CN114194109B - Industrial vehicle dangerous distance sensing method based on camera optical flow detection - Google Patents
Industrial vehicle dangerous distance sensing method based on camera optical flow detection Download PDFInfo
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- CN114194109B CN114194109B CN202111557817.5A CN202111557817A CN114194109B CN 114194109 B CN114194109 B CN 114194109B CN 202111557817 A CN202111557817 A CN 202111557817A CN 114194109 B CN114194109 B CN 114194109B
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- 230000003287 optical effect Effects 0.000 title claims abstract description 83
- 238000001514 detection method Methods 0.000 title claims abstract description 26
- 238000000034 method Methods 0.000 title claims abstract description 19
- 238000012545 processing Methods 0.000 claims abstract description 30
- 230000008569 process Effects 0.000 claims abstract description 8
- 238000013500 data storage Methods 0.000 claims abstract description 5
- 239000011521 glass Substances 0.000 claims description 46
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 37
- 239000010410 layer Substances 0.000 claims description 29
- 230000001681 protective effect Effects 0.000 claims description 20
- 239000012528 membrane Substances 0.000 claims description 17
- 238000007790 scraping Methods 0.000 claims description 12
- 239000007921 spray Substances 0.000 claims description 6
- 239000002356 single layer Substances 0.000 claims description 4
- 239000007788 liquid Substances 0.000 claims 1
- 238000011217 control strategy Methods 0.000 abstract description 4
- 238000005516 engineering process Methods 0.000 abstract description 4
- 230000002035 prolonged effect Effects 0.000 abstract description 3
- 238000004140 cleaning Methods 0.000 description 11
- 238000001125 extrusion Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 3
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- 230000001276 controlling effect Effects 0.000 description 3
- 238000010191 image analysis Methods 0.000 description 3
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- 238000005299 abrasion Methods 0.000 description 2
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- 238000004364 calculation method Methods 0.000 description 2
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- 238000002360 preparation method Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S1/00—Cleaning of vehicles
- B60S1/02—Cleaning windscreens, windows or optical devices
- B60S1/46—Cleaning windscreens, windows or optical devices using liquid; Windscreen washers
- B60S1/48—Liquid supply therefor
- B60S1/52—Arrangement of nozzles; Liquid spreading means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S1/00—Cleaning of vehicles
- B60S1/02—Cleaning windscreens, windows or optical devices
- B60S1/56—Cleaning windscreens, windows or optical devices specially adapted for cleaning other parts or devices than front windows or windscreens
- B60S1/566—Cleaning windscreens, windows or optical devices specially adapted for cleaning other parts or devices than front windows or windscreens including wiping devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
- G08B21/0202—Child monitoring systems using a transmitter-receiver system carried by the parent and the child
- G08B21/0225—Monitoring making use of different thresholds, e.g. for different alarm levels
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
- G08B21/0202—Child monitoring systems using a transmitter-receiver system carried by the parent and the child
- G08B21/0266—System arrangements wherein the object is to detect the exact distance between parent and child or surveyor and item
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B7/00—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00
- G08B7/06—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00 using electric transmission, e.g. involving audible and visible signalling through the use of sound and light sources
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Child & Adolescent Psychology (AREA)
- General Health & Medical Sciences (AREA)
- Emergency Management (AREA)
- Business, Economics & Management (AREA)
- Water Supply & Treatment (AREA)
- Transportation (AREA)
- Human Computer Interaction (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Traffic Control Systems (AREA)
- Emergency Alarm Devices (AREA)
Abstract
The invention discloses an industrial vehicle dangerous distance sensing method based on camera optical flow detection, which relates to the technical field of industrial vehicles and comprises the following steps of: s1, carrying out 360-degree non-blind area acquisition on the operation environment around a vehicle by adopting a plurality of groups of camera modules; the invention is based on the optical flow detection of the camera, combines the image processing technology, realizes the dangerous distance detection of the industrial vehicle, automatically adopts the control strategy to ensure the safety, and ensures the personal safety and the property safety to the greatest extent; meanwhile, when the distance between the object and the industrial vehicle belongs to the safe distance, the industrial vehicle continues to work and clears the related data, so that unnecessary data can be cleared in real time, the problem that the system is duller due to huge data storage in the long-time use process is avoided, and the service life of the system is prolonged.
Description
Technical Field
The invention relates to the technical field of industrial vehicles, in particular to an industrial vehicle dangerous distance sensing method based on camera optical flow detection.
