CN116189105A - Lane information acquisition device and motion control method in information acquisition process - Google Patents

Lane information acquisition device and motion control method in information acquisition process Download PDF

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Publication number
CN116189105A
CN116189105A CN202211541864.5A CN202211541864A CN116189105A CN 116189105 A CN116189105 A CN 116189105A CN 202211541864 A CN202211541864 A CN 202211541864A CN 116189105 A CN116189105 A CN 116189105A
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acquisition module
detection element
distance
axis
driving device
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CN202211541864.5A
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周敏
胡志滔
谭广进
彭程
彭锦文
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Maxvision Technology Corp
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Maxvision Technology Corp
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Priority to CN202211541864.5A priority Critical patent/CN116189105A/en
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
    • G06V20/54—Surveillance or monitoring of activities, e.g. for recognising suspicious objects of traffic, e.g. cars on the road, trains or boats
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/10—Image acquisition
    • G06V10/12—Details of acquisition arrangements; Constructional details thereof
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
    • G06V40/70—Multimodal biometrics, e.g. combining information from different biometric modalities
    • G—PHYSICS
    • 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
    • G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)

Abstract

The application discloses a lane information acquisition device, which comprises a main body, a support plate, a first driving device, a second driving device, an acquisition module, a first detection element and a second detection element, wherein the first detection element and the second detection element are arranged on the same side of the acquisition module up and down; the positions of the first detection element and the second detection element on the acquisition module are distributed in a downward sliding direction of the support plate in sequence, and the distance from the first detection element to the front target to be detected is longer than that from the second detection element; the first driving device and the first detection element are matched to drive the acquisition module on the supporting plate to a vehicle target from top to bottom; the second driving device extends the acquisition module on the supporting plate to a position suitable for the driver in the vehicle to acquire, and the second detection element senses the distance from the vehicle target to the acquisition module in the forward extension or scanning sensing of the supporting plate so as to prevent collision. The application also provides a motion control method in the information acquisition process of the lane information acquisition device.

Description

Lane information acquisition device and motion control method in information acquisition process
Technical Field
The present application relates to a lane information acquisition apparatus, and more particularly, to a lane information acquisition device and a motion control method in an information acquisition process.
Background
In the checking process, the information of the driver of the vehicle running on the lane needs to be acquired and checked, some existing checking devices are generally fixedly arranged at the fixed position of the lane, and the acquisition module of the checking devices cannot be automatically driven to the vehicle, so that when the face and the body temperature of the driver need to be acquired and checked to wait for verification information, the driver often needs to get off the vehicle and get on the vehicle after the checking is completed, and the checking mode influences the experience of the driver, brings inconvenience and influences the clearance efficiency. Therefore, a checking device for information acquisition is designed under the condition that a driver does not need to get off the vehicle, and an acquisition module of the checking device can be automatically driven to a vehicle target so as to be convenient for information acquisition in the driver and the vehicle; and because the acquisition module is self-driven, in the process that the acquisition module approaches the vehicle or the information acquisition process is carried out, whether the vehicle suddenly opens a door or not needs to be detected in a sensing way, so that equipment damage is prevented from being caused by collision.
Disclosure of Invention
Aiming at the prior art, the application aims to provide a lane information acquisition device and a motion control method in the information acquisition process, which are used for automatically driving an acquisition module to a vehicle target so as to facilitate information acquisition in a driver and a vehicle, and sensing and detecting whether the vehicle is suddenly opened or not in the process that the acquisition module is close to the vehicle or in the process of acquiring the information so as to prevent collision risks.
In order to solve the technical problem, in a first aspect, the present application provides a lane information acquisition device, which is disposed on a safety island of a lane and is opposite to a window area of a vehicle parked at a preset position of the lane, and is used for information acquisition by a driver of the vehicle;
the lane information acquisition device comprises a main body, a supporting plate which can slide up and down along the main body and can extend forwards or backwards relative to the main body, a first driving device arranged on the main body, a second driving device arranged on the main body, an acquisition module arranged on the supporting plate, and a first detection element and a second detection element which are arranged on the same side of the acquisition module up and down;
the positions of the first detection element and the second detection element on the acquisition module are distributed in sequence according to the downward sliding direction of the support plate; the method comprises the steps of,
the first detection element is used for scanning and sensing a vehicle target in the sliding process of the support plate, and the first driving device is used for driving the support plate to slide downwards so as to drive the acquisition module to slide downwards to a position where the first detection element senses the vehicle target; the second driving device is used for driving the supporting plate to extend forwards or backwards relative to the main body so as to drive the acquisition module to extend forwards or backwards; the acquisition module is used for acquiring information at the position where the second detection element senses a preset acquisition distance; the second detection element is used for scanning and sensing the distance from a vehicle target to the acquisition module in the process of extending the acquisition module or acquiring information so as to prevent collision.
In one possible implementation, the first detection element is a single point laser sensor or a single point ultrasonic sensor.
In one possible implementation, the second detection element is a linear array laser sensor or a linear array ultrasonic sensor.
