CN208673530U - The expressway fog early warning system cooperateed with based on unmanned aerial vehicle and bus or train route - Google Patents
The expressway fog early warning system cooperateed with based on unmanned aerial vehicle and bus or train route Download PDFInfo
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- CN208673530U CN208673530U CN201820104748.XU CN201820104748U CN208673530U CN 208673530 U CN208673530 U CN 208673530U CN 201820104748 U CN201820104748 U CN 201820104748U CN 208673530 U CN208673530 U CN 208673530U
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Abstract
The utility model discloses a kind of expressway fog early warning systems cooperateed with based on unmanned aerial vehicle and bus or train route, including monitoring unmanned system, trackside monitoring system and GIS-Geographic Information System and forecast system, the monitoring unmanned system includes unmanned plane, the visibility detector being fixed on unmanned plane and video camera, and the airborne communication module to communicate with GIS-Geographic Information System；The trackside monitoring system includes being fixed at predetermined road section side and the fixed visibility detector with the GIS-Geographic Information System communication connection, and the forecast system includes the roadside unit with the GIS-Geographic Information System communication connection.The utility model passes through unmanned aerial vehicle and bus or train route coordination technique, realize the time-space monitoring of the expressway fog in big region, it can be with pavement branch sections, the early warning for dividing warning grade to carry out differentiation to individual vehicle, the operation risk under expressway fog meteorological condition can be lowered significantly, improve the operational efficiency of highway.
Description
Technical field
The utility model relates to field of intelligent transportation technology, cooperateed with more particularly to a kind of based on unmanned aerial vehicle and bus or train route
Expressway fog early warning system.
Background technique
Group's mist occurred on many highways in China as a kind of natural phenomena, due to the appearance of mist, will cause
The sharply decline for visibility of driving a vehicle, thus easily leads to traffic accident.The formation of group's mist and Partial little climate environment close
It is closely related.Express highway pavement day temperature is conducive to a mist and is formed compared with high, day and night temperature is big.In addition, autumn is in high speed
Near Highway crop straw burning can dramatically increase contaminant particle, it is possible to can induce a mist.River, water near highway
Library region steam is big, it is also possible to induce group's mist.In addition, highways in mountain areas topography is higher, temperature is low compared with cities and towns, vegetative coverage
More, steam is big, and the group's of also resulting in mist occurs.After the bad weathers such as rain, snow, it's clearing up, and temperature increases rapidly, is also easy
Group's mist occurs for night.Large size group mist can cover five or six kilometers of long highways, and small mist only has one kilometer of even several hundred rice
It is long." group mist " phenomenon on highway, have many characteristics, such as sudden, location property, part low visibility, it is difficult to predict.
In the daily management of highway, the video camera and road administration cruiser for relying primarily on trackside erection are come the group of monitoring
Mist.Due to the limited strength that the layout density and road administration of video camera are gone on patrol, causing the time-space of a mist to monitor coverage area has
Limit, the monitoring and early warning of the group's of causing mist are not in time.In addition, China part highway, installs a set of energy along road interval 10-15km
Degree of opinion detector, the detector are only capable of the visibility variation situation near monitoring position, and cannot be in long and narrow section
Group's mist is monitored.In addition, once the group's of monitoring mist, freeway management department often take forbidden traffic administration of closing a road to traffic to arrange
It applies, and does not consider the time-space distribution character of a mist, cause the passive office of " stretch has a mist, a road road closure forbidden "
Face reduces the operational efficiency of highway, increases the time cost of Freeway Transport.
Chinese patent literature CN 103413442A discloses a kind of expressway fog early warning based on intervisibility distance monitoring
System, this method are emitted and are received by the device laid along road laser, current intervisibility distance calculated, when the intervisibility is apart from small
In threshold value, then it is assumed that have a mist, then publication group mist warning information.Chinese patent literature CN 106097744A is disclosed
A kind of expressway fog real-time monitoring system and method for generalized information system, this method lay camera, gas along highway
As website, for Image Real-time Transmission captured by camera into generalized information system, generalized information system carries out an image detection every few minutes,
When detecting mist, the prompt such as deceleration, speed limit is issued to vehicle by display screen.Chinese patent literature CN
206497567U discloses a kind of expressway fog monitoring device, the device along highway at a distance, if
Visual detector and image display board are set, the detection faces of visual detector and the display surface of image display board are corresponding, pass through view
Frequency knows the visibility along method for distinguishing detection highway, and is sent to highway control centre and carries out a mist judgement.On
It states technical aspect to come with some shortcomings: (1) group's mist situation where being only capable of monitoring detection device near point；(2) it is only capable of to mist
Severity (such as mist, middle mist, dense fog) be monitored, and can not the group's of determination mist space-time coverage area；(3) group of monitoring
After mist, early warning is carried out to wagon flow often through display screen or high-pitched speaker, and does not consider the time-space distribution of a mist
Characteristic, pavement branch sections, the early warning for dividing warning grade to carry out differentiation to individual vehicle.
