CN113311444B - Water film identification and treatment device and use method thereof - Google Patents
Water film identification and treatment device and use method thereof Download PDFInfo
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- CN113311444B CN113311444B CN202110692377.8A CN202110692377A CN113311444B CN 113311444 B CN113311444 B CN 113311444B CN 202110692377 A CN202110692377 A CN 202110692377A CN 113311444 B CN113311444 B CN 113311444B
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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
- G01S17/06—Systems determining position data of a target
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
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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
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- 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
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
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- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
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- Remote Sensing (AREA)
- Fluid Mechanics (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention relates to a water film identification and treatment device and a use method thereof, belonging to the technical field of road traffic. The device comprises a recognition device, a processing device and a control system, wherein the recognition device comprises a support rod, a carrying rod and a laser radar, the support rod is movably arranged on the upper side of the processing device, the carrying rod is transversely arranged on the support rod, the laser radar is arranged on the carrying rod, and the processing device and the laser radar are both connected to the control system. According to the invention, the trigger device can timely process the water film through real-time feedback of data, so that the treatment efficiency of the water film on the road surface is improved, the road traffic safety is effectively ensured, the traffic accident rate is reduced, and the traffic transportation efficiency is ensured.
Description
Technical Field
The invention relates to a water film identification and treatment device and a use method thereof, belonging to the technical field of road traffic.
Background
The water film that surface ponding formed can seriously restrict road traffic capacity, forms traffic safety hidden danger, clears up the road surface water film and can effectively guarantee road traffic safety, reduces the traffic accident rate, ensures transportation efficiency. Therefore, the identification and processing technology of the road surface water film has important significance for efficient traffic of the traffic industry.
The existing water film recognition device is easily influenced by illumination, monitoring dead angles exist, and output data are unstable. Meanwhile, the treatment of the water film on the road surface is still a difficult problem to be solved, if the water film on the road surface cannot be cleaned in time, potential safety hazards can be caused to the road surface, and a road surface water film identification and treatment device meeting timeliness, convenience, mobility, energy conservation and environmental protection is not provided at present.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the water film identification and processing device, the water film is processed in time by the trigger device through the real-time feedback of data, the road passing safety is effectively ensured, the traffic accident rate is reduced, and the traffic and transportation efficiency is ensured.
The invention also provides a using method of the water film identification and treatment device.
The technical scheme of the invention is as follows:
the utility model provides a water film discernment and processing apparatus, includes recognition device, processing apparatus and control system, and wherein, recognition device includes the bracing piece, carries thing pole and laser radar, and the bracing piece activity sets up in the processing apparatus upside, transversely is provided with on the bracing piece and carries the thing pole, carries and is provided with laser radar on the thing pole, and processing apparatus and laser radar all connect in control system.
Preferably, processing apparatus is including carrying thing case, diversion mechanism and drainage mechanism, and diversion mechanism includes telescopic link, fixed link rod, bottom plate and nanometer sponge, and the telescopic link sets up in carrying the thing incasement, is provided with fixed link rod on the telescopic link, and fixed link rod swing joint has the bottom plate, is provided with the nanometer sponge on the bottom plate, and drainage mechanism is the water tank, carries the thing incasement activity and sets up the water tank, bears the absorption moisture of nanometer sponge through the water tank.
Preferably, carry and be provided with L type guide rail in the thing case, carry thing case one side and set up the L type motion groove that corresponds, the telescopic link is connected to L type guide rail through the action wheel, drives the telescopic link through action wheel and L type guide rail and moves along L type motion groove.
Further preferably, the fixed connecting rod is connected with an extrusion rod through a ball hinge, the extrusion rod is a C-shaped rod, the extrusion rod is connected to the bottom plate through a mechanical overturning wrist, the movable connection of the fixed connecting rod and the bottom plate is realized through the ball hinge, the mechanical overturning wrist and the extrusion rod, and 2 bottom plates can be overturned and extruded oppositely through the mechanical overturning wrist.
Preferably, the bottom transversely is provided with the slide rail in carrying the thing case, and the water tank passes through the action wheel to be connected in the slide rail, through action wheel drive water tank along slide rail lateral motion, realizes the water tank and carries the swing joint of thing case.
