CN105738967B - A kind of road hazard monitoring foreign bodies device - Google Patents
A kind of road hazard monitoring foreign bodies device Download PDFInfo
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- CN105738967B CN105738967B CN201610108303.4A CN201610108303A CN105738967B CN 105738967 B CN105738967 B CN 105738967B CN 201610108303 A CN201610108303 A CN 201610108303A CN 105738967 B CN105738967 B CN 105738967B
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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 present invention is suitable for road and monitors field, provides a kind of road hazard monitoring foreign bodies device, including：Control monitoring unit, laser aid, calibration stake and accurate adjustment holder；It includes laser aid position and attitude monitoring module and barrier monitoring modular to control monitoring unit；Data when laser aid position and attitude monitoring module recording laser device normalization are as standard value, and real-time calibration stake scan data is worth as a comparison when recording laser device use；The real time data is compared with standard value, when real-time scan data and standard value difference, controls position and the posture of accurate adjustment holder adjustment laser aid；Barrier monitoring modular according to the data of background calibration data, the nominal data of road boundary and laser aid real time scan monitor in real time in road boundary whether dangerous foreign matter.By the real time monitoring to laser aid self-position posture, the Stability and adaptability of device operation is improved.
Description
Technical field
The invention belongs to road monitoring field more particularly to a kind of road hazard monitoring foreign bodies devices.
Background technology
In road construction and operation stage, invade road boundary foreign matter (such as：Collapse rock-fall etc.) road travel is pacified
Complete constitute greatly threatens.For the traffic safety problem that the dangerous foreign matter of intrusion road boundary is brought, at present mostly manually to patrol
Procuratorial organ's formula is investigated, but manual inspection is of high cost, efficiency is low；And the section many places of easily landslide falling rocks are remote in hill
Place, the frequency of manual inspection is low, and the danger coefficient of patrol officer's person is high；Some sections even can not all carry out manual inspection.
Up to the present, a kind of ripe, stable, reliable scheme or technology, existing mainstream monitoring means are not yet for automatic monitoring
Monitoring mode based on video monitoring and based on optical fiber raster vibration sensor.Mode based on video monitoring monitor stability,
Reliability, alarm promptness are all very poor, such as in the case of weather conditions relatively severe (such as heavy rain, dense fog etc.), can go out
The case where existing video image can not use, causes monitoring to be failed；Image, which is illuminated by the light environment, influences very big, daily illumination in 24 hours
The variation of condition leads to the wrong report of system and fails to report；Need a large amount of artificial cognition.Mode based on optical fiber raster vibration exists
Equipment can not use repeatly, precision it is low, fragile, report the defects of more by mistake.The method of both mainstreams is artificial compared with traditional
The method of inspection all reduces the inspection of most of manpower scene, but system defect is still it is obvious that cannot timely and effectively ensure
Traffic safety.
Territorial laser scanning technology has been widely used for the deformation monitoring neck of highway, bridge, tunnel, track etc. at present
Domain, by taking the Chinese invention patent application of entitled " a kind of track collapse rock-fall detection method and system " as an example, existing skill
Research direction is mostly the improvement of Laser scanner measuring software in art, and due to the outdoor mounted handling characteristics of laser aid,
It monitors complicated movement in space and it is difficult to predict leading to " the track collapse rock-fall detection method ", there are wrong report rates of failing to report
High, the defects of use repeatly is poor, reaction is insensitive, low precision.
Invention content
The embodiment of the present invention is designed to provide a kind of road hazard monitoring foreign bodies device, can at least overcome existing skill
Segmental defect in art.
The embodiment of the present invention is road hazard monitoring foreign bodies device, including：Control monitoring unit, laser aid, calibration stake
And accurate adjustment holder；
The control monitoring unit includes background calibration module, road boundary demarcating module, laser aid position and attitude prison
Control module and barrier monitoring modular；
The background calibration module obtains the laser aid scanning area background data and carries out mean filter and marked
Fixed number evidence；
The road boundary demarcating module carries out road boundary the nominal data that calibration obtains road boundary；
The calibration stake is trapezoidal, is placed in the scanning area of the laser aid；
The laser aid setting is on the accurate adjustment holder；
The laser aid position and attitude monitoring module：Record the number that stake is demarcated described in the laser aid mark timing scan
According to as standard value, recording the laser aid, the calibration stake real-time scan data is worth as a comparison in actual use；It will
The real-time scan data of the calibration stake is compared with the standard value for demarcating stake, in the calibration stake of real time scan
Simultaneity factor does not control the position that the accurate adjustment holder adjusts the laser aid to data with the standard value for demarcating stake
And posture；
The barrier monitoring modular is according to the background calibration data, the nominal data of the road boundary and described
The data of laser aid real time scan monitor in real time in road boundary whether dangerous foreign matter.
