CN204463274U - The single laser pedestrian detection device of a kind of inclination - Google Patents
The single laser pedestrian detection device of a kind of inclination Download PDFInfo
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- CN204463274U CN204463274U CN201520156871.2U CN201520156871U CN204463274U CN 204463274 U CN204463274 U CN 204463274U CN 201520156871 U CN201520156871 U CN 201520156871U CN 204463274 U CN204463274 U CN 204463274U
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Abstract
The utility model discloses the single laser pedestrian detection device of a kind of inclination, relate to pedestrian's field of flow detection.This device comprises fixture, single rotary scanning type range laser instrument and controller.Described fixture is used for single rotary scanning type range laser instrument to tilt, and makes it become a fixed angle with road vertical plane; Described single rotary scanning type range laser instrument is for obtaining the data of angled section; The angled section data that described controller is used for obtaining process, and obtain the flow of pedestrian, direction, speed, height and density information.This device is easy to construction and installation, and disturbing effect is little to external world, and testing result is accurate.
Description
Technical field
The utility model relates to pedestrian's field of flow detection, and particularly one tilts single laser line population flow detection device.
Background technology
Along with continuous progress and the development of municipal intelligent traffic, flow of the people for bicycle lane is investigated, the stream of people can be understood in time, change spatially and the situation such as the regularity of distribution and congestion in road, for road construction, traffic control and management etc. provide necessary data.Meanwhile, early warning is carried out in time in the area larger to flow of the people, contributes to dredging and management and control stream of people Burst Regions, avoids the generation of major accidents such as trampling.
At present, mainly adopt Video processing mode to pedestrian's flow monitor mode, by carrying out analysis counting to the image of successive frame, its shortcoming is the impact that the complicated and video of process is easily subject to ambient weather environment.Otherwise, rotary scanning type range laser instrument for daytime and night light intensity to change and inclement weather such as the situations such as sleet sky, dense fog affect less, can the work of twenty four hours free of discontinuities.Be applied to pedestrian detection field and have good prospect.
Utility model content
The utility model provides a kind of rotary scanning type range laser instrument utilizing single inclination to install and realizes pedestrian's flow, direction, speed, height and the statistics of density and the device of measurement.
The utility model provides a kind of single laser pedestrian detection device, it is characterized in that comprising fixture, single rotary scanning type range laser instrument and controller, wherein, described fixture is used for single rotary scanning type range laser instrument to tilt, and makes it become a fixed angle with road vertical plane; Described single rotary scanning type range laser instrument is for obtaining the data of angled section; The angled section data that described controller is used for obtaining process, and obtain the flow of pedestrian, direction, speed, height and density information.
Described fixture is installed on structural member roadside vertical rod making single rotary scanning type range laser instrument lateral tilt scan road surface, or be installed on the structural member that portal frame or L-type vertical rod make single rotary scanning type range laser instrument forward dip sweeping road surface.
The utility model can utilize pedestrian's flow of both direction in single rotary scanning type range laser instrument road pavement to monitor, for traffic control and management provides real time data.
Accompanying drawing explanation
In order to clearer explanation the utility model embodiment, do corresponding introduction by the accompanying drawing needed for embodiment below:
Fig. 1 is the operating diagram of the utility model embodiment
Fig. 2 is the workflow diagram of the utility model embodiment
Embodiment
For the advantage of the object and scheme that make the utility model embodiment is clearly understood.Below in conjunction with accompanying drawing, the utility model embodiment is described in further detail.
Fig. 1 is the operating diagram of the utility model embodiment.
As shown in Figure 1, mounting fixing parts in the side vertical rod of road, and fixing single rotary scanning type range laser instrument, form the vertical cross-section dip sweeping cross section at an angle with people's direction of travel on road.Adjustment fixture sets setting height(from bottom) and pitch angle, and in order to reduce mutually blocking between parallel pedestrian, the setting height(from bottom) scope of laser is generally between 2500mm to 7000mm; Change in order to the height obtaining pedestrian and reduce blocking of front and back pedestrian, the angular range of dip sweeping cross section and road vertical cross-section is generally at 10 degree to 60 degree.