Utility model content
The purpose of this utility model is to be directed to technological deficiency existing in the prior art, and provide a kind of based on unmanned aerial vehicle
With the expressway fog early warning system of bus or train route collaboration.
It is for technical solution used by realization the purpose of this utility model:
A kind of expressway fog early warning system cooperateed with based on unmanned aerial vehicle and bus or train route, including monitoring unmanned system,
Trackside monitoring system and GIS-Geographic Information System and forecast system,
The monitoring unmanned system includes unmanned plane, the visibility detector being fixed on unmanned plane and video
Video camera, and the airborne communication module to be communicated with GIS-Geographic Information System；
The trackside monitoring system includes being fixed at predetermined road section side and leading to the GIS-Geographic Information System
The fixed visibility detector of connection is interrogated,
The forecast system includes the roadside unit with the GIS-Geographic Information System communication connection.
In the above-mentioned technical solutions, the trackside monitoring system further includes weather environment sensor.
In the above-mentioned technical solutions, the forecast system further include be arranged in predetermined road section side and with the geography
The display screen of information system communication connection.
In the above-mentioned technical solutions, the fixed visibility detector is disposed adjacent and directly with the roadside unit
Connect communication connection.
In the above-mentioned technical solutions, the airborne communication module is 3G, 4G or 5G communication module.
In the above-mentioned technical solutions, the weather environment sensor is wind sensor.
In the above-mentioned technical solutions, the weather environment sensor is sunshine recorder
In the above-mentioned technical solutions, the weather environment sensor is temperature sensor.
In the above-mentioned technical solutions, trackside monitoring system interval 500m-2000m is arranged.
In the above-mentioned technical solutions, visibility detector is portable visibility detector.
Compared with prior art, the utility model has the beneficial effects that
The utility model by unmanned aerial vehicle and bus or train route coordination technique, realize the expressway fog in big region when
M- space monitoring it is public can to lower significantly high speed with pavement branch sections, the early warning for dividing warning grade to carry out differentiation to individual vehicle
Operation risk of road group's fog as under the conditions of, improves the operational efficiency of highway.
Detailed description of the invention
Fig. 1 is system composition and functional diagram.
Fig. 2 is working-flow figure.
Fig. 3 is unmanned aerial vehicle zoning monitoring figure.
Fig. 4 is the characteristic pattern of visibility spatial distribution.
Fig. 5 is the characteristic pattern of visibility Annual distribution.
Specific embodiment
The utility model is described in further detail below in conjunction with the drawings and specific embodiments.It should be appreciated that this place
The specific embodiment of description is only used to explain the utility model, is not used to limit the utility model.
The expressway fog early warning system cooperateed with based on unmanned aerial vehicle and bus or train route of the utility model, including unmanned plane prison
Control system, trackside monitoring system and GIS-Geographic Information System and forecast system,
The portable visibility detector that the monitoring unmanned system includes unmanned plane, is fixed on unmanned plane
And video camera, and the airborne communication module to be communicated with GIS-Geographic Information System；The skill of portable visibility detector
Art parameter are as follows: measurement range 10-10000m, data renewal frequency are 5-30 seconds.The technical parameter of video camera are as follows: support night
Late camera function, filter diameter 40-100mm, f-number 2.6-4.8.
The trackside monitoring system includes being fixed at predetermined road section side and leading to the GIS-Geographic Information System
The fixed visibility detector of connection is interrogated,
The forecast system includes the roadside unit with the GIS-Geographic Information System communication connection, and correspondence is set on automobile
It is equipped on board unit corresponding with roadside unit, by Vehicle Electronic Control Unit ECU, CAN bus module, on-board processing unit
With communicative indication module, on board unit passes through DSRC (Dedicated Short Range Communications) dedicated short distance
Mechanics of communication and roadside unit carry out information exchange.Preferably, the forecast system further includes being arranged in predetermined road section side
And the display screen with the GIS-Geographic Information System communication connection.