In one possible implementation manner, the lane information acquisition module further comprises a three-dimensional force sensor arranged on the support plate, and the acquisition module is arranged on the three-dimensional force sensor and is used for sensing the pressure of the acquisition module on the three-dimensional force sensor.
In one possible implementation manner, the lane information acquisition module further comprises a four-way transmitter connected with the three-dimensional force sensor, and the four-way transmitter is used for converting the sensed signal of the three-dimensional force sensor.
In one possible implementation manner, the lane information acquisition module further comprises a main control board and an acquisition board in communication connection with the main control board; the first driving device, the second driving device and the three-dimensional force sensor are all connected with the main control board, and the second detection element and the first detection element are connected with the acquisition board.
In a second aspect, the present application provides a motion control method in an information collection process, which is applied to the lane information collection device, where the motion control method includes:
starting the first driving device to drive the supporting plate to slide from the initial position on the main body to the top down, and starting the first detection element to scan a front target from the top down in the sliding process;
judging whether the distance information D1 fed back by the first detection element is suddenly changed, if so, suspending the first driving device from working, recording the forward extension starting position of the acquisition module, and starting the second detection element to scan and detect a front vehicle target to acquire the forward extension initial distance;
after the initial forward extending distance is obtained, starting the second driving device to drive the supporting plate to perform forward extending movement until the second detecting element senses the position of the preset collecting distance, stopping the second driving device, and collecting information by using the collecting module; the method comprises the steps of,
and in the information acquisition process of the acquisition module or in the process that the second driving device drives the supporting plate to perform the forward movement until the second detection element senses the position of the preset acquisition distance, judging the condition of the sudden opening of the vehicle door by using the distance fed back by the second detection element and controlling the movement of the acquisition module on the supporting plate to prevent collision.
In one possible implementation manner, during the information collection process of the collection module, the step of determining the condition of the door being opened suddenly by using the distance fed back by the second detection element and controlling the collection module on the support plate to move so as to prevent collision includes:
starting the second detection element to scan and detect the vehicle, judging whether the distance information D2 fed back by the second detection element is suddenly changed, if so, starting the second driving device to control the supporting plate to retract so as to enable the acquisition module to return to the initial forward extending position and continuously judging whether the distance information D2 fed back by the second detection element is restored to the initial forward extending distance,
if the distance information D2 fed back by the second detection element is recovered to the initial forward extending distance, the second driving device is started to drive the supporting plate to extend forward to the position where the second detection element on the acquisition module can sense the preset acquisition distance.
In one possible implementation manner, in the process that the second driving device drives the supporting plate to perform the extending motion until the second detecting element senses the position of the preset collecting distance, the distance fed back by the second detecting element is used for judging the condition of the vehicle door to be opened suddenly and controlling the collecting module on the supporting plate to move so as to prevent collision, which comprises the following steps:
starting the second detection element to scan and detect the vehicle, and judging that the feedback distance information D2 of the second detection element is suddenly changed; if yes, the second driving device is stopped suddenly, the sensing distance D3 of the second detecting element immediately before the sudden stop is recorded, whether the distance information D2 fed back by the second detecting element is recovered to the distance D3 is continuously judged,
and if the distance sensed by the second detecting element is recovered to the distance D3, the second driving device is continued to drive the supporting plate to perform the forward extending movement and start the second detecting element to perform scanning detection on the vehicle.
In one possible implementation, before suspending operation of the first drive device and initiating operation of the second drive device, the motion control method further includes: and continuously controlling the first driving device to drive the supporting plate to descend again to compensate the preset value.
In one possible implementation, the step of controlling the movement of the acquisition module from the first position to the second position is: setting the pulse number T corresponding to each moving unit distance of the acquisition module 0 The method comprises the steps of carrying out a first treatment on the surface of the Is provided withStep number B of the movement of the second driving device corresponding to each pulse number 0 The method comprises the steps of carrying out a first treatment on the surface of the Calculating a relative distance from the first location to the second location; the number of pulses T moving from the first position to the second position is calculated from the relative distance, and the number of steps B of the movement of the second drive means from the first position to the second position is calculated from the number of pulses.
In one possible implementation manner, when the lane information acquisition device further comprises a three-dimensional force sensor arranged on the supporting plate, the acquisition module is arranged on the three-dimensional force sensor and the three-dimensional force sensor is used for sensing the pressure of the acquisition module on the three-dimensional force sensor;
the automatic positioning method further comprises the following steps: in the process of extending the acquisition module forwards and in the process of information acquisition by the acquisition module, judging the collision of the acquisition module and controlling the motion during the collision:
establishing a three-dimensional force coordinate system about the pressure sensed by the three-dimensional force sensor: taking the contact center point of the three-dimensional force sensor and the acquisition module as a three-dimensional force coordinate system origin, taking the up-and-down sliding direction of the acquisition module as a Z axis, taking the forward and backward direction of the acquisition module as an X axis, and taking the direction perpendicular to the X axis and the Z axis as a Y axis;
judging the pressure difference values of the X axis, Y axis and Z axis directions sensed by the three-dimensional force sensor in front and back twice and a set threshold value;
and if the absolute value of the pressure difference value is larger than the threshold value, judging that the acquisition module is impacted by external force, and driving the support plate through the second driving device to drive the acquisition module to retract to the forward extending starting position.