As a kind of road hazard monitoring foreign bodies device that embodiment is related to, the road boundary demarcating module is to road circle
Limit carries out demarcating the nominal data for obtaining the road boundary：It is being driven a vehicle along road boundary using road boundary scaling board
The projection of road travel direction, the scanning area for slow transitting through the laser aid record and integrate road boundary scaling board logical
Laser point cloud data when overscan regions saves as road circle after the filtered calculating of the point cloud data after integration
The nominal data of limit.
The laser aid position and attitude monitoring module record and the data for comparing calibration stake include：Width, starting point
It sets and relative distance；It is by measuring the angle change θ that the gap for demarcating stake width obtains laser aid vertical direction：
Wherein, R is to demarcate stake at a distance from laser aid, and d is that laser aid mark timing scan demarcates stake width, and D is real
When monitoring process in scanning calibration stake width；
Judge that rotational angle of the laser aid on its axial direction perpendicular to ground becomes according to the initial point position
Changing ρ is：
ρ=alpha-beta；
α is that calibration stake originates polar polar angle value in real-time monitoring process, and β is the calibration measured in calibration process
Stake originates polar polar angle value；
Judge to produce on the laser aid relative Calibration stake direction according to the laser aid and the relative distance of calibration stake
The variation S of raw displacement.
The laser aid position and attitude monitoring module according to the angle change θ of laser aid vertical direction, around perpendicular to
On the axial direction on ground rotational angle variation ρ and relative Calibration stake direction on generate displacement variation S it is positive and negative with
And size judges the changed direction of laser aid self-position posture and size：
Illustrate that laser aid tilts down when θ ＞ 0, when θ ＜ 0 illustrates that laser aid tilts upwards, and when θ=0 illustrates laser
Device pitch attitude does not change；
Illustrate that laser aid produces clockwise rotation on its axial direction perpendicular to ground when ρ ＞ 0, when ρ ＜ 0
Illustrate that laser aid produces rotation counterclockwise on its axial direction perpendicular to ground, when ρ=0 illustrate laser aid around
Without generating rotation on its axial direction perpendicular to ground；
Described device run when, the laser aid position and attitude monitoring module according to actual environment demand be arranged θ, ρ with
And the error range of S, it is different from standard value but when without departing from corresponding error range to be calculated θ, ρ and S, described in control
Precision adjustment holder drives the laser aid to carry out the adjustment of accurate small-range, and θ, ρ and S is calculated and exceeds corresponding mistake
When poor range, prompts laser aid position and attitude abnormal, generate warning message.
The control monitoring unit further includes the alert data uploading module of communication with the outside world；
The laser aid position and attitude monitoring module passes through the alert data uploading module when generating warning message
Upload the laser point cloud data during alarm.
The control monitoring unit further includes the alarm release instruction module of communication with the outside world；
The alarm release instruction module receives externally input alarm release instruction, makes the alert data uploading module
Stop sending warning message, restarts automatic monitoring function after completing dynamic calibration again.
The accurate adjustment holder includes pedestal, connecting plate and positioning plate；
Pass through corresponding first rotating member in left and right and the first regulating part foundation activity between the pedestal and the connecting plate
Connection, wherein：First rotating member is connected between the pedestal and the connecting plate and supports the pedestal and the company
Fishplate bar makees fan shape moving, and first regulating part is connected between the pedestal and the connecting plate and is adjusted described in limitation with this
Fan angle between pedestal and the connecting plate；
It is established and is lived by the second rotating member of correspondence and the second regulating part between the connecting plate and the positioning plate
Dynamic connection, wherein：Second rotating member is connected between the connecting plate and the positioning plate and supports the connecting plate and positioning
Plate makees fan shape moving, the second regulating part be connected between the pedestal and the connecting plate and with this adjust the limitation pedestal with
Fan angle between the connecting plate；
The laser aid is placed on the positioning plate, and the positioning on the first, second regulating part is adjusted by spiral
The position of plate.
