CN113485384B - Barrier-free guidance system based on Internet of things - Google Patents
Barrier-free guidance system based on Internet of things Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
Abstract
The invention discloses an obstacle-free guidance system based on the Internet of things, which comprises a route planning module, an obstacle analysis module and a driving control module, the route planning module is used for automatically planning the optimal running route of the sightseeing train, the obstacle analysis module is used for analyzing and judging the action ability of the pedestrian, the driving control module is used for controlling the sightseeing small train to avoid and prevent the pedestrians on the route, the route planning module and the driving control module are both connected with the obstacle analysis module through a network, the route planning module comprises a route database module, a positioning unit, an infrared detection unit and a route selection module, the route database module is used for storing all drivable routes of shopping malls where the sightseeing small trains are located, and the positioning unit is used for positioning specific position information of the sightseeing small trains in real time.
Description
Technical Field
The invention relates to the technical field of guidance systems, in particular to an accessible guidance system based on the Internet of things.
Background
In recent years, not only large scenic spots are equipped with small sightseeing trains, but also large shopping malls are started to introduce the small sightseeing trains. Most of the railless sightseeing trains which are equipped in the shopping malls and adopt vacuum tires are used as amusement facilities in the shopping malls to increase the interestingness in the shopping malls in most cases. Therefore, the multifunctional recreation facility not only can be a recreation facility in a shopping mall, but also can be used as a special ornamental product to attract more people for the shopping mall.
In the running process of the sightseeing train, because many market people are in a mess and blind spots are numerous at corners of the curve, if the spirit is not concentrated for a while when the sightseeing train is driven, the pedestrians are easily hit by the train in too late braking, and the personal safety is involved. Therefore, it is necessary to design an accessible guidance system based on internet of things for identifying pedestrian mobility and preventing fatigue driving.
Disclosure of Invention
The invention aims to provide an accessible guidance system based on the internet of things, so as to solve the problems in the background technology.
In order to solve the technical problems, the invention provides the following technical scheme: the utility model provides a barrier-free guidance system based on thing networking, includes route planning module, obstacle analysis module and drives control module, route planning module is used for the best route of traveling of automatic planning sightseeing little train, obstacle analysis module is used for the analysis to judge pedestrian's action ability, drive control module is used for controlling the evasion and the prevention of sightseeing little train to the route pedestrian, route planning module and drive control module all with obstacle analysis module network connection.
According to the technical scheme, the route planning module comprises a route database module, a positioning unit, an infrared detection unit and a route selection module, the route database module is used for storing all available running routes of a mall where a sightseeing small train is located, the positioning unit is used for positioning specific position information of the sightseeing small train in real time, the infrared detection unit is arranged on one side of the running routes of the sightseeing small train, the infrared detection unit is used for detecting pedestrians on the running routes of the sightseeing small train, the route selection module is electrically connected with the route database module and the positioning unit, the route selection module is connected with the infrared detection unit through a network, and the route selection module is used for selecting the route of the sightseeing small train with the fewest pedestrians to run after detecting the information of the pedestrians and displaying the information on the route database according to the infrared detection unit.
According to the technical scheme, the obstacle analysis module comprises a thermal imaging module, a contour fitting analysis module and a signal transmitting unit, the thermal imaging module is connected with the infrared detection unit through a network, the thermal imaging module is used for detecting pedestrians according to the infrared detection unit to perform thermal imaging analysis and form thermal imaging real-time picture information, the contour fitting analysis module is electrically connected with the thermal imaging module, the contour fitting analysis module is used for performing contour fitting analysis on the pedestrians according to a thermal imaging picture to analyze the specific conditions of the pedestrians, the signal transmitting unit is electrically connected with the contour fitting analysis module, and the signal transmitting unit is used for controlling the signal transmitting intensity according to judgment of the contour fitting analysis module on the pedestrian action capacity.
According to the technical scheme, the driving control module comprises a whistle control unit, a route adjusting module, a speed control unit and a preferable module, the whistle control unit is in radio signal connection with the signal emission unit and is used for controlling the whistle opportunity of the sightseeing small train according to the signal emission unit, the route adjusting unit is connected with the obstacle analyzing module and the route database module through a network, the route adjusting module is used for adjusting and selecting the running route of the sightseeing small train, the speed control unit and the optimization module both comprise a timing module which is used for timing the driving time of the sightseeing small train driver, the speed control unit is used for controlling and adjusting the highest running speed change of the sightseeing small train, the optimization module is electrically connected with the route adjustment module, and the optimization module is used for controlling the optimization of route selection items during route adjustment.