In one possible implementation manner, the step of judging the pressure difference value of the X-axis, Y-axis and Z-axis directions sensed by the three-dimensional force sensor in front and back two times and the set threshold value includes:
converting pressure values of X-axis, Y-axis and Z-axis directions sensed by the three-dimensional force sensor each time into weight values;
setting weight thresholds in X-axis, Y-axis and Z-axis directions as T respectively X 、T Y And T Z And T is Z ＞T Y ＞T X ；
When three conditions are: the absolute value of the weight difference value of the front and the back times on the X axis is more than or equal to T X The absolute value of the weight difference value of the front and the back times on the Y axis is more than or equal to T Y The absolute value of the weight difference value of the front and the back times on the Z axis is more than or equal to T Z If at least one of the above is satisfied, then it is determined that the acquisition module is impacted.
In one possible implementation, the sensing result of the three-dimensional force sensor on the X axis, the Y axis and the Z axis is acquired every millisecond, and the average value of the sensing result on each axis in every m milliseconds is taken as the pressure value on the axis in the sensing process of the three-dimensional force sensor.
The lane information acquisition device and the motion control method in the information acquisition process have the beneficial effects that: the first driving device and the first detection element are matched to drive the acquisition module on the supporting plate to a vehicle target from top to bottom; the acquisition module on the support plate is extended forwards to a position suitable for the driver in the vehicle to acquire through the second driving device, and the distance from the vehicle target to the acquisition module is scanned and sensed through the second detection element in the process of extending forwards the information acquisition module or acquiring the information so as to prevent collision.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required for the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a perspective view of a lane information collecting device according to an embodiment of the present application;
fig. 2 is a perspective view of a lane information collecting apparatus according to an embodiment of the present application at another view angle;
FIG. 3 is a hardware block diagram of a part of the structure of a lane information collecting apparatus according to an embodiment of the present application;
fig. 4 is a flowchart of a motion control method in the information acquisition process according to an embodiment of the present application.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects to be solved by the present application more clear, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present application and simplify description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be configured and operated in a particular orientation, and therefore should not be construed as limiting the present application.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
The lane information acquisition device and the motion control method in the information acquisition process of the application are specifically described with reference to the accompanying drawings.
Referring to fig. 1 and 2 together, the lane information collecting device 100 provided in the embodiment of the present application is disposed on the lane safety island and is opposite to a window area of a vehicle parked at a preset position of the lane, and is used for collecting information by a driver of the vehicle. The lane information collecting device 100 comprises a main body 10, a supporting plate 20 which can slide up and down along the main body 10 and can extend forwards or backwards relative to the main body 10, a first driving device 30 arranged on the main body 10, a second driving device 40 arranged on the main body 10, a collecting module 50 arranged on the supporting plate 20 and used for collecting information, and a first detecting element 51 and a second detecting element 52 which are arranged on the same side of the collecting module 50 up and down.
Specifically, the present invention relates to a method for manufacturing a semiconductor device; the positions of the first detecting element 51 and the second detecting element 52 on the collecting module 50 are distributed in sequence according to the downward sliding direction of the supporting plate 20. In an embodiment, the first detecting element 51 may be disposed at the uppermost part of the collecting module 50, and the second detecting element 52 may be disposed at the middle part of the collecting module 50; thus, when the first detecting element 51 is able to sense the vehicle target, the second detecting element 52 must sense the vehicle target because the second detecting element 52 is below the first detecting element 51; further, on the side of the collection module 50 provided with the first detection element 51 and the second detection element 52, the position of the second detection element 52 is closer to the front vehicle to be detected than other parts, so that the distance detected by the second detection element 52 can reflect the distance from the vehicle target to the collection module 50 more accurately, and the collection module 50 is more beneficial to preventing collision.
Specifically, the first detecting element 51 is configured to scan a sensing vehicle target during the sliding process of the support plate 20, and the first driving device 30 is configured to drive the support plate 20 to slide down to drive the acquisition module 50 to slide down to a position where the first detecting element 51 senses the vehicle target; the second driving device 40 is configured to drive the support plate 20 to extend forward or retract relative to the main body 10 so as to drive the acquisition module 50 to extend forward or retract; the acquisition module is used for acquiring information at the position where the second detection element senses a preset acquisition distance; the second detecting element 52 is used for scanning the distance between the sensing vehicle target and the collecting module 50 during the extending of the collecting module 50 or the information collecting process so as to prevent collision. The forward or backward direction intersects or is perpendicular to the vertical sliding direction, and the vertical direction is relative to the ground when the lane information collecting apparatus 100 is in use.
