CN109830109A - A kind of road traffic monitoring equipment based on laser ranging - Google Patents
A kind of road traffic monitoring equipment based on laser ranging Download PDFInfo
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- CN109830109A CN109830109A CN201910212810.6A CN201910212810A CN109830109A CN 109830109 A CN109830109 A CN 109830109A CN 201910212810 A CN201910212810 A CN 201910212810A CN 109830109 A CN109830109 A CN 109830109A
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Abstract
The present invention provides a kind of road traffic monitoring equipments based on laser ranging.It include: industrial personal computer, processor and laser sensor array；Laser sensor array is arranged on overhead above the lane of road, the road surface in the vertical directive lane of the laser of two laser transmitter projects, carry out continual high frequency ranging, processor is connected with laser sensor, passing through for vehicle, T at the time of record vehicle head reaches beam of laser position are judged according to the ranging data that laser sensor is sent to processorstartT at the time of leaving beam of laser position with vehicle tailend2, T at the time of record vehicle head reaches the second beam laser positionend1, industrial personal computer is connected with processor, according to the ranging data of processor transmission, moment Tstart, moment Tend2With moment Tend1Calculate the height, length, speed of vehicle.Equipment of the invention the operation is stable under various environmental conditions, can measure overall height vehicle commander, and equipment can identify vehicle's contour, be conducive to vehicle parting and identification overlength Overheight Vehicles.
Description
Technical field
The present invention relates to traffic monitoring technical field more particularly to a kind of traffic monitorings based on laser ranging
Equipment.
Background technique
With the growth of fusion economic in global range and car ownership year by year, the friendship caused by road operation vehicle
Logical accident rate is also sharp increasing.Traffic accident first is that drive over the speed limit, traffic management department is in order to effectively contain because of hypervelocity
And the traffic accident caused, enable automobile overspeed automatic checkout system one after another in road speed limit area and mobile speed measurement.Mesh
Before, the most common motor vehicle speed measuring system range rate error of traffic management department reaches 1km/h, although its error has met
JJG528-2004's " motor vehicle radar meter vertification regulation " and JJG527-2007 " automatic monitoring system for automobile overspeed "
Standard requirements, still, it is desired nonetheless to which a kind of higher motor vehicle speed measuring system of precision examines and determine it.It is logical for measuring and calculating lane
The time headway of row ability, precise measurement are particularly important.
With the development of the social economy, highway transport vehicle develops to enlargement, pulling, containerzation direction.By benefit
Benefit driving, the super and long overload transportation vehicle of superelevation travelled on highway increase year by year, cause serious social danger.Superelevation it is super and
It is recessive and accumulation property that long overloaded vehicle is destroyed caused by highway and bridge, and accumulation can cause to destroy to a certain extent, very
To the thus accidents such as disconnected, car crash of initiation bridge.Quick section in some cities, that is, there is higher speed to want in city
The strategic road for asking and be long range transport services, being typically designed speed is 80km/h to 100km/h.On these through streets,
Vehicle flowrate is larger, and speed is very fast, and some overload and oversize vehicles, mainly lorry, if the road row on the vehicle flowrate larger period
It sails, since truckload is larger, speed is slower, easily initiation traffic accident endangers traffic safety.
With the development of urban transportation, the construction of intelligent transportation, need accurately and reliably traffic monitoring apparatus be traffic fortune
Row analysis provides data with decision and supports.To improving megalopolis comprehensive traffic operational management efficiency, for the public provide it is real-time,
Convenient, humanized information service and emergency traffic commander provide safeguard.
A kind of traffic monitoring apparatus in the prior art is laser vehicle detector, comprising: power supply, for providing electric energy:
Host computer, for receiving vehicle detection data, well monitors vehicle operating information: reflective laser detector group, for sending out
Penetrate laser beam and acquire on-off model caused by laser beam on-off when vehicle passes through end to end: working procedure distributor is used for
Each laser emitter and laser pickoff into reflective laser detector group provide the electricity sequentially turned on and off as required
Signal: computer data processor, the effective reflection signal received for identifying confirmation laser pickoff, and according to clock pulses
The number scale record time calculates the information of the volume of traffic, speed, vehicle commander and time occupancy, uploads in host computer: linear type
Sectional shelf-unit, for installing reflective laser detector group.
