CN106324696A - Active type road obstacle detecting instrument and obstacle avoidance determination method - Google Patents
Active type road obstacle detecting instrument and obstacle avoidance determination method Download PDFInfo
- Publication number
- CN106324696A CN106324696A CN201610619928.7A CN201610619928A CN106324696A CN 106324696 A CN106324696 A CN 106324696A CN 201610619928 A CN201610619928 A CN 201610619928A CN 106324696 A CN106324696 A CN 106324696A
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- light
- word line
- line laser
- laser device
- control circuit
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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
- G01V8/20—Detecting, e.g. by using light barriers using multiple transmitters or receivers
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- Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- General Physics & Mathematics (AREA)
- Geophysics (AREA)
- Refuge Islands, Traffic Blockers, Or Guard Fence (AREA)
- Road Signs Or Road Markings (AREA)
Abstract
The invention provides an active type road obstacle detecting instrument comprising a grid generation device and a control circuit, and the grid generation device comprises a number of laser devices; each of the laser devices is a line laser device which can generate a horizontal straight line, perpendicular to a light ray of an emitting head of the laser device, within a certain distance; the control circuit is connected with the laser devices in the grid generation device; the control circuit is used for controlling whether light rays are emitted from the laser devices and can be used for adjusting illumination intensity of the laser devices; the invention also comprises an active type road obstacle avoidance determination method which can help people know pavement conditions of a road segment ahead in advance with limited illumination.
Description
Technical field
The present invention relates to detection and avoidance field, a kind of active road barricade survey meter and active road are kept away
Barrier method.
Background technology
When people walks by various illuminations in dark environment when, due to the finiteness of lighting effect, people
Tend not to judge the situation that road surface ahead height rises and falls the most in time, thus walk unsteadily, it is impossible to be enough limited
Under illumination, predict the state of road surface ahead in advance.
Summary of the invention
The present invention, in order to provide one that light can be utilized to project not on conplane object, helps the mankind in dark
Environment in walking time precognition and judge the active road barricade survey meter of situation of road surface ahead height fluctuating, and make
By its active obstacles avoidance determination methods, people are helped to solve, under limited illumination, to predict road surface ahead in advance
The technical problem of state.
For achieving the above object, the invention provides a kind of active road barricade survey meter, including mess generation device,
Control circuit, described mess generation device includes several laser instrument, and several laser instrument described are can be at certain distance
One word line laser device of the light of interior one emitting head being perpendicular to described laser instrument of generation, described control circuit and mess generation
Several laser instrument electrical connection in device, described control circuit controls whether several laser instrument emit beam and can adjust
Save the luminous intensity of several laser instrument.
Further, described mess generation device includes a m+n+2 word line laser device, a described m+n+2 wordline
The individual word line laser device of m+1 in laser instrument is as the light source of line, n+1 in a described m+n+2 word line laser device
Word line laser device can form the grid of m*n in the plane as the light source of alignment, described mess generation device.
Further, a described word line laser device include produce row to light a word line laser device and produce row to
One word line laser device of light, described generation row exists according to producing light order from the close-by examples to those far off to a word line laser device of light
During installation, the angle number of degrees with vertical plane are incremented by, and described generation arranges to a word line laser device of light according to producing light from upper
Order under to when mounted with the angle of ground level first from an initial value be decremented to zero be incremented to before successively decreasing the most again initial
Value.
Further, described control circuit includes power circuit, main controller circuit, laser control circuit, described electricity
Source circuit includes that charging circuit and storage circuit, described main controller circuit include AT89S51 single-chip microcomputer and peripheral circuit thereof, institute
State the I/O mouth of AT89S51 single-chip microcomputer for control a word line laser device luminescence or extinguishing duty, described laser instrument control
Circuit processed includes and can control audion Q1 that whether a word line laser device emit beam and for regulating a word line laser device
The resistance R1 of luminous intensity, the number of the number of described audion Q1 and resistance R1 and a described word line laser device is mutually
Join.
Further, described active road barricade survey meter also includes the fixing dress of installation being installed in bicycle handle bar
Put, described fixing device for installing include fixing device body, install fixing buckle, lid, with the first of laser instrument installing hole
Panel, fix groove with the second panel of light hole and lid, described the first panel with laser instrument installing hole and with
Second panel of light hole is sequentially arranged at fixing device, and this is internal, and fixing device body two sides are provided with the fixing card of installation
Button, described lid engaging lid fixes groove by close to the first panel with laser instrument installing hole and the second panel with light hole
It is enclosed in inside fixing device for installing.
