CN114486141A - Traffic signal machine impact inclination detection equipment and detection method - Google Patents
Traffic signal machine impact inclination detection equipment and detection method Download PDFInfo
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- CN114486141A CN114486141A CN202111590692.6A CN202111590692A CN114486141A CN 114486141 A CN114486141 A CN 114486141A CN 202111590692 A CN202111590692 A CN 202111590692A CN 114486141 A CN114486141 A CN 114486141A
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- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M7/00—Vibration-testing of structures; Shock-testing of structures
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- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
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Abstract
The invention discloses a traffic signal machine impact inclination detection device and a detection method, which belong to the technical field of intelligent traffic, and comprise a main control chip, a space motion sensor, a storage chip, a traffic signal machine main control module and a camera, wherein the storage chip stores device information, the initial state and calibration information of the space sensor and angle threshold acceleration thresholds for detecting all directions; the space motion sensor is installed on a traffic signal machine, four paths of serial communication interfaces UART of a main control chip are connected with the space motion sensor, one path of SPI interface of the main control chip is connected with a storage chip, one path of CAN interface of the main control chip is connected with a traffic signal machine main control module through a CAN bus, and the traffic signal machine main control module is connected with a camera; the detection equipment can timely and accurately detect the impact inclination of the traffic signal machine and upload the impact inclination to a background or related personnel for timely processing, and the influence on traffic at the intersection is avoided.
Description
Technical Field
The invention relates to the technical field of intelligent traffic, in particular to a traffic signal machine impact inclination detection device and a detection method.
Background
The traffic signal machine is one of the important components of modern urban traffic system, and is mainly used for controlling and managing urban road traffic signals. The current semaphore lacks striking and slope detection, and in case striking or slope incident takes place, if not handled in time, can bring the potential safety hazard for crossing vehicle and pedestrian. The potential safety hazard of 2 damages to the equipment at the intersection exists.
Disclosure of Invention
The invention aims to overcome the defects in the background technology, can timely and accurately detect the collision and inclination of the traffic signal machine and upload the collision and inclination to a background or related personnel for timely processing, and avoids influencing the traffic at the intersection.
In order to achieve the above object, the present invention provides a traffic signal collision inclination detection device, including a main control chip, a spatial motion sensor, a storage chip, a traffic signal main control module, and a camera, where the storage chip stores device information, initial state and calibration information of the spatial motion sensor, and angular threshold acceleration thresholds for detecting various directions; the space motion sensor is installed on the traffic signal machine, and master control chip's four ways serial communication interface UART is connected with the space motion sensor, master control chip's SPI interface connection memory chip all the way, master control chip's CAN interface all the way is connected through CAN bus and traffic signal machine host system, and traffic signal machine host system is connected with the camera.
Furthermore, one path of serial communication interface UART of the main control chip is connected with the 4G module, and the 4G module is connected with the client.
Furthermore, the traffic signal machine main control module is connected with a management platform, and the 4G module is connected with the management platform.
Furthermore, the main control chip is connected with an LED display, a dial switch and a key through an IO serial port.
Furthermore, the main control chip is connected with a power module.
Further, the space sensors are installed at four corners of the traffic signal machine.
A traffic signal collision inclination detection method, comprising:
acquiring an actual angle and an actual acceleration, wherein the actual angle and the actual acceleration are acquired in each direction of a traffic signal machine by using a space motion sensor;
when the actual angle exceeds a preset angle threshold value, the traffic signal machine is judged to be inclined, and an inclination signal is sent to a signal machine main control module so as to shoot the impacted picture through a camera;
and when the actual acceleration exceeds a preset acceleration threshold value, judging that the traffic signal machine is impacted, and sending an inclination signal to the signal machine main control module to shoot the impacted picture through the camera.
