CN105738967A - Road dangerous foreign matter monitoring device - Google Patents
Road dangerous foreign matter monitoring device Download PDFInfo
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- CN105738967A CN105738967A CN201610108303.4A CN201610108303A CN105738967A CN 105738967 A CN105738967 A CN 105738967A CN 201610108303 A CN201610108303 A CN 201610108303A CN 105738967 A CN105738967 A CN 105738967A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
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Abstract
The invention is applicable to the road monitoring field and provides a road dangerous foreign matter monitoring device. The road dangerous foreign matter monitoring device comprises a control monitoring unit, a laser device, a calibrating pile and a precision adjustment platform; the control monitoring unit comprises a laser device position posture monitoring module and an obstacle monitoring module; the laser device position posture monitoring module records the data calibrated by the laser device as a standard value, records the real-time calibration pile scanning data during the usage of the laser device as a comparison value; the real real-time data is compared with the standard value, and the precision adjustment platform is controlled to adjust the position and the posture of the laser device when the real real-time scanning data is different from the standard value; the obstacle monitoring module performs real-time monitoring on the area inside the road boundary and determines whether a dangerous foreign matter is in the road boundary according to the background calibration data, the road boundary calibration data and the laser device real real-time scanning data. The road dangerous foreign matter monitoring device improves the stability and adaptability of the operation of the device through the real time monitoring by the laser device on the self-position and on the self-posture.
Description
Technical field
The invention belongs to road monitoring field, particularly relate to a kind of road hazard monitoring foreign bodies device.
Background technology
In road construction and operation stage, road traffic safety is constituted threat greatly by the foreign body (such as: collapse rock-fall etc.) invading road boundary.For the traffic safety problem that the dangerous foreign body invading road boundary brings, how to investigate in manual inspection mode at present, but manual inspection cost is high, efficiency is low；And the section of the falling rocks that easily comes down is in hill corner more, the frequency of manual inspection is low, and the danger coefficient of patrol officer's person is high；Manual inspection even all cannot be carried out in some section.Up to the present, monitoring is but without a kind of ripe, stable, reliable scheme or technology automatically, and existing main flow monitoring means are based on video monitoring and the monitoring mode based on optical fiber raster vibration sensor.Stability, reliability, warning promptness is monitored all very poor, for instance when weather conditions relatively severe (such as heavy rain, dense fog etc.), it may appear that the situation that video image cannot use, cause that monitoring was lost efficacy based on the mode of video monitoring；Image is very big by illumination environmental effect, and the change of the illumination condition of 24 hours every days causes the wrong report of system and fails to report；Need substantial amounts of artificial cognition.Based on the mode of optical fiber raster vibration exist equipment cannot use repeatly, precision low, fragile, the defects such as wrong report is many.The method of both main flows, than the method for traditional manual inspection, all decreases major part manpower scene and patrols and examines, but system defect is still it is obvious that traffic safety can not be ensured timely and effectively.
Current territorial laser scanning technology has been widely used for the deformation monitoring field of highway, bridge, tunnel, track etc., the Chinese invention patent application of " a kind of track collapse rock-fall detection method and system " it is called for name, in prior art, research direction is mostly the improvement of Laser scanner measuring software, and due to the outdoor mounted handling characteristics of laser aid, complicated movement and be difficult to predict in its monitoring space, causes that this " track collapse rock-fall detection method " exists wrong report rate of failing to report height, use repeatly is poor, react the defects such as insensitive, low precision.
Summary of the invention
The purpose of the embodiment of the present invention is in that to provide a kind of road hazard monitoring foreign bodies device, at least can overcome segmental defect of the prior art.
The embodiment of the present invention is road hazard monitoring foreign bodies device, including: control monitoring means, laser aid, demarcation stake and fine setting The Cloud Terrace；
Described control monitoring means includes background calibration module, road boundary demarcating module, laser aid position and attitude monitoring module and barrier monitoring modular；
Described background calibration module obtains described laser aid scanning area background data and carries out mean filter and obtain nominal data；
Road boundary is carried out demarcating the nominal data obtaining road boundary by described road boundary demarcating module；
Described demarcation stake is trapezoidal, is placed in the scanning area of described laser aid；
Described laser aid is arranged on described fine setting The Cloud Terrace；
Described laser aid position and attitude monitoring module: record described laser aid timing signal and scan the data of described demarcation stake as standard value, record described laser aid described demarcation stake real-time scan data when actually used and be worth as a comparison；The standard value of the real-time scan data of described demarcation stake Yu described demarcation stake being compared, the data of described demarcation stake and the standard value not simultaneity factor of described demarcation stake at real time scan control described fine setting The Cloud Terrace and adjust position and the attitude of described laser aid；
Described barrier monitoring modular monitors in road boundary whether dangerous foreign body in real time according to described background calibration data, the nominal data of described road boundary and the data of described laser aid real time scan.