Background
Industrial vehicles have huge market demands in China, 80 ten thousand industrial vehicles are broken through in the cumulative sales of the industrial vehicles nationwide in 2020 alone, and the history is new. By virtue of the excellent characteristics of reliable quality, wide application scene, long operation time, wear resistance and the like, industrial vehicles play a vital role in national economy system, and can see the working figures and looks at any time and any place in airports, logistics areas, ports and warehouses. However, as industrial vehicles are increasingly used, safety accidents caused by industrial vehicles frequently occur, and the safety accidents are not always the best. In particular, in the years, while the Chinese economy flies rapidly, the number of safety accidents of industrial vehicles also tends to increase, and more enterprises, factories and parks have higher requirements on the safety of the industrial vehicles.
As is well known, personal safety is the most important, avoiding safety accidents of industrial vehicles, and first, people need to be far away from the industrial vehicles. However, in actual situations, people often gather around industrial vehicles to watch the operation, and personal safety accidents are very easy to occur. Secondly, the vehicle needs to be controlled, when dangerous accidents occur, the driver is often frightened and cannot be treated in time, and at the moment, the vehicle needs to be capable of taking emergency braking measures to avoid further upgrading of the accidents. Personal safety is critical and needs to be highly valued.
With the rapid development of distance detection technology, the personnel distance detection scheme of industrial vehicles has been long and frequently used, but in the existing scheme, a mode of 'master' and 'slave' is adopted. The master computer is usually installed on an industrial vehicle, the slave computer is often worn on the body of a person, and the distance between the person and the industrial vehicle can be obtained according to the speed and the time through the data interaction time between the master computer and the slave computer. In practice, however, if a person does not wear a "slave", the industrial vehicle cannot perceive the distance, resulting in dangerous accidents.
Optical flow detection: in the field of vision, the propagation of light is essentially in a steady state. When an object moves, light is driven to spread and deflect, optical flow chaotic change occurs on the surface or edge of the object, whether the object is in a motion state can be judged through detecting the optical flow, and meanwhile, the distance between the object and the object can be detected according to the area degree of the optical flow.
Disclosure of Invention
The invention aims to provide an industrial vehicle danger sensing system based on camera light flow detection, which judges whether people exist around an industrial vehicle or not through light flow detection, and takes emergency measures when dangerous accidents are about to happen, so that personal safety and property safety are ensured.
In order to achieve the above purpose, the present invention provides the following technical solutions: a method for sensing dangerous distance of industrial vehicle based on camera optical flow detection comprises the following steps:
s1, carrying out 360-degree non-blind area acquisition on the operation environment around a vehicle by adopting a plurality of groups of camera modules;
s2, performing image processing on each image acquired by the camera module by the image processing module, and recording stable optical flow images detected by each group of camera modules;
s3, comparing the optical flow image with the recorded stable optical flow image after new image data are acquired each time;
s4, when detecting optical flow images with different directions and confusion, indicating that an object is close to a vehicle or the vehicle is close to an object, subtracting a stable optical flow image in the acquired optical flow image, and reserving the shape of the object in the optical flow image;
s5, judging the shape of the object, if the shape of the object is judged to be consistent with any shape in the database, calculating the area of an optical flow image by the operation statistics module through counting the number of pixels of the shape of the object, and calculating the distance between the object and the industrial vehicle by combining the focal length of the image pickup module;
if the shape of the object is not consistent with the shape in the database, the object is disturbed by the environment, the industrial vehicle continues to work, and related optical flow images and data are cleared;
s6, when the distance between the object and the industrial vehicle is in the three-level dangerous distance, the industrial vehicle automatically sends out voice alarm and luminous reminding; when the distance between the object and the industrial vehicle is in the second-level dangerous distance, the industrial vehicle automatically gives out a voice alarm and a luminous reminder, and simultaneously the vehicle limits the speed; when the distance between the object and the industrial vehicle is at the first-level dangerous distance, the industrial vehicle automatically gives out a voice alarm and a luminous reminder, and meanwhile, the vehicle is forcibly stopped; when the distance between the object and the industrial vehicle is at a safe distance, the industrial vehicle continues to operate and the associated data is cleared.
