CN107447699A - A kind of high-adaptability cycle path intelligent gate system - Google Patents
A kind of high-adaptability cycle path intelligent gate system Download PDFInfo
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- CN107447699A CN107447699A CN201710640443.0A CN201710640443A CN107447699A CN 107447699 A CN107447699 A CN 107447699A CN 201710640443 A CN201710640443 A CN 201710640443A CN 107447699 A CN107447699 A CN 107447699A
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F13/00—Arrangements for obstructing or restricting traffic, e.g. gates, barricades ; Preventing passage of vehicles of selected category or dimensions
- E01F13/04—Arrangements for obstructing or restricting traffic, e.g. gates, barricades ; Preventing passage of vehicles of selected category or dimensions movable to allow or prevent passage
- E01F13/06—Arrangements for obstructing or restricting traffic, e.g. gates, barricades ; Preventing passage of vehicles of selected category or dimensions movable to allow or prevent passage by swinging into open position about a vertical or horizontal axis parallel to the road direction, i.e. swinging gates
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
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Abstract
The present invention discloses a kind of high-adaptability cycle path intelligent gate system, including the special gate for being arranged at the identification device of track both sides and being set along identification device direction of traffic, wherein identification device is used to gather the wheel side elevation image and the distance of measurement identification device and wheel by vehicle, based on figure and apart from acquisition radius of wheel R and tyre width B, and calculate tyre width B and radius of wheel R relation function value i={ B, R }, size by comparing i and first threshold judges by vehicle whether be bicycle, sends judged result to special gate；Special gate receives and is based on judged result and controls special gate to open or close.The intelligent gate system of the present invention is compared to like product, without equipment mounting hole and bottom space are reserved on ground in advance, the road body construction that especially if cycle path will not be high to frame in the case of using box beam isostructural causes to damage, while is also more applicable for the cycle path of different structure form.
Description
Technical field
The present invention relates to field of road traffic.More particularly, to a kind of high-adaptability cycle path intelligent brake
Machine system.
Background technology
With the development of economy and society, urban population and the quantity of automobile are growing day by day, and the load capacity of public transport
But the needs of people's trip requirements can not be met, urban traffic blocking has turned into restricts the matter of utmost importance that city is further developed.
Cycling trip has green and convenient and swift with it, contributes to the congestion problems for solving urban transportation, while also helps
In health, the features such as short distance that is particularly suitable for use in is gone on a journey, some civic first choice is increasingly becomed.But due to voluntarily
Car track is easy to be occupied by the swift and violent electric car of parked car wantonly and development, result in the actual use effect of bicycle
Fruit is had a greatly reduced quality, it is necessary to plan cycle path.
At present, cycle path has different degrees of popularization and application in Denmark, Holland, Germany etc., but due to state
The difference of feelings, electric bicycle is less in above-mentioned country, and motorcycle uses car lane, while its people generally tend to ride
Cycling trip, therefore country wouldn't have that bicycle capacity disorderly accounts for and abuse more than, thus like product is in state
The border country does not have precedent also.
One major issue of cycle path is exactly the identification problem of bicycle.In existing identification method,
Can mainly be had by the technology that the system uses and utilize RFID technique, video monitoring identification, image recognition, electromagnetic induction identification, tail
The modes such as gas detection identification, wherein：
(1) RFID identification technology popularity rate is high, and cost is low, is easy to carry out on a large scale, it is clear that simple and easy to do.But which
Need existing bicycle being respectively mounted the RFID card with efficient coding, be easier to implement for public bicycles, for accounting for
The common privately owned bicycle for having more vast share seems more difficult.In addition, RFID card belongs to external installation, easily it is stolen or turns
Shifting is attached on the non-bicycle such as electric car, and then may cause to misidentify on a large scale, and institute is in this way suitably as auxiliary
Means of identification.
(2) video monitoring identification generally requires manual identified, is brought for the large-scale use of equipment in cost drastically
Rise, and video monitoring has hysteresis quality in itself, is unfavorable for on-the-spot control, is likely to result in managerial confusion.Which is fitted
It is suitable for and carries out general overview in Master Control Room, screens the application scenarios such as emergency case.
(3) image recognition is typically imaged using technological means such as visible ray, microwave or infrared imagings to measured object, then
It is identified according to the target property of measured object.The difficult point of which is the species of the vehicles such as bicycle, electric car, motorcycle
It is excessively numerous and jumbled, picture is caught using usual side view or forward sight and is difficult to extract typical profile criterion, and rely on and establish data
The mode in storehouse seems that the basic database construction period is oversize again, while recognizer itself is complex and poorly efficient.Such as use side
IMAQ is carried out depending on seat in the plane, to cause image frame that every gate neatly is set into a passage without ambient interferences needs, and
Installation isolating frame is set in track both sides.Even if but it is such setting vehicle can pass through, but for IMAQ
The great angle of visual field is needed under this scene, causes the distortion of picture serious, certain difficulty is brought to final identification.And if
The setting of picture is caught only with light engine position, then may occur more bicycles in same picture and vehicle is overlapping asks
Topic, can then be difficult to handle when carrying out image recognition.
