CN111809541A - Automatic deceleration strip based on tof camera and adjusting method thereof - Google Patents
Automatic deceleration strip based on tof camera and adjusting method thereof Download PDFInfo
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- CN111809541A CN111809541A CN202010833589.9A CN202010833589A CN111809541A CN 111809541 A CN111809541 A CN 111809541A CN 202010833589 A CN202010833589 A CN 202010833589A CN 111809541 A CN111809541 A CN 111809541A
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- deceleration strip
- tof camera
- vehicle
- tof
- height
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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
- E01F9/00—Arrangement of road signs or traffic signals; Arrangements for enforcing caution
- E01F9/50—Road surface markings; Kerbs or road edgings, specially adapted for alerting road users
- E01F9/529—Road surface markings; Kerbs or road edgings, specially adapted for alerting road users specially adapted for signalling by sound or vibrations, e.g. rumble strips; specially adapted for enforcing reduced speed, e.g. speed bumps
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/022—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by means of tv-camera scanning
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses an automatic deceleration strip based on a tof camera, which comprises the tof camera, a judgment module and a control module; the tof camera is arranged on the deceleration strip and used for detecting the chassis height of the vehicle; the judgment module is connected with the tof camera and used for judging whether the vehicle can pass through the deceleration strip or not; the control module is connected with the judging module and used for controlling the deceleration strip to ascend and descend. Meanwhile, the invention also discloses an automatic deceleration strip adjusting method based on the tof camera, a vehicle close to the deceleration strip is detected through a tof distance measuring technology, and the height of the deceleration strip is automatically reduced according to a detection result, so that the height of the deceleration strip is automatically adjusted according to the vehicle condition, the automation of the deceleration strip is realized, and the smooth passing of the vehicle is ensured; the influence of the speed bump on the vehicle passing is reduced, and the application range of the speed bump is widened.
Description
Technical Field
The invention relates to the technical field of speed bumps, in particular to an automatic speed bump based on a tof camera and an adjusting method thereof.
Background
The deceleration strip is designed to forcibly reduce the speed of a driver so as to ensure that the speed of the vehicle is controllable in an area requiring low-speed running. But many vehicle design or decoration problems, chassis height or decoration height are not enough to safely pass through the speed bump, and forced passing can cause the situations of bottom supporting and scraping.
The existing liftable deceleration strip is manually operated. The deceleration strip can not be applied to an unattended road or a full-automatic garage, so that the full-automatic lifting deceleration strip is realized, the vehicle can smoothly pass through the deceleration strip in the operation process, and the deceleration strip is prevented from damaging the vehicle.
Disclosure of Invention
In order to solve the problems in the prior art, the invention aims to provide an automatic deceleration strip based on a tof camera and an adjusting method thereof, a vehicle is detected by utilizing a tof ranging technology, and whether the vehicle can normally pass through the deceleration strip is judged according to a detection result; and the height of the deceleration strip is automatically reduced according to the result, and the problem that the passing of part of vehicle types is influenced by the overhigh height of the deceleration strip is solved.
In order to achieve the purpose, the invention adopts the technical scheme that:
an automatic deceleration strip based on a tof camera comprises the tof camera, a judgment module and a control module; the tof camera is arranged on the deceleration strip and used for detecting the chassis height of the vehicle; the judgment module is connected with the tof camera and used for judging whether the vehicle can pass through the deceleration strip or not; the control module is connected with the judgment module and is used for controlling the deceleration strip to ascend and descend; the height of the chassis of the vehicle is detected through the tof camera, and the deceleration strip is controlled according to a detection result, so that the vehicle passes through the deceleration strip.
Furthermore, the number of the tof cameras is increased or decreased according to the length of the deceleration strip, and the tof cameras are uniformly arranged along the length direction of the deceleration strip.
