is connected respectively with described Second Intermediate Value filter unit and described memorizer, to incite somebody to action
Gray value pixel between visitor's upper limit gray threshold and visitor's lower limit gray threshold in filtering image
Identify and form multiple visitor's subimage, described second visitor's quantity statistics unit and described second visitor
Recognition unit connects, for adding up multiple visitor's subimages of described second visitor's recognition unit output
Quantity also exports as second visitor's quantity.
Described Freescale single-chip microcomputer 1 and described memorizer, described hawser tension detector, described meter
Time device, described driving motor 41, described track brake 42, described first image processor and institute
State the second image processor to connect respectively, when the tension force of described carrier cable is preset less than or equal to described
During small tension receiving coil threshold value, send cable car brake signal to described track brake 42, by described first trip
Maximum in visitor's quantity and described second visitor's quantity is as with reference to visitor's quantity, by cable on described same day
The car stoppage in transit moment subtracts each other to obtain the current residual time with described current time.
Described Freescale single-chip microcomputer 1 is swum described divided by the carrying of described cable car maximum with reference to visitor's quantity
Visitor's quantity needs cable car quantity to obtain, and needs cable car quantity to be multiplied to described cable car spacing by described
Acquisition needs carrier cable length, needs carrier cable length divided by the described current residual time by described
To obtain with reference to the speed of service, if be less than or equal to the described minimum speed of service with reference to the speed of service,
Using the described minimum speed of service as target control speed, if with reference to the speed of service more than or equal to described
During maximum operational speed, using described maximum operational speed as target control speed, if with reference to running
When speed is between the described minimum speed of service and described maximum operational speed, by described with reference to running speed
Degree is as target control speed.
Described intelligent cable car speed control apparatus also includes: wireless communication interface, thinks card with described flying
Your single-chip microcomputer 1 connects, with by the tension force of described carrier cable, described target control speed, described the
One visitor's quantity and described second visitor's quantity are sent to the cable car of far-end in real time and control management platform.
Wherein, in described intelligent cable car speed control apparatus, the track grade of described cable car is optional
Be between 15 degree to 25 degree, described wireless communication interface be chosen as GPRS mobile communication interface,
WCDMA mobile communication interface and TD-LTE mobile communication interface and FDD-LTE mobile communication connect
One in Kou, the resolution of described first high-definition camera and described second high-definition camera is the most optional
For 1920*960, described wireless communication interface can be also used for receiving the cable car of far-end and controls management platform
The control instruction sent, described cable car is for selecting circulating cable car, and carrier cable is an electrodeless circle.
It addition, image recognition, refer to utilize computer that image is processed, analyze and understand, with
Identify the target of various different mode and the technology to picture.During general industry uses, use industrial camera
Shooting picture, then does further identifying processing further according to picture ash jump.Image recognition can be with image
Principal character based on.Each image has his feature, and as letter A has a point, P has individual
Circle and there is individual acute angle etc. at the center of Y.Research to eye during image recognition is dynamic shows, sight line always collects
In in the principal character of image, namely concentrate on that image outline curvature is maximum or contour direction is unexpected
The place changed, the quantity of information in these places is maximum.And the scanning route of eyes the most successively from
One feature forwards in another feature.As can be seen here, in image recognition processes, perceptual mechanism must
The redundant information of input must be got rid of, extract crucial information out.
It addition, GPRS, i.e. general packet radio service technology (General Packet Radio Service)
Abbreviation, he be gsm mobile telephone user can a kind of mobile data services.GPRS can say
The continuity of GSM.GPRS, with the most different in the mode of channel transmission, is with package (Packet)
Formula is transmitted, and the expense that therefore user is born is to calculate with its data transmission unit, and non-usage
Its whole channel, the most inexpensively.The transfer rate of GPRS can be promoted to 56 even
114Kbps.GPRS is often described as " 2.5G ", say, that this technology is positioned at the second filial generation (2G)
And between the third generation (3G) mobile communication technology.
GPRS is by utilizing untapped TDMA channel in GSM network, it is provided that the data of middling speed
Transmission.GPRS breaches GSM net can only provide Circuit-switched mode of thinking, only by increasing phase
The functional entity answered and existing base station system carries out part transformation realize packet switch, this changes
The input made is the most little comparatively speaking, but the user data rate obtained is considerable.And, because of
For being no longer necessary to the intermediary's transducer required for existing wireless application, all can be more square so connecting and transmitting
The easiest.So, user both can connect to the internet, and participates in the interactive communications such as video conference, Er Qie
The user of (VRN) on same video communication network, it might even be possible to without passing through to dial up on the telephone, and hold
Continuous connected to the network.