According to the technical scheme, the contour fitting analysis module comprises a trunk fitting submodule, a calculation analysis submodule and a judgment submodule, wherein the trunk fitting submodule is used for marking upper and lower end points and a middle point of the contour according to the thermal imaging contour and fitting a human trunk fitting line, the calculation analysis submodule is used for analyzing the radian and the length of the human trunk fitting line, and the judgment submodule is used for judging that the pedestrian is in the human age stage.
According to the technical scheme, the operation method of the route planning module mainly comprises the following steps:
step S1: establishing a common route database of the sightseeing small train, and recording and storing all common running routes of the sightseeing small train;
step S2: starting an infrared detection unit on one side of a common route of the small sightseeing train, and monitoring real-time road conditions of all routes;
step S3: calling a common route database, wherein each group of infrared detection units sends out a signal when detecting a pedestrian in a detection area where the infrared detection units are located, and the route database displays an alarm in the route database according to the position of the sent signal;
step S4: the positioning unit positions the sightseeing small train in the route database, starts to select a sightseeing route, compares and screens one sightseeing route with the least alarm displayed in the route database, and guides the sightseeing small train by the route; through the route planning module, the minimum route of pedestrian is selected to the intelligence and sightseeing is guided, avoids pedestrian's obstacle to influence sightseeing experience and the personal safety such as bump.
According to the technical scheme, the operation method of the obstacle analysis module mainly comprises the following steps:
step A1: acquiring detection information of an infrared detection unit through an internet of things, and carrying out thermal imaging on detected pedestrians;
step A2: the contour fitting analysis module is used for fitting the contour of the thermal imaging picture and analyzing and judging the action capacity of the pedestrian;
step A3: according to the analysis of the pedestrian's mobility ability information, the signal emission unit corresponding to the infrared detection unit controls the signal emission intensity, so that the driving control module can make different corresponding control preparation time according to different signal intensities.
According to the above technical solution, the step a2 further includes:
step A21: the infrared detection unit carries out infrared distance measurement on the pedestrian to measure the distance between the pedestrian and the infrared detection unit under the instantaneous picture
；
Step A22: locking the instantaneous picture, establishing a plane coordinate cell, wherein the side length of the reference unit of the cell when the pedestrian is at a reference distance L from the infrared detection unit is M, and the side length of the reference unit of the current cell is M
；
Step A23: the upper and lower end points and the middle point coordinates of the contour of the trunk fitting submodule marked under the instantaneous picture are respectively
Connecting the marking points and fitting the marking points into a human body trunk fitting line;
step A24: calculating the length of a human body trunk fitting line:
in the formula
Are coordinate values of the marking points corresponding to the current coordinate unit,
the distance is measured for the reference of the infrared detection unit,
the length of the reference unit side of the picture cell in the lower measurement is the existing constant;
step A25: calculating human body trunk fitting line bending degree value
In the formula when bending
The greater the value, the greater the human torso line curvature.
According to the technical scheme, in the step A24 and the step A25, when
When is, or
The judgment sub-module judges whether the pedestrian is an elderly person or an infantThe capacity is extremely low, the judgment result is directly transmitted to the route adjustment module for route adjustment through the network electric signal, otherwise, the electric signal is transmitted to the signal transmitting unit, and the signal transmitting unit transmits the signal intensity value J to the signal transmitting unit
Carrying out signal transmission, wherein
Is the signal strength coefficient, J is the signal strength value, when
The larger, the higher the height,
the smaller the body trunk is, the straighter the body trunk is, the better the reaction travel power is, the weaker the signal intensity value is, and the stronger the signal intensity value is otherwise.