Preferably, the bottom of the water tank is provided with a switch valve, the water tank is internally provided with a liquid level sensor, when the liquid level sensor detects that the water level in the water tank reaches a set position, the water tank moves out of the loading box, the switch valve is opened, and wastewater flows out from the switch valve.
Further preferably, the switching valve is a pneumatic valve or a hydraulic valve.
Preferably, the bracing piece sets up in carrying thing case upside through rotating base, realizes 360 rotations of bracing piece through rotating base, and then guarantees laser radar's all-round monitoring, guarantees not have the monitoring dead angle.
Preferably, the height of the supporting rod is 2-3m, the length of the carrying rod 2 is 0.5-1m, and the requirement of wide-range no-dead-angle identification range is met.
Preferably, four corners of the bottom of the carrying box are respectively provided with a driving wheel, and the driving wheels are driven by the driving wheel driving device to move integrally.
Preferably, the laser radar is a 32 or more line beam laser radar, and the influence of the sparsity among all the ground lines on the ground line integrity recognition result is reduced.
Preferably, control system is computer control system, and computer control system is connected with laser radar, rotating base, telescopic link, level sensor, ooff valve and action wheel, and computer control system sets up in the electronic box, and the electronic box sets up on carrying the thing case, and protection computer control system avoids weather damage, makes things convenient for built-in installation, dismantlement and maintenance.
The use method of the water film identification and treatment device comprises the following operation steps:
(1) water film identification and treatment devices are respectively and uniformly arranged on the two sides of the road;
(2) starting a laser radar, scanning a road, acquiring the number of ground lines, and then calculating the integrity of the ground lines according to the following formula, wherein when the integrity of the ground lines is 80% or less, a water film identification and processing device is started:
wherein I represents the ground line integrity, N Wet Representing the number of ground lines, N, identified when the ground is wet Dry matter Representing the number of ground line points identified when the ground is dry;
(3) the telescopic rod extends to further extend the bottom plate out of the carrying box, then the driving wheel drives the telescopic rod to move along the L-shaped guide rail to drive the bottom plate to move downwards, and when the bottom plate reaches the ground, the bottom plate is flexibly and stably placed on the ground under the action of the ball hinge;
(4) the driving wheel is started to drive the carrying box and the bottom plate to circularly move along one side of the road, the nano sponge on the bottom plate absorbs water by utilizing the capillary action, the area of the nano sponge is large, the water absorbing capacity is extremely strong, the middle of the road surface is high, the two sides of the road surface are low, and the water in the middle of the nano sponge absorption road flows to the two sides of the road surface, so that the water film is prevented from being formed on the road surface;
(5) every 5 minutes, the driving wheel stops moving, the driving wheel drives the telescopic rod to return to the upper side of the carrying box along the L-shaped guide rail, then the telescopic rod retracts, the bottom plate is brought back into the carrying box, then the mechanical overturning wrist is started to drive 2 bottom plates to overturn, and the nano sponge discharges water under the extrusion of the bottom plate;
(6) and (5) repeating the steps (2) and (5), stopping the movement of the driving wheel until the liquid level sensor detects that the water level in the water tank reaches a set value, driving the telescopic rod to move upwards along the L-shaped guide rail by the driving wheel, avoiding the interference between the bottom plate and the water tank, driving the water tank to transversely move along the sliding rail by the driving wheel, extending the water tank out of the carrying box to be arranged on one side of a road, opening the switch valve, draining the water tank, resetting the water tank after the drainage is finished, and driving the telescopic rod to move downwards along the L-shaped guide rail by the driving wheel to continue working.
Preferably, in the step (1), the distance between the water film identification and processing devices is set to be 1km, namely, a group of water film identification and processing devices is set every 1km, when a large amount of accumulated water exists on the road surface, the devices circularly move along one side of the road, and the circulating movement distance is 1km, so that the processing efficiency is ensured.
The invention has the beneficial effects that:
1. according to the invention, the trigger device can timely process the water film through real-time feedback of data, so that the treatment efficiency of the water film on the road surface is improved, the road traffic safety is effectively ensured, the traffic accident rate is reduced, and the traffic transportation efficiency is ensured.
