CN112505721A - Vehicle access detection system based on laser radar - Google Patents
Vehicle access detection system based on laser radar Download PDFInfo
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- CN112505721A CN112505721A CN202011303418.1A CN202011303418A CN112505721A CN 112505721 A CN112505721 A CN 112505721A CN 202011303418 A CN202011303418 A CN 202011303418A CN 112505721 A CN112505721 A CN 112505721A
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- lidar
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- laser radar
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- 238000001514 detection method Methods 0.000 title claims abstract description 32
- 230000007306 turnover Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 7
- 230000004888 barrier function Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000011897 real-time detection Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/04—Systems determining the presence of a target
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
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- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Traffic Control Systems (AREA)
Abstract
The application relates to a vehicle detection device, in particular to a vehicle access detection system based on a laser radar. The application relates to a vehicle business turn over detecting system based on laser radar, includes: the system comprises a plurality of laser radars, a plurality of sensors and a controller, wherein the plurality of laser radars are arranged above a lane and used for ranging a vehicle, and at least two laser radars are arranged on the same lane; the control unit is used for judging whether a vehicle enters or exits according to the distance data sent by the laser radar, comparing the real-time distance data with a pre-stored threshold value by the control unit, and judging whether the vehicle exists in the lane and sending out an indication signal when the real-time distance data sent by the laser radar in the same lane are smaller than the pre-stored threshold value; the indicating device is used for receiving the indicating signal and is turned on or off according to the indicating signal; the laser radar and the indicating device are in signal communication with the control unit. The embodiment of the application detects whether the vehicle enters the lane in real time, the detection efficiency is high, manual operation is not needed, and the safety is good.
Description
Technical Field
The application relates to a vehicle detection device, in particular to a vehicle access detection system based on a laser radar.
Background
At present, a workshop working area of some factories can enter and exit a specific working vehicle such as a forklift according to working requirements, and a traditional working vehicle does not indicate when entering and exiting the working area, so that certain potential safety hazards exist.
The traditional method is to realize the control of the working vehicle by adopting a way of manually controlling the access control of the barrier gate, and the method needs to observe the working vehicle at an appointed position all the time, so that the labor cost is high, the vehicle passing efficiency is low, and the safety is not high.
In order to solve the problem that the manual control of the barrier gate is inconvenient to operate, a technician in the field acquires images of vehicles entering and leaving by adopting a camera and sends the images to the control module, the control module processes the images to obtain results, and the barrier gate is controlled to take off and land or prompts are sent to an operator according to the results.
Disclosure of Invention
The embodiment of the application provides a vehicle access detection system, and solves the problems of low detection efficiency and low safety of the existing detection system.
In one aspect, a lidar-based vehicle ingress and egress detection system includes:
the system comprises a plurality of laser radars, a plurality of sensors and a controller, wherein the plurality of laser radars are arranged above a lane and used for ranging a vehicle, and at least two laser radars are arranged on the same lane;
the control unit is used for judging whether a vehicle enters or exits according to the distance data sent by the laser radar, comparing the real-time distance data with a pre-stored threshold value by the control unit, and judging whether the vehicle exists in the lane and sending out an indication signal when the real-time distance data sent by the laser radar in the same lane are smaller than the pre-stored threshold value;
the indicating device is used for receiving the indicating signal and is turned on or off according to the indicating signal;
the laser radar and the indicating device are in signal communication with the control unit.
In a possible implementation, when two lidar systems are arranged on the same lane, the two lidar systems are arranged in sequence along the lane at a distance of 30-100 cm, and the angle between the detection direction and the vertical line of the ground is ± 10 °.
In a possible implementation mode, the distance between the two laser radars is 40-60cm, and the included angle between the detection direction and the ground vertical line is +/-10 degrees.
In a possible implementation, the laser radar is set to a height of 4-6 m.
In one possible implementation, the threshold is 1.2-1.8 meters.
In a possible implementation manner, the two laser radars are divided into a first laser radar and a second laser radar, wherein the first laser radar is closer to the entrance of the lane than the second laser radar, the control unit compares the real-time distance data of the laser radars with a pre-stored threshold value, the time when the real-time distance data of the first laser radar is smaller than the pre-stored threshold value is recorded as t1, the time when the real-time distance data of the second laser radar is smaller than the pre-stored threshold value is recorded as t2, and when t1 is earlier than t2, the vehicle enters the lane; t2 is earlier than t1, the vehicle leaves the lane.
In a possible implementation mode, the t1 and the t2 are not changed within 30-100 seconds, and the system is closed.
In a possible implementation manner, the control unit is a microprocessor, a relay and a power supply, and the power supply is communicated with the microprocessor and the relay.