The workflow of pedestrian detection device as shown in Figure 2, single rotary scanning type range laser instrument carries out the collection of angled section data according to the sweep frequency preset and angular resolution, wherein, single rotary scanning type range laser instrument adopts the infrared light of 905 nanometers, sweep frequency is 50HZ, angular resolution is 0.25 degree, and effective scanning distance is 40m, and systematic error is 10mm.Gather data by network cable transmission to controller.
Controller processes the every frame tilt cross-section data received continuously, obtains coordinate figure and the relevant information of sampled point.Wherein, the packet that single rotary scanning type range laser instrument gathers contains distance value and pwm value.Described distance value be utilize the measurement of Laser Time flight theory to obtain road cross section on each sampled point to the distance of laser; Described pwm value is the photoreceptor APD that laser runs into that barrier reflects laser, the pulse width values of its backward energy, because the reflectivity of different colours or body surface is different, corresponding pulse width is different, can be used for distinguishing interference, judge the different parts of human body, the differentiation of the such as number of people and trunk.
The coordinate of each sampled point calculates and utilizes formula as follows, the initial point of coordinate system is the projection of single rotary scanning type range laser instrument on road surface, wherein, L is the distance value that sampled point arrives single rotary scanning type range laser instrument, α is the angle of the central point of sampled point and single rotary scanning type range laser instrument, and β is the pitch angle of single rotary scanning type range laser instrument.
Analyze the coordinate figure of sampled point in every frame data, obtain this frame and whether detect that pedestrian passes through.When detect within the scope of road have pedestrian by time, record effective data point information, comprise coordinate information and analyzing spot sequence information.When next frame scans pedestrian equally, effective for this frame pedestrian's data are mated with previous frame valid data, if the match is successful, these frame valid data are stored in same pedestrian's data record set; If mate unsuccessful, then judge it is another one pedestrian, equally at another these valid data of pedestrian's data record centralized recording.
Analyze the data record set of each pedestrian, obtain the data of pedestrian.Due to blocking of parallel pedestrian, the information of multiple people in pedestrian's data record set, may be contained.According to the point sequence of each frame of data set, three-dimensional coordinate information and pulse width information, obtain the true pedestrian's number in pedestrian's data record set and the coordinate in the data record set of number of people peak place.Now number of people peak is referred to as Seed Points, and with this Seed Points for benchmark, according to pedestrian level, with the angle [alpha] of laser instrument, pulsewidth and setting threshold information, as relevant decision condition, carry out expansion and look for a little in record set.Find the number of people region of pedestrian, be referred to as S1, shoulder breadth region, is referred to as S2, and health region, is referred to as S3.
According to record set information, judge pedestrian direction.Because single rotary scanning type range laser instrument is dip sweeping, if people's forward is walked, that is to say y-axis positive dirction, single rotary scanning type range laser instrument first scans the leg of people, scans the head of this people again, the height scanned uprised along with the time, being reacted to region S1 and S2, is exactly the average height that the average height of the first half valid data of S1 or S2 is less than later half significant figure strong point; Otherwise if people oppositely walks, the first half significant figure strong point height of S1 or S2 is greater than the average height at later half significant figure strong point.
According to record set information, judge pedestrian's speed.The time interval of the every frame of single rotary scanning type range laser instrument presets, such as, single rotary scanning type range laser instrument sweep frequency is 50HZ, then, the time interval of two frame data is 20ms, according to the pedestrian region S1 found, S2 and S3, obtain the frame number that this trizonal effective scanning arrives, the height ratio of people shared by the height H of Seed Points and the number of people, obtains the height H 1 takeing on ground.So the number of people is following formula gained at the distance Distance that region S1 passes by:
Distance＝(H-H1)*tanβ
Wherein, β is the pitch angle of single rotary scanning type range laser instrument.Then the speed of people's walking is Distance/ (T*N), and wherein T is two frame time intervals, and N is the frame number scanned.
According to record set information, judge pedestrian level.Can become short because people waits height when walking, according to the height of pedestrian's Seed Points and the correction scale-up factor that obtained by people's speed of travel, both are multiplied and can obtain the true altitude of pedestrian.
According to record set information, obtain pedestrian's flow of twocouese.According to the pedestrian's quantity obtained in real time and direction, statistics can obtain the pedestrian's flow on the twocouese in a period of time.
According to record set information, obtain intensity of passenger flow.Because road width is known, according to the speed of each pedestrian, statistics can obtain average passenger flow speed, according to pedestrian's quantity of real-time statistics, can obtain the density of pedestrian.