Further, described fixing device for installing is fixed in bicycle handle bar by two fixing snap rings, described each
Fixing snap ring all includes the draw-in groove and snap ring connected together by clamping screw.
Present invention also offers a kind of active obstacles avoidance determination methods, this avoidance determination methods comprises the steps:
(1) open the active road barricade survey meter as described in such scheme, the road surface that will pass through projects
One group of uniform grid；
(2) judge the light deformation of the uniform grid projected, without deforming, then draw road, front
Road is smooth and can not stop current barrier, if the light of grid is distorted, then show that road surface ahead has projection, as
Really the light of grid has drop situation, then draw there is depression situation on ground, front.
Further, described active obstacles avoidance determination methods in walking, ride, self-driving environment use.
The active road barricade survey meter of the present invention utilizes light to project not on conplane object, light meeting
Infall on two planes be distorted deformation principle carry out work.When a light projects in a plane, if should
Planar horizontal or up-and-down amplitude are less, then light at the projection approximation of plane in straightline propagation；If this plane rises
The uneven amplitude of volt is relatively big, have barrier or pit-hole in plane, light projection in the plane then can be distorted deformation or
The a certain partial disappearance of light loses, and the road surface that the present invention will pass through projects one group of grid being made up of parallel rays, is used for
Detect the violent uneven situation in road ahead road surface or whether have barrier.
The present invention compared with prior art, the beneficial effects of the present invention is: active road barricade survey meter can be by
People grips or is installed on the front of the vehicles, projects one group of grid being made up of parallel rays on the road surface that will pass through,
For detecting the violent uneven situation in road ahead road surface or whether having barrier, enable a person to judge front road in time
The situation that face height rises and falls, it is to avoid walk unsteadily, under limited illumination, predict the state of road surface ahead in advance.
Accompanying drawing explanation
By reading the detailed description of hereafter preferred implementation, various other advantage and benefit common for this area
Technical staff will be clear from understanding.Accompanying drawing is only used for illustrating the purpose of preferred implementation, and is not considered as the present invention
Restriction.And in whole accompanying drawing, it is denoted by the same reference numerals identical parts.In the accompanying drawings:
Fig. 1 is road barricade survey meter control circuit of the present invention；
Fig. 2 is main controller circuit figure of the present invention；
Fig. 3 is laser control circuit of the present invention；
Fig. 4 is the present invention the first panel with laser instrument installing hole and the second panel installation signal with light hole
Figure；
Fig. 5 is that fixed bin front view installed by laser instrument of the present invention；
Wherein: 1. fixing device body 2. is installed fixing buckle 3. lid and fixed groove.
Detailed description of the invention
It is more fully described the illustrative embodiments of the disclosure below with reference to accompanying drawings.Although accompanying drawing shows this
Disclosed illustrative embodiments, it being understood, however, that may be realized in various forms the disclosure and should not illustrated here
Embodiment is limited.On the contrary, it is provided that these embodiments are able to be best understood from the disclosure, and can be by this
What scope of disclosure was complete conveys to those skilled in the art.
Embodiment 1
As Figure 1-5, a kind of active road barricade survey meter, including mess generation device, control circuit, described net
Lattice generating means includes that several laser instrument, several laser instrument described are and can produce one in certain distance and be perpendicular to
Several in one word line laser device of the light of the emitting head of described laser instrument, described control circuit and mess generation device swash
Light device electrically connects, and described control circuit controls whether several laser instrument emit beam and can regulate several laser instrument
Luminous intensity.