As a kind of road hazard monitoring foreign bodies device that embodiment relates to, road boundary is carried out demarcating the nominal data obtaining described road boundary and includes by described road boundary demarcating module: use road boundary scaling board along road boundary be expert at driveway travel directions projection, slow transit through the scanning area of described laser aid, recording and integrate road boundary scaling board laser point cloud data when by scanning area, the described cloud data after integration saves as the nominal data of described road boundary after calculating after filtering.
Described laser aid position and attitude monitoring module record includes with comparing the data demarcating stake: width, initial point position and relative distance；The angle change θ obtaining laser aid vertical direction by measuring the gap of described demarcation stake width is:
Wherein, R is the distance demarcating stake with laser aid, and d is that stake width is demarcated in the scanning of laser aid timing signal, and D is the width that in monitoring process in real time, stake is demarcated in scanning；
Judge that laser aid changes ρ around its rotational angle being perpendicular on the axial direction on ground and is according to described initial point position:
ρ=alpha-beta；
α demarcates stake to initiate polar polar angle value in real-time monitoring process, β is that the described demarcation stake measured in calibration process initiates polar polar angle value；
The change S of the displacement produced on described laser aid relative Calibration stake direction is judged according to described laser aid and the relative distance demarcating stake.
Described laser aid position and attitude monitoring module changes direction and the size that the positive and negative and size of the change S of the displacement produced on θ, rotational angle change ρ on the axial direction being perpendicular to ground and relative Calibration stake direction judges that laser aid self-position attitude changes according to the angle of laser aid vertical direction:
Illustrate during θ > 0 that laser aid is downward-sloping, during θ < 0, illustrate that laser aid is inclined upwardly, during θ=0, illustrate that laser aid pitch attitude does not change；
Illustrate during ρ > 0 that laser aid is perpendicular on the axial direction on ground around it and creates clockwise rotation, illustrate during ρ < 0 that laser aid is perpendicular on the axial direction on ground around it and creates rotation counterclockwise, during ρ=0, illustrate that laser aid is perpendicular on the axial direction on ground around it and does not produce to rotate；
During described plant running, described laser aid position and attitude monitoring module arranges the range of error of θ, ρ and S according to actual environment demand, calculate obtain θ, ρ and S different from standard value but during without departing from corresponding range of error, controlling described fine setting The Cloud Terrace drives described laser aid to carry out the adjustment of accurate small-range, when calculating obtains the range of error that θ, ρ and S exceed correspondence, prompting laser aid position and attitude is abnormal, produces warning message.
Described control monitoring means also includes transmission module on the alert data of communication with the outside world；
Described laser aid position and attitude monitoring module uploads the laser point cloud data during warning when producing warning message by transmission module on described alert data.
Described control monitoring means also includes the alarm release instruction module of communication with the outside world；
Described alarm release instruction module receives the alarm release instruction of externally input, makes transmission module on described alert data stop sending warning message, restarts automatic monitoring function after again completing dynamic calibration.
Described fine setting The Cloud Terrace includes base, connecting plate and location-plate；
Pass through the first tumbler corresponding to left and right between described base with described connecting plate and the first regulating part is set up and is flexibly connected, wherein: described first tumbler is connected between described base and described connecting plate and supports that described base and described connecting plate make fan shape moving, described first regulating part is connected between described base and described connecting plate and regulates, with this, the fan angle limited between described base and described connecting plate；
Pass through described second tumbler corresponding to front and back between described connecting plate with described location-plate and described second regulating part is set up and is flexibly connected, wherein: described second tumbler is connected between described connecting plate and described location-plate and supports that fan shape moving made by described connecting plate and location-plate, described second regulating part is connected between described base and described connecting plate and regulates, with this, the fan angle limited between described base and described connecting plate；
Described laser aid as on described location-plate, adjusts the position of described location-plate on first, second regulating part by spiral.