The invention has at least the following technical effects and advantages:
1. the invention realizes the dangerous distance detection of the industrial vehicle based on the optical flow detection of the camera and combines the image processing technology, and automatically adopts the control strategy to ensure the safety, thereby ensuring the personal safety and the property safety to the greatest extent. When the distance between the object and the industrial vehicle belongs to the three-level dangerous distance, the industrial vehicle automatically gives out a voice alarm and gives out a luminous reminder; when the distance between the object and the industrial vehicle belongs to the second-level dangerous distance, the industrial vehicle automatically gives out a voice alarm and a luminous reminder, and simultaneously the vehicle limits the speed; when the distance between the object and the industrial vehicle belongs to the first-level dangerous distance, the industrial vehicle automatically gives out a voice alarm and a luminous reminder, and meanwhile, the vehicle is forcibly stopped; when the distance between the object and the industrial vehicle belongs to the safe distance, the industrial vehicle continues to work and clears the related data, so that unnecessary data can be cleared in real time, the problem that the system is duller due to huge data storage in the long-time use process is avoided, and the service life of the system is prolonged.
2. According to the invention, through the mutual coordination among the sponge, the double-layer elastic film and the like, the starting of the stepping motor is controlled, the stepping motor is started and drives the glass protection cover to rotate, and meanwhile, the water pump is controlled to be started, so that the water pump fills water into the double-layer elastic film, when the water pressure in the double-layer elastic film reaches a first preset water pressure, the electric control spray head is controlled to be started, water is sprayed to sponge, and the sponge after water absorption is used for cleaning the glass protection cover, so that the glass protection cover is cleaned.
3. According to the invention, through the mutual matching between the sponge, the double-layer elastic film and the like, in the cleaning process, when the image processing module detects that the area of a fuzzy area exists in an optical flow image or the number of black pixels in the optical flow image is increased, the water pump is controlled to start, so that the water pressure in the double-layer elastic film is enhanced, meanwhile, due to the fact that the water pressure is enhanced, the double-layer elastic film has elastic deformation, the double-layer elastic film is elastically deformed and pushes the mud scraping sheet to move towards the glass protective cover, the extrusion force of the mud scraping sheet on the glass protective cover is increased, on one hand, the water flow pressure sprayed by the spray head is enhanced, the sponge can be cleaned, meanwhile, a large amount of high-flow-speed water flow is used for cleaning the glass protective cover, the cleaning efficiency is improved, meanwhile, the dirt collection capacity of the sponge and the service life of the sponge are increased, on the other hand, the extrusion force of the mud scraping sheet on the glass protective cover is increased, so that the adhered sewage and dirty points on the glass protective cover in the cleaning area can be scraped, and the problem that the dirt and the sewage on the glass protective cover are difficult to scrape due to abrasion of the mud scraping sheet is solved.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic diagram of the structure of the detection box of the present invention;
FIG. 3 is a schematic view of a top plate structure of the present invention;
FIG. 4 is a schematic view of a floor structure of the present invention;
FIG. 5 is a flowchart of an industrial vehicle hazard distance sensing method based on camera light stream detection.
In the figure: 1. a fixing assembly; 2. a glass protective cover; 3. a cambered surface supporting part; 4. a sponge; 5. a single layer elastic film; 6. a double layer elastic film; 7. a chute; 8. a mud scraping plate; 9. and (5) through grooves.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
The invention provides an industrial vehicle dangerous distance sensing system based on camera optical flow detection; the system comprises: a data storage module for storing data; a camera module mounted on an industrial vehicle, the camera module comprising a camera; the camera shooting modules are multiple, and 360-degree non-blind area collection is formed together.
The image processing module is used for processing each image acquired by each camera module and acquiring an optical flow image, and the image processing module is also used for deducting the stable optical flow image in the acquired optical flow image.
And the operation statistics module is used for counting pixel points of the object shape and calculating the distance between the object and the industrial vehicle.
And the alarm module is used for automatically giving out voice alarm and giving out light to remind when the distance between the object and the industrial vehicle is in a dangerous distance.
And the vehicle control module is used for automatically controlling the vehicle to safely run and safely brake when the distance between the object and the industrial vehicle is in a dangerous distance.