Further, the spatial motion sensor updates detection data once every set time, and converts the detection data into an actual angle and an actual acceleration;
the angle conversion formula is as follows:
XAngle＝((float)MPU6050Angle.XAngle/32768*180)
YAngle＝((float)MPU6050Angle.YAngle/32768*180)
ZAngle＝((float)MPU6050Angle.ZAngle/32768*180)
the formula for the conversion of acceleration is as follows:
X＝((short)MPU6050Acc.XAcc/32768.0*16)
Y＝((short)MPU6050Acc.YAcc/32768.0*16)
Z＝((short)MPU6050Acc.ZAcc/32768.0*16)
G＝((float)sqrt(X*X+Y*Y+Z*Z))；
where, XAngle denotes an actual angle in the X direction, YAngle denotes an actual angle in the Y direction, ZAngle denotes an actual angle in the Z direction, float denotes a floating point number, that is, a decimal number, mpu6050angle.xangle denotes an X-direction angle numerical value read out from the spatial motion sensor, mpu6050angle.yangle denotes a Y-direction angle numerical value read out from the spatial motion sensor, mpu6050angle.zangle denotes a Z-direction angle numerical value read out from the spatial motion sensor, mpu6050acc.xacc denotes an acceleration value in the X direction read out from the spatial motion sensor, mpu6050acc.yacc a spatial motion sensor, acceleration pu6050acc.zacc denotes a Y-direction acceleration value read out from the spatial motion sensor, sqrt denotes a square root, and G denotes an overall angular velocity.
Further, the inclination of the traffic signal is determined as follows:
collecting the updated actual angles of the latest plurality of set time periods as a group;
and when the actual angle of 3/4 or more in any group of three angles exceeds a preset angle threshold value, judging that the traffic signal machine is inclined.
Further, the collision determination on the traffic signal is as follows:
collecting the updated actual accelerations of the latest plurality of set time periods as a group;
and when the actual acceleration of 70 percent or more of the total acceleration in the same group exceeds a preset acceleration threshold value, judging that the traffic signal machine has the impact.
Compared with the prior art, the invention has the following technical effects: the striking slope that detects traffic signal machine that can be timely accurate detects and upload and give backstage or relevant personnel and carry out timely processing, avoids the secondary striking and brings the influence for the traffic at crossing to take a candid photograph through the camera of installation on signal machine down, provide the evidence of violation for the traffic law enforcement person.
Drawings
The following detailed description of embodiments of the invention refers to the accompanying drawings in which:
FIG. 1 is a block diagram of the connections of various modules in a crash tilt detection apparatus;
FIG. 2 is a flow chart of impact tilt detection;
fig. 3 is a data processing flow chart of the main control chip.
Detailed Description
To further illustrate the features of the present invention, refer to the following detailed description of the invention and the accompanying drawings. The drawings are for reference and illustration purposes only and are not intended to limit the scope of the present disclosure.
As shown in fig. 1 to 3, the present embodiment discloses a traffic signal collision inclination detecting apparatus including: the device comprises a main control chip, a space motion sensor, a storage chip, a traffic signal machine main control module and a camera, wherein the storage chip stores equipment information, initial state and calibration information of the space sensor and angle threshold acceleration thresholds for detecting all directions; the space motion sensor is installed on the traffic signal machine, and master control chip's four ways serial communication interface is connected with the space motion sensor, master control chip's SPI interface connection memory chip all the way, and master control chip's CAN interface all the way is connected through CAN bus and traffic signal machine host system, and traffic signal machine host system is connected with the camera.
The spatial motion sensor can adopt an MPU6050 module which can support 4 paths to the maximum, and the MPU6050 module is arranged at four corners of a traffic signal machine and mainly used for acquiring the actual angle and the actual acceleration of X \ Y \ Z of the traffic signal machine; the main control chip adopts STM32 series products as the integral control of the detection equipment, and the 4G module can be made by a person, and the specific model is WH-LTE-7S 4.
Master control STM32 has 6 way serial port communications, four ways UART is connected with MPU6050, serial communication interface UART connects the debugging serial ports with real-time printing operating condition all the way, serial communication interface UART connects the 4G module all the way, on sending data to management platform or SMS and sending relevant personnel's cell-phone, SPI connects SPI FLASH memory chip all the way, CAN interface and traffic signal machine host system all the way carry out real-time communication, there is the striking or the slope incident in time to send traffic signal machine host system, traffic signal machine host system accessible camera carries out the picture of striking and takes a candid photograph and upload to the management backstage, prevent someone from colliding traffic signal machine back escape, provide illegal voucher for traffic law enforcement person.
The main control chip is connected with an LED display, a dial switch and a key through an IO serial port, and is connected with a power module. The LED display displays the working state of the impact detector, and the dial switch can be used for detecting an angle threshold and an acceleration threshold, so that the detection is more accurate; the key is used for acquiring the initial state of the MPU6050 module and sending the initial state to the main control chip, and the power supply module is used for converting mains supply into voltage required by the system to work.