In a possible implementation manner, the laser radar is a single-point laser radar.
In a possible implementation manner, the indicating device is an indicator lamp or a display or a voice broadcasting device.
This application adopts many laser radar to install in the top in lane, and the downward transmission laser is to the below range finding. The control unit judges whether vehicles exist in the lane or not according to the real-time distance data sent by the laser radar, and sends out an indication signal, and the prompting device prompts that a working vehicle exists in a working interval, prevents other working vehicles from entering, and ensures the safety of working personnel and working vehicles during working. Whether this application real-time detection has the vehicle to get into the lane, and detection efficiency is high, does not need manual operation, and the security is good.
Drawings
Fig. 1 is a schematic diagram of the module connection of the present application.
Fig. 2 is a schematic diagram of the working principle of the present application.
Fig. 3 is a schematic diagram of a control unit of the present application.
In the figure: 1. a laser radar; 2. a control unit; 3. an indicating device; 4. a microprocessor; 5. a relay; 6. a power source; 7. a vehicle.
Detailed Description
The technical scheme of the application is further explained by the specific implementation mode in combination with the attached drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, apparatus, article, or device that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or device.
As shown in fig. 1, a laser radar-based vehicle entrance and exit detection system includes:
the system comprises a plurality of laser radars 1 arranged above a lane and used for ranging a vehicle, wherein at least two laser radars 1 are arranged on the same lane;
the control unit 2 is used for judging whether a vehicle enters or exits according to the distance data sent by the laser radar 1, the control unit 2 compares the real-time distance data with a pre-stored threshold value, and when the real-time distance data sent by the laser radar 1 in the same lane are smaller than the pre-stored threshold value, the control unit 2 judges that the vehicle exists in the lane and sends out an indication signal;
the indicating device 3 is used for receiving the indicating signal and is switched on or switched off according to the indicating signal;
the laser radar 1 and the indicating device 3 are in signal communication with the control unit 2.
As shown in fig. 2, the present application employs a plurality of laser radars 1 installed above a lane, emitting laser downward, and measuring a distance below. When no vehicle is in the lane, the distance data measured by the laser radar 1 is L1, and after the vehicle 7 enters the lane and is detected by the laser radar 1, the real-time distance data of the laser radar 1 is L2. The control unit 2 compares the real-time distance data L2 sent by the laser radar 1 with a pre-stored threshold value, when the real-time distance data L2 sent by a plurality of laser radars 1 on the same lane are all smaller than the pre-stored threshold value, the control unit 2 judges that a vehicle exists in the lane and sends out an indication signal, and the prompting device 3 prompts that a working vehicle exists in the lane, prevents other working vehicles from entering, and ensures the safety of working personnel and working vehicles during working. Whether this application real-time detection has the vehicle in the lane, and it is efficient to survey, does not need manual operation, and the security is good. The interference of the environment is weak, and especially, the accuracy of the in-and-out detection of the vehicle is hardly influenced by the light change;
when two laser radars 1 are arranged on the same lane, the two laser radars 1 are sequentially arranged along the lane, the distance between the two laser radars is 30-100 cm, and the included angle between the detection direction and the ground perpendicular line is +/-10 degrees.
At least two laser radars 1 are arranged above the same lane, the distance between the two laser radars 1 is 30-100 cm, if the distance is too short, if the speed of the vehicle is too fast, the time for the two laser radars to detect the vehicle is too short, and the entering or exiting state of the vehicle can not be judged. If the distance is too long, the occupied space is too large, and the installation and the operation are inconvenient. The included angle between the detection direction and the ground perpendicular line is +/-10 degrees, so that the laser radar 1 detects the roof of the working vehicle.
The distance between the two laser radars 1 is 40-60cm, and the included angle between the detection direction and the ground vertical line is +/-10 degrees.
The distance between the laser radars 1 is 40-60cm, and the detection requirement is met under the condition that the occupied space is small.
The laser radar 1 is set to be 4-6 m in height.
The laser radar 1 is arranged at a too low height and can be collided by the roof of the vehicle; if the set height is too high, the requirement on space is high.
The threshold value is 1.2-1.8 m.
The real-time measurement distance of the laser radar 1 is that the height of the laser radar 1 is reduced by the vehicle height, the threshold value is set to be 1.2-1.8 m, the vehicle height of 2.2-4.8 m can be detected, and the actual requirement is met.