Described road hazard monitoring foreign bodies device also includes integrated monitor and controls device；
Described integrated monitor controls device and includes: temperature sensor, alternating current interface, exchange Peripheral Interface, direct current Peripheral Interface, heating device, cooling system and microcontroller；
Described temperature sensor gathers the real time temperature of its local environment, and sends the temperature data adopted to microprocessor, and intensification and cooling system are started and stop according to the upper and lower bound control circuit of the temperature set by microprocessor；
Described alternating current interface is connected with external ac power source, and described exchange Peripheral Interface connects and provides power to the AC electric equipment of outside；Described alternating current interface is provided with first control circuit summation current transformer with the live wire of the described link circuit exchanging Peripheral Interface；
The other end of described D.C mutual-inductor connects the first operational amplifier, described D.C mutual-inductor gathers alternating current information, signal is amplified by described first operational amplifier, and the signal after amplifying is undertaken processing the monitoring realized described AC electric equipment duty by described microprocessor by A/D module；
Described unidirectional current interface is connected with described external dc power, and described direct current Peripheral Interface connects and provides power to the direct-flow electricity utilization apparatus of outside；Described unidirectional current interface is connected branch road with the positive pole of the link circuit of described unidirectional current Peripheral Interface and is provided with second control circuit and the second voltage collection circuit；
The outfan of described second voltage collection circuit connects described second operational amplifier, described direct-flow electricity utilization apparatus is carried out small voltage collection by described second voltage collection circuit, then pass through described second operational amplifier and carry out voltage amplification, it is achieved the monitoring to described direct-flow electricity utilization apparatus duty of the described microprocessor；
Described alternating current interface is also connected with rectification circuit, the first voltage collection circuit and photoelectrical coupler in turn, described alternating current interface end alternating current is through described rectifier circuit rectifies, small voltage collection is carried out by described first voltage collection circuit, isolate again through described photoelectrical coupler, last microprocessor gathers photoelectrical coupler output signal by described A/D module and realizes the monitoring to alternating current, it is judged that the break-make of AC electric equipment；
Being also associated with resistance after described unidirectional current interface, described resistance two ends are parallel with the 3rd operational amplifier, and unidirectional current data are carried out Real-time Collection and are sent to described microprocessor by described 3rd operational amplifier.
Described integrated monitor controls the communication module that device also includes being connected with described microprocessor, described microprocessor carries out communication by described communication module with outside industrial computer, the duty of the temperature of monitoring and current data and equipment is sent out by communication module.
Described integrated monitor controls warning device, the DC fan that device also includes being connected with microprocessor；
Described microprocessor is connected each through the control circuit having two controlling brancher with described alternating current interface, described unidirectional current interface, described heating device, described cooling system, described warning device and described DC fan.
The beneficial effect of a kind of road hazard monitoring foreign bodies device that the embodiment of the present invention provides includes:
The embodiment of the present invention combines the practical application request invading the monitoring of road boundary foreign body, designs a kind of laser scanning device in conjunction with video image processing technology, it is achieved to the round-the-clock monitor in real time of foreign body invading road boundary:
1) foreign body invades road boundary, and traffic is caused danger；
2) equipment is by foreign materials away, and pose changes, equipment as hit in collapse rock-fall but also complete damage equipment；
3) equipment damages do not monitor data completely；
Monitor in real time, warning is completed during etc. situation.
Design a kind of independent high accuracy fine setting platform；
A kind of self posture position of line laser device of design detects measurement automatically；
Design a kind of independent integrated monitor and control device；
A kind of precise synchronization module of design；
By the design implementation of above 4, the pinpoint accuracy of practical safeguards system, the defect such as the environmental change effectively solving exist in existing monitoring technology causes wrong report to be failed to report, use repeatly is poor, it is insensitive to react, low precision.
A kind of road hazard monitoring foreign bodies device that the embodiment of the present invention provides, the particularity of the environment of road monitoring is carried out for laser aid, place in the scanning area of laser aid and demarcate stake, the demarcation stake data measured in recording laser device normalization process are as reference data, real time scan monitoring in actual use realizes the monitor in real time to laser aid self-position attitude, compare with reference data, realize the monitor in real time to laser aid self-position attitude and self-calibration, reduce maintenance cost when system is run, decrease laser aid position and attitude and change the error data analysis caused, improve the Stability and adaptability of plant running.