(4) electromagnetic induction identification can be screened mainly for the exclusive motor of electric car, in this, as electric car
Criterion.But the permanent-magnetic electric machine of electric car needs to carry out magnetic field detection using sensitive gaussmeter, and is used forever on electric car
Magnets magnetic fields are very big with the decay of distance, do not influence it is current in the case of directly carry out non-contact measurement may adopt less than
Effective reading and influence to judge.Which can not the diesel locomotive such as independent detection motorcycle simultaneously.
(5) Tail gas measuring can be carried out using modes such as laser analysis tail gas groups, as a kind of more ripe technological means
Recognizable motor vehicles, but cannot be distinguished by electric car and bicycle.
In summary, at this stage or in a foreseeable longer term, come for the proposed bicycle capacity set
Say, design it is a kind of can quickly through intelligent bicycle identify gate for ensure bicycle special lane traveling to close weight
Will, while be also that bicycle capacity can realize the effective solution that its design maximum is intended to, but existing technology is on the way
The function can not be implemented separately in footpath, even the superposition of several technologies can not be solved smoothly, it is therefore necessary to should for this
With a kind of solution of synthesis of Scenario Design.
A kind of accordingly, it is desirable to provide high-adaptability cycle path intelligent gate system.
The content of the invention
It is special in bicycle it is an object of the invention to provide a kind of high-adaptability cycle path intelligent gate system
The unartificial identification of most of bicycle is realized with the porch in track so that the citizen of cycling trip can be quickly through lock
Machine enters runway, while prevents the non-bicycle such as electric car, motorcycle and scooter from entering, and then ensures bicycle capacity
Normal operation, manual identified is carried out by Central Control Room simultaneously for the vehicle not being effectively recognized.
To reach above-mentioned purpose, the present invention uses following technical proposals：
A kind of high-adaptability cycle path intelligent gate system, including it is arranged at the identification device 1 of track both sides
With the special gate 2 set along the direction of traffic of identification device 1, wherein
Identification device 1 is used to gather the distance of the wheel side elevation image and measurement identification device 1 and wheel by vehicle, base
In figure and apart from acquisition radius of wheel R and tyre width B, and calculate tyre width B and radius of wheel R relation function value i
={ B, R }, judge by vehicle whether be bicycle by the size of comparison functional value i and first threshold, send and judge
As a result to special gate 2；
Special gate 2 receives and is based on judged result and controls special gate 2 to open or close.
Preferably, relation function value i=B/R.
Preferably, identification device 1 includes side elevation image collection all-in-one 11 and vehicle induction trigger device 12, wherein
Side elevation image collection all-in-one 11 is correspondingly arranged in track both sides, including the first image collecting device 111, first is surveyed
Away from device 113 and processing module 115；First image collecting device 111 is corresponding to be highly arranged at side elevation image collection by wheel
The side of all-in-one 11, for gathering the wheel side elevation image by vehicle and sending to processing module 115；First range unit
113 are correspondingly arranged in side elevation image collection all-in-one 11 bottom of track both sides, for measuring by vehicle tyre width B1 simultaneously
Send to processing module 115；Processing module 115 receives wheel side elevation image and obtains radius of wheel R1, calculates tyre width B1
With radius of wheel R1 ratio i1=B1/R1, the size for comparing ratio i1 and first threshold judges by vehicle whether be voluntarily
Car, judged result is sent to special gate 2；
Vehicle induction trigger device 12 is arranged at lane center ground location, for sense have vehicle by and start first
The range unit 113 of image collecting device 111 and first.
It is further preferred that side elevation image collection all-in-one 11 also includes being correspondingly arranged with the first image collecting device 111
The second image collecting device 112 and the second range unit 114 for being correspondingly arranged with the first range unit 113, the first image adopt
The range unit 113 of acquisition means 111 and first, which is used to measure, passes through the wheel of vehicle first, the second image collecting device 112 and second
Range unit 114, which is used to measure, passes through the wheel of vehicle second, wherein
Second image collecting device 112 is corresponding to be highly arranged at side elevation image collection all-in-one 11 side by wheel, uses
By the wheel side elevation image of vehicle and sent in collection to processing module 115；Second range unit 114 is correspondingly arranged in track
Side elevation image collection all-in-one 11 bottom of both sides, for measuring by vehicle tyre width B2 and sending to processing module 115；
Processing module 115 receives the side elevation image of the second wheel and obtains radius of wheel R2, calculates tyre width B2 and car
Radius R2 ratio i2=B2/R2 is taken turns, the first wheel ratio i1 and the second wheel i2 average value i=i1+i2/2 is calculated, compares
Whether it is bicycle that the size of ratio i and first threshold is judged by vehicle, sends judged result to special gate 2.