In general, when a driver of a vehicle is informed about a traffic lane, the lane is deployed in advance and the lane information acquiring apparatus 100 is installed on a safety island of the deployed lane. A vehicle parking area and a parking line are planned on a lane, and the vehicle is parked on the parking line in the vehicle parking area according to lane indication, and it can be understood that the front side of the head of the vehicle is close to the parking line when the vehicle is parked; the preset position of the vehicle is the stop line position of the stop area. According to conventional experience, the main body 10 of the lane information collecting apparatus 100 provided on the safety island of the lane may be approximately opposite to the window area of the vehicle parked at the preset position; for example, according to the conventional truck size, when the truck is parked at the preset position, the distance between the truck window and the parking line can be approximately known, so that the lane information acquisition device 100 is deployed in advance in a region which can be approximately opposite to the truck window; for another example, for a private car lane, according to the size of a conventional private car, when the private car is parked at a preset position, the distance between the window of the private car and the parking line can be approximately known, so that the lane information acquisition device 100 is disposed in advance in an area which can be approximately opposite to the window of the private car.
In this embodiment, the first detecting element 51 is a single-point laser sensor or a single-point ultrasonic sensor.
The second detecting element 52 is a linear array laser sensor or a linear array ultrasonic sensor.
As can be appreciated, since the first driving device 30 drives the support plate 20 to slide from top to bottom, so as to drive the acquisition module 50 to slide from top to bottom, the initial sliding position of the acquisition module 50 is at the top of the main body 10, when the acquisition module 50 starts to slide downwards, the first detection element 51 scans and does not meet the vehicle target, at this time, the feedback distance of the first detection element 51 is relatively large, and when the vehicle target is encountered for the first time in the sliding process, the feedback distance of the first detection element 51 is suddenly changed from the previous distance, at this time, the position just reaching the vehicle roof is indicated; it will be appreciated that the vehicle window is generally close to the roof, and since the lane information acquisition apparatus 100 is disposed directly opposite the window area of the vehicle at the predetermined position, the acquisition module 50 of the lane information acquisition apparatus 100 may be considered to be lowered to directly opposite the window area, and since the second detection element 52 is located below the first detection element 51, the second detection element 52 below may also be scanned to the vehicle target when the first detection element 51 may scan to the vehicle target. So far, the second driving device 40 is used for driving the supporting plate 20 to extend forwards to drive the acquisition module 50 to extend forwards, and the second detecting element 52 is used for scanning and sensing the distance from the vehicle target to the acquisition module 50 in the extending process of the supporting plate 20 so as to prevent the acquisition module 50 from being impacted.
In one embodiment, the first driving device 30 includes a motor 31, a driving wheel 32 connected with the motor 31, a driven wheel 33, and a synchronous belt 34 in driving connection with the driving wheel 32 and the driven wheel 33, and the support plate 20 is connected to the synchronous belt 34; the motor 31 is used for driving the driven wheel 33 to rotate so as to drive the synchronous belt 34 to turn around, thereby driving the supporting plate 20 on the synchronous belt 34 to move up and down. The second driving device 40 comprises an electric cylinder 41 and a telescopic rod 42 connected with the electric cylinder 41, and the supporting plate 20 is connected with the telescopic rod 42; the electric cylinder 41 is used for driving the telescopic rod 42 to extend and retract relative to the body of the electric cylinder 41 so as to drive the supporting rod to extend forwards or retract relative to the main body 10.
Referring to fig. 1 to 3 in combination, the lane information acquisition module 50 further includes a three-dimensional force sensor provided on the support plate 20 and a four-way transducer connected to the three-dimensional force sensor; the acquisition module 50 is arranged on the three-dimensional force sensor, and the three-dimensional force sensor is used for sensing the pressure of the acquisition module 50 on the three-dimensional force sensor; the four-way transmitter is used for converting the signals sensed by the three-dimensional force sensor.
Further, the lane information collecting module 50 further includes a main control board and a collecting board in communication connection with the main control board, and the four-way transmitter, the main control board and the collecting board may be disposed on the main body 10. The first driving device 30, the second driving device 40 and the three-dimensional force sensor are all connected with the main control board, and specifically, the motor 31 and the electric cylinder 41 are connected with the main control board; the first detecting element 51 and the second detecting element 52 are connected to the acquisition board. In a specific embodiment, the acquisition board and the main control board are MCU chips, and the four-way transmitter can be a model BSQ-JN-P4 four-way transmitter.
In an embodiment, the acquisition module 50 is provided with a certificate reader, a face camera, an iris camera, a card reader and a temperature measurement module, the certificate reader can be an OCR reader and is used for acquiring paper certificate information of a driver, the card reader can be an IC card or a magnetic card reader, the face camera is used for acquiring face information of the driver and identifying the face, the iris camera is used for acquiring iris information of the driver and identifying the iris, and the temperature measurement module is used for infrared thermal imaging temperature measurement and is used for detecting the body temperature of the driver.