Integrated monitor controls device and the temperature in road hazard monitoring foreign bodies device is carried out monitor in real time, make modules work in suitable temperature range, and can know and monitor the duty of each direct-flow electricity utilization apparatus and AC electric equipment in device in real time.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme in the embodiment of the present invention, the accompanying drawing used required in embodiment or description of the prior art will be briefly described below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the premise not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the structural representation of a kind of embodiment demarcating stake provided by the invention；
Fig. 2 is the related data instruction figure demarcating stake that the embodiment of the present invention provides；
Fig. 3 is the structural representation of the embodiment of fine setting The Cloud Terrace provided by the invention；
Fig. 4 is the structural representation at another visual angle of the embodiment of fine setting The Cloud Terrace provided by the invention；
Fig. 5 is the structural representation that integrated monitor provided by the invention controls the embodiment of device.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein is only in order to explain the present invention, is not intended to limit the present invention.
In order to technical solutions according to the invention are described, illustrate below by specific embodiment.
A kind of road hazard monitoring foreign bodies device provided by the invention includes: control monitoring means, laser aid, demarcation stake and fine setting The Cloud Terrace.
Control monitoring means and include background calibration module, road boundary demarcating module, laser aid position and attitude monitoring module and barrier monitoring modular.
Background calibration module obtains laser aid scanning area background data and carries out mean filter nominal data.
Road boundary is carried out demarcating the nominal data obtaining road boundary by road boundary demarcating module.
It is trapezoidal for demarcating stake, is arranged in the scanning area of laser aid, and laser aid is arranged on fine setting The Cloud Terrace.
During laser aid position and attitude monitoring module recording laser device normalization, scanning data during demarcation stake are as standard value, and recording laser device demarcates the scanning data of stake when actually used；The data demarcating stake of real time record and the standard value demarcating stake are compared, adjusts position and the attitude of laser aid when real time data controls fine setting The Cloud Terrace from standard value time different.
Barrier monitoring modular monitors in road boundary whether dangerous foreign body in real time according to background calibration data, the nominal data of road boundary and the data of laser aid real time scan.
A kind of road hazard monitoring foreign bodies device that the embodiment of the present invention provides, the particularity of the environment of road monitoring is carried out for laser aid, place in the scanning area of laser aid and demarcate stake, the demarcation stake data measured in recording laser device normalization process are as reference data, real time scan monitoring in actual use realizes the monitor in real time to laser aid self-position attitude, and compare with reference data, realize the monitor in real time to laser aid self-position attitude and self-calibration, reduce maintenance cost when system is run, decrease laser aid position and attitude and change the error data analysis caused, improve the Stability and adaptability of plant running.
Static demarcating needs to ensure to demarcate in region the interference not having moving object in calibration process, and in region, all objects remain stationary state, it is necessary to time shorter, be suitable for demarcation is installed for the first time.
Dynamic calibration can allow the interference of moving object in calibration process, it does not have particular/special requirement is easily operated, because interference is uncertain, demarcates required time longer.
Road boundary is carried out demarcating the nominal data obtaining road boundary by road boundary demarcating module, including: use road boundary scaling board along road boundary be expert at driveway travel directions projection, slow transit through the scanning area of laser aid, recording and integrate road boundary scaling board laser point cloud data when by scanning area, the cloud data after integration saves as the nominal data of road boundary after calculating after filtering etc..
Embodiment one
Embodiment one provided by the invention is the embodiment of the laser aid position and attitude monitoring module controlled in monitoring means of a kind of track danger monitoring foreign bodies device provided by the invention.
In this embodiment, laser aid position and attitude monitoring module record and the data demarcating stake compared include: width, initial point position and relative distance.
It is illustrated in figure 1 the structural representation of a kind of embodiment demarcating stake provided by the invention, being illustrated in figure 2 the related data instruction figure of demarcation stake provided by the invention, the angle change θ that can obtain laser aid vertical direction by measuring the gap demarcating stake width is:
Wherein, R is the distance demarcating stake with laser aid, and d is that stake width is demarcated in the scanning of laser aid timing signal, and D is the width that in monitoring process in real time, stake is demarcated in scanning.
Judge that laser aid changes ρ around its rotational angle being perpendicular on the axial direction on ground and is according to initial point position:
ρ=alpha-beta.