Wherein, the predetermined road section is emphasis section, river, reservoir region steam near highway
Greatly, the group's of may induce mist, these sections can be used as emphasis section；In addition, the highway road of average annual generation 3 times or more group's mists
Section is also used as emphasis section, installs the fixed visibility detector in ground in these positions.Fixed visibility detector passes through
The scattered light intensity for directly measuring installation site, obtains visibility numerical value.The technical parameter of visibility detector are as follows: measurement range
10-10000m, data renewal frequency are 5-30 seconds.
The utility model carries out aerial mobile monitoring using monitoring section of the unmanned aerial vehicle to setting, wider to obtain
Section visibility information；Ground and the visibility information monitored in the air are transferred to traffic prison by 3G, 4G or 5G mechanics of communication
The GIS-Geographic Information System at control center；After GIS-Geographic Information System summarizes visibility information, it is pre- with traffic safety to carry out visibility analysis
It is alert；Traffic safety warning information is sent to roadside unit and display screen, roadside unit then will by 3G, 4G, 5G mechanics of communication
Degree of opinion warning information is sent to the on board unit of vehicle, and display screen shows traffic prewarning information, improves expressway fog monitoring
Space Time coverage area and traffic safety early warning specific aim.
As one of specific implementation, the trackside monitoring system further includes weather environment sensor, as wind-force passes
Sensor, sunshine recorder and temperature sensor.By the sensing to weather environment, a mist can be carried out giving warning in advance with
Reinforce observing the emphasis in region at this, or work out the calculation to resolution time, to provide theories integration for traffic dispersion.
Wherein, the fixed visibility detector is disposed adjacent and direct communication link with the roadside unit.
To reduce the use of communication module.
The invention also discloses a kind of expressway fog early warning systems cooperateed with based on unmanned aerial vehicle and bus or train route
Method for early warning includes the following steps,
1) unmanned plane cruises by projected route and visibility information, image and corresponding location information is sent to geographical letter
Breath system；Expressway Service can be deployed in due to carry out battery altering and fuel adding, unmanned aerial vehicle to unmanned aerial vehicle
Or along highway at emergency management and rescue point.According to the distribution situation in monitoring section, optimize the cruise route of unmanned aerial vehicle, reduces
The cruising range of unmanned aerial vehicle, unmanned aerial vehicle fly along setting path, obtain the real-time visibility numerical value and picture in monitoring section
Information.In conjunction with different monitoring needs, multi rack time unmanned aerial vehicle can be sent to cruise simultaneously, shorten patrolling for single rack time unmanned aerial vehicle
ETS estimated time of sailing, the timeliness of the group's of raising mist monitoring.The monitoring section of unmanned aerial vehicle is subjected to cluster point according to space distribution situation
Area, each subregion send a frame unmanned aerial vehicle to carry out cruise monitoring, and unmanned aerial vehicle zoning monitoring is as shown in Figure 3.Aircraft is passed back
After picture, the section state of visibility of picture is identified, judged by human subjective's experience, verifies abnormal mark grid corresponding road section
Visibility value whether be actually lower than threshold value of warning, lower because the reasons such as detection exception, communicating interrupt, information matches are wrong are made
At error detection, reduce the rate of false alarm of early warning system, improve the reliability of system.
2) its location information and the visibility information at this are sent to GIS-Geographic Information System by trackside monitoring system；
3) the mileage space correlation of visibility data and highway is collected and established to GIS-Geographic Information System；
4) when the low visibility in certain mileage space is in threshold value, then by prewarning unit to the progress early warning of upstream section vehicle.
It is made of unmanned aerial vehicle, roadside unit, on board unit, visibility detector, GIS-Geographic Information System.Ground can be seen
The continuous monitoring that degree detector is pinpointed, the portable visibility detector of unmanned aerial vehicle carry and video camera are moved
Emphasis section monitoring, can both obtain visibility distributed data.By 3G, 4G, 5G wireless communication technique, different sections of highway
Visibility distributed data is sent in the GIS-Geographic Information System of traffic surveillance and control center, and the system is by visibility information and section position
Spatial match is carried out, the time-space distribution map of expressway visibility is generated.When the low visibility in certain sections is in setting threshold
When value, traffic surveillance and control center sends visibility information and traffic prewarning information to roadside unit, and roadside unit is then to being equipped with vehicle
The vehicle issuing traffic warning information of carrier unit.