The communication mode of GPRS packet switch is in the communication mode of packet switch, and data are divided into one
The bag (packet) of measured length, (address mark therein indicates a packets headers before each bag
Where is mail in this packet).Data are not required to allocate in advance channel before transmitting, set up and connect.And
It is when each packet arrives, according to the information (such as destination address) in datagram header, temporarily
Find an available channel resource this datagram to be sent.In this load mode, data
Transmission and recipient's cochannel between the not fixing relation that takies, channel resource can be regarded as by
All of user shares and uses.
Use the intelligent cable car speed control apparatus of the present invention, lack for existing cable car control system
Intelligent speed controlling mechanism, the technical problem of the shortage real-time monitoring mechanism of tension force, pass through image acquisition
Gather image with identification technology cable car waited a queuing visitor and carry out visitor's number identification, based on
The parameters such as visitor's number, cable car maximum capacity and cable car spacing control the cable car speed of service, simultaneously in real time
Carrier cable increases cable tension detection device, with the brake hard when cable tension is too low, from
And improve the intelligent level of cable car control system on the whole.
Although it is understood that the present invention discloses as above with preferred embodiment, but above-mentioned enforcement
Example is not limited to the present invention.For any those of ordinary skill in the art, without departing from
Under technical solution of the present invention ambit, all may utilize the technology contents of the disclosure above to the technology of the present invention
Scheme makes many possible variations and modification, or is revised as the Equivalent embodiments of equivalent variations.Therefore,
Every content without departing from technical solution of the present invention, the technical spirit of the foundation present invention is to above example
Any simple modification, equivalent variations and the modification done, all still falls within technical solution of the present invention protection
In the range of.
Claims (1)
1. an intelligent cable car speed control apparatus, described equipment include the first image recognizer,
Second image recognizer, cable car drive mechanism and Freescale single-chip microcomputer MC9S12XS128 composition,
Described first image recognizer being gone up a hill for shooting the visitor's image going up a hill to described of going up a hill of point of queuing up
Visitor's image performs visitor's quantity identification, and described second image recognizer is for shooting point of going down the hill to queue up
Go down the hill visitor's image and to described go down the hill visitor's image perform visitor's quantity identification, described Freescale list
Sheet machine divides with described first image recognizer, described second image recognizer and described cable car drive mechanism
Do not connect, recognition result based on described first image recognizer and the knowledge of described second image recognizer
Other result, controls described cable car drive mechanism to arrange the speed of service of cable car；
It is characterized in that, described equipment also includes:
User input device, according to the operation of user, the minimum speed of service of input, maximum operational speed,
Cable car spacing, cable car maximum carrying visitor's quantity, cable car stoppage in transit moment on the same day and default minimum tension threshold
Value；
Memorizer, is connected with described user input device, is used for receiving and store described minimum operation speed
Degree, described maximum operational speed, described cable car spacing, described cable car maximum carry visitor's quantity, institute
Stating cable car stoppage in transit moment on the same day and default minimum tension threshold value, described memorizer has also prestored visitor
Upper limit gray threshold and visitor's lower limit gray threshold, described visitor's upper limit gray threshold and visitor's lower limit ash
Degree threshold value is for by the visitor in image and background separation；
Hawser tension detector, is used for detecting in real time and exporting the tension force of carrier cable；
Timer, exports current time in real time；
Described cable car drive mechanism includes
Drive motor, be connected with carrier cable, for according to the target control speed control received
The speed of service of cable car processed, the gait of march of the most described carrier cable of the speed of service of described cable car；
Track brake, is connected with cable car compartment and cable car rail, for according to the cable received
Car brake signal controls cable car compartment and holds tightly on cable car rail；
Described first image recognizer includes
First high-definition camera, visitor's image of going up a hill of queuing point of going up a hill for shooting；
First image processor, connects respectively with described first high-definition camera and described memorizer
Connect, including the first pretreatment unit, the first median filter unit, first visitor's recognition unit and first
Visitor's quantity statistics unit, described first pretreatment unit is connected with described first high-definition camera, with
The described visitor's of going up a hill image is performed successively contrast enhancement processing and gray processing processes, output gray level figure
Picture, described first median filter unit is connected with described first pretreatment unit, with to described gray-scale map
As performing medium filtering, export filtering image, described first visitor's recognition unit and described first intermediate value
Filter unit and described memorizer connect respectively, with by gray value in filtering image in visitor's upper limit gray scale