According to the technical scheme, the operation method of the driving control module mainly comprises the following steps:
step B1: when the route adjusting module receives that pedestrians in front are difficult to avoid, the route planning module is immediately called to re-plan the running route, and when the judging submodule network signal is not received, the sightseeing small train keeps running on the original route;
step B2: after the obstacle analysis module analyzes the action ability of the pedestrian, the infrared detection unit which detects the pedestrian is used as a center to emit a signal with the strength J, when the signal strength value J is larger, the longer the signal receiving distance of the whistle control unit is, the longer the whistle opportunity is in advance, so that the pedestrian has enough time to avoid and the sightseeing train has enough time to brake, otherwise, the better the action ability is, the later the whistle opportunity is, so that the influence of long-time whistle on surrounding personnel is avoided;
step B3: the driving control module starts timing by the timing module when starting, when the timing time reaches the fatigue driving time, the electric signal is transmitted to the speed control unit and the optimization module, the control unit controls the highest speed of the sightseeing train, and meanwhile, the optimization module starts, and preferentially selects a route with more bends when planning the route, and the limitation is removed and the timing is restarted until a driver is switched to convey a new driver number password; the influence on driving safety caused by long-time fatigue driving of a driver is avoided.
Compared with the prior art, the invention has the following beneficial effects: according to the invention, the route planning module, the obstacle analysis module and the driving control module are arranged, so that the route can be automatically guided and selected according to the pedestrian flow condition of a shopping mall, the pedestrian information in the front route can be monitored in the running process of the sightseeing small train, the pedestrian avoidance action capability can be judged, the whistle timing can be adjusted, the working time can be monitored, the speed and the optimal route of the sightseeing small train can be adjusted, and the functions of identifying the pedestrian action capability and preventing fatigue driving are realized.
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The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic diagram of the system module composition of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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 invention.
Referring to fig. 1, the present invention provides a technical solution: a barrier-free guidance system based on the Internet of things comprises a route planning module, a barrier analysis module and a driving control module, wherein the route planning module is used for automatically planning an optimal running route of a sightseeing small train, the barrier analysis module is used for analyzing and judging the action capacity of pedestrians, the driving control module is used for controlling the sightseeing small train to avoid and prevent the pedestrians on the route, and the route planning module and the driving control module are both in network connection with the barrier analysis module; through being provided with route planning module, obstacle analysis module and driving control module, can be according to market people flow condition automated guidance selection route, at sightseeing little train driving in-process, can monitor pedestrian information in the route in the place ahead, judge that the pedestrian dodges the action ability and adjust the opportunity of whistling, can also monitor operating time and adjust sightseeing little train speed of a motor vehicle and preferred route, realized distinguishable pedestrian action ability and prevent the effect of fatigue driving.
The route planning module comprises a route database module, a positioning unit, an infrared detection unit and a route selection module, wherein the route database module is used for storing all drivable routes of a shopping mall where a sightseeing small train is located, the positioning unit is used for positioning specific position information of the sightseeing small train in real time, the infrared detection unit is arranged on one side of the driving route of the sightseeing small train and is used for detecting pedestrians on the driving route of the sightseeing small train, the route selection module is electrically connected with the route database module and the positioning unit, the route selection module is connected with the infrared detection unit through a network, and the route selection module is used for selecting the path of the sightseeing small train with the fewest pedestrians to drive after detecting the pedestrian information according to the infrared detection unit and displaying the pedestrian information on the route database.
The obstacle analysis module comprises a thermal imaging module, a contour fitting analysis module and a signal transmitting unit, the thermal imaging module is connected with the infrared detection unit through a network, the thermal imaging module is used for detecting pedestrians according to the infrared detection unit to perform thermal imaging analysis, real-time picture information of thermal imaging is formed, the contour fitting analysis module is electrically connected with the thermal imaging module, the contour fitting analysis module is used for performing contour fitting analysis on the pedestrians according to a thermal imaging picture to analyze the specific conditions of the pedestrians, the signal transmitting unit is electrically connected with the contour fitting analysis module, and the signal transmitting unit is used for judging and controlling the signal transmitting strength of the pedestrian action capacity according to the contour fitting analysis module.
The driving control module comprises a whistle control unit, a route adjusting module, a speed control unit and a preferable module, the whistle control unit is in radio signal connection with the signal transmitting unit, the whistle control unit is used for controlling the whistle opportunity of the sightseeing small train according to the signal transmitting unit, the route adjusting unit is in network connection with the obstacle analyzing module and the route database module, the route adjusting module is used for adjusting and selecting the running route of the sightseeing small train, the speed control unit and the preferable module both comprise timing modules, the timing modules are used for timing the driving time of drivers of the sightseeing small train, the speed control unit is used for controlling and adjusting the maximum running speed change of the sightseeing small train, the preferable module is electrically connected with the route adjusting module, and the preferable module is used for controlling the preferable route selection item during route adjustment.