α demarcates stake to initiate polar polar angle value in real-time monitoring process, β is that the described demarcation stake measured in calibration process initiates polar polar angle value.
The change S of the displacement produced on laser aid relative Calibration stake direction is judged according to laser aid and the relative distance demarcating stake.
Laser aid position and attitude monitoring module changes direction and the size that the positive and negative and size of the change S of the displacement produced on θ, rotational angle change ρ on the axial direction being perpendicular to ground and relative Calibration stake direction may determine that laser aid self-position attitude changes according to the angle of laser aid vertical direction:
Illustrate during θ > 0 that laser aid is downward-sloping, during θ < 0, illustrate that laser aid is inclined upwardly, during θ=0, illustrate that laser aid pitch attitude does not change.
Illustrate during ρ > 0 that laser aid is perpendicular on the axial direction on ground around it and creates clockwise rotation, illustrate during ρ < 0 that laser aid is perpendicular on the axial direction on ground around it and creates rotation counterclockwise, during ρ=0, illustrate that laser aid is perpendicular on the axial direction on ground around it and does not produce to rotate.
During plant running, laser aid position and attitude monitoring module arranges the range of error of θ, ρ and S according to actual environment demand, calculate obtain θ, ρ and S different from standard value but during without departing from corresponding range of error, controlling The Cloud Terrace drives laser aid to carry out the adjustment of accurate small-range, when calculating obtains the range of error that θ, ρ and S exceed correspondence, confirming that change occurs in laser aid position and attitude, prompting laser aid position and attitude is abnormal, produces warning message.
Further, a kind of track danger monitoring foreign bodies device provided by the invention, control monitoring means and also include transmission module and alarm release instruction module on the alert data of communication with the outside world.
Laser aid position and attitude monitoring module uploads the laser point cloud data during warning when producing warning message by transmission module on alert data.
Alarm release instruction module receives the alarm release instruction of externally input, makes transmission module on alert data stop sending warning message, restarts automatic monitoring function after again completing dynamic calibration.
Embodiment two
nullEmbodiment two provided by the invention is the embodiment of the fine setting The Cloud Terrace in a kind of track danger monitoring foreign bodies device provided by the invention，The structural representation at two visual angles of the respectively embodiment of the fine setting The Cloud Terrace that the embodiment of the present invention provides as shown in Figure 3 and Figure 4，As shown in Figure 3，In the embodiment of the fine setting The Cloud Terrace of track danger monitoring foreign bodies device provided by the invention: include base 10、Connecting plate 20 and location-plate 30，Pass through the first tumbler 41 corresponding to left and right between base 10 with connecting plate 20 and the first regulating part 51 is set up and is flexibly connected，Wherein: the first tumbler 41 is connected between base 10 and connecting plate 20 and supports that base 10 and connecting plate 20 make fan shape moving，First regulating part 51 is connected between base 10 and connecting plate 20 and regulates the fan angle between restriction base 10 and connecting plate 20 with this；Pass through the second tumbler 42 corresponding to front and back between connecting plate 20 with location-plate 30 and the second regulating part 52 is set up and is flexibly connected, wherein: the second tumbler 42 is connected between connecting plate 20 and location-plate 30 and supports that fan shape moving made by connecting plate 20 and location-plate 30, the second regulating part 52 is connected between base 10 and connecting plate 20 and regulates the fan angle between restriction base 10 and connecting plate 20 with this.In the present embodiment, first tumbler 41 is on the left of cradle head structure, second tumbler 42 is on rear side of cradle head structure, because first, second tumbler 41,42 is for shifting to install, its first, second corresponding respectively regulating part 51,52 is also for shifting to install, laser aid is arranged on location-plate 30, and the location-plate 30 adjusted on first, second regulating part 51,52 by spiral is in relative level, controls to carry out hi-Fix thus realizing controlling monitoring means to laser aid.
Embodiment three
A kind of track danger monitoring foreign bodies device provided by the invention also includes integrated monitor and controls device.Embodiment three provided by the invention is the embodiment that the integrated monitor in a kind of track danger monitoring foreign bodies device provided by the invention controls device, the integrated monitor that being illustrated in figure 5 the embodiment of the present invention provides controls the structural representation of device, as shown in Figure 5, the integrated monitor control device of track danger monitoring foreign bodies device provided by the invention includes: temperature monitor and control circuit, alternating current interface, unidirectional current interface, exchange Peripheral Interface, direct current Peripheral Interface, heating device, cooling system and microcontroller.Wherein heating device and cooling system figure do not identify.