In step 3), highway carries out lattice vector according to predetermined space, can see in the corresponding road section that will test
Degree is loaded into grid according to minimum；For lack data section, using the multiple adjacent segments of its upstream and downstream as influence away from
From range, moving weighted average is carried out to estimate the visibility value in the section, is divided into visibility in the step 4) more
A grade, and carry out corresponding early warning.50m, 100m, 200m three grades such as are set by visibility, by every 30 seconds or 1
Minute be the period, when the visibility detected value in certain section be lower than certain grade threshold when, traffic surveillance and control center to the section upstream position
The roadside unit set sends traffic safety warning information.
Wherein, unmanned aerial vehicle flies along certain section, and local visibility good, local poor visibility can then have multiple energy
Degree of opinion detected value, processing method are as follows: in the corresponding section mileage of the grid, such as every 300-500 meters of visibility value average value
It is loaded into corresponding network, the space distribution situation of the visibility in grid can be obtained in this way, if the section is corresponding
There are one or more visibility values to be below threshold value of warning in grid, from security standpoint, the corresponding section of the grid is labeled as energy
Degree of opinion is abnormal, while will see that angle value is lower than the section mileage or multiple section mileages of threshold value of warning, storage to geographical letter
It in breath system, and is sent to roadside unit, on board unit and display screen, carries out safe early warning.That is, if unmanned aerial vehicle flies
Scanning frequency degree is 30km/h, reduced velocity 8.3m/s, then unmanned aerial vehicle flies 24 seconds along the section of 200m long, at this point, nothing
The detection frequency of the airborne visibility detector of people's aircraft is 5 seconds, then this section can collect 4 visibility detected values.This
In the range of 200m, for that this 4 visibility detected values can be averaged, use average value as the grid convenient for statistical analysis
Visibility detected value.When the visibility average value (after average, only one value) of the grid, it is lower than threshold value, then it is assumed that the grid
Corresponding section is group mist generating region, then carries out early warning.
For the timeliness for improving detection, a few frame unmanned aerial vehicles can be sent more, in different sections, while being detected, detected
Real-time data transmission is handled to GIS-Geographic Information System.The height and coverage area of the group's of can get mist distribution.Then, with 20-
40 minutes are a cycle, the distribution height of group's mist in certain section and the situation of change of coverage area are analyzed, when in next week
Phase rolls into a ball the coverage area of mist and height while expanding, and road-section average visibility value constantly declines, then the expansion of the group's of giving warning in advance mist
Greatly；It when the coverage area and height of in next cycle, rolling into a ball mist while reducing, and road-section average visibility value constantly rises, then
The group's of giving warning in advance fog dissipation；Other situations, then do not give warning in advance.
In the step 1), the unmanned plane is spaced a mist generation area on schedule and carries out multiple height
Visibility detects and the group's of analysis mist moves towards and trend.Unmanned aerial vehicle can be sent to be detected in multiple height of setting, firstly, flying
Row height is 50 meters, along Lu Feihang, detects the visibility of the corresponding section mileage of different grids, and then, aircraft is turned back flight, winged
Row height is 150 meters, along Lu Feihang, continues to test the visibility of different sections of highway mileage, the flight finally, aircraft is turned back again, flight
Height is 300 meters, along Lu Feihang, continues to test the visibility of different sections of highway mileage.Thus reciprocal, it can be obtained 50 meters, 150
The height and coverage area that rice, 300 meters of eminence group mists are distributed.
The driver of highway is allowed to enhance your vigilance, specifically: as visibility < 200m, prompt speed < 60km/h；When
When visibility < 100m, speed < 40km/h is prompted；As visibility < 50m, speed < 20km/h is prompted.Prompt avoids emergency brake simultaneously
Vehicle not stop on the spot, avoid rear-end collision.