For a preset degree threshold value acceleration threshold value, different detection threshold values can be set according to the thickness of a traffic signal machine case and the installation mode of a signal machine, when the detection threshold values are not set, the default setting of a program is that the angle threshold value is 3 degrees, and the acceleration threshold value is 0.3 g.
Therefore, once collision or inclination occurs, the traffic accident can be detected in time and uploaded to a background or related personnel for processing in time, the influence on traffic at the intersection is avoided, and the traffic accident can be captured through a camera installed on a lower signal machine, so that illegal evidence can be provided for traffic law enforcement officers.
A traffic signal collision inclination detection method includes the following steps:
s1: the method comprises the steps that a main control chip obtains an actual angle and an actual acceleration, wherein the actual angle and the actual acceleration are obtained in all directions of a traffic signal machine by utilizing a space motion sensor;
updating detection data once every set time by the space motion sensor, and converting the detection data into an actual angle and an actual acceleration; the set time may be set to 10 ms.
The angle conversion formula is as follows:
XAngle＝((float)MPU6050Angle.XAngle/32768*180)
YAngle＝((float)MPU6050Angle.YAngle/32768*180)
ZAngle＝((float)MPU6050Angle.ZAngle/32768*180)
the formula for the conversion of acceleration is as follows:
X＝((short)MPU6050Acc.XAcc/32768.0*16)
Y＝((short)MPU6050Acc.YAcc/32768.0*16)
Z＝((short)MPU6050Acc.ZAcc/32768.0*16)
G＝((float)sqrt(X*X+Y*Y+Z*Z))；
where, XAngle denotes an actual angle in the X direction, YAngle denotes an actual angle in the Y direction, ZAngle denotes an actual angle in the Z direction, float denotes a floating point number, mpu6050angle.xangle denotes an X direction angle value read out from the spatial motion sensor, mpu6050angle.yangle denotes a Y direction angle value read out from the spatial motion sensor, mpu6050angle.zangle denotes a Z direction angle value read out from the spatial motion sensor, mpu6050acc.xacc denotes an acceleration value in the X direction read out from the spatial motion sensor, mpu6050acc.yac denotes an acceleration value in the Y direction read out from the yaspatial motion sensor, pu6050acc.zacc denotes an acceleration value in the Z direction read out from the spatial motion sensor, sqrt denotes a square root, and G denotes an overall angular velocity.
S2: the main control chip compares the actual angle with a preset angle threshold, when the actual angle exceeds the preset angle threshold, the traffic signal machine is judged to incline, and an inclination signal is sent to the signal machine main control module so as to shoot the impacted picture through the camera;
the inclination of the traffic signal is determined as follows:
setting the set time to 10ms, and collecting the updated actual angle in the latest 200ms as a group, namely 20 data;
when the actual angle of 3/4 or more (15 or more in 20 data) in any group of three angles exceeds a preset angle threshold value, the traffic signal is judged to be inclined.
S3: the main control chip compares the actual acceleration with a preset acceleration threshold, when the actual acceleration exceeds the preset acceleration threshold, the traffic signal machine is judged to be impacted, the inclined signal is sent to the signal machine main control module, and the impacted picture is captured through the camera.
The collision determination on the traffic signal is as follows:
setting the set time to 10ms, and collecting the updated actual acceleration in the latest 100ms as a group, namely 10 data;
when the actual acceleration of 70% or more (7 or more in 10 data) of the total acceleration in the same group exceeds a preset acceleration threshold value, the traffic signal collision is judged
The working principle is as follows: the MPU6050 module of the space motion sensor is installed at four corners of the traffic signal machine, and after the installation is finished, the inclination angle threshold value and the acceleration threshold value of the space motion sensor are configured through software. And pressing a key to acquire the initial state of the space motion sensor. After an inclination or impact event, the angle or the acceleration of the traffic signal can change instantly, when the main control STM32 detects that the actual angle change exceeds an angle threshold value, the traffic signal is judged to incline, when the actual acceleration change exceeds an acceleration threshold value, the traffic signal is judged to impact, the traffic signal is sent to a management platform through a 4G module or a short message is sent to a mobile phone of related personnel, and fault display is carried out through an LED display. The CAN bus is used for sending the data to the traffic signal machine main control module, the traffic signal machine main control module receives the impact or inclination event and then conducts snapshot in all directions through the camera, and the data are sent to the management platform through the network.