Pixel identification between threshold value and visitor's lower limit gray threshold also forms multiple visitor's subimage, and described
One visitor's quantity statistics unit is connected with described first visitor's recognition unit, is used for adding up described first trip
Visitor recognition unit output multiple visitor's subimages quantity and as first visitor's quantity output；
Described second image recognizer includes
Second high-definition camera, visitor's image of going up a hill of queuing point of going up a hill for shooting；
Second image processor, connects respectively with described second high-definition camera and described memorizer
Connect, including the second pretreatment unit, Second Intermediate Value filter unit, second visitor's recognition unit and second
Visitor's quantity statistics unit, described second pretreatment unit is connected with described second high-definition camera, with
The described visitor's of going down the hill image is performed successively contrast enhancement processing and gray processing processes, output gray level figure
Picture, described Second Intermediate Value filter unit is connected with described second pretreatment unit, with to described gray-scale map
As performing medium filtering, export filtering image, described second visitor's recognition unit and described Second Intermediate Value
Filter unit and described memorizer connect respectively, with by gray value in filtering image in visitor's upper limit gray scale
Pixel identification between threshold value and visitor's lower limit gray threshold also forms multiple visitor's subimage, and described
Two visitor's quantity statistics unit are connected with described second visitor's recognition unit, are used for adding up described second trip
Visitor recognition unit output multiple visitor's subimages quantity and as second visitor's quantity output；
Described Freescale single-chip microcomputer and described memorizer, described hawser tension detector, described timing
Device, described driving motor, described track brake, described first image processor and described second figure
As processor connects respectively, when the tension force of described carrier cable is less than or equal to described default minimum tension threshold
During value, send cable car brake signal to described track brake, by described first visitor's quantity and described
Maximum in second visitor's quantity as with reference to visitor's quantity, cable car on described same day is stopped transport the moment with
Described current time subtracts each other to obtain the current residual time, by described reference visitor's quantity divided by described cable
Car maximum carrying visitor's quantity needs cable car quantity to obtain, and needs cable car quantity and described cable by described
Following distance is multiplied to acquisition needs carrier cable length, needs carrier cable length divided by described by described
The current residual time is to obtain with reference to the speed of service, if the reference speed of service is less than or equal to described minimum
During the speed of service, using the described minimum speed of service as target control speed, if with reference to the speed of service
During more than or equal to described maximum operational speed, using described maximum operational speed as target control speed,
If during with reference to the speed of service between the described minimum speed of service and described maximum operational speed, by institute
State with reference to the speed of service as target control speed；
Wireless communication interface, is connected with described Freescale single-chip microcomputer, with opening described carrier cable
Power, described target control speed, described first visitor's quantity and described second visitor's quantity send in real time
Management platform is controlled to the cable car of far-end；
The track grade of described cable car is between 15 degree to 25 degree；
Described wireless communication interface be GPRS mobile communication interface, WCDMA mobile communication interface and
One in TD-LTE mobile communication interface and FDD-LTE mobile communication interface；
The resolution of described first high-definition camera and described second high-definition camera is 1920*960；
Described wireless communication interface is additionally operable to receive the cable car of far-end and controls the control that management platform sends
Instruction；
Described cable car is circulating cable car, and carrier cable is an electrodeless circle.
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| CN104787053B (en) * | 2015-04-08 | 2015-12-02 | 重庆广播电视大学 | Cable car target control speed method to set up |
| CN104742941B (en) * | 2015-04-08 | 2015-12-02 | 重庆广播电视大学 | Cable car target control speed arranges system |
| MX2019014799A (en) * | 2017-06-13 | 2020-08-03 | Innova Patent Gmbh | Method for operating a cableway. |
| CN107369237B (en) * | 2017-08-30 | 2019-08-06 | 北京麒麟心通网络技术有限公司 | A kind of big data detection method based on multi parameter analysis |
| CN107492182B (en) * | 2017-08-30 | 2019-07-26 | 厦门市东合传媒科技有限公司 | Big data detection platform based on multi parameter analysis |
| CN110217245B (en) * | 2019-05-06 | 2023-07-18 | 东莞理工学院 | Cable car number weight monitoring system based on stress analysis and monitoring method thereof |
| CN115465303B (en) * | 2022-09-30 | 2024-08-23 | 湘煤立达矿山装备股份有限公司 | Monkey car control system based on big data analysis |
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| AT405271B (en) * | 1995-04-07 | 1999-06-25 | Doppelmayr & Sohn | ROPEWAY SYSTEM WITH A SUPPORT AND CONVEYOR ROPE FOR VEHICLE RESOURCES GUIDED AROUND TWO DIVIDING DISCS |
| JP3566795B2 (en) * | 1995-10-26 | 2004-09-15 | 日本ケーブル株式会社 | Power supply method of cableway track monitoring device |
| CN100542868C (en) * | 2007-10-23 | 2009-09-23 | 山东省科学院自动化研究所 | Reciprocating type cableway bus visual sense speed reducing control system and method thereof |
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