The road hazard monitoring foreign bodies device further includes integrated monitor control device；
The integrated monitor control device includes：Temperature sensor, exchange electrical interface, exchange Peripheral Interface, direct current peripheral hardware
Interface, heating device, cooling system and microcontroller；
The temperature sensor acquires the real time temperature of its local environment, and the temperature data of use is sent to microprocessor
Device, microprocessor are started and are stopped to heating and cooling system according to the upper and lower bound control circuit of the temperature of setting；
The exchange electrical interface is connect with external ac power source, and the exchange Peripheral Interface connects and provides power to outside
AC electric equipment；The exchange electrical interface is equipped with the first control with the firewire of the link circuit for exchanging Peripheral Interface
Circuit and current transformer；
The other end of the D.C mutual-inductor connects the first operational amplifier, the D.C mutual-inductor acquisition exchange telecommunications
Breath, first operational amplifier are amplified signal, and the microprocessor carries out amplified signal by A/D module
The monitoring to the AC electric equipment working condition is realized in processing；
The direct current electrical interface is connect with the external dc power, and the direct current Peripheral Interface is connected and provided power to
External direct-flow electricity utilization apparatus；The direct current electrical interface connect branch with the anode of the link circuit of the direct current Peripheral Interface
It is equipped with second control circuit and second voltage Acquisition Circuit；
The output end of the second voltage Acquisition Circuit connects second operational amplifier, the second voltage Acquisition Circuit pair
The direct-flow electricity utilization apparatus carries out small voltage acquisition, then carries out voltage amplification by second operational amplifier, realizes described micro-
Monitoring of the processor to the direct-flow electricity utilization apparatus working condition；
The exchange electrical interface is also connected with rectification circuit, first voltage Acquisition Circuit and photoelectrical coupler in turn, described
Alternating current interface end alternating current passes through the rectifier circuit rectifies, and carrying out small voltage by the first voltage Acquisition Circuit adopts
Collection, then be isolated by the photoelectrical coupler, last microprocessor acquires photoelectrical coupler by the A/D module and exports
Signal realizes the monitoring to alternating current, judges the break-make of AC electric equipment；
It is also associated with resistance after the direct current electrical interface, the resistance both ends are parallel with third operational amplifier, described
Third operational amplifier acquires direct current data and is sent to the microprocessor in real time.
The integrated monitor control device further includes the communication module being connected with the microprocessor, and the microprocessor is logical
It crosses the communication module to be communicated with external industrial personal computer, by the working condition of the temperature of monitoring and current data and equipment
It is sent out by communication module.
The integrated monitor control device further includes the warning device being connected with microprocessor, DC fan；
The microprocessor with it is described exchange electrical interface, the direct current electrical interface, the heating device, it is described cooling set
Standby, the described warning device and the DC fan are by the way that there are two the control circuits of controlling brancher to connect.
A kind of advantageous effect of road hazard monitoring foreign bodies device provided in an embodiment of the present invention includes：
The embodiment of the present invention combines the practical application request of intrusion road boundary foreign matter monitoring, designs a kind of laser scanning knot
The device of video image processing technology is closed, realizes the round-the-clock real time monitoring of foreign matter to invading road boundary,：
1) foreign matter invades road boundary, and danger is caused to traffic；
2) equipment is changed by foreign materials away, pose, does not damage such as the hit equipment of collapse rock-fall but completely equipment also；
3) equipment damages no monitoring data completely；
When complete real time monitoring, alarm.
Design a kind of independent high-precision precision adjustment platform；
It designs a kind of line laser device itself posture position and detects measurement automatically；
Design a kind of independent integrated monitor control device；
Design a kind of precise synchronization module；
Implemented by above 4 points of the design, the pinpoint accuracy of practical safeguards system effectively solves in existing monitoring technology
Existing environmental change leads to the defects of wrong report is failed to report, use repeatly is poor, reaction is insensitive, low precision.
A kind of road hazard monitoring foreign bodies device provided in an embodiment of the present invention carries out road monitoring for laser aid
The particularity of environment places calibration stake, the mark measured during recording laser device normalization in the scanning area of laser aid
Determine stake data to be used as with reference to data, real time scan monitoring in actual use is realized to laser aid self-position posture
Real time monitoring, is compared with reference data, realizes real time monitoring and self-calibration to laser aid self-position posture, reduces
Maintenance cost when system operation reduces error data analysis caused by the variation of laser aid position and attitude, improves dress
Set the Stability and adaptability of operation.
Integrated monitor control device monitors the temperature in road hazard monitoring foreign bodies device in real time, makes modules
Work within the scope of suitable temperature, and can know in real time and monitoring device in each direct-flow electricity utilization apparatus with exchange electricity consumption
The working condition of equipment.
Description of the drawings
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description be only the present invention some
Embodiment for those of ordinary skill in the art without having to pay creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is a kind of structural schematic diagram of the embodiment of calibration stake provided by the invention；
Fig. 2 is the related data instruction figure of calibration stake provided in an embodiment of the present invention；
Fig. 3 is the structural schematic diagram of the embodiment of accurate adjustment holder provided by the invention；
Fig. 4 is the structural schematic diagram at another visual angle of the embodiment of accurate adjustment holder provided by the invention；
Fig. 5 is the structural schematic diagram of the embodiment of integrated monitor control device provided by the invention.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
In order to illustrate technical solutions according to the invention, illustrated below by specific embodiment.