Meanwhile, the technical scheme adopted by the invention also comprises an automatic deceleration strip adjusting method based on the tof camera, which comprises the following steps:
a, arranging a tof camera in the vehicle incoming direction of a deceleration strip, and detecting vehicle information right in front of the tof camera;
b, collecting the measurement data of the tof camera, establishing a vehicle data model, and judging the passing condition of the vehicle;
c, adjusting the deceleration strip to enable the vehicle to pass;
and D, when the vehicle completely passes through, the height of the deceleration strip is recovered.
Further, the measurement data collected by the tof camera in the step B comprises a vehicle chassis height h, a detection height n of the tof camera and a horizontal measurement limit value distance; if h is less than or equal to n, the return result of the tof camera is the horizontal distance from the chassis to the tof camera; if h is larger than n, the return result of the tof camera is a horizontal measurement limit value distance; and establishing a vehicle data model according to the returned result.
Further, the step B further includes processing horizontal distance data between the tire and the tof camera in the vehicle data model.
The invention has the beneficial effects that:
according to the method, the vehicle close to the deceleration strip is detected through the tof distance measuring technology, and the height of the deceleration strip is automatically reduced according to the detection result, so that the height of the deceleration strip is automatically adjusted according to the vehicle condition, the automation of the deceleration strip is realized, and the smooth passing of the vehicle is ensured; the influence of the speed bump on the vehicle passing is reduced, and the application range of the speed bump is widened.
Drawings
Fig. 1 is a schematic structural diagram of an automatic deceleration strip module based on a tof camera according to an embodiment of the invention.
Fig. 2 is a flowchart of an automatic deceleration strip control method based on a tof camera according to an embodiment of the invention.
Fig. 3 is a schematic view of a tof measurement model that a vehicle can pass through according to an embodiment of the invention.
Fig. 4 is a schematic view of a tof measurement model for vehicle impermeability according to an embodiment of the invention.
Fig. 5 is a schematic view of a tof measurement model of a vehicle without the vehicle or after the vehicle passes through the tof measurement model according to the embodiment of the invention.
Fig. 6 is a schematic diagram of the automatic speed bump based on the tof camera and a vehicle in cooperation with the automatic speed bump based on the tof camera.
Fig. 7 is a schematic diagram of detecting vehicle trafficability of an automatic deceleration strip based on a tof camera according to an embodiment of the invention.
Detailed Description
The following description is presented to disclose the invention so as to enable any person skilled in the relevant art to practice the invention. The embodiments described below are intended to be examples only, and other obvious modifications will occur to those skilled in the relevant art and are within the scope of the invention.
In one embodiment, as shown in fig. 1, the invention provides an automatic deceleration strip based on tof distance measurement, vehicle detection is performed by using a tof technology, and the deceleration strip is controlled according to a detection result, so that a vehicle can normally pass through the deceleration strip; the system comprises a tof camera, a judgment module and a control module;
the tof camera is arranged on the deceleration strip and used for detecting the chassis height of the vehicle;
the judgment module is connected with the tof camera and used for judging whether the vehicle can normally pass through the deceleration strip or not;
the control module is connected with the judgment module and is used for controlling the deceleration strip to ascend and descend; when the vehicle cannot normally pass through the deceleration strip, the control module controls the deceleration strip to descend by a corresponding height so that the vehicle can normally pass through; after the vehicle passes through, the deceleration strip is controlled by the control module to ascend.
Meanwhile, a method for automatically adjusting the speed bump based on tof distance measurement is provided, automatic distance measurement is carried out through a tof camera, and whether a vehicle chassis or a vehicle part can safely pass through the speed bump is dynamically judged; and the passing degree is brought by automatically reducing the deceleration strip, so that the deceleration strip can remind a driver to reduce the speed of the vehicle and cannot damage the vehicle. The method specifically comprises the following steps:
step A, firstly, arranging tof cameras in the vehicle incoming direction of a deceleration strip, preferably 6 cameras, for detecting vehicles right ahead of the deceleration strip, and uniformly arranging the tof cameras along the length direction of the deceleration strip;
and B, collecting the measurement data of the tof array, establishing a vehicle data model, and judging whether the vehicle can normally pass.