Embodiment 2
As Figure 1-5, a kind of active road barricade survey meter, including mess generation device, control circuit, described net
Lattice generating means includes that several laser instrument, several laser instrument described are and can produce one in certain distance and be perpendicular to
Several in one word line laser device of the light of the emitting head of described laser instrument, described control circuit and mess generation device swash
Light device electrically connects, and described control circuit controls whether several laser instrument emit beam and can regulate several laser instrument
Luminous intensity, several laser instrument are a word line laser device, and a word line laser device includes to produce to go and swashs to a wordline of light
Light device and produce row to a word line laser device of light, described generation row to a word line laser device of light according to producing light
Order from the close-by examples to those far off is incremental with the angle number of degrees of vertical plane when mounted, and the described row that produce are pressed to a word line laser device of light
First it is decremented to zero from an initial value with the angle of ground level is when mounted incremented by the most again according to producing light order from top to bottom
To the initial value before successively decreasing, concrete, the setting height(from bottom) of described active road barricade survey meter is 1000mm, detection range is
3000mm, sizing grid are 200X200mm, meshes number is 10X10, and described active road barricade survey meter is provided with a word
Laser line generator 22, it includes producing the row 11 word line laser device to light and producing the row 11 wordline to light
Laser instrument, so that the word line laser device installed in the horizontal direction produces the row being spaced apart 200mm on detected road
To parallel rays, according to producing light order from the close-by examples to those far off, described each row when the installation of a word line laser device with vertically
The angle in face be respectively 63.43 degree, 65.56 degree, 67.38 degree, 68.96 degree, 70.35 degree, 71.57 degree, 72.65 degree, 73.61
Degree, 74.48 degree, 75.26 degree, 75.96 degree so that the word line laser device installed in the horizontal direction is on detected road
Produce and be spaced apart the row of 200mm to parallel rays, described each row when the installation of a word line laser device with the angle of vertical plane
Being 71.57 degree, according to producing light order from top to bottom, described each row are to the angle of a word line laser device Yu ground level
Be respectively 17.22 degree, 13.93 degree, 10.53 degree, 7.07 degree, 3.55 degree, 0 degree, 3.55 degree, 7.07 degree, 10.53 degree, 13.93
Degree, 17.22 degree.
Embodiment 3
In this embodiment, other technologies feature is all identical with embodiment 1 or 2, and its difference is, controls electricity
Road includes that power circuit, main controller circuit, laser control circuit, described power circuit include charging circuit and electric power storage electricity
Road, described main controller circuit includes that AT89S51 single-chip microcomputer and peripheral circuit thereof, the I/O port of described AT89S51 single-chip microcomputer are used for
Control a word line laser device luminescence or extinguishing duty, described laser control circuit includes and can control a wordline
Audion Q1 that whether laser instrument emits beam and for regulating the resistance R1 of the luminous intensity of a word line laser device, described three poles
The number of pipe Q1 and resistance R1 matches with the number of a described word line laser device.
Embodiment 4
Disclosed active road barricade survey meter is applied on the bicycle ridden, including being installed to vehicle
Upper fixing device for installing, described fixing device for installing include fixing device body, install fixing buckle, lid, with swashing
First panel of light device installing hole, the second panel and lid with light hole fix groove, described with laser instrument installing hole
The first panel and be sequentially arranged at fixing device with the second panel of light hole this be the most internal, on fixing device body two sides
Being provided with the fixing buckle of installation, described lid engaging lid fixes groove by the first panel with laser instrument installing hole with going out
Second panel sealing of unthreaded hole is inside fixing device for installing.
Further, described fixing device for installing is fixed in bicycle handle bar by two fixing snap rings, described each
Fixing snap ring all includes the draw-in groove and snap ring connected together by clamping screw.
Embodiment 5
Present invention also offers a kind of active obstacles avoidance determination methods, this avoidance determination methods comprises the steps:
(1) open the active road barricade survey meter as described in such scheme, the road surface that will pass through projects
One group of uniform grid；
(2) judge the light deformation of the uniform grid projected, without deforming, then draw road, front
Road is smooth and can not stop current barrier, if the light of grid is distorted, then show that road surface ahead has projection, as
Really the light of grid has drop situation, then draw there is depression situation on ground, front.
Described active obstacles avoidance determination methods can also in walking, ride, self-driving environment use.
The active road barricade survey meter of the present invention utilizes light to project not on conplane object, light meeting
Infall on two planes be distorted deformation principle carry out work.When a light projects in a plane, if should
Planar horizontal or up-and-down amplitude are less, then light at the projection approximation of plane in straightline propagation；If this plane rises
The uneven amplitude of volt is relatively big, have barrier or pit-hole in plane, light projection in the plane then can be distorted deformation or
The a certain partial disappearance of light loses, and the road surface that the present invention will pass through projects one group of grid being made up of parallel rays, is used for
Detect the violent uneven situation in road ahead road surface or whether have barrier.
Active road barricade survey meter can be gripped or be installed on the front of the vehicles by people, on the road that will pass through
Project one group of grid being made up of parallel rays on face, for detect the violent uneven situation in road ahead road surface or
No have barrier, enables a person to judge the situation that road surface ahead height rises and falls in time, it is to avoid walk unsteadily, limited
Illumination under, predict the state of road surface ahead in advance.