The contour fitting analysis module comprises a trunk fitting submodule, a calculation analysis submodule and a judgment submodule, wherein the trunk fitting submodule is used for marking upper and lower end points and middle points of a contour according to the thermal imaging contour and fitting a human trunk fitting line, the calculation analysis submodule is used for analyzing the radian and the length of the human trunk fitting line, and the judgment submodule is used for judging that a pedestrian is in the human age stage.
The operation method of the route planning module mainly comprises the following steps:
step S1: establishing a common route database of the sightseeing small train, and recording and storing all common running routes of the sightseeing small train;
step S2: starting an infrared detection unit on one side of a common route of the small sightseeing train, and monitoring real-time road conditions of all routes;
step S3: calling a common route database, wherein each group of infrared detection units sends out a signal when detecting a pedestrian in a detection area where the infrared detection units are located, and the route database displays an alarm in the route database according to the position of the sent signal;
step S4: the positioning unit positions the sightseeing small train in the route database, starts to select a sightseeing route, compares and screens one sightseeing route with the least alarm displayed in the route database, and guides the sightseeing small train by the route; through the route planning module, the minimum route of pedestrian is selected to the intelligence and sightseeing is guided, avoids pedestrian's obstacle to influence sightseeing experience and the personal safety such as bump.
The operation method of the obstacle analysis module mainly comprises the following steps:
step A1: acquiring detection information of an infrared detection unit through an internet of things, and carrying out thermal imaging on detected pedestrians;
step A2: the contour fitting analysis module is used for fitting the contour of the thermal imaging picture and analyzing and judging the action capacity of the pedestrian;
step A3: according to the analysis of the pedestrian's mobility ability information, the signal emission unit corresponding to the infrared detection unit controls the signal emission intensity, so that the driving control module can make different corresponding control preparation time according to different signal intensities.
Step a2 further includes:
step A21: the infrared detection unit carries out infrared distance measurement on the pedestrian to measure the distance between the pedestrian and the infrared detection unit under the instantaneous picture
；
Step A22: locking the instantaneous picture, establishing a plane coordinate cell, wherein the side length of the reference unit of the cell when the pedestrian is at a reference distance L from the infrared detection unit is M, and the side length of the reference unit of the current cell is M
；
Step A23: the upper and lower end points and the middle point coordinates of the contour of the trunk fitting submodule marked under the instantaneous picture are respectively
Connecting the marking points and fitting the marking points into a human body trunk fitting line;
step A24: calculating the length of a human body trunk fitting line:
in the formula
Are coordinate values of the marking points corresponding to the current coordinate unit,
the distance is measured for the reference of the infrared detection unit,
the length of the reference unit side of the picture cell in the lower measurement is the existing constant;
step A25: calculating human body trunk fitting line bending degree value
In the formula when bending
The greater the value, the greater the human torso line curvature.
In step A24 and step A25
When is, or
When the judgment sub-module judges that the pedestrian is an old man or an infant with extremely low mobility, the judgment sub-module directly transmits the judgment result to the route adjustment module through the network electric signal to adjust the route, otherwise, the judgment sub-module transmits the electric signal to the signal transmitting unit, and the signal transmitting unit transmits the signal to the signal transmitting unit according to the transmitting signal strength value J
Carrying out signal transmission, wherein
Is the signal strength coefficient, J is the signal strength value, when
The larger, the higher the height,
the smaller the body trunk is, the straighter the body trunk is, the better the reaction travel power is, the more the signal is sentThe weaker the number strength value, and the stronger the opposite.