2. According to the invention, the laser radar is used for acquiring the pavement data in real time, the laser radar becomes a hot point of competitive research in various fields due to the advantages of high resolution, strong anti-interference performance, capability of acquiring object depth information and the like, and the laser radar is used for identifying the pavement water film more accurately and efficiently in consideration of the real-time display function of the laser radar.
3. The installation positions of the invention are both sides of the road, which can not affect the normal running of the motor vehicle and ensure the safety of road traffic.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of a water tank according to the present invention;
FIG. 3 is a schematic view of the tank drain of the present invention;
FIG. 4 is a schematic bottom view of the present invention;
FIG. 5 is a schematic view of a lidar scanning system of the present invention;
FIG. 6 is a top view of a lidar scanning of the present invention;
wherein: 1. a support bar; 2. a carrying rod; 3. a laser radar; 4. an electric box; 5. rotating the base; 6. a carrying box; 7. an L-shaped motion groove; 8. a telescopic rod; 9. a fixed connecting rod; 10. a ball hinge; 11. a base plate; 12. nano sponge; 13. an extrusion stem; 14. a drive wheel; 15. a water tank; 16. a control system; 17. a water line; 18. laser; 19. an on-off valve; 20. a ground line.
Detailed Description
The present invention will be further described by way of examples, but not limited thereto, with reference to the accompanying drawings.
As shown in fig. 1-5, the present embodiment provides a water film identification and processing apparatus, which includes an identification apparatus, a processing apparatus and a control system, wherein the identification apparatus includes a support rod 1, a carrying rod 2 and a laser radar 3, the support rod 1 is movably disposed on the upper side of the processing apparatus, the carrying rod 2 is transversely disposed on the support rod 1, the laser radar 3 is disposed on the carrying rod 2, and the processing apparatus and the laser radar 3 are both connected to the control system 16.
Processing apparatus is including carrying thing case 6, diversion mechanism and drainage mechanism, and diversion mechanism includes telescopic link 8, fixed link 9, bottom plate 11 and nanometer sponge 12, and telescopic link 8 sets up in carrying thing case 6, is provided with fixed link 9 on the telescopic link 8, and fixed link 9 swing joint has bottom plate 11, is provided with nanometer sponge 12 on the bottom plate 11, and drainage mechanism is water tank 15, carries the interior activity of thing case 6 and sets up water tank 15, bears the absorbed moisture of nanometer sponge through the water tank. The telescopic link is current hydraulic telescoping rod.
Carry and be provided with L type guide rail in the thing case 6, carry thing case 6 one side and set up corresponding L type motion groove 7, telescopic link 8 is connected to L type guide rail through the action wheel, drives the telescopic link through action wheel and L type guide rail and moves along L type motion groove, and the action wheel both sides are through C type piece sliding connection to the L type guide rail outside, carry out transverse orientation to action wheel and telescopic link through setting up C type piece.
Fixed connection pole 9 is connected with extrusion stem 13 through ball hinge 10, and extrusion stem 13 is C type pole, and extrusion stem 13 is connected to bottom plate 11 through mechanical upset wrist, has realized the swing joint of fixed connection pole with the bottom plate promptly through ball hinge, mechanical upset wrist and extrusion stem, can realize the nimble upset of part through mechanical upset wrist with 2 bottom plate subtend upset extrudees again, and mechanical upset wrist is current upset wrist.
The bottom transversely is provided with the slide rail in carrying case 6, and water tank 15 passes through the action wheel to be connected in the slide rail, through action wheel drive water tank along slide rail lateral motion, realizes the swing joint of water tank and carrying case.
The bottom of the water tank 15 is provided with a switch valve 19, a liquid level sensor is arranged in the water tank, when the liquid level sensor detects that the water level in the water tank reaches a set position (namely a water level line 17, as shown in figure 3), the water tank moves out of the loading box, the switch valve is opened, and wastewater flows out from the switch valve.
The switching valve 19 is a pneumatic valve.
The height of the supporting rod 1 is 2-3m, the length of the carrying rod 2 is 0.5-1m, and the requirement of wide-range no-dead-angle identification range is met.
Four corners of the bottom of the carrying box 6 are respectively provided with a driving wheel 14 which moves integrally through a driving wheel driving device.
The laser radar 3 adopts a 32-wire-harness laser radar, so that the influence of the sparsity among all the ground lines on the ground line integrity recognition result is reduced.