It is further preferred that the first range unit 113 measures the side elevation image collection of track both sides respectively based on laser ranging
All-in-one 11 and the distance D1 and D2 by vehicle tyre, side elevation image collection 11 initial spacing of all-in-one in track both sides is D, then
Vehicle tyre width B1=D-D1-D2；
Second range unit 114 measures track both sides side elevation image based on laser ranging and gathers all-in-one 11 with passing through respectively
The distance D3 and D4 of vehicle tyre, side elevation image collection 11 initial spacing of all-in-one in track both sides is D, then vehicle tyre width B2
=D-D3-D4.
It is further preferred that the first wheel is vehicle front-wheel, the second wheel is vehicle rear wheel.
It is further preferred that vehicle induction trigger device 12 includes front-wheel sensing trigger module 121 and trailing wheel sensing triggering
Module 122, wherein
Front-wheel sensing trigger module 121 be used for sensing have vehicle by and start the first image collecting device 111 and first
Range unit 113；
Trailing wheel sensing trigger module 122 be used for sensing have vehicle by and start the second image collecting device 112 and second
Range unit 114.
Preferably, processing module 115 carries out background Processing for removing to the side elevation image received.
Preferably, special gate 2 includes RFID identification module 23, for identifying RFID signal and controlling special gate 2 to beat
Open.
Preferably, relation function value i=B/R2Or i=lnB/R or i=INT (B)/INT (R).
Beneficial effects of the present invention are as follows：
It is relatively low that the present invention proposes a kind of cost, propagable bicycle function identification gate system, ensures that bicycle exists
The right of way of the cycle path of Urban Traffic, it can effectively avoid motorcycle, electric car, scooter, tricycle etc. non-certainly
Driving takes cycle path, for promoting the extensive use of cycle path to serve supporting role, is easy to certainly
The low-carbon trip of driving fan.The intelligent gate system of the present invention is set compared to like product without being reserved in advance on ground
Standby mounting hole and bottom space, if the road that especially cycle path will not be high to frame in the case of isostructural using box beam
Road body construction causes to damage, while is also more applicable for the cycle path of different structure form.
Brief description of the drawings
The embodiment of the present invention is described in further detail below in conjunction with the accompanying drawings.
Fig. 1 shows cycle path gate system structural representation.
Fig. 2 shows cycle path gate system top view.
Fig. 3 shows cycle path gate system along direction of traffic schematic diagram.
Fig. 4 shows that side view identifies all-in-one machine structure schematic diagram.
Fig. 5 shows two-way traffic identifying system layout structure schematic diagram.
Fig. 6 shows front-wheel IMAQ schematic diagram.
Fig. 7 shows trailing wheel IMAQ schematic diagram.
Fig. 8 shows vehicle tyre width instrumentation plan.
Embodiment
In order to illustrate more clearly of the present invention, the present invention is done further with reference to preferred embodiments and drawings
It is bright.Similar part is indicated with identical reference in accompanying drawing.It will be appreciated by those skilled in the art that institute is specific below
The content of description is illustrative and be not restrictive, and should not be limited the scope of the invention with this.
For bicycle, electric car, motorcycle and scooter, its profile difference is larger, only by side elevation image by counting
Calculation machine graphics judges to be difficult to find that typical distinguishing limit；Before front view picture can cause image capturing system to be located at direct of travel
End, stop driving, and front view picture equally exists the fuzzy situation of distinguishing limit；Equally, other single direction views are difficult
To judge.According to the mode of 3D imagings, it can be imaged using binocular stereo camera, binocular stereo vision is that one kind exists
The three-dimensional reconstruction set up on the basis of Marr theories of vision, it is to be in not by two video cameras to shooting same object
With situation during position, the image difference that two eyes obtain is merged, three dimensional field is carried out to the image of acquisition using geometrical principle
The recovery of scape, but the problem of same with preceding method, can be run into using which.
There is invention to propose a kind of recognition methods positioned at runway bottom, but be primarily present following shortcoming：
1st, need that pattern recognition device is installed in runway bottom, so need to carry out in the case where road construction finishes
Secondary construction；
2nd, as above, if bicycle capacity is overhead section, road supporting construction is generally concrete box girder or steel knot
Structure, if concrete box girder, then secondary construction is difficult to, it is necessary to carry out prefabricated；
3rd, as above, if steel construction road, then secondary construction can be carried out, but the relevant position of carriageway surfacing must be opened
Hole is handled, and work on the spot amount is larger；
4 at the same install after be difficult to entirely prevent rainwater to enter steel construction body, cause the hidden danger of safety problem；
Problem above belongs to build-in attribute, it is difficult to which perfect by designing improvement, therefore, a kind of better adaptability, installation is more
Actual use is more bonded for convenient product.To put forth effort to solve this problem, emphasis of the present invention is not destroying track body construction
In the case of, the detection identification of current vehicle to be checked is realized, and Fast Installation can be realized.