A kind of road hazard monitoring foreign bodies device provided by the invention includes：Control monitoring unit, laser aid, calibration stake
And accurate adjustment holder.
Control monitoring unit includes background calibration module, road boundary demarcating module, laser aid position and attitude monitoring mould
Block and barrier monitoring modular.
Background calibration module obtains laser aid scanning area background data and carries out mean filter nominal data.
Road boundary demarcating module carries out road boundary the nominal data that calibration obtains road boundary.
It is trapezoidal to demarcate stake, is set in the scanning area of laser aid, and laser aid setting is on precision adjustment holder.
Scan data when stake is demarcated when laser aid position and attitude monitoring module recording laser device normalization as standard
Value, recording laser device demarcate the scan data of stake in actual use；By the data of the calibration stake recorded in real time and calibration stake
Standard value be compared, when real time data and when standard value difference the accurate adjustment holder of control adjust laser aid position and
Posture.
Barrier monitoring modular is according to background calibration data, the nominal data of road boundary and laser aid real time scan
Data monitor in real time in road boundary whether dangerous foreign matter.
A kind of road hazard monitoring foreign bodies device provided in an embodiment of the present invention carries out road monitoring for laser aid
The particularity of environment places calibration stake, the mark measured during recording laser device normalization in the scanning area of laser aid
Determine stake data to be used as with reference to data, real time scan monitoring in actual use is realized to laser aid self-position posture
Real time monitoring, and be compared with reference data, realize the real time monitoring and self-calibration to laser aid self-position posture, drop
Maintenance cost when low system operation reduces error data analysis caused by the variation of laser aid position and attitude, improves
The Stability and adaptability of device operation.
Static demarcating needs to ensure in calibration process the interference of not no moving object in calibration region, property in region
Body remains stationary state, the time needed is shorter, is suitble to first installation calibration.
Dynamic calibration can allow the interference of moving object in calibration process, easily operated without particular/special requirement, because
Not not knowing for interference, it is longer the time required to calibration.
Road boundary demarcating module carries out road boundary the nominal data that calibration obtains road boundary, including：Use road
Road boundary scaling board along road boundary be expert at driveway travel directions projection, slow transit through the scanning area of laser aid, note
It records and integrates laser point cloud data of the road boundary scaling board when passing through scanning area, the point cloud data after integration is filtered
Deng saving as the nominal data of road boundary after calculating.
Embodiment one
Embodiment one provided by the invention is a kind of control monitoring of track danger monitoring foreign bodies device provided by the invention
The embodiment of laser aid position and attitude monitoring module in unit.
In the embodiment, the data for the calibration stake that laser aid position and attitude monitoring module records and compares include：Width,
Initial point position and relative distance.
It is a kind of structural schematic diagram of the embodiment of calibration stake provided by the invention as shown in Figure 1, is illustrated in figure 2 this hair
The related data instruction figure of the calibration stake of bright offer, the gap of stake width is demarcated by measurement can obtain laser aid Vertical Square
To angle change θ be：
Wherein, R is to demarcate stake at a distance from laser aid, and d is that laser aid mark timing scan demarcates stake width, and D is real
When monitoring process in scanning calibration stake width.
Judge that rotational angle of the laser aid on its axial direction perpendicular to ground changes ρ according to initial point position
For：
ρ=alpha-beta.
α is that calibration stake originates polar polar angle value in real-time monitoring process, and β is the calibration measured in calibration process
Stake originates polar polar angle value.
Judge the displacement generated on laser aid relative Calibration stake direction according to laser aid and the relative distance of calibration stake
Variation S.
Laser aid position and attitude monitoring module according to the angle change θ of laser aid vertical direction, around perpendicular to ground
Axial direction on rotational angle variation ρ and relative Calibration stake direction on generate displacement variation S it is positive and negative and big
It is small to may determine that the changed direction of laser aid self-position posture and size：
Illustrate that laser aid tilts down when θ ＞ 0, when θ ＜ 0 illustrates that laser aid tilts upwards, and when θ=0 illustrates laser
Device pitch attitude does not change.
Illustrate that laser aid produces clockwise rotation on its axial direction perpendicular to ground when ρ ＞ 0, when ρ ＜ 0
Illustrate that laser aid produces rotation counterclockwise on its axial direction perpendicular to ground, when ρ=0 illustrate laser aid around
Without generating rotation on its axial direction perpendicular to ground.
When device is run, the error of θ, ρ and S are arranged according to actual environment demand for laser aid position and attitude monitoring module
Range, is calculated that θ, ρ and S are different from standard value but when without departing from corresponding error range, and control holder drives laser
Device carries out the adjustment of accurate small-range, when θ, ρ and S is calculated beyond corresponding error range, confirms laser aid position
It sets posture to change, prompts laser aid position and attitude abnormal, generate warning message.