The use method of the water film identification and treatment device comprises the following operation steps:
(1) water film identification and treatment devices are respectively and uniformly arranged on the two sides of the road;
(2) starting a laser radar, scanning a road by laser 18 to obtain 20 points of a ground line, and then calculating the integrity of the ground line according to the following formula, wherein when the integrity of the ground line is 80% or less, a water film identification and processing device is started:
wherein I represents the ground line integrity, N Wet Representing the number of ground lines, N, identified when the ground is wet Dry matter Representing the number of ground line points identified when the ground is dry;
when the integrity I of the ground surface line is more than 80%, the dryness or the wetness degree of the ground surface is lower, so that a water film is not formed enough; when the surface line integrity I is 80% or less, it indicates that the surface wetness is high and the surface may form a water film or a water film has already been formed. When the integrity of the pavement line is 30% or less, the pavement is completely wet, and a large amount of water films exist; when the integrity of the pavement line is 30% -50%, the pavement is completely wet, and more water films exist; when the integrity of the surface line is 50% -80%, the most of the surface is in a wet state, and a small amount of water film exists or the possibility of forming the water film exists. Therefore, when the integrity of the ground line is 80% or less, the water film recognition and treatment device is started;
(3) the telescopic rod extends to further extend the bottom plate out of the carrying box, then the driving wheel drives the telescopic rod to move along the L-shaped guide rail to drive the bottom plate to move downwards, and when the bottom plate reaches the ground, the bottom plate is flexibly and stably placed on the ground under the action of the ball hinge;
(4) the driving wheel is started to drive the carrying box and the bottom plate to circularly move along one side of the road, the nano sponge on the bottom plate absorbs water by utilizing the capillary action, the area of the nano sponge is large, the water absorbing capacity is extremely strong, the middle of the road surface is high, the two sides of the road surface are low, and the water in the middle of the nano sponge absorption road flows to the two sides of the road surface, so that the water film is prevented from being formed on the road surface;
(5) every 5 minutes, the driving wheel stops moving, the driving wheel drives the telescopic rod to return to the upper side of the carrying box along the L-shaped guide rail, then the telescopic rod retracts, the bottom plate is brought back into the carrying box, then the mechanical overturning wrist is started to drive 2 bottom plates to overturn, and the nano sponge discharges water under the extrusion of the bottom plate;
(6) and (5) repeating the steps (2) and (5), stopping the movement of the driving wheel until the liquid level sensor detects that the water level in the water tank reaches a set value, driving the telescopic rod to move upwards along the L-shaped guide rail by the driving wheel, avoiding the interference between the bottom plate and the water tank, driving the water tank to transversely move along the sliding rail by the driving wheel, extending the water tank out of the carrying box to be arranged on one side of a road, opening the switch valve, draining the water tank, resetting the water tank after the drainage is finished, and driving the telescopic rod to move downwards along the L-shaped guide rail by the driving wheel to continue working.
Example 2
A water film identification and processing device has the structure as described in embodiment 1, except that the switch valve 19 is a hydraulic valve. Bracing piece 1 sets up in carrying thing case upside through rotating base 5, realizes 360 rotations of bracing piece through rotating base, and then guarantees laser radar's all-round monitoring, guarantees not have the monitoring dead angle.
Example 3
The operation steps of the method for using the water film identification and treatment device are as described in embodiment 1, except that in the step (1), the water film identification and treatment device is arranged at a distance of 1km, namely, a group of water film identification and treatment devices are arranged at intervals of 1km, when a large amount of accumulated water exists on a road surface, the device circularly moves along one side of the road, the circulating movement distance is 1km, and the treatment efficiency is ensured.
Claims (9)
1. A water film identification and processing device is characterized by comprising an identification device, a processing device and a control system, wherein the identification device comprises a support rod, a carrying rod and a laser radar;
the processing device comprises a carrying box, a water diversion mechanism and a drainage mechanism, wherein the water diversion mechanism comprises a telescopic rod, a fixed connecting rod, a bottom plate and nano sponge;
an L-shaped guide rail is arranged in the carrying box, a corresponding L-shaped moving groove is arranged on one side of the carrying box, and the telescopic rod is connected to the L-shaped guide rail through the driving wheel;
the fixed connecting rod is connected with an extrusion rod through a ball hinge, the extrusion rod is a C-shaped rod, and the extrusion rod is connected to the bottom plate through a mechanical turnover wrist.