The operation method of the driving control module mainly comprises the following steps:
step B1: when the route adjusting module receives that pedestrians in front are difficult to avoid, the route planning module is immediately called to re-plan the running route, and when the judging submodule network signal is not received, the sightseeing small train keeps running on the original route;
step B2: after the obstacle analysis module analyzes the action ability of the pedestrian, the infrared detection unit which detects the pedestrian is used as a center to emit a signal with the strength J, when the signal strength value J is larger, the longer the signal receiving distance of the whistle control unit is, the longer the whistle opportunity is in advance, so that the pedestrian has enough time to avoid and the sightseeing train has enough time to brake, otherwise, the better the action ability is, the later the whistle opportunity is, so that the influence of long-time whistle on surrounding personnel is avoided;
step B3: the driving control module starts timing by the timing module when starting, when the timing time reaches the fatigue driving time, the electric signal is transmitted to the speed control unit and the optimization module, the control unit controls the highest speed of the sightseeing train, and meanwhile, the optimization module starts, and preferentially selects a route with more bends when planning the route, and the limitation is removed and the timing is restarted until a driver is switched to convey a new driver number password; the influence on driving safety caused by long-time fatigue driving of a driver is avoided.
Example (b): after a route is set for the small sightseeing train, the infrared detection unit carries out infrared distance measurement on the pedestrian in the driving process, the distance between the pedestrian and the infrared detection unit under an instant picture is measured to be 0.8m, and the side length of a reference unit of the current cell is
m, the coordinates of the upper and lower end points and the middle point of the outline under the instantaneous picture are respectively
The length of the human body trunk fitting line of the current pedestrian
m, the bending degree of human body trunk fitting line of current pedestrian
(ii) a Setting up
m，
Thus when it is
And is and
m
and m, judging that the current pedestrian is an elderly person with extremely low mobility, and directly transmitting the judgment result to a route adjusting module for route adjustment through a network electric signal.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (3)
1. The utility model provides a barrier-free guidance system based on thing networking, includes route planning module, obstacle analysis module and drives control module, its characterized in that: the route planning module is used for automatically planning an optimal running route of the sightseeing train, the obstacle analysis module is used for analyzing and judging the action capacity of pedestrians, the driving control module is used for controlling the sightseeing train to avoid and prevent the pedestrians on the route, and the route planning module and the driving control module are both connected with the obstacle analysis module through a network;
the route planning module comprises a route database module, a positioning unit, an infrared detection unit and a route selection module, wherein the route database module is used for storing all drivable routes of a mall where a sightseeing small train is located, the positioning unit is used for positioning specific position information of the sightseeing small train in real time, the infrared detection unit is arranged on one side of the driving route of the sightseeing small train, the infrared detection unit is used for detecting pedestrians on the driving route of the sightseeing small train, the route selection module is electrically connected with the route database module and the positioning unit, the route selection module is connected with the infrared detection unit in a network mode, and the route selection module is used for selecting the path of the sightseeing small train with the fewest pedestrians to drive after detecting the pedestrian information according to the infrared detection unit and displaying the pedestrian information on the route database;
the obstacle analysis module comprises a thermal imaging module, a contour fitting analysis module and a signal transmitting unit, the thermal imaging module is connected with the infrared detection unit through a network, the thermal imaging module is used for performing thermal imaging analysis according to the fact that the infrared detection unit detects pedestrians, and forming thermal imaging real-time picture information, the contour fitting analysis module is electrically connected with the thermal imaging module, the contour fitting analysis module is used for performing contour fitting analysis on the pedestrians according to a thermal imaging picture and analyzing the specific conditions of the pedestrians, the signal transmitting unit is electrically connected with the contour fitting analysis module, and the signal transmitting unit is used for controlling signal transmitting intensity according to the judgment of the contour fitting analysis module on the pedestrian mobility;
the driving control module comprises a whistle control unit, a route adjusting module, a speed control unit and a preferable module, the whistle control unit is in radio signal connection with the signal transmitting unit, the whistle control unit is used for controlling the whistle opportunity of the sightseeing small train according to the signal transmitting unit, the route adjusting unit is in network connection with the obstacle analyzing module and the route database module, the route adjusting module is used for adjusting and selecting the running route of the sightseeing small train, the speed control unit and the preferable module both comprise timing modules, the timing modules are used for timing the driving time of drivers of the sightseeing small train, the speed control unit is used for controlling and adjusting the highest running speed change of the sightseeing small train, the preferable module is electrically connected with the route adjusting module, and the preferable module is used for controlling the route selection item during route adjustment;