Temperature sensor gathers the real time temperature of its local environment, and the temperature data adopted is sent to microprocessor, intensification and cooling system are started and stop according to the upper and lower bound control circuit of the temperature set by microprocessor, if monitoring intrasystem temperature more than temperature capping, so control cooling system to start, system is lowered the temperature, it is ensured that intrasystem equipment is operated in suitable temperature range；If monitoring intrasystem temperature to set lower limit less than temperature, then control heating device and start, system is heated up, it is ensured that intrasystem equipment is operated in suitable temperature range；If monitoring intrasystem temperature arranging in temperature range, then control temperature control device and close, reduce system power, save power consumption.
Alternating current interface is connected with external ac power source, and exchange Peripheral Interface is connected with external communication electrical equipment；Alternating current interface connects loop altogether with exchanging Peripheral Interface, and the live wire in loop is provided with first control circuit summation current transformer.The other end of D.C mutual-inductor connects the first operational amplifier, D.C mutual-inductor gathers alternating current information, signal is amplified by the first operational amplifier, and the signal after amplifying is undertaken processing the monitoring realized AC electric equipment duty by last microprocessor by A/D module.Unidirectional current interface is connected with external dc power, and direct current Peripheral Interface is connected with outside direct-flow electricity utilization apparatus；Unidirectional current interface is connected branch road with the positive pole of the link circuit of unidirectional current Peripheral Interface and is provided with second control circuit and the second voltage collection circuit.The outfan of the second voltage collection circuit connects the second operational amplifier, direct-flow electricity utilization apparatus is carried out small voltage collection by the second voltage collection circuit, then pass through the second operational amplifier and carry out voltage amplification, it is achieved the microprocessor monitoring to direct-flow electricity utilization apparatus duty.
Alternating current interface is also connected with rectification circuit, the first voltage collection circuit and photoelectrical coupler in turn, alternating current interface end alternating current is through rectifier circuit rectifies, small voltage collection is carried out by the first voltage collection circuit, isolate again through photoelectrical coupler, last microprocessor gathers photoelectrical coupler output signal by A/D module and realizes the monitoring to alternating current, it is judged that the break-make of AC electric equipment.
Unidirectional current interface is also connected with resistance, and resistance two ends are parallel with the 3rd operational amplifier, and unidirectional current data are carried out Real-time Collection and are sent to microprocessor by the 3rd operational amplifier, it is judged that the break-make of direct-flow electricity utilization apparatus.
Integrated monitor controls device and the temperature in track danger monitoring foreign bodies device is carried out monitor in real time, make modules work in suitable temperature range, and can know and monitor the duty of each direct-flow electricity utilization apparatus and AC electric equipment in device in real time.
In the embodiment of the present invention, integrated monitor controls the communication module that device also includes being connected with microprocessor, microprocessor carries out communication by this communication module with outside industrial computer, the duty of the temperature of monitoring and current data and equipment is sent out by communication module, it is prevented that communication is disturbed.If equipment operation irregularity in monitoring system, integrated monitor controls module can be sent out device fault information by communication module, it is ensured that the system failure can be found in time.Startup and the stopping temperature of temperature control device all can be arranged by instruction, and the frequency that Monitoring Data is sent out can also be arranged by instruction.
In the embodiment of the present invention, this integrated monitor controls warning device, the DC fan (not indicating in figure) that device also includes being connected with microprocessor.Microprocessor is connected each through the control circuit having two controlling brancher with alternating current interface, unidirectional current interface, heating device, cooling system, warning device and DC fan, if ensureing a wherein road hardware failure, another road hardware can also support that system works, and substantially increases system reliability.
Those of ordinary skill in the art it is also understood that, realize all or part of step in above-described embodiment method to can be by the hardware that program carrys out instruction relevant and complete, described program can be stored in computer read/write memory medium, described storage medium, including ROM/RAM, disk, CD etc..
In the embodiment of the present invention, communication module is not limited only to RS232, can also be other wired digital communication modes such as RS422.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all any amendment, equivalent replacement and improvement etc. made within the spirit and principles in the present invention, should be included within protection scope of the present invention.