As shown in fig. 3-7, where the vehicle chassis height is h, the detection height n of the tof camera, and the level measurement limit distance that the tof camera can measure is 1200 mm. If the height h of the vehicle chassis is less than or equal to n, the returning result of the tof camera is the horizontal distance from the vehicle chassis to the tof camera; if the chassis height h is larger than n, the returned result of the tof camera is a horizontal measurement limit value distance, and a vehicle data model is established according to the returned result; and processing the horizontal distance between the tire in the vehicle data model and the tof camera, and judging whether the vehicle can pass or not according to the vehicle data model.
And C, adjusting the deceleration strip to enable the vehicle to normally pass through.
And D, when the vehicle is detected to completely pass through, recovering the height of the deceleration strip, and repeating the detection process.
In another embodiment, when the vehicle chassis height h > the detection height n of the tof camera, the vehicle can normally pass through the speed bump. As shown in fig. 3, the vehicle data models of tof-1 to tof-6, wherein the returned results of tof-2 and tof-5 are the horizontal distance from the chassis to the tof camera; the other returned results are horizontal measurement limit value distance which can be measured by the tof camera, namely the distance inspection of the tof camera penetrates through the space between the vehicle chassis and the road surface, and the horizontal measurement limit value distance which can be measured by the tof camera is returned; the returned results of tof-2 and tof-5, which are the horizontal distance from the tire to the tof camera, are then detected and the data for tof-2 and tof-5 are processed. Therefore, the vehicle can normally pass through the speed bump.
In another embodiment, as shown in fig. 4, the result returned from tof-2 to tof-5 is the horizontal distance from the vehicle chassis to the tof camera, and there are other results returned from the vehicle chassis to the tof camera except for the tire of the vehicle, that is, the vehicle chassis height h is less than or equal to the detection height n of the tof camera, so that the vehicle cannot normally pass through the deceleration strip, and the deceleration strip needs to be lowered to enable the vehicle to normally pass through the deceleration strip.
TOF is an abbreviation of Time of Flight (TOF) technology, i.e. a sensor emits modulated near-infrared light, which is reflected after encountering an object, and the sensor converts the distance of the photographed scene by calculating the Time difference or phase difference between light emission and reflection to generate depth information.
The original design intent of the speed bump is to control the speed of the vehicle passing through the speed bump, but some vehicles are not sensitive to the height and some vehicles are difficult to pass through the conventional speed bump because the height of the chassis of the vehicle is different from the height sensitivity of the speed bump. According to the invention, the tof distance measuring principle is utilized, whether the chassis height of objects such as vehicles approaching the deceleration strip is lower than the deceleration strip or not is automatically judged, and the height of the deceleration strip is automatically adjusted, so that the purpose of reminding the vehicle of slowing down is achieved, and meanwhile, the normal traffic of the vehicle is not influenced.
The above-mentioned embodiments only express the specific embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.
Claims (5)
1. The automatic deceleration strip based on the tof camera is characterized by comprising the tof camera, a judgment module and a control module; the tof camera is arranged on the deceleration strip and used for detecting the chassis height of the vehicle; the judgment module is connected with the tof camera and used for judging whether the vehicle can pass through the deceleration strip or not; the control module is connected with the judgment module and is used for controlling the deceleration strip to ascend and descend; the height of the chassis of the vehicle is detected through the tof camera, and the deceleration strip is controlled according to a detection result, so that the vehicle passes through the deceleration strip.
2. The automatic deceleration strip based on the tof camera is characterized in that the number of the tof camera is increased or decreased according to the length of the deceleration strip, and the tof camera is uniformly arranged along the length direction of the deceleration strip.