The invention realizes the dangerous distance detection of the industrial vehicle based on the optical flow detection of the camera and combines the image processing technology, and automatically adopts the control strategy to ensure the safety. The whole scheme relies on a plurality of camera modules arranged on the front, back, left and right sides of an industrial vehicle, the camera modules jointly detect the working environment around the vehicle in a 360-degree non-blind area mode and transmit the collected images to an image processing module, the image processing module converts each collected image into an optical flow image and records stable optical flow images of the camera modules, the image processing module transmits the converted optical flow images to an optical flow image analysis module, and the industrial vehicle is in a working state at all times and drives the surrounding optical flow to change so as to form a stably oriented optical flow, when the industrial vehicle is close to or the industrial vehicle is close to a certain object, the camera modules can collect a chaotic optical flow image with different movement directions, and when the optical flow image analysis module detects the chaotic optical flow image with different directions, the image processing module deducts the stable optical flow images in the optical flow image when the optical flow image to indicate that the object is close to the vehicle or the vehicle is close to the certain object, so as to obtain the shape of the object; the optical flow image analysis module analyzes the optical flow shape of the obtained object, judges the shape of the object, if the shape of the object is judged to be consistent with any shape in the database, the shape in the database can be the shape such as the shape below an upper circle, the shape of a circle or the shape of a square, the calculation statistics module counts the number of pixels of the optical flow shape of the object to calculate the area of the optical flow image, and the distance between the object and the industrial vehicle is calculated by combining the focal length of the camera module; if the shape of the object is not consistent with the shape in the database, the description is disturbed by the environment, the industrial vehicle continues to work, and the related image data is cleared; the comparison module compares the distance value between the object and the industrial vehicle calculated by the calculation statistics module with the multi-level dangerous distance value, judges the dangerous distance level to which the distance value between the object and the industrial vehicle belongs, and adopts different control strategies according to the dangerous distance level, thereby ensuring personal safety and property safety to the greatest extent.
When the distance between the object and the industrial vehicle belongs to the three-level dangerous distance, the industrial vehicle automatically gives out a voice alarm and gives out a luminous reminder; when the distance between the object and the industrial vehicle belongs to the second-level dangerous distance, the industrial vehicle automatically gives out a voice alarm and a luminous reminder, and simultaneously the vehicle limits the speed; when the distance between the object and the industrial vehicle belongs to the first-level dangerous distance, the industrial vehicle automatically gives out a voice alarm and a luminous reminder, and meanwhile, the vehicle is forcibly stopped; when the distance between the object and the industrial vehicle belongs to the safe distance, the industrial vehicle continues to work and clears the related data, so that unnecessary data can be cleared in real time, the system is prevented from being dulled due to huge data storage in the long-time use process, and the service life of the system is prolonged; the third-level dangerous distance is the minimum safe distance kept by the industrial vehicle and the object, the second-level dangerous distance is the distance with potential safety hazard between the industrial vehicle and the object, the first-level dangerous distance is the distance with high possibility of collision between the industrial vehicle and the object, and the safe distance is twice the minimum safe distance between the industrial vehicle and the object; the sequence from the big to the small of the distances is as follows: safety distance, tertiary dangerous distance, secondary dangerous distance, primary dangerous distance.
The system comprises a steering control system, wherein the steering control system comprises a steering angle sensor, when the steering angle sensor of the automobile is larger than a preset angle, an image processing module is used for processing optical flow image information acquired by a camera module in real time, acquiring the distance between the rear traveling vehicles of adjacent lanes, comparing the distance between the rear traveling vehicles of the adjacent lanes with an overtaking safety distance, and when the distance between the rear vehicles is detected to be smaller than the overtaking safety distance, regulating and controlling the steering control system to stop steering, returning to an original lane to continue traveling, and simultaneously giving an alarm to remind a driver that overtaking has overtaking safety hazards at the moment; when the distance between the rear vehicles is detected to be larger than the overtaking safety distance, overtaking is carried out according to the steering angle and the speed controlled by the driver; the overtaking safety distance is kept between the driving vehicle and the rear vehicle when the driving vehicle overtakes the rear vehicle in the overtaking process.