For current vehicle to be checked, it is preferred that emphasis is the radius of identification tyre width and wheel, and both ratio is calculated, with
This important criterion as vehicle identification, and CCTV camera can be passed through by Central Control Room without the vehicle screened for system
Carry out manual identified.
To calculate the ratio of tyre width and wheel footpath, it is necessary to image recognition be carried out to front-wheel, in view of side view, forward sight, vertical view
Inevitable inferior position be present Deng visual angle, and the punching installation equipment below road, therefore this are then needed using bat mode is faced upward
The method that invention is combined using side elevation image identification and side seat in the plane laser ranging method, that is, the side installation diagram picture for vehicle passage of being expert at
Camera is gathered, vehicle passage both sides installation laser range finder of being expert at, tyre width is measured by laser range finder, gathered by side view camera
Wheel side elevation image simultaneously calculates wheel footpath by the mode of image recognition.
As Figure 1-3, a kind of high-adaptability cycle path intelligent gate system, including it is arranged at track both sides
Identification device 1 and along the direction of traffic of identification device 1 set special gate 2, wherein
Identification device 1 is used to gather the distance of the wheel side elevation image and measurement identification device 1 and wheel by vehicle, base
In figure and apart from acquisition radius of wheel R and tyre width B, and tyre width B and radius of wheel R ratio i=B/R are calculated,
Size by comparing ratio i and first threshold judges by vehicle whether be bicycle, sends judged result to special gate
2。
Specifically, as shown in figure 4, identification device 1 includes side elevation image collection all-in-one 11 and vehicle induction trigger device
12, wherein side elevation image collection all-in-one 11 is correspondingly arranged in track both sides, including the first image collecting device 111, first is surveyed
Away from device 113 and processing module 115；First image collecting device 111 is corresponding to be highly arranged at side elevation image collection by wheel
The side of all-in-one 11, for gathering the wheel side elevation image by vehicle and sending to processing module 115；First range unit
113 are correspondingly arranged in side elevation image collection all-in-one 11 bottom of track both sides, for measuring by vehicle tyre width B1 simultaneously
Send to processing module 115；Processing module 115 receives wheel side elevation image and obtains radius of wheel R1, calculates tyre width B1
With radius of wheel R1 ratio i1=B1/R1, the size for comparing ratio i1 and first threshold judges by vehicle whether be voluntarily
Car, judged result is sent to special gate 2.
Side elevation image collection all-in-one 11 also includes the second IMAQ being correspondingly arranged with the first image collecting device 111
Device 112 and the second range unit 114 being correspondingly arranged with the first range unit 113, the first image collecting device 111 and first
Range unit 113, which is used to measure, passes through the wheel of vehicle first, and the second image collecting device 112 and the second range unit 114 are used for
Measurement passes through the wheel of vehicle second, is adopted wherein the second image collecting device 112 is correspondingly highly arranged at side elevation image by wheel
The integrated side of machine 11, for gathering the wheel side elevation image by vehicle and sending to processing module 115；Second range unit
114 are correspondingly arranged in side elevation image collection all-in-one 11 bottom of track both sides, for measuring by vehicle tyre width B2 simultaneously
Send to processing module 115；Processing module 115 receives the side elevation image of the second wheel and obtains radius of wheel R2, calculates tire
Width B2 and radius of wheel R2 ratio i2=B2/R2, calculate the first wheel ratio i1 and the second wheel i2 average value i=i1
+ i2/2, the size for comparing ratio i and first threshold judge by vehicle whether be bicycle, send judged result to Special gate
Machine 2.
Above-mentioned first wheel is vehicle front-wheel, and the second wheel is vehicle rear wheel, and 117 are integrated casing body, and 118 be imaging area
Domain, 119 be distance measuring light beam.
When measurement passes through vehicle tyre width, the first range unit 113 measures track both sides side respectively based on laser ranging
Visible image gathers all-in-one 11 and the distance D1 and D2 by vehicle tyre, and side elevation image collection all-in-one 11 in track both sides is initial
Spacing is D, then vehicle tyre width B1=D-D1-D2；Second range unit 114 measures track both sides respectively based on laser ranging
Side elevation image gathers all-in-one 11 and the distance D3 and D4 by vehicle tyre, at the beginning of track both sides side elevation image gathers all-in-one 11
Beginning spacing is D, then vehicle tyre width B2=D-D3-D4.
As shown in figure 5, vehicle induction trigger device 12 is arranged at lane center ground location, there is vehicle to pass through for sensing
And start the first image collecting device 111 and the first range unit 113.Vehicle induction trigger device 12 includes front-wheel sensing triggering
Module 121 and trailing wheel sensing trigger module 122, wherein front-wheel sensing trigger module 121 be used for sensing have vehicle by and start
First image collecting device 111 and the first range unit 113；Trailing wheel sensing trigger module 122, which is used for sensing, has vehicle to pass through simultaneously
Start the second image collecting device 112 and the second range unit 114.