The two laser radars 1 are divided into a first laser radar and a second laser radar, wherein the first laser radar is closer to the entrance of the lane than the second laser radar, the control unit compares the real-time distance data of the laser radars with a pre-stored threshold value, the time when the real-time distance data of the first laser radar is smaller than the pre-stored threshold value is recorded as t1, the time when the real-time distance data of the second laser radar is smaller than the pre-stored threshold value is recorded as t2, and when t1 is earlier than t2, the vehicle enters the lane; t2 is earlier than t1, the vehicle leaves the lane.
And counting and comparing the moments when the real-time distance data of the first laser radar and the second laser radar are smaller than the pre-stored threshold value, so that the condition that the vehicle enters or leaves the lane can be obtained.
And if the t1 and the t2 are not changed within 30-100 seconds, the system is closed.
And in a certain time, the vehicle does not enter the lane, the real-time distance data of the laser radar is unchanged, and t1 and t2 are unchanged, so that the whole system is closed to save electricity.
The control unit comprises a microprocessor 4, a relay 5 and a power supply 6, and the power supply 6 is communicated with the microprocessor 4 and the relay 5.
The microprocessor 4 is used for comparing the radar real-time distance data with a pre-stored threshold value, the relay 5 is controlled to send out an indication signal, and the power supply 6 is used for supplying power to the microprocessor 4 and the relay 5.
The laser radar 1 is a single-point laser radar.
The indicating device 3 is an indicating lamp or a display or a voice broadcasting device.
Indicating device 3 is pilot lamp or display or voice broadcast device, sends light or sound after receiving the pilot signal, the suggestion staff vehicle condition of business turn over.
The technical principles of the present application have been described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the present application and is not to be construed in any way as limiting the scope of the application. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present application without inventive effort, which shall fall within the scope of the present application.
Claims (10)
1. A lidar-based vehicle ingress and egress detection system, comprising:
the system comprises a plurality of laser radars, a plurality of sensors and a controller, wherein the plurality of laser radars are arranged above a lane and used for ranging a vehicle, and at least two laser radars are arranged on the same lane;
the control unit is used for judging whether a vehicle enters or exits according to the distance data sent by the laser radar, comparing the real-time distance data with a pre-stored threshold value by the control unit, and judging whether the vehicle exists in the lane and sending out an indication signal when the real-time distance data sent by the laser radar in the same lane are smaller than the pre-stored threshold value;
the indicating device is used for receiving the indicating signal and is turned on or off according to the indicating signal;
the laser radar and the indicating device are in signal communication with the control unit.
2. The lidar based vehicle entry and exit detection system of claim 1,
when two laser radars are arranged on the same lane, the two laser radars are sequentially arranged along the lane, the distance between the two laser radars is 30-100 cm, and the included angle between the detection direction of the two laser radars and the vertical line of the ground is +/-10 degrees.
3. The lidar based vehicle entry and exit detection system of claim 2,
the distance between the two laser radars is 40-60cm, and the included angle between the detection direction and the ground vertical line is +/-10 degrees.
4. The lidar based vehicle access detection system of claim 2 or 3, wherein the lidar is configured to have a height of 4-6 meters.
5. The lidar based vehicle entry and exit detection system of claim 4, wherein the threshold value is in the range of 1.2-1.8 meters.
6. The lidar-based vehicle entry and exit detection system according to claim 5, wherein the two lidar are divided into a first lidar and a second lidar, wherein the first lidar is closer to the entrance of the lane than the second lidar, the control unit compares the real-time distance data of the lidar with a pre-stored threshold, the time when the real-time distance data of the first lidar is smaller than the pre-stored threshold is recorded as t1, the time when the real-time distance data of the second lidar is smaller than the pre-stored threshold is recorded as t2, and the time when t1 is earlier than t2, the vehicle enters the lane; t2 is earlier than t1, the vehicle leaves the lane.
7. The lidar based vehicle entry and exit detection system of claim 6, wherein t1, t2 are not changed within 30-100 seconds, and the system is turned off.
8. The lidar based vehicle ingress and egress detection system according to claim 7, wherein the control unit is a microprocessor, a relay, a power supply, and wherein the power supply is in communication with the microprocessor and the relay.
9. The lidar based vehicle access detection system of claim 8, wherein the lidar is a single point lidar.
10. The lidar based vehicle entry and exit detection system of claim 9, wherein the indicating device is an indicator light or a display or a voice announcement device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011303418.1A CN112505721A (en) | 2020-11-19 | 2020-11-19 | Vehicle access detection system based on laser radar |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011303418.1A CN112505721A (en) | 2020-11-19 | 2020-11-19 | Vehicle access detection system based on laser radar |
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| CN112505721A true CN112505721A (en) | 2021-03-16 |
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| CN202011303418.1A Pending CN112505721A (en) | 2020-11-19 | 2020-11-19 | Vehicle access detection system based on laser radar |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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