Referring to fig. 4, an embodiment of the present application provides a method for controlling movement of a lane information collecting device in the above embodiment in an information collecting process, which includes:
step S1: starting the first driving device to drive the supporting plate to slide from the initial position on the main body to the top down, and starting the first detection element to scan a front target from the top down in the sliding process;
step S2: judging whether the distance information D1 fed back by the first detection element is suddenly changed, if so, executing the step S3, and if not, returning to the step S1;
step S3: suspending the first driving device to work, recording the forward extending initial position of the acquisition module, and starting the second detection element to scan and detect a front vehicle target so as to acquire the forward extending initial distance;
step S4: starting the second driving device to drive the supporting plate to do the extending movement,
step S5: judging whether the distance information D2 fed back by the second detection element reaches a preset acquisition distance or not; if yes, executing step S51 and step S53 in sequence, otherwise executing step S52;
step S51: stopping the second driving device to work, and then collecting information by using the collecting device;
step S52: and in the process that the second driving device drives the supporting plate to perform the extending movement until the second detecting element senses the position of the preset collecting distance, judging the condition of the vehicle door which is suddenly opened by utilizing the distance fed back by the second detecting element and controlling the collecting module on the supporting plate to move so as to prevent collision.
Step S53: in the information acquisition process of the acquisition module, the condition of the sudden opening of the vehicle door is judged by utilizing the distance fed back by the second detection element, and the movement of the acquisition module on the supporting plate is controlled to prevent collision.
It should be noted that, for a truck lane or a private car lane, the parking area and the parking line of the lane plan may be some areas, but the same applies to the movement control method in the information acquisition process of the lane information acquisition device.
In the motion control method in the information acquisition process, an acquisition module on a support plate is driven to a vehicle target from top to bottom through the cooperation of a first driving device and a first detection element; the acquisition module on the support plate is extended forwards to a position suitable for the driver in the vehicle to acquire through the second driving device, and the distance from the vehicle target to the acquisition module is scanned and sensed through the second detection element in the process of extending forwards of the acquisition module or acquiring information so as to prevent collision.
In an embodiment, before suspending the operation of the first driving means and starting the operation of the second driving means, i.e. after performing step S3 and before performing step S4, the motion control method further comprises: and continuously controlling the first driving device to drive the supporting plate to descend again to compensate the preset value. In this embodiment, the compensation preset value ranges from 30cm to 50cm.
In an embodiment, referring to fig. 4, for step S53, during the information collection process of the collection module, the step of determining the situation of the door being opened suddenly by using the distance fed back by the second detection element and controlling the collection module on the support plate to move so as to prevent collision includes:
step S531: starting a second detection element to scan and detect the vehicle;
step S532: judging whether the distance information D2 fed back by the second detection element is suddenly changed, if so, executing the step S533 and the step S534 in sequence, and if not, executing the step S531 by the receipt;
step S533: starting a second driving device to control the supporting plate to retract so that the acquisition module returns to the forward extending starting position;
step S534: continuing to judge whether the distance information D2 fed back by the second detection element is restored to the initial forward extending distance, if so, executing step S535, and if not, returning to execute step S533, namely keeping the acquisition module at the initial forward extending position;
step S535: and starting the second driving device to drive the supporting plate to extend forwards to a position where the second detection element on the acquisition device can sense a preset acquisition distance, and executing the return receipt after the execution of the step S353 to execute the step S51.
In an embodiment, referring to fig. 4, for step S52, during the process that the second driving device drives the support plate to perform the forward movement until the second detecting element senses the position of the predetermined collecting distance, determining the condition of the door being opened suddenly by using the distance fed back by the second detecting element and controlling the collecting module on the support plate to move so as to prevent collision, the method includes:
step S521: starting the second detection element to scan and detect the vehicle, and judging that the feedback distance information D2 of the second detection element is suddenly changed; if yes, executing step S522 and step S523 in sequence, and if not, executing step S4;
step S522, the second driving device is stopped suddenly, the sensed distance D3 of the second detecting element immediately before the stopping suddenly is recorded,
step S523: whether the distance information D2 fed back by the second detecting element is recovered to the distance D3 is determined, if yes, the step S4 is executed, and if not, the receipt is executed to step S522, i.e. the state of scram of the second device is maintained.
It should be noted that the protrusion start position may be understood as: according to the sensing result of the first detection element, the first driving device drives the acquisition module to slide downwards to a final position, namely, a position when the second driving device is started to drive the acquisition module to extend forwards; the initial distance of protrusion can be understood as: the distance sensed by the second detection element when the acquisition module forwards extends to the initial position; the predetermined acquisition distance can be understood as: the set acquisition module performs information acquisition at a suitable acquisition distance from the vehicle, in one embodiment, a predetermined acquisition distance of 8cm. It will be appreciated that the initial forward extension position and the initial forward extension distance during actual motion control will vary depending on the type of vehicle and the different height of the vehicle.
It should be noted that, when the first driving device drives the acquisition module to slide up and down, the second driving device drives the acquisition module to extend forward or retract at a constant speed, so that the distance change values of two adjacent times of feedback of the second detection element on the acquisition module in the extending or retracting process are approximately the same, and the distance mutation fed back by the first detection element and the second detection element means that the distance fed back at the moment is not uniformly changed but is greatly changed compared with the previous moment.