The shortcomings that above-mentioned traffic monitoring apparatus in the prior art are as follows: laser emitter and laser pickoff do not have ranging function
Can, vehicle enters and leaves laser triggering electric signal for timing end to end, and vehicle parting is based only on vehicle commander, and vehicle classification is not accurate enough.Swash
The precision and stability of optical transmitting set and laser pickoff is higher to environmental requirement, in the monitoring at rainy day, greasy weather, snowy day and night
Effect is poor.
Summary of the invention
The embodiment provides a kind of road traffic monitoring equipments based on laser ranging, to overcome the prior art
The problem of.
To achieve the goals above, this invention takes following technical solutions.
A kind of road traffic monitoring equipment based on laser ranging, comprising: industrial personal computer, processor and laser sensor battle array
Column；
The laser sensor array, it is overhead above the lane of road for being arranged in, for each lane
Horizontally disposed a pair of laser sensor, the road surface in the vertical directive lane of the laser of two laser transmitter projects, using laser into
The uninterrupted ranging of row, is sent to the processor for obtained ranging data；
The processor, for connecting with the laser array and the industrial personal computer, reception is sent out by the laser array
The ranging data brought, judged according to the ranging data and record vehicle head reach beam of laser position when
Carve TstartT at the time of leaving beam of laser position with vehicle tailend2, record vehicle head reaches the second beam laser institute
T at the time of positionend1, by the moment Tstart、Tend2、Tend1The industrial personal computer is sent to ranging data；
The industrial personal computer, for being connected to the processor, at the time of receiving and storing the processor and send over
Tstart, moment Tend2, moment Tend1And ranging data, according to the moment Tstart、Moment Tend2, moment Tend1And ranging data
The traffic data of vehicle is calculated, which includes speed and the vehicle commander of vehicle.
Further, the processor according to the emission time of the laser transmitter projects laser, the time of reception and
The light velocity judges and calculates the height by vehicle, by the high transmission of vehicle to industrial personal computer.
Further, the processor reaches the first beam laser sensor institute according to the front end of front and back two cars
Time difference in position calculates time headway, and time headway data are transferred to industrial personal computer.
Further, the industrial personal computer is connect with the processor by serial line interface, and connecting line is that USB turns TTL company
Wiring, the processor are connect with the laser sensor by I2C interface, and connecting line is double end GH1.25-6p terminal line.
Further, the equipment further includes TCA9548A device, the CA9548A device and processor circuit phase
Even, the processor is that TCA9548A device distributes main address, the TCA9548A device be every a pair of of downstream interface distribution from
Address, every corresponding a pair of of laser sensor of a pair of downstream interface, serial clock/serial number of the TCA9548A device processor
According to uplink to being extended to 8 downlinks pair.
Further, the processor has source crystal oscillator equipped with 16MHz, realizes Millisecond timing.
Further, the industrial personal computer is furnished with data processing software and wireless network card.
As can be seen from the technical scheme provided by the above-mentioned embodiment of the present invention, used in the equipment of the embodiment of the present invention
Laser sensor has high-precision and high sample frequency characteristic, under various environmental conditions the operation is stable.It is used herein to swash
Optical sensor carries out high sample frequency ranging, laser sensor precision ± 10cm, laser frequency 1000HZ, and laser is dry by environment
Disturb small, can recognize vehicle wheel profile, vehicle identification precision is high, and detection section traffic speed precision is good, have higher precision and
Stability.Laser used has distance measurement function, can measure overall height vehicle commander, and equipment can identify vehicle's contour, is conducive to vehicle point
Type and identification overlength Overheight Vehicles.