Claims (10)
1. a road hazard monitoring foreign bodies device, it is characterised in that described road hazard monitoring foreign bodies device includes: control monitoring means, laser aid, demarcation stake and fine setting The Cloud Terrace；
Described control monitoring means includes background calibration module, road boundary demarcating module, laser aid position and attitude monitoring module and barrier monitoring modular；
Described background calibration module obtains described laser aid scanning area background data, and carries out mean filter and obtain nominal data；
Road boundary is demarcated by described road boundary demarcating module, obtains the nominal data of road boundary；
Described demarcation stake is trapezoidal, is arranged in the scanning area of described laser aid, and described laser aid is arranged on described fine setting The Cloud Terrace；
Described in described laser aid position and attitude monitoring module record, data during the described demarcation stake of laser aid timing signal scanning are as standard value, record the data demarcating stake when described laser aid uses described in real time scan and are worth as a comparison；The standard value of the data of the described demarcation stake of real time scan record Yu described demarcation stake being compared, the data of described demarcation stake and the standard value not simultaneity factor of described demarcation stake at real time scan control described fine setting The Cloud Terrace and adjust position and the attitude of described laser aid；
Described barrier monitoring modular monitors in road boundary whether dangerous foreign body in real time according to described background calibration data, the nominal data of described road boundary and the data of described laser aid real time scan.
2. road hazard monitoring foreign bodies device as claimed in claim 1, it is characterized in that, road boundary is carried out demarcating the nominal data obtaining described road boundary and includes by described road boundary demarcating module: use road boundary scaling board along road boundary be expert at driveway travel directions projection, slow transit through the scanning area of described laser aid, recording and integrate road boundary scaling board laser point cloud data when by scanning area, the described cloud data after integration saves as the nominal data of described road boundary after calculating after filtering.
3. road hazard monitoring foreign bodies device as claimed in claim 1, it is characterised in that described laser aid position and attitude monitoring module record and the data demarcating stake compared include: width, initial point position and relative distance；
The angle change θ obtaining laser aid vertical direction by measuring the gap of described demarcation stake width is:
Wherein, R is the distance demarcating stake with laser aid, and d is that stake width is demarcated in the scanning of laser aid timing signal, and D is the width that in monitoring process in real time, stake is demarcated in scanning；
Judge that laser aid changes ρ around its rotational angle being perpendicular on the axial direction on ground and is according to described initial point position:
ρ=alpha-beta；
α demarcates stake to initiate polar polar angle value in real-time monitoring process, β is that the described demarcation stake measured in calibration process initiates polar polar angle value；
The change S of the displacement produced on described laser aid relative Calibration stake direction is judged according to described laser aid and the relative distance demarcating stake.
4. road hazard monitoring foreign bodies device as claimed in claim 3, it is characterized in that, described laser aid position and attitude monitoring module changes direction and the size that the positive and negative and size of the change S of the displacement produced on θ, rotational angle change ρ on the axial direction being perpendicular to ground and relative Calibration stake direction judges that laser aid self-position attitude changes according to the angle of laser aid vertical direction:
Illustrate during θ > 0 that laser aid is downward-sloping, during θ < 0, illustrate that laser aid is inclined upwardly, during θ=0, illustrate that laser aid pitch attitude does not change；
Illustrate during ρ > 0 that laser aid is perpendicular on the axial direction on ground around it and creates clockwise rotation, illustrate during ρ < 0 that laser aid is perpendicular on the axial direction on ground around it and creates rotation counterclockwise, during ρ=0, illustrate that laser aid is perpendicular on the axial direction on ground around it and does not produce to rotate；
During described plant running, described laser aid position and attitude monitoring module arranges the range of error of θ, ρ and S according to actual environment demand, calculate obtain θ, ρ and S different from standard value but during without departing from corresponding range of error, controlling described fine setting The Cloud Terrace drives described laser aid to carry out the adjustment of accurate small-range, when calculating obtains the range of error that θ, ρ and S exceed correspondence, prompting laser aid position and attitude is abnormal, produces warning message.
5. road hazard monitoring foreign bodies device as claimed in claim 4, it is characterised in that described control monitoring means also includes transmission module on the alert data of communication with the outside world；
Laser aid position and attitude monitoring module uploads the laser point cloud data during warning when producing warning message by transmission module on described alert data.