In another example, single rotary scanning type range laser instrument tilts just be loaded on L bar or portal frame.Then angular range of its scanning is 0 to 180 degree, in this case, can draw the information of pedestrian equally, and just the single rotary scanning type range laser instrument road scope that can detect is broader.
The mode that the utility model tilts to install by adopting single rotary scanning type range laser instrument, takes full advantage of the high precision of laser ranging, the feature that antijamming capability is strong, effectively and accurately detects the information of pedestrian.Obviously, utilize single rotary scanning type range laser instrument just can realize the up stream of people's quantitative statistics of both direction, not only install simple and convenient, and Detection results is accurate.
The above is only the utility model preferred implementation; should be understood that; for those skilled in the art; under the prerequisite not departing from the utility model know-why; can also make some improvements and modifications, these improvements and modifications also should be considered as protection domain of the present utility model.
Claims (5)
1. single laser pedestrian detection device that tilts, it is characterized in that comprising fixture, single rotary scanning type range laser instrument and controller, wherein, described fixture is used for rotary scanning type range laser instrument to tilt, and makes it become a fixed angle with road vertical plane; Described single rotary scanning type range laser instrument is for obtaining the data of angled section; The angled section data that described controller is used for obtaining process, and obtain pedestrian information.
2. the single laser pedestrian detection device of inclination according to claim 1, it is characterized in that, described fixture is installed on structural member roadside vertical rod making single rotary scanning type range laser instrument lateral tilt scan road surface, or be installed on the structural member that portal frame or L-type vertical rod make single rotary scanning type range laser instrument forward dip sweeping road surface.
3. the single laser pedestrian detection device of inclination according to claim 1, is characterized in that, described single rotary scanning type range laser instrument is the sensor with the multiple measurement point range information of detection sectional plane.
4. the single laser pedestrian detection device of inclination according to claim 1, is characterized in that, described controller is the single card microcomputer having communication and data-handling capacity.
5. the single laser pedestrian detection device of inclination according to claim 1, is characterized in that, described pedestrian information comprises the flow of pedestrian, direction, speed, height and density.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520156871.2U CN204463274U (en) | 2015-03-19 | 2015-03-19 | The single laser pedestrian detection device of a kind of inclination |
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| CN201520156871.2U CN204463274U (en) | 2015-03-19 | 2015-03-19 | The single laser pedestrian detection device of a kind of inclination |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105513173A (en) * | 2015-11-20 | 2016-04-20 | 北京市交通信息中心 | Dual-laser-ranging-based passenger flow direction recognition method and system |
| CN106781537A (en) * | 2016-11-22 | 2017-05-31 | 武汉万集信息技术有限公司 | A kind of overspeed of vehicle grasp shoot method and system |
| CN107452012A (en) * | 2017-07-28 | 2017-12-08 | 浙江大华技术股份有限公司 | A kind of pedestrian recognition method, device and electronic equipment |
| CN108089024A (en) * | 2016-11-22 | 2018-05-29 | 武汉万集信息技术有限公司 | A kind of vehicle speed detector and method |
-
2015
- 2015-03-19 CN CN201520156871.2U patent/CN204463274U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105513173A (en) * | 2015-11-20 | 2016-04-20 | 北京市交通信息中心 | Dual-laser-ranging-based passenger flow direction recognition method and system |
| CN105513173B (en) * | 2015-11-20 | 2018-03-16 | 北京市交通信息中心 | Passenger flow direction recognizing method and system based on bidifly ligh-ranging |
| CN106781537A (en) * | 2016-11-22 | 2017-05-31 | 武汉万集信息技术有限公司 | A kind of overspeed of vehicle grasp shoot method and system |
| CN108089024A (en) * | 2016-11-22 | 2018-05-29 | 武汉万集信息技术有限公司 | A kind of vehicle speed detector and method |
| CN106781537B (en) * | 2016-11-22 | 2019-07-26 | 武汉万集信息技术有限公司 | A kind of overspeed of vehicle grasp shoot method and system |
| CN108089024B (en) * | 2016-11-22 | 2020-07-14 | 武汉万集信息技术有限公司 | Vehicle speed detection system and method |
| CN107452012A (en) * | 2017-07-28 | 2017-12-08 | 浙江大华技术股份有限公司 | A kind of pedestrian recognition method, device and electronic equipment |
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