In the present invention, identification device 1 is arranged on the upper of runway 4.Wherein vehicle induction trigger device 12 is arranged on track
Center, center line alignment, side elevation image collection all-in-one 11 are arranged on track both sides, wherein adopted with the side elevation image of right side seat in the plane
Integrated machine 11 is responsible for gathering the image in this track, and side elevation image collection all-in-one 11 right flank of left side seat in the plane is used as right side
The background of seat in the plane IMAQ, while it also is responsible for gathering the image of the left-hand lane of runway 4；Side elevation image gathers the He of all-in-one 11
Vehicle induction trigger device 12 has corresponding position relationship, and both need to carry out the mechanical connection for having positioning, to determine both
Between relative geometrical relation, side elevation image gathers ground with runway 4 of all-in-one 11 and vehicle induction trigger device 12
It is fixed.
In specific implementation process, identification device 1 is arranged on the front of special gate 2 about 3m~5m position, enough to ensure
Recognition time.Identification device 1 includes side elevation image collection all-in-one 11, vehicle induction trigger device 12, and both have machinery
Mounting interface, accurately positioning is needed during installation to fix, integral installation is on runway 4, center alignment；Identification device 1 is because protecting
It is not parking by the way that so needing to have certain width, the width can determine according to effective lane-width, typically may be used to demonstrate,prove cyclist
Between 500mm~750mm；Side elevation image gathers all-in-one 11 and vehicle induction trigger device 12 is the pass of identification device 1
Key functional part, wherein vehicle induction trigger device 12 are every one, track, and side elevation image collection all-in-one 11 is every
Two, track, respectively positioned at the left and right sides in track, two side elevation image collection all-in-ones 11 and vehicle induction trigger device
12 are connected by the communications cable 124, and the communications cable 124 possesses function of supplying power；Front-wheel image collecting device 111 and trailing wheel figure
As harvester 112 can use the industrial camera of visible ray and near infrared imaging with the appropriate camera lens composition of complex focus, light filling light
Source 116 provides enough background illuminations for collection image, and near infrared band can reduce the environmental disturbances in the case of visible ray, mend
Radiant 116 is typically mounted at the offside of image collecting device, for reversible-light shooting；Wherein the specification of industrial camera preferably selects figure
Picture resolution ratio is not less than 640 × 480, and frame number is not less than the product of 20fps equal-specifications, with reference to the camera lens of appropriate focal length, is driving a vehicle
The imaging region on vertical guide where the center line of road 4 is about 600mm × 450mm, to cover current maximum 29 inches of wheel footpath certainly
The wheel scope more than 1/4 of driving wheel；Front-wheel senses trigger module 121 and trailing wheel sensing trigger module 122 uses customization line
Type pressure sensor switch is main element, can arrange front and rear two groups of line style pressure sensors in each trigger module, drive a vehicle
During perceive the pressure activated of front and back wheel after can provide triggering command；Front-wheel range unit 113 and trailing wheel range unit 114
It is both needed to be arranged on the bottom of side elevation image collection all-in-one 11, every side elevation image collection all-in-one 11 need to install 4.Front-wheel is surveyed
Geometrically needing to sense trigger module 121 and trailing wheel sensing triggering with front-wheel respectively away from device 113 and trailing wheel range unit 114
The center of module 122 is aligned, and apart from ground is about 20mm in height.Secondary development can be carried out on the basis of laser ranging module,
If size exceeds, then need to increase light path switching part, it is ensured that the geometry site of emergent ray.
Special gate 2 receives and is based on judged result and controls special gate 2 to open or close.The profile of special gate 2
Size needs to be designed according to being improved property of usage scenario, and if desired for narrower width and relatively low height, existing lock can be used
Machine general technology is realized；Compared to the functional module of existing gate, be provided with the special gate 2 notice screen and loudspeaker with
And complaint button.
Bicycle identification process is as follows：
During bicycle in traveling senses trigger module 121 by the front-wheel in identification device 1, front-wheel sensing is touched
Hair module 121 sends acquisition instructions when front and rear two pressure sensors are pressurized triggering and gives the He of front-wheel image collecting device 111
Front-wheel range unit 113.As it was previously stated, front-wheel range unit 113 gathers one to use in pairs, from the side elevation image of track both sides
Body machine 11 distinguishes emission detection laser beam, measures bike tire's both sides tyre sidewall in advancing apart from both sides side elevation image collection one
The distance D1 and distance D2 of the reference plane of front-wheel range unit 113 in body machine 11.And two bases of front-wheel range unit 113 of both sides
The distance between quasi- face initial value space D is system initial set value, and the value determines according to lane width, therefore, tyre width value
B1=D-D1-D2.Front-wheel image collecting device 111 is when receiving acquisition instructions while triggers supplementary lighting sources 116, in light filling light
Source 116 gathers front-wheel image in the case of irradiating, and can reduce the influence of bias light, while the contour edge of prominent determinand, such as
Shown in Fig. 6.Typical algorithm in image recognition, wheel footpath R1 can be gone out according to the edge calculations of tire, calculate tyre width B1
With radius of wheel R1 ratio i1=B1/R1.