As can be appreciated, from the above steps S5, S51, S52 and S53, it is known that:
on the one hand, after the initial forward extending distance is obtained, the second driving device is started to drive the supporting plate to perform forward extending movement until the second detecting element senses the position of the preset collecting distance, the second driving device is stopped to work, and the collecting module is used for collecting information at the moment; and whether the phenomenon of sudden door opening exists is always judged in the acquisition process, when the distance fed back by the second detection element on the module with the preset acquisition distance is suddenly changed relative to the previous moment, the fact that the door is opened is meant to cause the sudden change of the distance sensed by the second detection element, and the second driving device is used for controlling the backing plate to retract so that the acquisition module returns to the front extension starting position. The control method is beneficial to preventing the risk of accidental collision of the acquisition module in the acquisition process, so that the risk of damage to the acquisition module equipment can be effectively protected;
on the other hand, when the support plate does the extending movement and does not reach the position where the second detection element senses the preset collecting distance, the second driving device can always drive the support plate to extend forwards, and whether the driver protrudes out of the vehicle door is judged through the distance fed back by the second detection element in the extending process; when the acquisition module stretches forward, when the driver suddenly opens the door, the feedback distance of the second detection element discovers sudden change at the moment relatively before, and the forward movement of the acquisition module needs to be suddenly stopped and the sensing distance D3 of the second detection element at the moment before is recorded, so that the risk of being impacted due to the fact that the acquisition module stretches forward continuously under the emergency condition is prevented.
It is worth to say that, the collection module slides the process from top to bottom, indicates when the distance of first detecting element feedback suddenly changes that the collection module descends to vehicle roof position, and although the door window is close to the roof, can consider that the distance suddenly changes the moment and indicates that the collection module descends to the door window position, but the door window still has a certain distance from the roof, in order to more accurate location to the door window position and in order to more convenient in-vehicle driver carries out information acquisition in the door window position, can descend the compensation preset value again with the collection module, and the size of compensation preset value can be specifically adjusted according to the type of vehicle.
In an embodiment, the step of controlling the movement of the acquisition module from the first position to the second position comprises: setting the pulse number T corresponding to each moving unit distance of the acquisition module 0 The method comprises the steps of carrying out a first treatment on the surface of the Setting the step number B of the motion of the second driving device corresponding to each pulse number 0 The method comprises the steps of carrying out a first treatment on the surface of the Calculating a relative distance from the first location to the second location; the number of pulses T moving from the first position to the second position is calculated from the relative distance, and the number of steps B of the movement of the second drive means from the first position to the second position is calculated from the number of pulses. Wherein, the unit distance can be 1cm.
It should be noted that the first position may be the position of the acquisition module when the distance S2 fed back by the second detection element in step S532 is abrupt, and the second position may be the initial position of the protrusion mentioned in step S533. The first position may be a position of the acquisition module when the distance fed back by the second detection element mentioned in step S534 is the initial distance of the protrusion, and the second position may be a position on the acquisition module mentioned in step S535 where the second detection element can sense a predetermined acquisition distance.
In an embodiment, when the lane information acquisition device further includes a three-dimensional force sensor disposed on the support plate, the acquisition module is disposed on the three-dimensional force sensor and the three-dimensional force sensor is used for sensing the pressure of the acquisition module on the three-dimensional force sensor; the automatic positioning method further comprises the following steps: in the process of extending the acquisition module and in the process of information acquisition by the acquisition module, the acquisition module is subjected to judgment of collision and motion control during collision, and the method specifically comprises the following steps:
(1) Establishing a three-dimensional force coordinate system about the pressure sensed by the three-dimensional force sensor: taking the contact center point of the three-dimensional force sensor and the acquisition module as a three-dimensional force coordinate system origin, taking the up-and-down sliding direction of the acquisition module as a Z axis, taking the forward and backward direction of the acquisition module as an X axis, and taking the direction perpendicular to the X axis and the Z axis as a Y axis;
(2) Judging the pressure difference values of the X axis, Y axis and Z axis directions sensed by the three-dimensional force sensor in front and back twice and a set threshold value;
(3) And if the absolute value of the pressure difference value is larger than the threshold value, judging that the acquisition module is impacted by external force, and driving the support plate through the second driving device to drive the acquisition module to retract to the forward extending starting position.
In an embodiment, for the step (2), the step of determining the difference value between the pressures in the X-axis, Y-axis and Z-axis directions sensed by the three-dimensional force sensor in the front-back two times and the set threshold value includes:
converting pressure values of X-axis, Y-axis and Z-axis directions sensed by the three-dimensional force sensor each time into weight values;
setting weight thresholds in X-axis, Y-axis and Z-axis directions as T respectively X 、T Y And T Z And T is Z ＞T Y ＞T X ；
When three conditions are: the absolute value of the weight difference value of the front and the back times on the X axis is more than or equal to T X The absolute value of the weight difference value of the front and the back times on the Y axis is more than or equal to T Y The absolute value of the weight difference value of the front and the back times on the Z axis is more than or equal to T Z If at least one of the above is satisfied, then it is determined that the acquisition module is impacted.
In one embodiment, T X 、T Y And T Z 70g (g), 150g and 800g, respectively.