Further, a kind of track danger monitoring foreign bodies device provided by the invention, control monitoring unit further include with outside
The alert data uploading module and alarm release instruction module of boundary's communication.
Laser aid position and attitude monitoring module is uploaded by alert data uploading module when generating warning message and is alarmed
The laser point cloud data of period.
Alarm release instruction module receives externally input alarm release instruction, and alert data uploading module is made to stop sending
Warning message restarts automatic monitoring function after completing dynamic calibration again.
Embodiment two
Embodiment two provided by the invention is the accurate tune in a kind of track danger monitoring foreign bodies device provided by the invention
The embodiment of whole holder, as shown in Figure 3 and Figure 4 the two of the embodiment of accurate adjustment holder respectively provided in an embodiment of the present invention
The structural schematic diagram at a visual angle, from the figure 3, it may be seen that the accurate adjustment holder of track danger monitoring foreign bodies device provided by the invention
In embodiment：Including pedestal 10, connecting plate 20 and positioning plate 30, pass through left and right corresponding first between pedestal 10 and connecting plate 20
Rotating member 41 and the first regulating part 51 establish flexible connection, wherein：First rotating member 41 be connected to pedestal 10 and connecting plate 20 it
Between and support that pedestal 10 and connecting plate 20 make fan shape moving, the first regulating part 51 be connected between pedestal 10 and connecting plate 20 and with
This adjusts the fan angle between limitation pedestal 10 and connecting plate 20；Pass through correspondence between connecting plate 20 and positioning plate 30
Second rotating member 42 and the second regulating part 52 establish flexible connection, wherein：Second rotating member 42 is connected to connecting plate 20 and positioning
Between plate 30 and connecting plate 20 is supported to make fan shape moving with positioning plate 30, the second regulating part 52 is connected to pedestal 10 and connecting plate 20
Between and with this adjust limitation pedestal 10 and connecting plate 20 between fan angle.In the present embodiment, at the first rotating member 41
On the left of cradle head structure, the second rotating member 42 is on rear side of cradle head structure, because the first, second rotating member 41,42 is to shift to install,
Its corresponding first, second regulating part 51,52 is also to shift to install, and laser aid is set on positioning plate 30, passes through spiral shell
The positioning plate 30 tuned on whole first, second regulating part 51,52 is in opposite horizontality, to realize control monitoring unit
Laser aid is controlled and carries out high accuracy positioning.
Embodiment three
A kind of track danger monitoring foreign bodies device provided by the invention further includes integrated monitor control device.The present invention provides
Embodiment three be the integrated monitor control device in a kind of track danger monitoring foreign bodies device provided by the invention embodiment,
It is illustrated in figure 5 the structural schematic diagram of integrated monitor control device provided in an embodiment of the present invention, as shown in Figure 5, the present invention carries
The integrated monitor control device of the track danger monitoring foreign bodies device of confession includes：Temperature monitor and control circuit exchanges electrical interface, is straight
Galvanic electricity interface, exchange Peripheral Interface, direct current Peripheral Interface, heating device, cooling system and microcontroller.Wherein heating device and
It is not identified in cooling system figure.
Temperature sensor acquires the real time temperature of its local environment, and the temperature data of use is sent to microprocessor,
Microprocessor is started and is stopped to heating and cooling system according to the upper and lower bound control circuit of the temperature of setting, if
Temperature in monitoring system is more than temperature and sets the upper limit, then control cooling system starts, cools down to system, it is ensured that system
Interior equipment is operated within the scope of suitable temperature；If the temperature in monitoring system, which is less than temperature, sets lower limit, control
Heating device starts, and heats up to system, it is ensured that the equipment in system is operated within the scope of suitable temperature；If monitoring system
Temperature in system then control temperature control device is closed, reduces system power, saves power consumption in setting temperature range.
Exchange electrical interface is connect with external ac power source, and exchange Peripheral Interface is connect with external communication electrical equipment；Exchange
Electrical interface is equipped with first control circuit and current transformer with Peripheral Interface connection circuit altogether, the firewire in circuit is exchanged.Exchange
The other end of mutual inductor connects the first operational amplifier, and D.C mutual-inductor acquisition exchange power information, the first operational amplifier is to letter
It number is amplified, last microprocessor by A/D module carries out processing to amplified signal to be realized and work AC electric equipment
The monitoring of state.Direct current electrical interface is connect with external dc power, and direct current Peripheral Interface is connect with external direct-flow electricity utilization apparatus；
Direct current electrical interface connect branch road with the anode of the link circuit of direct current Peripheral Interface and is equipped with second control circuit and the second electricity
Press Acquisition Circuit.The output end of second voltage Acquisition Circuit connects second operational amplifier, and second voltage Acquisition Circuit is to direct current
Electrical equipment carries out small voltage acquisition, then carries out voltage amplification by second operational amplifier, realizes microprocessor to direct current
The monitoring of electrical equipment working condition.