The additional aspect of the present invention and advantage will be set forth in part in the description, these will become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, required use in being described below to embodiment
Attached drawing be briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this
For the those of ordinary skill of field, without creative efforts, it can also be obtained according to these attached drawings others
Attached drawing.
Fig. 1 is a kind of diagrammatic cross-section of Lidar-Lite-V3 sensor provided in an embodiment of the present invention；
Fig. 2 is a kind of circuit diagram of processor provided in an embodiment of the present invention；
Fig. 3 is a kind of circuit diagram of TCA9548A device provided in an embodiment of the present invention；
Fig. 4 is a kind of work signal of road traffic monitoring equipment based on laser ranging provided in an embodiment of the present invention
Figure；
Fig. 5 is a kind of program structure diagram of processor provided in an embodiment of the present invention；
Fig. 6 is a kind of program structure diagram of industrial personal computer provided in an embodiment of the present invention.
Specific embodiment
Embodiments of the present invention are described below in detail, the example of the embodiment is shown in the accompanying drawings, wherein from beginning
Same or similar element or element with the same or similar functions are indicated to same or similar label eventually.Below by ginseng
The embodiment for examining attached drawing description is exemplary, and for explaining only the invention, and is not construed as limiting the claims.
Those skilled in the art of the present technique are appreciated that unless expressly stated, singular " one " used herein, " one
It is a ", " described " and "the" may also comprise plural form.It is to be further understood that being arranged used in specification of the invention
Diction " comprising " refer to that there are the feature, integer, step, operation, element and/or component, but it is not excluded that in the presence of or addition
Other one or more features, integer, step, operation, element, component and/or their group.It should be understood that when we claim member
Part is " connected " or when " coupled " to another element, it can be directly connected or coupled to other elements, or there may also be
Intermediary element.In addition, " connection " used herein or " coupling " may include being wirelessly connected or coupling.Wording used herein
"and/or" includes one or more associated any cells for listing item and all combinations.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (including technology art
Language and scientific term) there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.Should also
Understand, those terms such as defined in the general dictionary, which should be understood that, to be had and the meaning in the context of the prior art
The consistent meaning of justice, and unless defined as here, it will not be explained in an idealized or overly formal meaning.
In order to facilitate understanding of embodiments of the present invention, it is done by taking several specific embodiments as an example below in conjunction with attached drawing further
Explanation, and each embodiment does not constitute the restriction to the embodiment of the present invention.
The embodiment of the invention provides a kind of road traffic monitoring equipment based on laser ranging, which includes: industry control
Machine, processor and laser sensor array.
One: laser sensor
The laser sensor array, it is overhead above the lane of road for being arranged in, for each lane
Horizontally disposed a pair of laser sensor, the road surface in the vertical directive lane of the laser of two laser transmitter projects, using laser into
The uninterrupted ranging of row, is sent to the processor for obtained ranging data；
Above-mentioned laser sensor can be Lidar-Lite-V3 sensor, support to communicate with Arduino.Operating voltage 4.5
~6V, power 1.3W can reach the range frequency of 1000Hz using I2C communication.The laser sensor is swashed by calculating near-infrared
Time difference after optical signal is reflected converts with the light velocity to measure distance, transmits a coding with signal processing method
Signal, and find in the reflection signal of target the signal of the coding.The power level of the laser sensor meets eye-safe,
Therefore it can be used on road.A kind of diagrammatic cross-section of Lidar-Lite-V3 sensor provided in an embodiment of the present invention is such as
Shown in Fig. 1.
Two, processor (slave computer)
The processor, for connecting with the laser array and the industrial personal computer, reception is sent out by the laser array
The ranging data brought, judged according to the ranging data and record vehicle head reach beam of laser position when
Carve TstartT at the time of leaving beam of laser position with vehicle tailend2, record vehicle head reaches the second beam laser institute
T at the time of positionend1, by the moment Tstart、Tend2、Tend1The industrial personal computer is sent to ranging data；
Above-mentioned processor judges and calculates also according to the emission time of laser transmitter projects laser, the time of reception and the light velocity
The height by vehicle out, by the high transmission of vehicle to industrial personal computer.Described in front end arrival also according to front and back two cars
Time difference of the first beam laser sensor position calculate time headway, time headway is transferred to industrial personal computer.