The invention also provides an industrial vehicle dangerous distance sensing method based on camera optical flow detection, which comprises the following steps:
s1, carrying out 360-degree non-blind area acquisition on the operation environment around a vehicle by adopting a plurality of groups of camera modules;
s2, performing image processing on each image acquired by the camera module by the image processing module, and recording stable optical flow images detected by each group of camera modules;
s3, comparing the optical flow image with the recorded stable optical flow image after new image data are acquired each time;
s4, when detecting optical flow images with different directions and confusion, indicating that an object is close to a vehicle or the vehicle is close to an object, subtracting a stable optical flow image in the acquired optical flow image, and reserving the shape of the object in the optical flow image;
s5, judging the shape of the object, if the shape of the object is judged to be consistent with any shape in the database, calculating the area of an optical flow image by the operation statistics module through counting the number of pixels of the shape of the object, and calculating the distance between the object and the industrial vehicle by combining the focal length of the image pickup module;
if the shape of the object is not consistent with the shape in the database, the object is disturbed by the environment, the industrial vehicle continues to work, and related optical flow images and data are cleared;
s6, when the distance between the object and the industrial vehicle is in the three-level dangerous distance, the industrial vehicle automatically sends out voice alarm and luminous reminding; when the distance between the object and the industrial vehicle is in the second-level dangerous distance, the industrial vehicle automatically gives out a voice alarm and a luminous reminder, and simultaneously the vehicle limits the speed; when the distance between the object and the industrial vehicle is at the first-level dangerous distance, the industrial vehicle automatically gives out a voice alarm and a luminous reminder, and meanwhile, the vehicle is forcibly stopped; when the distance between the object and the industrial vehicle is at a safe distance, the industrial vehicle continues to operate and the associated data is cleared.
Example 2
Based on the last embodiment, because there is the ash fall on the camera module's of long-time use of vehicle camera module's camera lens, shelter from the image easily, influence camera module's to object recognition's degree of accuracy, simultaneously because industrial vehicle operational environment is poor, it is dark to lead to camera module's camera lens ash fall thickness easily, be difficult to erase through the unable wiping of present fixed wiping piece in later stage because the wearing and tearing of wiping piece leads to the later stage simultaneously, simultaneously because present wiping mechanism can not clean wiping piece, and wiping piece dirty ability is limited, lead to wiping piece needs frequent change, and present wiping piece can not clean the one deck frozen ice that the camera lens outward appearance adheres to, improve for this reason as follows.
The system further comprises a fixing component 1 for fixing the camera module, the bottom of the fixing component 1 is rotationally connected with a glass protection cover 2, the inner wall of the top of the glass protection cover 2 is provided with a toothed ring, the toothed ring is driven by a stepping motor, the bottom of the fixing component 1 is provided with a cambered surface supporting part 3, the inner side of the cambered surface supporting part 3 is provided with a sponge 4 for wiping the glass protection cover 2, when the image processing module detects that an optical flow image has a fuzzy area, the glass protection cover 2 is enabled to rotate and be rubbed with the sponge 4 by controlling the stepping motor, and therefore the glass protection cover 2 is automatically cleaned.
One side that sponge 4 contacted with glass safety cover 2 is equipped with individual layer elastic membrane 5, the through-hole has been seted up on the individual layer elastic membrane 5, the one side parcel that sponge 4 contacted with cambered surface supporting part 3 has a double-deck elastic membrane 6, double-deck elastic membrane 6 is connected with individual layer elastic membrane 5 integrated into one piece, one side that double-deck elastic membrane 6 contacted with sponge 4 is equipped with automatically controlled shower head, spout 7 has been seted up at cambered surface supporting part 3 both ends, be equipped with in spout 7 and scrape mud board 8, spout 7 is linked together through logical groove 9 and the cavity that double-deck elastic membrane 6 was located, double-deck elastic membrane 6 inside cavity is linked together with the water pump through the feed liquor pipeline, be equipped with the pressure sensor of measurement water pressure in the double-deck elastic membrane 6.
The bottom of one side of the sponge 4, which is contacted with the double-layer elastic membrane 6, is provided with a needling part which is positioned right below the center of the glass protective cover 2, and a circular ring groove matched with the needling part is arranged right below the center of the glass protective cover 2; the needling portion may be a pin-shaped object with a needling at one end and without needling at the other end.
When the image processing module detects that a fuzzy area exists in an optical flow image or a black pixel exists in the optical flow image, the stepping motor is controlled to start and rotate a preset angle, the stepping motor is controlled to rotate and drive the toothed ring to rotate, the toothed ring rotates and drive the glass protection cover 2 to rotate, the glass protection cover 2 rotates, the image processing module detects that the fuzzy area exists in the optical flow image or the black pixel exists in the optical flow image and moves to the preset area or the preset pixel, when the stepping motor rotates by the preset angle, the image processing module detects that the fuzzy area exists in the optical flow image or the black pixel exists in the optical flow image and moves to the preset area or the preset pixel, the fuzzy area and the black pixel are caused by stains on the glass protection cover 2, then the stepping motor is controlled to start, the stepping motor is controlled to start and drive the glass protection cover 2 to rotate, and simultaneously the water pump is controlled to start, the water pump is enabled to fill water into the double-layer elastic membrane 6, when the water pressure in the double-layer elastic membrane 6 reaches a first preset water pressure, the electric control head is controlled to start, the sponge 4 is enabled to clean the glass protection cover 2 after water absorption, and therefore the glass protection cover 2 is cleaned by spraying water.