It should be noted that the preferred embodiments of the present invention, including inventor for implementing the known optimal mould of the present invention
Formula.The change of preferred embodiment is apparent from the most after reading the above description.Invention
People wishes that those of ordinary skill rationally applies such change, and inventor thinks and clearly states different application at this also
The present invention can be realized.Therefore, the present invention includes in claim all modifications and the equivalents of cited purport, this
The law being suitable for is allow.Additionally, any combination of all possible change of above-mentioned key element is also comprised by the present invention,
Unless otherwise indicated herein or the most clearly contradicted.
Claims (8)
1. an active road barricade survey meter, including mess generation device, control circuit, it is characterised in that: described grid
Generating means includes that several laser instrument, several laser instrument described are and can produce one in certain distance and be perpendicular to institute
State a word line laser device of the light of the emitting head of laser instrument, described control circuit and several laser in mess generation device
Device electrically connects, and described control circuit controls whether several laser instrument emit beam and can regulate sending out of several laser instrument
Light intensity.
One the most according to claim 1 active road barricade survey meter, it is characterised in that: described mess generation device
Including a m+n+2 word line laser device, a m+1 word line laser device in a described m+n+2 word line laser device is as row
The light source of line, a n+1 word line laser device in a described m+n+2 word line laser device is as the light source of alignment, described grid
Generating means can form the grid of m*n in the plane.
One the most according to claim 1 active road barricade survey meter, it is characterised in that: a described word line laser device
Including and produce a row word line laser device to light and produce a row word line laser device to light, described generation row is to light
One word line laser device of line is incremented by according to producing the light order from the close-by examples to those far off angle number of degrees when mounted with vertical plane, described
Produce row first with the angle of ground level when mounted according to producing light order from top to bottom to a word line laser device of light
It is decremented to zero from an initial value and is incremented to the initial value before successively decreasing the most again.
One the most according to claim 1 active road barricade survey meter, it is characterised in that: described control circuit includes
Power circuit, main controller circuit, laser control circuit, described power circuit includes charging circuit and storage circuit, described
Main controller circuit includes AT89S51 single-chip microcomputer and peripheral circuit thereof, and the I/O port of described AT89S51 single-chip microcomputer is used for controlling a word
The luminescence of laser line generator or extinguishing duty, described laser control circuit includes and can control a word line laser device and be
The no audion Q1 emitted beam and for regulating the resistance R1 of the luminous intensity of a word line laser device, described audion Q1 and
The number of resistance R1 matches with the number of a described word line laser device.
One the most according to claim 1 active road barricade survey meter, it is characterised in that: described active road roadblock
Hindering survey meter also to include the fixing device for installing being installed in bicycle handle bar, described fixing device for installing includes that fixing device is originally
Body, the fixing buckle of installation, lid, the first panel with laser instrument installing hole, the second panel with light hole and lid
Fixing groove, described the first panel with laser instrument installing hole and the second panel with light hole are sequentially arranged at fixing device
This is internal, and fixing device body two sides are provided with the fixing buckle of installation, and described lid engaging lid fixes groove will be with swashing
First panel of light device installing hole and with the second panel sealing of light hole inside fixing device for installing.
One the most according to claim 5 active road barricade survey meter, it is characterised in that: described fixing device for installing
Being fixed in bicycle handle bar by two fixing snap rings, described each fixing snap ring is all included and is connected to by clamping screw
Draw-in groove together and snap ring.
7. an active obstacles avoidance determination methods, this avoidance determination methods comprises the steps:
(1) open the active road barricade survey meter as any one of claim 1-7, the road surface that will pass through projects
One group of uniform grid；
(2) judge the light deformation of the uniform grid projected, without deforming, then show that road ahead is put down
Whole and unobstructed current barrier, if the light of grid is distorted, then show that road surface ahead has projection, if grid
Light has drop situation, then draw there is depression situation on ground, front.
One the most according to claim 7 active obstacles avoidance determination methods, it is characterised in that: described active road
Avoidance determination methods in walking, ride, self-driving environment use.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610619928.7A CN106324696A (en) | 2016-08-02 | 2016-08-02 | Active type road obstacle detecting instrument and obstacle avoidance determination method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610619928.7A CN106324696A (en) | 2016-08-02 | 2016-08-02 | Active type road obstacle detecting instrument and obstacle avoidance determination method |
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| CN106324696A true CN106324696A (en) | 2017-01-11 |
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| CN201610619928.7A Pending CN106324696A (en) | 2016-08-02 | 2016-08-02 | Active type road obstacle detecting instrument and obstacle avoidance determination method |
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| CN113406105A (en) * | 2021-06-30 | 2021-09-17 | 湖南凌翔磁浮科技有限责任公司 | Obstacle detection method and system for magnetic levitation detection trolley |
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