The circuit board of processor can be Arduino Uno R3, have a USB interface, a pair of of I2C interface and 54 tunnels
Digital IO.Processor can be powered by external dc power, a kind of electricity of processor provided in an embodiment of the present invention
Road figure is as shown in Figure 2.The hardware of the processor has 16MHz crystal oscillator, and time chronometric data resolution is higher, it can be achieved that Millisecond
Timing.
Three, industrial personal computer (host computer)
The industrial personal computer, for being connected to the processor, at the time of receiving and storing the processor and send over
Tstart, moment Tend2, moment Tend1And ranging data, according to the moment Tstart, moment Tend2, moment Tend1And ranging data
The traffic data of vehicle is calculated, which includes speed, vehicle commander, overall height and the time headway of vehicle.
Device therefor need to be equipped with industrial personal computer, be furnished with host computer procedure on the industrial personal computer, for connecting processor (slave computer),
Data are stored and uploaded on the industrial personal computer, which includes the configuration data of power supply, serial ports, wireless network card.
Above-mentioned industrial personal computer is connect with above-mentioned processor by serial line interface, and connecting line is that USB turns TTL connecting line.Above-mentioned place
Reason device is connect with above-mentioned laser sensor by I2C interface, and connecting line is double end GH1.25-6p terminal line.
Four, I2C expansion module
I2C bus is a kind of bidirectional two-line clock synchronous serial bus.It only needs both threads that can be connected to always
Information is transmitted between device on line.Main device generates the device that clock is transmitted with opening for starting bus transmissioning data,
The device being addressed any at this time is regarded as from device.
In order to measure multilane wagon flow, equipment need at least arrange a pair of of laser array and multipair I2C interface.I2C agreement from
The address of laser sensor receives signal, since each laser sensor possesses identical register address, in order to handle
Ranging is synchronized to realize timing to multipair laser sensor on device, using TCA9548A device be laser sensor distributively
Location configures multipair laser sensor.TCA9548A device is serial clock/serial data (SCL/SDA) uplink of processor to expansion
Exhibition is 8 downlinks pair, therefore can at most arrange 4 pairs of laser sensors (4 lanes of covering).According in PLC technology register
Hold, any independent SCn/SDn downlink may be selected to combination.A kind of circuit diagram of TCA9548A device provided in an embodiment of the present invention
As shown in Figure 3.
Every a pair of laser sensor is connected with TCA9548A device by double end GH1.25-6p terminal line, TCA9548A device
Part is connected with processor circuit, and processor is that TCA9548A device distributes main address, and TCA9548A device is that every a pair of of downlink connects
Mouth (each pair of laser sensor) distribution is from address, wherein corresponding a pair of of the laser sensor of every a pair of downstream interface.
A kind of operation schematic diagram such as Fig. 4 of road traffic monitoring equipment based on laser ranging provided in an embodiment of the present invention
It is shown, laser array is arranged according to the number of track-lines of road.A pair of of laser sensor is arranged in each lane, between two laser sensors
It is provided with invar sclae, which measures the spacing between two laser sensors, which is calculated as Distance, two lasers
Line and road level between sensor.
For the laser of laser transmitter projects from overhead vertical directive road surface, laser sensor is also continual, synchronous
, the carry out rangings of high-res and Clocked operation.When vehicle reaches, by and when leaving laser beam, distance measurement value can obviously become
Change, triggering timing signal.