It should be noted that, since the acquisition module is extended forward, the vehicle target is in front of the acquisition module, and the impact force of the vehicle door opening to the acquisition module is mostly from the front, i.e. mainly from the X-axis and the Y-axis, the threshold values of the X-axis and the Y-axis are reduced relative to the Z-axis, so as to improve the sensitivity of the main impact direction sensing.
In an embodiment, in the step (1), the sensing result of the three-dimensional force sensor on the X axis, the Y axis and the Z axis is collected every millisecond, and the average value of the sensing result on each axis in every m milliseconds is used as the pressure value on the axis in the sensing process of the three-dimensional force sensor once; it will be appreciated that the pressure value sensed by the three-dimensional force sensor in the three-axis direction is the average value of the sensed results within m milliseconds, where m may take a value of 10.
It is worth to say that the three-dimensional force sensor is used for sensing the impact of the acquisition module from multiple directions, so that the sensing sensitivity is improved; meanwhile, through a threshold value and mean value filtering mode, the phenomenon of misjudgment caused by the inertial force of the motion of the acquisition module can be effectively avoided; therefore, the motion control method can effectively ensure the sensitivity of the sensing impact and inhibit the influence of inertial motion on the sensing impact process.
The foregoing description of the preferred embodiments of the present application is not intended to be limiting, but is intended to cover any and all modifications, equivalents, and alternatives falling within the spirit and principles of the present application.

Claims (14)

1. A lane information acquisition device is arranged on a safety island of a lane and is opposite to a window area of a vehicle parked at a preset position of the lane and used for acquiring information of a driver of the vehicle,
the lane information acquisition device comprises a main body, a supporting plate which can slide up and down along the main body and can extend forwards or backwards relative to the main body, a first driving device arranged on the main body, a second driving device arranged on the main body, an acquisition module arranged on the supporting plate, and a first detection element and a second detection element which are arranged on the same side of the acquisition module up and down;
the positions of the first detection element and the second detection element on the acquisition module are distributed in sequence according to the downward sliding direction of the support plate; and
the first detection element is used for scanning and sensing a vehicle target in the sliding process of the support plate, and the first driving device is used for driving the support plate to slide downwards so as to drive the acquisition module to slide downwards to a position where the first detection element senses the vehicle target; the second driving device is used for driving the supporting plate to extend forwards or backwards relative to the main body so as to drive the acquisition module to extend forwards or backwards; the acquisition module is used for acquiring information at the position where the second detection element senses a preset acquisition distance; the second detection element is used for scanning and sensing the distance from a vehicle target to the acquisition module in the process of extending the acquisition module or acquiring information so as to prevent collision.
2. The lane information collecting apparatus as claimed in claim 1, wherein the first detecting element is a single-point laser sensor or a single-point ultrasonic sensor.
3. The lane information collecting apparatus as claimed in claim 1, wherein the second detecting element is a linear array laser sensor or a linear array ultrasonic sensor.
4. The lane information collecting apparatus as claimed in any one of claims 1 to 3, wherein the lane information collecting module further comprises a three-dimensional force sensor provided on the support plate, the collecting module is provided to the three-dimensional force sensor and the three-dimensional force sensor is used for sensing a pressure of the collecting module to the three-dimensional force sensor.
5. The lane information gathering device as recited in claim 4 wherein the lane information gathering module further comprises a four-way transducer coupled to the three-dimensional force sensor, the four-way transducer being configured to convert signals sensed by the three-dimensional force sensor.
6. The lane information acquisition apparatus of claim 5, wherein the lane information acquisition module further comprises a main control board and an acquisition board in communication with the main control board; the first driving device, the second driving device and the three-dimensional force sensor are all connected with the main control board, and the second detection element and the first detection element are connected with the acquisition board.
7. A motion control method in an information collection process, which is applied to the lane information collection apparatus as claimed in any one of claims 1 to 6, comprising:
starting the first driving device to drive the supporting plate to slide from the initial position on the main body to the top down, and starting the first detection element to scan a front target from the top down in the sliding process;
judging whether the distance information D1 fed back by the first detection element is suddenly changed, if so, suspending the first driving device from working, recording the forward extension starting position of the acquisition module, and starting the second detection element to scan and detect a front vehicle target to acquire the forward extension initial distance;
after the initial forward extending distance is obtained, starting the second driving device to drive the supporting plate to perform forward extending movement until the second detecting element senses the position of the preset collecting distance, stopping the second driving device, and collecting information by using the collecting module; and
and in the information acquisition process of the acquisition module or in the process that the second driving device drives the supporting plate to perform the forward movement until the second detection element senses the position of the preset acquisition distance, judging the condition of the sudden opening of the vehicle door by using the distance fed back by the second detection element and controlling the movement of the acquisition module on the supporting plate to prevent collision.
8. The method for controlling movement during information collection according to claim 7, wherein the step of determining the condition of the door being opened by the distance fed back by the second detecting element and controlling the collection module on the support plate to move so as to prevent collision during information collection by the collection module comprises:
starting the second detection element to scan and detect the vehicle, judging whether the distance information D2 fed back by the second detection element is suddenly changed, if so, starting the second driving device to control the supporting plate to retract so as to enable the acquisition module to return to the forward extending starting position, continuously judging whether the distance information D2 fed back by the second detection element is restored to the forward extending initial distance,
if the distance information D2 fed back by the second detection element is restored to the initial forward extending distance, the second driving device is started to drive the supporting plate to extend forward to the position where the second detection element on the acquisition module senses the preset acquisition distance.