Exchange electrical interface is also connected with rectification circuit, first voltage Acquisition Circuit and photoelectrical coupler, alternating current in turn and connects
Mouth end alternating current passes through rectifier circuit rectifies, carries out small voltage acquisition by first voltage Acquisition Circuit, then pass through photoelectric coupling
Device is isolated, and last microprocessor realizes the monitoring to alternating current by A/D module acquisition photoelectrical coupler output signal,
Judge the break-make of AC electric equipment.
Direct current electrical interface is also connected with resistance, and resistance both ends are parallel with third operational amplifier, and third operational amplifier is to straight
Galvanic electricity data are acquired and are sent to microprocessor in real time, judge the break-make of direct-flow electricity utilization apparatus.
Integrated monitor control device monitors the temperature in track danger monitoring foreign bodies device in real time, makes modules
Work within the scope of suitable temperature, and can know in real time and monitoring device in each direct-flow electricity utilization apparatus with exchange electricity consumption
The working condition of equipment.
In the embodiment of the present invention, integrated monitor control device further includes the communication module being connected with microprocessor, microprocessor
Device is communicated by the communication module and external industrial personal computer, by the work shape of the temperature of monitoring and current data and equipment
State is sent out by communication module, prevents communication from interfering.If equipment operation irregularity in monitoring system, integrated monitor controls mould
Block can be sent out device fault information by communication module, it is ensured that the system failure can be found in time.Temperature control device opens
Dynamic and stopping temperature being arranged by instructing, and the frequency that monitoring data are sent out can also be arranged by instructing.
In the embodiment of the present invention, which further includes the warning device being connected with microprocessor, direct current
Fan (does not indicate) in figure.Microprocessor with exchange electrical interface, direct current electrical interface, heating device, cooling system, warning device
And DC fan passes through there are two the connection of the control circuit of controlling brancher, if wherein hardware breaks down all the way for guarantee,
Another way hardware can also support system to work, and substantially increase system reliability.
Those of ordinary skill in the art be further appreciated that implement the method for the above embodiments be can
It is completed with instructing relevant hardware by program, the program can be stored in computer read/write memory medium,
Described storage medium, including ROM/RAM, disk, CD etc..
Communication module is not limited only to RS232 in the embodiment of the present invention, can also be other wired digital communication sides such as RS422
Formula.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement etc., should all be included in the protection scope of the present invention made by within refreshing and principle.
Claims (10)
1. a kind of road hazard monitoring foreign bodies device, which is characterized in that the road hazard monitoring foreign bodies device includes：Control prison
Survey unit, laser aid, calibration stake and accurate adjustment holder；
The control monitoring unit includes background calibration module, road boundary demarcating module, laser aid position and attitude monitoring mould
Block and barrier monitoring modular；
The background calibration module obtains the laser aid scanning area background data, and carries out mean filter and obtain calibration number
According to；
The road boundary demarcating module demarcates road boundary, obtains the nominal data of road boundary；
The calibration stake is trapezoidal, is set in the scanning area of the laser aid, and the laser aid is arranged in the essence
On close adjustment holder；
The laser aid position and attitude monitoring module records data when demarcating stake described in the laser aid mark timing scan
As standard value, the data for demarcating stake when recording the laser aid use described in real time scan are worth as a comparison；It will sweep in real time
It traces the data of the calibration stake of record to be compared with the standard value of the calibration stake, in the calibration stake of real time scan
Simultaneity factor does not control the position that the accurate adjustment holder adjusts the laser aid to data with the standard value for demarcating stake
And posture；
The barrier monitoring modular is according to the background calibration data, the nominal data of the road boundary and the laser
The data of device real time scan monitor in real time in road boundary whether dangerous foreign matter.
2. road hazard monitoring foreign bodies device as described in claim 1, which is characterized in that the road boundary demarcating module pair
Road boundary carries out demarcating the nominal data for obtaining the road boundary：Using road boundary scaling board along road boundary
Be expert at driveway travel directions projection, slow transit through the scanning area of the laser aid, record and integrate the calibration of road boundary
Laser point cloud data of the plate when passing through scanning area saves as described after the filtered calculating of the point cloud data after integration
The nominal data of road boundary.