the contour fitting analysis module comprises a trunk fitting submodule, a calculation analysis submodule and a judgment submodule, wherein the trunk fitting submodule is used for marking upper and lower end points and a middle point of a contour according to the thermal imaging contour and fitting a human trunk fitting line, the calculation analysis submodule is used for analyzing the radian and the length of the human trunk fitting line, and the judgment submodule is used for judging that a pedestrian is in a human age stage;
the operation method of the route planning module mainly comprises the following steps:
step S1: establishing a common route database of the sightseeing small train, and recording and storing all common running routes of the sightseeing small train;
step S2: starting an infrared detection unit on one side of a common route of the small sightseeing train, and monitoring real-time road conditions of all routes;
step S3: calling a common route database, wherein each group of infrared detection units sends out a signal when detecting a pedestrian in a detection area where the infrared detection units are located, and the route database displays an alarm in the route database according to the position of the sent signal;
step S4: the positioning unit positions the sightseeing small train in the route database, starts to select a sightseeing route, compares and screens one sightseeing route with the least alarm displayed in the route database, and guides the sightseeing small train by the route; intelligently selecting a route with the least pedestrians for sightseeing guidance through a route planning module;
the operation method of the obstacle analysis module mainly comprises the following steps:
step A1: acquiring detection information of an infrared detection unit through an internet of things, and carrying out thermal imaging on detected pedestrians;
step A2: the contour fitting analysis module is used for fitting the contour of the thermal imaging picture and analyzing and judging the action capacity of the pedestrian;
step A3: according to the analysis of the pedestrian behavior ability information, the signal emission unit corresponding to the infrared detection unit controls the signal emission intensity, so that the driving control module can make corresponding control preparation time different according to different signal intensities;
the step a2 further includes:
step A21: the infrared detection unit carries out infrared distance measurement on the pedestrian to measure the distance between the pedestrian and the infrared detection unit under the instantaneous picture
；
Step A22: locking the instantaneous picture, establishing a plane coordinate cell, wherein the side length of the reference unit of the cell when the pedestrian is at a reference distance L from the infrared detection unit is M, and the side length of the reference unit of the current cell is M
；
Step A23: the upper and lower end points and the middle point coordinates of the contour of the trunk fitting submodule marked under the instantaneous picture are respectively
Connecting the marking points and fitting the marking points into a human body trunk fitting line;
step A24: calculating the length of a human body trunk fitting line:
in the formula
Are coordinate values of the marking points corresponding to the current coordinate unit,
the distance is measured for the reference of the infrared detection unit,
the length of the reference unit side of the picture cell in the lower measurement is the existing constant;
step A25: calculating human body trunk fitting line bending degree value
In the formula when bending
The greater the value, the greater the human torso line curvature.
2. The internet of things-based barrier-free guidance system of claim 1, wherein: in the step A24 and the step A25, when
When is, or
When the judgment sub-module judges that the pedestrian is an old man or an infant with extremely low mobility, the judgment sub-module directly transmits the judgment result to the route adjustment module through the network electric signal to adjust the route, otherwise, the judgment sub-module transmits the electric signal to the signal transmitting unit, and the signal transmitting unit transmits the signal to the signal transmitting unit according to the transmitting signal strength value J
Carrying out signal transmission, wherein
Is the signal strength coefficient, J is the signal strength value, when
The larger, the higher the height,
the smaller the body trunk is, the straighter the body trunk is, the better the reaction travel power is, the weaker the signal intensity value is, and the stronger the signal intensity value is otherwise.
3. The internet of things-based barrier-free guidance system of claim 2, wherein: the operation method of the driving control module mainly comprises the following steps:
step B1: when the route adjusting module receives that pedestrians in front are difficult to avoid, the route planning module is immediately called to re-plan the running route, and when the judging submodule network signal is not received, the sightseeing small train keeps running on the original route;
step B2: after the obstacle analysis module analyzes the action ability of the pedestrian, the infrared detection unit which detects the pedestrian is used as a center to emit a signal with the strength J, when the signal strength value J is larger, the longer the signal receiving distance of the whistle control unit is, the longer the whistle opportunity is in advance, so that the pedestrian has enough time to avoid and the sightseeing train has enough time to brake, otherwise, the better the action ability is, the later the whistle opportunity is;
step B3: the driving control module starts timing by the timing module when starting, when the timing time reaches the fatigue driving time, the electric signal is transmitted to the speed control unit and the optimization module, the control unit controls the highest speed of the sightseeing train, meanwhile, the optimization module starts, the route with more curves is preferentially selected during route planning, and the limitation is removed and the timing is restarted until the driver is switched to convey a new driver number password.
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