6. road hazard monitoring foreign bodies device as claimed in claim 5, it is characterised in that described control monitoring means also includes the alarm release instruction module of communication with the outside world；
Described alarm release instruction module receives the alarm release instruction of externally input, makes transmission module on described alert data stop sending warning message, restarts automatic monitoring function after again completing dynamic calibration.
7. road hazard monitoring foreign bodies device as claimed in claim 1, it is characterised in that described fine setting The Cloud Terrace includes base, connecting plate and location-plate；
Pass through the first tumbler corresponding to left and right between described base with described connecting plate and the first regulating part is set up and is flexibly connected, wherein: described first tumbler is connected between described base and described connecting plate and supports that described base and described connecting plate make fan shape moving, described first regulating part is connected between described base and described connecting plate and regulates, with this, the fan angle limited between described base and described connecting plate；
Pass through described second tumbler corresponding to front and back between described connecting plate with described location-plate and described second regulating part is set up and is flexibly connected, wherein: described second tumbler is connected between described connecting plate and described location-plate and supports that fan shape moving made by described connecting plate and location-plate, described second regulating part is connected between described base and described connecting plate and regulates, with this, the fan angle limited between described base and described connecting plate；
Described laser aid as on described location-plate, adjusts the position of described location-plate on first, second regulating part by spiral.
8. road hazard monitoring foreign bodies device as claimed in claim 1, it is characterised in that described road hazard monitoring foreign bodies device also includes integrated monitor and controls device；
Described integrated monitor controls device and includes: temperature sensor, alternating current interface, exchange Peripheral Interface, direct current Peripheral Interface, heating device, cooling system and microcontroller；
Described temperature sensor gathers the real time temperature of its local environment, and sends the temperature data adopted to microprocessor, and intensification and cooling system are started and stop according to the upper and lower bound control circuit of the temperature set by microprocessor；
Described alternating current interface is connected with external ac power source, and described exchange Peripheral Interface connects and provides power to the AC electric equipment of outside；Described alternating current interface is provided with first control circuit summation current transformer with the live wire of the described link circuit exchanging Peripheral Interface；
The other end of described D.C mutual-inductor connects the first operational amplifier, described D.C mutual-inductor gathers alternating current information, signal is amplified by described first operational amplifier, and the signal after amplifying is undertaken processing the monitoring realized described AC electric equipment duty by described microprocessor by A/D module；
Described unidirectional current interface is connected with described external dc power, and described direct current Peripheral Interface connects and provides power to the direct-flow electricity utilization apparatus of outside；Described unidirectional current interface is connected branch road with the positive pole of the link circuit of described unidirectional current Peripheral Interface and is provided with second control circuit and the second voltage collection circuit；
The outfan of described second voltage collection circuit connects described second operational amplifier, described direct-flow electricity utilization apparatus is carried out small voltage collection by described second voltage collection circuit, then pass through described second operational amplifier and carry out voltage amplification, it is achieved the monitoring to described direct-flow electricity utilization apparatus duty of the described microprocessor；
Described alternating current interface is also connected with rectification circuit, the first voltage collection circuit and photoelectrical coupler in turn, described alternating current interface end alternating current is through described rectifier circuit rectifies, small voltage collection is carried out by described first voltage collection circuit, isolate again through described photoelectrical coupler, last microprocessor gathers photoelectrical coupler output signal by described A/D module and realizes the monitoring to alternating current, it is judged that the break-make of AC electric equipment；
Being also associated with resistance after described unidirectional current interface, resistance two ends are parallel with the 3rd operational amplifier, and unidirectional current data are carried out Real-time Collection and are sent to described microprocessor by described 3rd operational amplifier.
9. road hazard monitoring foreign bodies device as claimed in claim 8, it is characterized in that, described integrated monitor controls the communication module that device also includes being connected with described microprocessor, described microprocessor carries out communication by described communication module with outside industrial computer, the duty of the temperature of monitoring and current data and equipment is sent out by communication module.
10. road hazard monitoring foreign bodies device as claimed in claim 8, it is characterised in that described integrated monitor controls warning device, the DC fan that device also includes being connected with microprocessor；
Described microprocessor is connected each through the control circuit having two controlling brancher with described alternating current interface, described unidirectional current interface, described heating device, described cooling system, described warning device and described DC fan.
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