3. road hazard monitoring foreign bodies device as described in claim 1, which is characterized in that the laser aid position and attitude prison
Control module record and the data for the calibration stake compared include：Width, initial point position and relative distance；
It is by measuring the angle change θ that the gap for demarcating stake width obtains laser aid vertical direction：
Wherein, R is to demarcate stake at a distance from laser aid, and d is that laser aid mark timing scan demarcates stake width, and D is to supervise in real time
The width of scanning calibration stake during surveying；
Judge that rotational angle of the laser aid on its axial direction perpendicular to ground changes ρ according to the initial point position
For：
ρ=alpha-beta；
α is that calibration stake originates polar polar angle value in real-time monitoring process, and β is that the calibration stake measured in calibration process rises
Begin polar polar angle value；
Judge to generate on the laser aid relative Calibration stake direction according to the relative distance of the laser aid and calibration stake
The variation S of displacement.
4. road hazard monitoring foreign bodies device as claimed in claim 3, which is characterized in that the laser aid position and attitude prison
It controls module and changes ρ according to the angle change θ of laser aid vertical direction, around the rotational angle on the axial direction on ground
And the positive and negative and size of the variation S of the displacement generated on relative Calibration stake direction judges that laser aid self-position posture is sent out
The direction for changing and size：
Illustrate that laser aid tilts down when θ ＞ 0, when θ ＜ 0 illustrates that laser aid tilts upwards, and when θ=0 illustrates laser aid
Pitch attitude does not change；
Illustrate that laser aid produces clockwise rotation on its axial direction perpendicular to ground when ρ ＞ 0, when ρ ＜ 0 illustrates
Laser aid produces rotation counterclockwise on its axial direction perpendicular to ground, and when ρ=0 illustrates that laser aid hangs down around it
Directly rotation is generated in no on the axial direction on ground；
When described device is run, θ, ρ and S is arranged according to actual environment demand in the laser aid position and attitude monitoring module
Error range, it is different from standard value but when without departing from corresponding error range to be calculated θ, ρ and S, controls the precision
Adjustment holder drives the laser aid to carry out the adjustment of accurate small-range, and θ, ρ and S is calculated and exceeds corresponding error model
When enclosing, prompts laser aid position and attitude abnormal, generate warning message.
5. road hazard monitoring foreign bodies device as claimed in claim 4, which is characterized in that the control monitoring unit further includes
The alert data uploading module of communication with the outside world；
Laser aid position and attitude monitoring module is uploaded by the alert data uploading module when generating warning message and is alarmed
The laser point cloud data of period.
6. road hazard monitoring foreign bodies device as claimed in claim 5, which is characterized in that the control monitoring unit further includes
The alarm release instruction module of communication with the outside world；
The alarm release instruction module receives externally input alarm release instruction, and the alert data uploading module is made to stop
Warning message is sent, restarts automatic monitoring function after completing dynamic calibration again.
7. road hazard monitoring foreign bodies device as described in claim 1, which is characterized in that the accurate adjustment holder includes bottom
Seat, connecting plate and positioning plate；
Flexible connection is established by corresponding first rotating member in left and right and the first regulating part between the pedestal and the connecting plate,
Wherein：First rotating member is connected between the pedestal and the connecting plate and the pedestal is supported to make with the connecting plate
Fan shape moving, first regulating part be connected between the pedestal and the connecting plate and with this adjust the limitation pedestal with
Fan angle between the connecting plate；
Connected by the second rotating member of correspondence and the second regulating part foundation activity between the connecting plate and the positioning plate
It connects, wherein：Second rotating member is connected between the connecting plate and the positioning plate and the connecting plate is supported to make with positioning plate
Fan shape moving, the second regulating part be connected between the pedestal and the connecting plate and with this adjust the limitation pedestal with it is described
Fan angle between connecting plate；
The laser aid is placed on the positioning plate, and the positioning plate on the first, second regulating part is adjusted by spiral
Position.