The road surface in the vertical directive lane of the laser of two laser transmitter projects, first laser sensor record vehicle head
T at the time of portion reaches beam of laser positionstartT at the time of leaving beam of laser position with vehicle tailend2,
By the moment TstartWith moment Tend2It is sent to the industrial personal computer；Second laser sensor record vehicle head reaches second
The T at the time of position Shu Jiguangend1, by the moment Tend1It is sent to the industrial personal computer；
The industrial personal computer, for the laser sensor array circuit connection, receive and store the laser sensing
T at the time of device array sends overstart、Moment Tend2With moment Tend1, by the moment Tstart, moment Tend2With moment Tend1
It is sent to the processor；
The processor, for according to the moment Tstart, moment Tend2With moment Tend1Calculate the speed of vehicle
Velocity and length Length.
Vehicle velocity V elocity:
Vehicle commander Length:
Length=Velocity × (Tend2-Tstart)
First laser sensor is also used to the emission time T according to beam of lasersent, moment TstartAnd light
Speed calculates the height of vehicle, by the high transmission of vehicle to industrial personal computer.
When being also used to calculate headstock according to the time difference that the front end of front and back two cars reaches beam of laser position
Away from time headway data are transferred to industrial personal computer.Industrial personal computer and processor can obtain lane according to multiple time headway data
On vehicle data on flows.
Current time is recorded finally by industrial personal computer program, exports and save traffic data, including timestamp, speed, vehicle
Other traffic statistics amounts of type (profile) and the volume of traffic, time headway, time headway: time headway represents front and back two
The front end of vehicle passes through the time difference in same place.
Fig. 5 is a kind of program structure diagram of processor provided in an embodiment of the present invention, and the treatment process of processor includes: head
First for modules reference get out class library files, for TCA9548A device distribute address, then to module interface, variable and
Object is stated and is defined.After completing this subprogram, sampling frequency synchronization ranging as needed, timing, traffic number
According to writing corresponding power function.
In the initialization section of program, needs the height arranged to equipment to initialize, then make each power function
Circular flow can be such that this equipment works normally.
Fig. 6 is a kind of program structure diagram of industrial personal computer provided in an embodiment of the present invention.The treatment process of host computer includes: head
Ready class library files are first quoted, including obtain local zone time and serial ports, then object carries out to module interface, variable
Statement and definition.After completing this subprogram, circulation reads the traffic data that serial ports returns, and record current local time stabs,
It exports and locally saves.
In conclusion laser sensor used in the equipment of the embodiment of the present invention has high-precision and high sample frequency special
Property, under various environmental conditions the operation is stable.Laser sensor used herein carries out high sample frequency ranging, laser sensing
Device precision ± 10cm, laser frequency 1000HZ, laser little interference by environment can recognize vehicle wheel profile, vehicle identification precision
Height, detection section traffic speed precision is good, has higher precision and stability.Laser used has distance measurement function, can survey
Overall height vehicle commander is measured, equipment can identify vehicle's contour, be conducive to vehicle parting and identification overlength Overheight Vehicles.
The equipment of the embodiment of the present invention is equipped with high-precision, high-frequency laser range sensor, using the number of automation
The traffic data, including the volume of traffic, speed, vehicle, time headway etc. on measurement section are realized according to acquisition, storage means.Make
The address I2C is distributed with I2C bussing technique and application TCA chip, completes clock of the identical sensor on same data/address bus
It is synchronous, on the basis of when precise synchronization is surveyed, accurate Measure section flow, speed, time headway.
Those of ordinary skill in the art will appreciate that: attached drawing is the schematic diagram of one embodiment, module in attached drawing or
Process is not necessarily implemented necessary to the present invention.
All the embodiments in this specification are described in a progressive manner, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for device or
For system embodiment, since it is substantially similar to the method embodiment, so describing fairly simple, related place is referring to method
The part of embodiment illustrates.Apparatus and system embodiment described above is only schematical, wherein the conduct
The unit of separate part description may or may not be physically separated, component shown as a unit can be or
Person may not be physical unit, it can and it is in one place, or may be distributed over multiple network units.It can root
According to actual need that some or all of the modules therein is selected to achieve the purpose of the solution of this embodiment.Ordinary skill
Personnel can understand and implement without creative efforts.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with scope of protection of the claims
Subject to.