9. The method for controlling movement during information acquisition according to claim 7, wherein in the process that the second driving device drives the support plate to perform a forward movement until the second detecting element senses a position of a predetermined acquisition distance, the distance fed back by the second detecting element is used to determine the condition of the door being opened and control the acquisition module on the support plate to move so as to prevent collision, comprising:
starting the second detection element to scan and detect the vehicle, and judging that the feedback distance information D2 of the second detection element is suddenly changed; if yes, the second driving device is stopped suddenly, the distance D3 sensed by the second detecting element immediately before the sudden stop is recorded, whether the distance information D2 fed back by the second detecting element is recovered to the distance D3 is continuously judged,
and if the distance sensed by the second detection element is recovered to the distance D3, continuing the second driving device to drive the supporting plate to perform forward movement, and continuing to start the second detection element to perform scanning detection on the vehicle.
10. The method of motion control during information acquisition according to claim 7, wherein prior to suspending operation of the first drive means and initiating operation of the second drive means, the method further comprises: and continuously controlling the first driving device to drive the supporting plate to descend again to compensate the preset value.
11. The method for motion control in an information acquisition process according to claim 7 or 10, wherein the step of controlling the motion of the acquisition module from the first position to the second position is: setting the pulse number T corresponding to each moving unit distance of the acquisition module 0 The method comprises the steps of carrying out a first treatment on the surface of the Setting the step number B of the motion of the second driving device corresponding to each pulse number 0 The method comprises the steps of carrying out a first treatment on the surface of the Calculating a relative distance from the first location to the second location; the number of pulses T moving from the first position to the second position is calculated from the relative distance, and the number of steps B of the movement of the second drive means from the first position to the second position is calculated from the number of pulses.
12. The method according to any one of claims 7 to 10, wherein when the lane information collecting apparatus further comprises a three-dimensional force sensor provided on the support plate, the collecting module is provided to the three-dimensional force sensor and the three-dimensional force sensor is configured to sense a pressure of the collecting module to the three-dimensional force sensor;
the automatic positioning method further comprises the following steps: in the process of extending the acquisition module forwards and in the process of information acquisition by the acquisition module, judging the collision of the acquisition module and controlling the motion during the collision:
establishing a three-dimensional force coordinate system about the pressure sensed by the three-dimensional force sensor: taking the contact center point of the three-dimensional force sensor and the acquisition module as a three-dimensional force coordinate system origin, taking the up-and-down sliding direction of the acquisition module as a Z axis, taking the forward and backward direction of the acquisition module as an X axis, and taking the direction perpendicular to the X axis and the Z axis as a Y axis;
judging the pressure difference values of the X axis, Y axis and Z axis directions sensed by the three-dimensional force sensor in front and back twice and a set threshold value;
and if the absolute value of the pressure difference value is larger than the threshold value, judging that the acquisition module is impacted by external force, and driving the supporting plate through the second driving device to drive the acquisition module to retract to the forward extending starting position.
13. The method for controlling motion during information acquisition according to claim 12, wherein the step of determining the difference between the pressures in the X-axis, Y-axis and Z-axis directions sensed by the three-dimensional force sensor two times before and after the three-dimensional force sensor and the set threshold value comprises:
converting pressure values of X-axis, Y-axis and Z-axis directions sensed by the three-dimensional force sensor each time into weight values;
setting weight thresholds in X-axis, Y-axis and Z-axis directions as T respectively X 、T Y And T Z And T is Z ＞T Y ＞T X ；
When three conditions are: the absolute value of the weight difference value of the front and the back times on the X axis is more than or equal to T X The absolute value of the weight difference value of the front and the back times on the Y axis is more than or equal to T Y The absolute value of the weight difference value of the front and the back times on the Z axis is more than or equal to T Z If at least one of the above is satisfied, then it is determined that the acquisition module is impacted.
14. The method for controlling motion during information acquisition according to claim 12, wherein the three-dimensional force sensor senses the results of the X-axis, the Y-axis and the Z-axis every millisecond, and the average value of the sensing results on each axis every m milliseconds is used as the pressure value on the axis during one sensing process of the three-dimensional force sensor.
CN202211541864.5A 2022-12-02 2022-12-02 Lane information acquisition device and motion control method in information acquisition process Pending CN116189105A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117275126A (en) * 2023-11-22 2023-12-22 盛视科技股份有限公司 Vehicle information acquisition driving control method and lane information acquisition system

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117275126A (en) * 2023-11-22 2023-12-22 盛视科技股份有限公司 Vehicle information acquisition driving control method and lane information acquisition system
CN117275126B (en) * 2023-11-22 2024-03-05 盛视科技股份有限公司 Vehicle information acquisition driving control method and lane information acquisition system

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