In the cleaning process, when the image processing module detects that the area of a fuzzy area exists in an optical flow image or the number of black pixels exists in the optical flow image is increased, the scale hiding capacity of the sponge 4 is reduced, the abrasion of the mud scraping sheet 8 is serious, the glass protective cover 2 cannot be scraped, the scale hiding capacity of the sponge 4 is limited, the stain of the glass protective cover 2 is increased in the cleaning process, then the water pump is controlled to be started, the water pressure in the double-layer elastic film 6 is enhanced, meanwhile, the water pressure is enhanced, the double-layer elastic film 6 is elastically deformed, the mud scraping sheet is pushed to move towards the glass protective cover 2, the extrusion force of the mud scraping sheet to the glass protective cover 2 is increased, on one hand, the water flow pressure sprayed by the spray head is enhanced, the sponge 4 can be cleaned, meanwhile, a large amount of high-flow water flow can clean the glass protective cover 2, the cleaning efficiency is improved, meanwhile, the scale hiding capacity of the sponge 4 and the service life of the sponge 4 are increased, the extrusion force of the mud scraping sheet to the glass protective cover 2 is increased, the adhered to the glass protective cover 2 located in the cleaning area, the glass protective cover 2 is enabled, the dirt scraping point and the dirty points are scraped to be difficult to be scraped, and the worn down on the glass protective cover 2 are difficult to clean.
When the sponge 4 needs to be cleaned independently, the water pump is controlled to be started and stopped repeatedly, the water pressure in the double-layer elastic membrane 6 is increased and reduced repeatedly, the sponge 4 is extruded repeatedly at the same time, high-speed water flow is enabled to clean the sponge 4 and remove sewage, after cleaning is completed, the electric control spray header is closed, then the water pump is controlled to be started again, the water pressure in the double-layer elastic membrane 6 is increased and expanded, the sponge 4 is extruded simultaneously, water in the sponge 4 is discharged, and preparation is made for cleaning the next glass protective cover 2.
In winter, when one layer of ice attached to the surface of the glass protection cover 2 is required to be cleaned, the electric control spray header is controlled to be closed, and the water pump is controlled to be repeatedly started and stopped at the same time, so that the water pressure in the double-layer elastic membrane 6 is increased to expand, the sponge 4 is extruded at the same time, the sponge 4 is close to the glass protection cover 2, along with the continuous increase and expansion of the water pressure in the double-layer elastic membrane 6, the needling part is gradually exposed, the glass on the glass protection cover 2 is needled, and the ice layers are broken under the joint extrusion of the mud scraping plates and the needling part at two sides.
Finally, it should be noted that: the foregoing description is only illustrative of the preferred embodiments of the present invention, and 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 modifications may be made to the embodiments described, or equivalents may be substituted for elements thereof, and any modifications, equivalents, improvements or changes may be made without departing from the spirit and principles of the present invention.