During the bicycle for continuing to travel senses trigger module 122 by the trailing wheel in identification device 1, trailing wheel sensing
Trigger module 122 sends acquisition instructions when front and rear two pressure sensors are pressurized triggering to trailing wheel image collecting device 112
With trailing wheel range unit 114.As it was previously stated, trailing wheel range unit 114 to use in pairs, gathers from the side elevation image of track both sides
All-in-one 11 distinguishes emission detection laser beam, and the bike tire's both sides tyre sidewall measured in advancing gathers apart from both sides side elevation image
The distance D3 and distance D4 of the reference plane of trailing wheel range unit 114 in all-in-one 11.And two trailing wheel range units 114 of both sides
The distance between reference plane is worth initial space D, and for system initial set value, the value is equal to the distance between front-wheel range unit 113
Initial value, the value determine according to lane width, therefore, tyre width value B2=D-D3-D4.Trailing wheel image collecting device 112 is connecing
When receiving acquisition instructions while supplementary lighting sources 116 are triggered, trailing wheel image is gathered in the case where supplementary lighting sources 116 irradiate, can drop
The influence of low bias light, while the contour edge of prominent determinand, as shown in Figure 7.Typical algorithm in image recognition, can
Go out wheel footpath R2 according to the edge calculations of tire, calculate tyre width B2 and radius of wheel R2 ratio i2=B2/R2.The wheel of trailing wheel
Tire width value B2 and wheel footpath R2 measured value are used to compare with the equal measured value of front-wheel, can be weighted average treatment, reduce
The influence of measurement error.
The first wheel ratio i1 and the second wheel i2 average value i=i1+i2/2 are calculated, compares ratio i and first threshold
Size judge by vehicle whether be bicycle, transmission judged result to special gate 2.
According to the tire specification standard of bicycle, electric car and motorcycle, ratio i tool can be provided with reference to statistics
Body value.It is bicycle if ratio i falls into section I；It is electric car if ratio i falls into section II；If ratio i falls into section
It is motorcycle during III.Wherein, section I-II is the fuzzy interval of bicycle and electric car, and the vehicle in this section is generally
The wide tire bicycle of small-wheel-diameter and the narrow tire electric car of big wheel footpath, wide tire described herein and narrow tire are not the wide and narrow of absolute value, and
It is wide and narrow in same type vehicle；Section II and section III boundary are there is also the above situation, but the boundary is also significantly big
In section I-II codomain, therefore it can directly be determined as non-bicycle without further difference.
Due to bicycle under steam front-wheel advance axis not necessarily lane center overlap, but exist offset and
Angle, therefore need to extract front-wheel image lateral edges when real image is handled, and corrected with reference to measurement distance.
Image recognition is carried out in the IMAQ for carrying out trailing wheel, while for the central area of trailing wheel.The trailing wheel center one of electric car
As be drum-type motor, its radius is larger, and is enclosed construction, the trailing wheel of significant difference and bicycle in the influence of trailing wheel
Image, edge extracting can be carried out to this part, its radius be calculated again according to edge, as further decision, when the radius is more than
Electric car can be judged as after certain preset value.Motorcycle equally exists the problem, i.e. there is larger drum-type wheel shaft at trailing wheel center.
It should be understood that processing module 115 also carries out background Processing for removing to the side elevation image received.
Optionally, in above-mentioned intelligent gate, for the public bicycles of municipal administration offer, unification can onboard be fixedly mounted
The RFID card of coding, the public bicycles that RFID identification module is provided with special gate can have RFID card to such are carried out
Quick identification, and give and let pass.Such as special gate 2 includes gate 21, gate body 22, RFID identification module, special gate
The gate of existing ordinary person's class is different from, its height and width are required to be customized according to the usage scenario of bicycle, are
A kind of gate of small size.The appearance and size of special gate 2 needs to be designed according to being improved property of usage scenario, if desired for narrower
Width and relatively low height, existing gate general technology can be used to realize.
The high-adaptability cycle path intelligent gate system of the present invention has following function：
System combined identification device 1, special gate 2 and the bicycle recognition methods 3 belonging to it carries out bicycle
Identification and by wherein for the vehicle that can smoothly identify via special gate 2 by into cycle path, for not
The vehicle that can smoothly identify monitors computer room 5 via middle control and carries out artificial judgment detection by monitoring camera 6.The system can prevent
Do not meet the non-bicycle such as the electric car, motorcycle, tricycle of current standard and cycle path is entered by gate, ensure
Right of way of the bicycle in its dedicated Lanes.