The system provided by the embodiment of the present invention is used for executing the above method embodiments, and for details of the process and the details, reference is made to the above embodiments, which are not described herein again.
It should be noted that "first" and "second" are only used herein to distinguish the same-named entities or operations, and do not imply an order or relationship between the entities or operations.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. The traffic signal machine collision inclination detection equipment is characterized by comprising a main control chip, a space motion sensor, a storage chip, a traffic signal machine main control module and a camera, wherein the storage chip stores equipment information, the initial state and calibration information of the space sensor and angle threshold acceleration thresholds for detecting all directions; the space motion sensor is installed on the traffic signal machine, and master control chip's four ways serial communication interface UART is connected with the space motion sensor, master control chip's SPI interface connection memory chip all the way, master control chip's CAN interface all the way is connected through CAN bus and traffic signal machine host system, and traffic signal machine host system is connected with the camera.
2. The apparatus according to claim 1, wherein the main control chip has a UART connected to the 4G module, and the 4G module is connected to the client.
3. The traffic signal collision inclination detection apparatus of claim 2, wherein a management platform is connected to the traffic signal master control module, and the 4G module is connected to the management platform.
4. The traffic signal collision inclination detection device according to claim 1, wherein the main control chip is connected with an LED display, a dial switch and a key through an IO serial port.
5. The traffic signal collision inclination detection device according to any one of claims 1-4, wherein a power module is connected to the main control chip.
6. The traffic signal collision inclination detection apparatus according to any one of claims 1 to 4, wherein the space sensors are installed at four corners of the traffic signal.
7. A traffic signal collision inclination detection method, comprising:
acquiring an actual angle and an actual acceleration, wherein the actual angle and the actual acceleration are acquired in each direction of a traffic signal machine by using a space motion sensor;
when the actual angle exceeds a preset angle threshold value, the traffic signal machine is judged to be inclined, and an inclination signal is sent to a signal machine main control module so as to shoot the impacted picture through a camera;
and when the actual acceleration exceeds a preset acceleration threshold value, judging that the traffic signal machine is impacted, and sending an inclination signal to the signal machine main control module to shoot the impacted picture through the camera.
8. The traffic signal collision inclination detection method according to claim 7, wherein the spatial motion sensor updates detection data every set time, converts the detection data into an actual angle and an actual acceleration;
the angle conversion formula is as follows:
XAngle＝((float)MPU6050Angle.XAngle/32768*180)
YAngle＝((float)MPU6050Angle.YAngle/32768*180)
ZAngle＝((float)MPU6050Angle.ZAngle/32768*180)
the formula for the conversion of acceleration is as follows:
X＝((short)MPU6050Acc.XAcc/32768.0*16)
Y＝((short)MPU6050Acc.YAcc/32768.0*16)
Z＝((short)MPU6050Acc.ZAcc/32768.0*16)
G＝((float)sqrt(X*X+Y*Y+Z*Z))；
where, XAngle denotes an actual angle in the X direction, YAngle denotes an actual angle in the Y direction, ZAngle denotes an actual angle in the Z direction, float denotes a floating point number, mpu6050angle.xangle denotes an X direction angle value read out from the spatial motion sensor, mpu6050angle.yangle denotes a Y direction angle value read out from the spatial motion sensor, mpu6050angle.zangle denotes a Z direction angle value read out from the spatial motion sensor, mpu6050acc.xacc denotes an acceleration value in the X direction read out from the spatial motion sensor, mpu6050acc.yac denotes an acceleration value in the Y direction read out from the yaspatial motion sensor, pu6050acc.zacc denotes an acceleration value in the Z direction read out from the spatial motion sensor, sqrt denotes a square root, and G denotes an overall angular velocity.
9. The traffic signal collision inclination detection method according to claim 8, wherein the inclination of the traffic signal is determined as follows:
collecting the updated actual angles of the latest plurality of set time periods as a group;
and when the actual angle of 3/4 or more in any group of three angles exceeds a preset angle threshold value, judging that the traffic signal machine is inclined.
10. The traffic signal collision inclination detection method according to claim 8, wherein the collision determination on the traffic signal is as follows:
collecting the updated actual accelerations of the latest plurality of set time periods as a group;
and when the actual acceleration of 70 percent or more of the total acceleration in the same group exceeds a preset acceleration threshold value, judging that the traffic signal machine has the impact.
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