Claims (7)
1. a kind of road traffic monitoring equipment based on laser ranging characterized by comprising industrial personal computer, processor and laser
Sensor array；
The laser sensor array, it is overhead above the lane of road for being arranged in, for each lane level
A pair of of laser sensor is set, and the road surface in the vertical directive lane of the laser of two laser transmitter projects is carried out not using laser
It is interrupted ranging, obtained ranging data is sent to the processor；
The processor, for connecting with the laser array and the industrial personal computer, reception is transmitted across by the laser array
The ranging data come, at the time of being judged according to the ranging data and record vehicle head arrival beam of laser position
TstartT at the time of leaving beam of laser position with vehicle tailend2, record vehicle head reaches where the second beam laser
T at the time of positionend1, by the moment Tstart、Tend2、Tend1The industrial personal computer is sent to ranging data；
The industrial personal computer receives and stores T at the time of the processor sends over for being connected to the processorstart、
Moment Tend2, moment Tend1And ranging data, according to the moment Tstart, moment Tend2, moment Tend1It is calculated with ranging data
The traffic data of vehicle, the traffic data include speed and the vehicle commander of vehicle.
2. equipment according to claim 1, which is characterized in that the processor swashs according to the laser transmitter projects
Emission time, the time of reception and the light velocity of light judge and calculate the height by vehicle, and the high transmission of vehicle is given
Industrial personal computer.
3. equipment according to claim 2, which is characterized in that the processor is reached according to the front end of front and back two cars
The time difference of the first beam laser sensor position calculates time headway, and time headway is transferred to industrial personal computer.
4. equipment according to claim 1, which is characterized in that the industrial personal computer and the processor pass through serial line interface
Connection, connecting line are that USB turns TTL connecting line, and the processor is connect with the laser sensor by I2C interface, connecting line
For double end GH1.25-6p terminal line.
5. equipment according to claim 1, which is characterized in that the equipment further includes TCA9548A device, described
CA9548A device is connected with processor circuit, and the processor is that TCA9548A device distributes main address, the TCA9548A device
Part is every a pair of of downstream interface distribution from address, and every a pair of downstream interface corresponds to a pair of of laser sensor, the TCA9548A device
Serial clock/serial data uplink of processor to being extended to 8 downlinks pair.
6. equipment according to claim 1, which is characterized in that the processor has source crystal oscillator equipped with 16MHz, realizes milli
Second grade timing.
7. equipment according to claim 1, which is characterized in that the industrial personal computer is furnished with data processing software and wireless network
Card.
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| CN201910212810.6A CN109830109A (en) | 2019-03-20 | 2019-03-20 | A kind of road traffic monitoring equipment based on laser ranging |
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| CN201910212810.6A CN109830109A (en) | 2019-03-20 | 2019-03-20 | A kind of road traffic monitoring equipment based on laser ranging |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112198522A (en) * | 2019-06-21 | 2021-01-08 | 北醒（北京）光子科技有限公司 | Vehicle overload control system based on laser radar |
| CN112700646A (en) * | 2020-12-28 | 2021-04-23 | 山西省交通科技研发有限公司 | Actual measurement method for traffic volume and lane coefficient of section of operation road |
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| CN208422108U (en) * | 2017-11-24 | 2019-01-22 | 北京安航达科技有限公司 | Transport investigation device based on millimetre-wave radar and laser radar |
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| JP2004280372A (en) * | 2003-03-14 | 2004-10-07 | Natl Inst For Land & Infrastructure Management Mlit | Detection method of moving body |
| KR20100123986A (en) * | 2009-05-18 | 2010-11-26 | 김대수 | Laser-based traffic sensor device |
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| CN112198522A (en) * | 2019-06-21 | 2021-01-08 | 北醒（北京）光子科技有限公司 | Vehicle overload control system based on laser radar |
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Application publication date: 20190531 |
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| RJ01 | Rejection of invention patent application after publication |