As shown in figure 8, the systematic difference scene and flow are as follows：
1. according to the planning of existing bicycle capacity, its width is generally 2.5m, and the system is located at entering for special lane
At mouthful, 2.4m or so space is taken in width, about 3~5m spaces are taken in direction of traffic；
2. the basic configuration of the system includes two driving lanes, suitably it can be increased and decreased or be become according to the width in track
More；
3. installing identification device 1 and special gate 2 on driving lane, cycling can be achieved need not be got off by detection
Carry out, gait of march can be realized between 5km/h~18km/h, or according to system hardware configuration situation and pass through speed more at a high speed；
4. installing side elevation image collection all-in-one 11 respectively in the both sides of driving lane, it is used for the car for gathering left-hand lane
Image；
5. when bicycle is by identification device 1, front-wheel first passes around front-wheel sensing trigger module 121, now front-wheel sense
Trigger module 121 is answered to send acquisition instructions to front-wheel image collecting device 111 and front-wheel range unit 113；
6. front-wheel image collecting device 111 gathers front-wheel side elevation image after acquisition instructions are received, by the figure after collection
Wheel footpath calculating is carried out as being sent to processing module 115；
7. front-wheel range unit 113 carries out ranging after acquisition instructions are received, the distance value measured is sent after collection
To processing module 115, the wide B1 of front tyre is calculated；
8. bicycle continues to move ahead on identification device 1, when trailing wheel is by trailing wheel sensing trigger module 122, trailing wheel sense
Trigger module 122 is answered to send acquisition instructions to trailing wheel image collecting device 112 and trailing wheel range unit 114；
9. trailing wheel image collecting device 112 gathers trailing wheel side elevation image after acquisition instructions are received, by the figure after collection
Wheel footpath calculating is carried out as being sent to processing module 115；
10. trailing wheel range unit 114 carries out ranging after acquisition instructions are received, the distance value measured is sent after collection
To processing module 115, the wide B2 of rear tyre is calculated；
11. to reduce measurement error, thus introducing the comparison of front and back wheel measured value, and calculate average value；
12. it is wide with the ratio of wheel footpath according to mean value calculation tire, provide judged result；
13. processing module 115 determines whether to pass through according to judged result, pass-through command is sent if it can pass through to special
Gate 2, now special gate opening gate, bicycle can directly pass through.Special gate 2 need to meet gate professional standard, certainly
Driving passes through rear closed shutter, and is accompanied with safety measure；
14. processing module 115 determines whether to pass through according to judged result, notification instruction is sent if impassabitity to logical
Know screen and loudspeaker, now notice screen and loudspeaker are sailed out of by screen display and verbal announcement bicyclist；
If 15. due to bicyclist's vehicle belong to system judgement borderline region or other reasonses cause to judge by accident, can be in lock
Pressing appeals the artificial video detection of button application to determine whether to pass through at machine.
It should be noted that in the present invention, pass that the tyre width B and radius of wheel R of vehicle front-wheel are detected for the system
Key index, it differentiates that first threshold is not limited to ratio i=B/R, or other of B and R linearly or nonlinearly superposition calculation
Method, in order to improve i separating degree, such as i=B/R2Or i=lnB/R or i=INT (B)/INT (R) etc., the present invention is with i=
Illustrated exemplified by B/R.
Obviously, the above embodiment of the present invention is only intended to clearly illustrate example of the present invention, and is not pair
The restriction of embodiments of the present invention, for those of ordinary skill in the field, may be used also on the basis of the above description
To make other changes in different forms, all embodiments can not be exhaustive here, it is every to belong to this hair
Row of the obvious changes or variations that bright technical scheme is extended out still in protection scope of the present invention.
Claims (10)
1. a kind of high-adaptability cycle path intelligent gate system, it is characterised in that including being arranged at track both sides
Identification device (1) and the special gate (2) set along the identification device (1) direction of traffic, wherein
The identification device (1) is used to gather the wheel side elevation image and the measurement identification device (1) and wheel by vehicle
Distance, based on the figure and apart from obtaining radius of wheel R and tyre width B, and calculate the tyre width B and wheel half
Footpath R relation function value i={ B, R }, judged by the relation function value i and first threshold size be by vehicle
No is bicycle, sends judged result to the special gate (2)；
The special gate (2) receives and is based on the judged result and controls the special gate (2) to open or close.
2. cycle path intelligent gate system according to claim 1, it is characterised in that the relation function value
I=B/R.
3. cycle path intelligent gate system according to claim 2, it is characterised in that the identification device
(1) side elevation image collection all-in-one (11) and vehicle induction trigger device (12) are included, wherein
Side elevation image collection all-in-one (11) is correspondingly arranged in track both sides, including the first image collecting device (111), the first survey
Away from device (113) and processing module (115)；Described first image harvester (111) is corresponding to be highly arranged at institute by wheel
Side elevation image collection all-in-one (11) side is stated, for gathering the wheel side elevation image by vehicle and sending to the processing mould
Block (115)；First range unit (113) is correspondingly arranged in side elevation image collection all-in-one (11) bottom of track both sides,
For measuring by vehicle tyre width B1 and sending to the processing module (115)；Described in the processing module (115) receives
Wheel side elevation image simultaneously obtains radius of wheel R1, calculates the tyre width B1 and radius of wheel R1 ratio i1=B1/R1, than
Whether it is bicycle that the size of the ratio i1 and first threshold is judged by vehicle, sends judged result to the Special gate
Machine (2)；
The vehicle induction trigger device (12) is arranged at lane center ground location, for sense have vehicle by and start institute
State the first image collecting device (111) and the first range unit (113).