Claims (5)
1. An industrial vehicle hazard distance sensing system based on camera light stream detection, characterized in that the system comprises:
a data storage module for storing data;
a camera module mounted on an industrial vehicle, the camera module comprising a camera;
the image processing module is used for deducting stable optical flow images in the optical flow images acquired by the camera module;
the operation statistics module is used for counting pixel points of the object shape and calculating the distance between the object and the industrial vehicle;
the alarm module automatically gives out voice alarm and gives out light to remind when the distance between the object and the industrial vehicle is in a dangerous distance;
the vehicle control module automatically controls the vehicle to safely run and safely brake when the distance between the object and the industrial vehicle is in a dangerous distance;
the system further comprises a fixing component for fixing the camera module, wherein the bottom of the fixing component is rotationally connected with a glass protection cover, the inner wall of the top of the glass protection cover is provided with a toothed ring, the toothed ring is driven by a stepping motor, the bottom of the fixing component is provided with a cambered surface supporting part, the inner side of the cambered surface supporting part is provided with a sponge for wiping the glass protection cover, and when the image processing module detects that a fuzzy area exists in an optical flow image, the glass protection cover is enabled to rotate and be rubbed with the sponge by controlling the stepping motor, so that the glass protection cover is automatically cleaned;
a single-layer elastic film is arranged on one side of the sponge, which is in contact with the glass protective cover, a through hole is formed in the single-layer elastic film, a double-layer elastic film is wrapped on one side of the sponge, which is in contact with the cambered surface supporting part, the double-layer elastic film and the single-layer elastic film are integrally formed and connected, an electric control spray header is arranged on one side of the double-layer elastic film, which is in contact with the sponge, sliding grooves are formed in two ends of the cambered surface supporting part, a mud scraping plate is arranged in each sliding groove, each sliding groove is communicated with a cavity where the double-layer elastic film is located through a through groove, a cavity inside the double-layer elastic film is communicated with a water pump through a liquid supply pipeline, and a pressure sensor for measuring water pressure is arranged in the double-layer elastic film;
the bottom of one side of the sponge, which is contacted with the double-layer elastic membrane, is provided with a needling part, the needling part is arranged right below the center of the glass protection cover, and a circular ring groove matched with the needling part is arranged right below the center of the glass protection cover.
2. The industrial vehicle hazard distance sensing system based on camera optical flow detection according to claim 1, further comprising a steering control system, wherein the steering control system comprises a steering angle sensor, when the steering angle sensor of the automobile is larger than a preset angle, the image processing module processes optical flow image information acquired by the camera module in real time, acquires the rear driving vehicle distance of an adjacent lane, then compares the rear driving vehicle distance of the adjacent lane with an overtaking safety distance, and when the detected vehicle distance of the rear vehicle is smaller than the overtaking safety distance, regulates and controls the steering control system to stop steering and returns to an original lane to continue driving, and simultaneously alarms and reminds a driver of overtaking safety hazards;
and when the distance between the rear vehicles is detected to be larger than the overtaking safety distance, overtaking is carried out according to the steering angle and the speed controlled by the driver.
3. A method for sensing the dangerous distance of an industrial vehicle based on camera optical flow detection, which adopts the industrial vehicle dangerous distance sensing system based on camera optical flow detection as claimed in claim 1, and is characterized in that the method comprises the following steps:
s1, carrying out 360-degree non-blind area acquisition on the operation environment around a vehicle by adopting a plurality of groups of camera modules;
s2, performing image processing on each image acquired by the camera module by the image processing module, and recording stable optical flow images detected by each group of camera modules;
s3, comparing the optical flow image with the recorded stable optical flow image after new image data are acquired each time;
s4, when detecting optical flow images with different directions and confusion, indicating that an object is close to a vehicle or the vehicle is close to an object, subtracting a stable optical flow image in the acquired optical flow image, and reserving the shape of the object in the optical flow image;
s5, judging the shape of the object, if the shape of the object is judged to be consistent with any shape in the database, calculating the area of an optical flow image by the operation statistics module through counting the number of pixels of the shape of the object, and calculating the distance between the object and the industrial vehicle by combining the focal length of the image pickup module;
if the shape of the object is not consistent with the shape in the database, the object is disturbed by the environment, the industrial vehicle continues to work, and related optical flow images and data are cleared;
s6, when the distance between the object and the industrial vehicle is in the three-level dangerous distance, the industrial vehicle automatically sends out voice alarm and luminous reminding; when the distance between the object and the industrial vehicle is in the second-level dangerous distance, the industrial vehicle automatically gives out a voice alarm and a luminous reminder, and simultaneously the vehicle limits the speed; when the distance between the object and the industrial vehicle is at the first-level dangerous distance, the industrial vehicle automatically gives out a voice alarm and a luminous reminder, and meanwhile, the vehicle is forcibly stopped; when the distance between the object and the industrial vehicle is at a safe distance, the industrial vehicle continues to operate and the associated data is cleared.
4. The method for sensing the dangerous distance of the industrial vehicle based on the camera optical flow detection according to claim 3, wherein the related optical flow images are all optical flow images obtained by processing the original images acquired by the camera module through the image processing module.
5. A method for sensing a hazard distance of an industrial vehicle based on optical flow detection of a camera according to claim 3, wherein the related data clearing comprises information obtained by image processing except for the image information directly captured by the camera module.
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