8. road hazard monitoring foreign bodies device as described in claim 1, which is characterized in that the road hazard monitoring foreign bodies dress
It further includes integrated monitor control device to set；
The integrated monitor control device includes：Temperature sensor, exchange electrical interface, exchange Peripheral Interface, direct current Peripheral Interface,
Heating device, cooling system and microcontroller；
The temperature sensor acquires the real time temperature of its local environment, and the temperature data of use is sent to microprocessor,
Microprocessor is started and is stopped to heating and cooling system according to the upper and lower bound control circuit of the temperature of setting；
The exchange electrical interface is connect with external ac power source, and the exchange Peripheral Interface connects and provides power to external friendship
Flow electrical equipment；The exchange electrical interface is equipped with first control circuit with the firewire of the link circuit for exchanging Peripheral Interface
And current transformer；
The other end of the D.C mutual-inductor connects the first operational amplifier, the D.C mutual-inductor acquisition exchange power information, institute
It states the first operational amplifier to be amplified signal, the microprocessor carries out processing in fact by A/D module to amplified signal
Now to the monitoring of the AC electric equipment working condition；
The direct current electrical interface is connect with the external dc power, and the direct current Peripheral Interface connects and provides power to outside
Direct-flow electricity utilization apparatus；The direct current electrical interface connect branch road with the anode of the link circuit of the direct current Peripheral Interface and sets
There are second control circuit and second voltage Acquisition Circuit；
The output end of the second voltage Acquisition Circuit connects second operational amplifier, and the second voltage Acquisition Circuit is to described
Direct-flow electricity utilization apparatus carries out small voltage acquisition, then carries out voltage amplification by second operational amplifier, realizes the microprocessor
Monitoring of the device to the direct-flow electricity utilization apparatus working condition；
The exchange electrical interface is also connected with rectification circuit, first voltage Acquisition Circuit and photoelectrical coupler, the exchange in turn
Electrical interface end alternating current passes through the rectifier circuit rectifies, and small voltage acquisition is carried out by the first voltage Acquisition Circuit, then
Be isolated by the photoelectrical coupler, last microprocessor by the A/D module acquire photoelectrical coupler output signal come
It realizes the monitoring to alternating current, judges the break-make of AC electric equipment；
It is also associated with resistance after the direct current electrical interface, resistance both ends are parallel with third operational amplifier, the third operation
Amplifier acquires direct current data and is sent to the microprocessor in real time.
9. road hazard monitoring foreign bodies device as claimed in claim 8, which is characterized in that the integrated monitor control device is also
Include the communication module being connected with the microprocessor, the microprocessor by the communication module and external industrial personal computer into
Row communication, the working condition 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, which is characterized in that the integrated monitor control device
Further include the warning device being connected with microprocessor, DC fan；
The microprocessor exchanges electrical interface, the direct current electrical interface, the heating device, the cooling system, institute with described
Warning device and the DC fan are stated by the way that there are two the control circuits of controlling brancher to connect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610108303.4A CN105738967B (en) | 2016-02-26 | 2016-02-26 | A kind of road hazard monitoring foreign bodies device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610108303.4A CN105738967B (en) | 2016-02-26 | 2016-02-26 | A kind of road hazard monitoring foreign bodies device |
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| CN105738967A CN105738967A (en) | 2016-07-06 |
| CN105738967B true CN105738967B (en) | 2018-08-14 |
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| CN201610108303.4A Active CN105738967B (en) | 2016-02-26 | 2016-02-26 | A kind of road hazard monitoring foreign bodies device |
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| CN110133669B (en) * | 2019-05-24 | 2021-03-23 | 中铁科学技术开发有限公司 | Three-dimensional laser foreign matter intrusion monitoring method and system |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0792503B2 (en) * | 1991-04-12 | 1995-10-09 | シグマツクス株式会社 | Object detection device |
| DE10128954A1 (en) * | 2001-06-15 | 2002-12-19 | Ibeo Automobile Sensor Gmbh | Monitoring method of spatial areas for moving or stationary objects using a laser scanning system, e.g. for monitoring the area in front of a motor vehicle, ensures that only one object is detected in an overlapping zone |
| SG120208A1 (en) * | 2004-08-27 | 2006-03-28 | Singapore Tech Dynamics Pte | |
| CN100453966C (en) * | 2005-01-10 | 2009-01-21 | 北京航空航天大学 | Spatial three-dimensional position attitude measurement method for video camera |
| CN102009668B (en) * | 2010-07-13 | 2012-08-22 | 北京交通大学 | Non-contact type railway foreign matter invading-limit detection system |
| CN102590883A (en) * | 2011-09-30 | 2012-07-18 | 长春奥普光电技术股份有限公司 | Airfield pavement foreign body scanning device |
| CN202649484U (en) * | 2011-09-30 | 2013-01-02 | 长春奥普光电技术股份有限公司 | Airfield pavement foreign matter monitoring system |
| CN103412345B (en) * | 2013-08-16 | 2016-01-06 | 中国舰船研究设计中心 | Automatic aircraft carrier flight deck foreign matter detection recognition system |
| CN105334550A (en) * | 2014-08-14 | 2016-02-17 | 滕州市飞天激光自动化技术有限公司 | Automatic laser seeking calibration device |
| CN104469292B (en) * | 2014-11-27 | 2017-09-19 | 国网上海市电力公司 | A kind of posture self-correcting monopod video camera control device and its method |
| CN104897075A (en) * | 2015-06-19 | 2015-09-09 | 天津大学 | Laser reference monitoring method in tunnel deformation monitoring |
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