3. The automatic deceleration strip adjusting method based on the tof camera is characterized by comprising the following steps of:
a, arranging a tof camera in the vehicle incoming direction of a deceleration strip, and detecting vehicle information right in front of the tof camera;
b, collecting the measurement data of the tof camera, establishing a vehicle data model, and judging the passing condition of the vehicle;
c, adjusting the deceleration strip to enable the vehicle to pass;
and D, when the vehicle completely passes through, the height of the deceleration strip is recovered.
4. The method for adjusting the automatic speed bump based on the tof camera is characterized in that the measurement data collected by the tof camera in the step B comprise a vehicle chassis height h, a detection height n of the tof camera and a horizontal measurement limit value distance; if h is less than or equal to n, the return result of the tof camera is the horizontal distance from the chassis to the tof camera; if h is larger than n, the return result of the tof camera is a horizontal measurement limit value distance; and establishing a vehicle data model according to the returned result.
5. The method for adjusting the automatic deceleration strip based on the tof camera according to claim 4, wherein the step B further comprises processing horizontal distance data of tires in a vehicle data model and the tof camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010833589.9A CN111809541A (en) | 2020-08-18 | 2020-08-18 | Automatic deceleration strip based on tof camera and adjusting method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010833589.9A CN111809541A (en) | 2020-08-18 | 2020-08-18 | Automatic deceleration strip based on tof camera and adjusting method thereof |
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| CN111809541A true CN111809541A (en) | 2020-10-23 |
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| CN202010833589.9A Pending CN111809541A (en) | 2020-08-18 | 2020-08-18 | Automatic deceleration strip based on tof camera and adjusting method thereof |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5267808A (en) * | 1991-11-21 | 1993-12-07 | Welford Jay L | Electronically controlled speed bump device |
| CN1997870A (en) * | 2004-06-03 | 2007-07-11 | 斯耐普昂公司 | Non-contact method and system for tyre analysis |
| KR20120060693A (en) * | 2010-12-02 | 2012-06-12 | 한국전자통신연구원 | Apparatus and method for height controlling of speed hump |
| CN106352803A (en) * | 2016-09-28 | 2017-01-25 | 北京信路威科技股份有限公司 | Calibration distance measurement method and system based on video stitching image |
| CN109695210A (en) * | 2019-02-01 | 2019-04-30 | 京东方科技集团股份有限公司 | Deceleration strip system |
| CN209066310U (en) * | 2018-08-27 | 2019-07-05 | 中国石油天然气股份有限公司 | Intelligent deceleration strip |
| CN111485506A (en) * | 2020-04-29 | 2020-08-04 | 南宁学院 | Deceleration strip with vehicle bottom height and vehicle speed identification function |
-
2020
- 2020-08-18 CN CN202010833589.9A patent/CN111809541A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5267808A (en) * | 1991-11-21 | 1993-12-07 | Welford Jay L | Electronically controlled speed bump device |
| CN1997870A (en) * | 2004-06-03 | 2007-07-11 | 斯耐普昂公司 | Non-contact method and system for tyre analysis |
| KR20120060693A (en) * | 2010-12-02 | 2012-06-12 | 한국전자통신연구원 | Apparatus and method for height controlling of speed hump |
| CN106352803A (en) * | 2016-09-28 | 2017-01-25 | 北京信路威科技股份有限公司 | Calibration distance measurement method and system based on video stitching image |
| CN209066310U (en) * | 2018-08-27 | 2019-07-05 | 中国石油天然气股份有限公司 | Intelligent deceleration strip |
| CN109695210A (en) * | 2019-02-01 | 2019-04-30 | 京东方科技集团股份有限公司 | Deceleration strip system |
| CN111485506A (en) * | 2020-04-29 | 2020-08-04 | 南宁学院 | Deceleration strip with vehicle bottom height and vehicle speed identification function |
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Application publication date: 20201023 |