2. The water film identification and treatment apparatus of claim 1, wherein a slide rail is transversely disposed at the bottom of the carrying tank, and the water tank is connected to the slide rail by a driving wheel.
3. The water film identification and treatment apparatus of claim 2, wherein a switch valve is disposed at the bottom of the water tank, and a liquid level sensor is disposed in the water tank.
4. The water film identification and processing device according to claim 3, wherein the switching valve is a pneumatic valve or a hydraulic valve.
5. The water film identification and treatment apparatus of claim 4, wherein the support rod is installed on the upper side of the carrying case through a rotary base.
6. The water film identification and processing apparatus of claim 5, wherein the lidar is selected from 32 or more beams.
7. The water film identification and processing device of claim 6, wherein the control system is a computer control system, the computer control system is connected with a laser radar, a rotating base, a telescopic rod, a liquid level sensor, a switch valve and a driving wheel, the computer control system is arranged in an electric box, and the electric box is arranged on a carrying box.
8. The method of using a water film identification and treatment apparatus according to claim 7, wherein the method comprises the following steps:
(1) water film identification and treatment devices are respectively and uniformly arranged on the two sides of the road;
(2) starting a laser radar, scanning a road surface to obtain the number of ground lines, then calculating the integrity of the ground lines according to the following formula, and starting a water film identification and processing device when the integrity of the ground lines is 80% or less:
wherein I represents the ground line integrity, N Wet Representing the number of ground lines, N, identified when the ground is wet Dry matter Representing the number of ground line points identified when the ground is dry;
(3) the telescopic rod extends to further extend the bottom plate out of the carrying box, then the driving wheel drives the telescopic rod to move along the L-shaped guide rail to drive the bottom plate to move downwards, and when the bottom plate reaches the ground, the bottom plate is flexibly and stably placed on the ground under the action of the ball hinge;
(4) the driving wheel is started to drive the carrying box and the bottom plate to circularly move along one side of the road, the nano sponge on the bottom plate absorbs water by utilizing the capillary action, the middle of the road surface is high, the two sides of the road surface are low, and the nano sponge absorbs the water in the middle of the road to flow to the two sides of the road;
(5) every 5 minutes, the driving wheel stops moving, the driving wheel drives the telescopic rod to return to the upper side of the carrying box along the L-shaped guide rail, then the telescopic rod retracts, the bottom plate is brought back into the carrying box, then the mechanical overturning wrist is started to drive 2 bottom plates to overturn, and the nano sponge discharges water under the extrusion of the bottom plate;
(6) and (5) repeating the steps (2) and (5), stopping the movement of the driving wheel until the liquid level sensor detects that the water level in the water tank reaches a set value, driving the telescopic rod to move upwards along the L-shaped guide rail by the driving wheel, driving the water tank to transversely move along the sliding rail by the driving wheel, extending out of the carrying box by the water tank and placing the carrying box on one side of a road, opening the switch valve, draining water by the water tank, resetting the water tank after draining, driving the telescopic rod to move downwards along the L-shaped guide rail by the driving wheel, and continuing to work.
9. The method of using water film identification and treatment device according to claim 8, wherein in step (1), the water film identification and treatment device is installed at a distance of 1 km.
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| KR101899549B1 (en) * | 2017-12-27 | 2018-09-17 | 재단법인 경북아이티융합 산업기술원 | Obstacle recognition apparatus of obstacle recognition using camara and lidar sensor and method thereof |
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| CN212905462U (en) * | 2020-08-06 | 2021-04-06 | 陈子芊 | Signal warning device for automatically identifying whether water is accumulated on road surface |
| CN112304035A (en) * | 2020-10-30 | 2021-02-02 | 皖江工学院 | Intelligent ground dehumidification machine and working method thereof |
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| KR20130042852A (en) * | 2011-10-19 | 2013-04-29 | 메타빌드주식회사 | Method for offering traffic condition using detecting data of radar and apparatus for thereof |
| CN110634297A (en) * | 2019-10-08 | 2019-12-31 | 交通运输部公路科学研究所 | Signal lamp state identification and passing control system based on vehicle-mounted laser radar |
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