4. cycle path intelligent gate system according to claim 3, it is characterised in that the side elevation image is adopted
Integrated machine (11) also include the second image collecting device (112) for being correspondingly arranged with the first image collecting device (111) and with
The second range unit (114) that first range unit (113) is correspondingly arranged, described first image harvester (111) and first
Range unit (113), which is used to measure, passes through the wheel of vehicle first, second image collecting device (112) and the second range unit
(114) it is used to measure to pass through the wheel of vehicle second, wherein
Second image collecting device (112) is corresponding to be highly arranged at the side elevation image collection all-in-one (11) by wheel
Side, for gathering the wheel side elevation image by vehicle and sending to the processing module (115)；Second range unit
(114) side elevation image collection all-in-one (11) bottom of track both sides is correspondingly arranged in, passes through vehicle tyre width for measuring
B2 is simultaneously sent to the processing module (115)；
The processing module (115) receives the side elevation image of the second wheel and obtains radius of wheel R2, calculates the tyre width
B2 and radius of wheel R2 ratio i2=B2/R2, calculate the first wheel ratio i1 and the second wheel i2 average value i=(i1+
I2)/2, whether it is bicycle that the size of the ratio i and first threshold is judged by vehicle, sends judged result to institute
State special gate (2).
5. cycle path intelligent gate system according to claim 4, it is characterised in that
First range unit (113) based on laser ranging measure respectively track both sides side elevation images collection all-in-one (11) with
By the distance D1 and D2 of vehicle tyre, the initial spacing of track both sides side elevation image collection all-in-one (11) is D, then vehicle tyre
Width B1=D-D1-D2；
Second range unit (114) based on laser ranging measure respectively track both sides side elevation images collection all-in-one (11) with
By the distance D3 and D4 of vehicle tyre, the initial spacing of track both sides side elevation image collection all-in-one (11) is D, then vehicle tyre
Width B2=D-D3-D4.
6. cycle path intelligent gate system according to claim 5, it is characterised in that
First wheel is vehicle front-wheel, and second wheel is vehicle rear wheel.
7. cycle path intelligent gate system according to claim 6, it is characterised in that the vehicle sensing is touched
Transmitting apparatus (12) includes front-wheel sensing trigger module (121) and trailing wheel sensing trigger module (122), wherein
Front-wheel sensing trigger module (121) be used for sensing have vehicle by and start described first image harvester (111) and
First range unit (113)；
Trailing wheel sensing trigger module (122) be used for sensing have vehicle by and start second image collecting device (112) and
Second range unit (114).
8. cycle path intelligent gate system according to claim 7, it is characterised in that the processing module
(115) background Processing for removing is carried out to the side elevation image received.
9. cycle path intelligent gate system according to claim 1, it is characterised in that the special gate
(2) include RFID identification module (23) to be used to identify RFID signal and control the special gate (2) to open.
10. cycle path intelligent gate system according to claim 1, it is characterised in that the relation function
Value i=B/R2Or i=lnB/R or i=INT (B)/INT (R).
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| CN108550218A (en) * | 2018-06-01 | 2018-09-18 | 厦门市市政工程设计院有限公司 | A kind of bicycle capacity integrated control system and its management-control method |
| CN109102598A (en) * | 2018-07-13 | 2018-12-28 | 北京无线电计量测试研究所 | A kind of bicycle capacity total management system |
| CN110298308A (en) * | 2019-06-28 | 2019-10-01 | 北京无线电计量测试研究所 | A kind of bicycle capacity traffic identifying system |
| CN110310400A (en) * | 2019-06-28 | 2019-10-08 | 北京无线电计量测试研究所 | A kind of cycle path intelligent gate system and its control method |
| CN112593506A (en) * | 2020-12-08 | 2021-04-02 | 武汉商学院 | Stop control system |
| CN112595207A (en) * | 2020-12-09 | 2021-04-02 | 北京无线电计量测试研究所 | Non-contact type rapid measuring device and method for width of bicycle tire |
| CN112614368A (en) * | 2020-12-15 | 2021-04-06 | 英华达（南京）科技有限公司 | Driving control method, system and related equipment |
| CN112614382A (en) * | 2020-11-11 | 2021-04-06 | 泰州无印广告传媒有限公司 | Intelligent relative distance adjusting system |
| CN113611029A (en) * | 2021-07-22 | 2021-11-05 | 北京京东乾石科技有限公司 | Monitoring method, device, access control system and readable storage medium |
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| CN113611029A (en) * | 2021-07-22 | 2021-11-05 | 北京京东乾石科技有限公司 | Monitoring method, device, access control system and readable storage medium |
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