It will be further expalined and illustrate by a specific embodiment below:
By river, the section of reservoir region, group mist multi-happening section, the higher section of highways in mountain areas topography, Yi Jiqi
Its setting section, the monitoring objective as unmanned aerial vehicle.Meanwhile according to the space distribution situation in monitoring section, clustered
Subregion, each subregion send a frame unmanned aerial vehicle to carry out cruise monitoring, reduce the cruising range of unmanned aerial vehicle, shorten single rack time
The cruise time of unmanned aerial vehicle, the timeliness of the group's of raising mist monitoring.As shown in figure 3, there are 7 monitoring sections, 2 prisons can be divided into
Cell is surveyed, unmanned aerial vehicle 1 is responsible for the section 1,2,3 of monitoring subregion 1, and unmanned aerial vehicle 2 is responsible for the section 4,5,6,7 of monitoring subregion 2.
Then, unmanned aerial vehicle mounting portable visibility detector and video camera obtain not by the GPS positioning module of itself
The visibility numerical value of fragment position of going the same way and group's mist monitoring photo, then by wireless communication module, every 30 seconds, by the numerical value and
Picture is sent to the GIS-Geographic Information System of traffic surveillance and control center, which carries out space for visibility information and section position
Match, generate the time-space distribution map of expressway visibility, thus preferably to the monitoring result of control-tower visibility detector
Effectively supplemented.
Control-tower visibility detector and unmanned aerial vehicle continue to monitor, and can obtain visibility data in different time periods and figure
Piece, GIS-Geographic Information System will equally be shown in that degree according to associating with the mileage spatial position of highway, can thus obtain
The feature of visibility Annual distribution, as shown in Figure 5.Highway is subjected to lattice vector according to the interval 500m, will test
Different sections of highway position visibility data, be loaded into different grids；For lacking the section of data, by its upstream and downstream 3
A adjacent segments carry out moving weighted average, as distance range is influenced to estimate the visibility value in the section；Thus it obtains
The time-space of visibility distribution is distributed lattice vector figure.In addition, 50m, 100m, 200m three grades are set by visibility,
By 30 seconds a cycles, when the visibility detected value in certain section is lower than certain grade threshold, traffic surveillance and control center was on the section
The roadside unit for swimming position sends traffic safety warning information.
After roadside unit receives the traffic safety warning information that traffic surveillance and control center is sent, pass through DSRC (Dedicated
Short Range Communications) dedicated short range communication technology, by three grades to the vehicle (vehicle of roadside unit upstream
Carrier unit) it sends, the state of visibility of certain a road section is prompted, the driver of highway is allowed to enhance your vigilance, specifically: when can see
When degree < 200m, speed < 60km/h is prompted；As visibility < 100m, speed < 40km/h is prompted；As visibility < 50m, prompt
Speed < 20km/h.Prompt avoids bringing to a halt simultaneously, not stop on the spot, avoid rear-end collision.At the same time, traffic safety is pre-
Alert information is also shown in highway display screen.
The above is only the preferred embodiment of the utility model, it is noted that for the general of the art
For logical technical staff, without departing from the principle of this utility model, several improvements and modifications can also be made, these change
It also should be regarded as the protection scope of the utility model into retouching.
Claims (10)
1. a kind of expressway fog early warning system cooperateed with based on unmanned aerial vehicle and bus or train route, which is characterized in that including unmanned plane
Monitoring system, trackside monitoring system and GIS-Geographic Information System and forecast system,
The monitoring unmanned system includes unmanned plane, the visibility detector being fixed on unmanned plane and video camera
Machine, and the airborne communication module to be communicated with GIS-Geographic Information System；
The trackside monitoring system includes being fixed at predetermined road section side and connecting with the GIS-Geographic Information System communication
The fixed visibility detector connect,
The forecast system includes the roadside unit with the GIS-Geographic Information System communication connection.
2. the expressway fog early warning system cooperateed with as described in claim 1 based on unmanned aerial vehicle and bus or train route, feature are existed
In the trackside monitoring system further includes weather environment sensor.
3. the expressway fog early warning system cooperateed with as described in claim 1 based on unmanned aerial vehicle and bus or train route, feature are existed
In the forecast system further includes that predetermined road section side and the display with the GIS-Geographic Information System communication connection is arranged in
Screen.
4. the expressway fog early warning system cooperateed with as described in claim 1 based on unmanned aerial vehicle and bus or train route, feature are existed
In the fixed visibility detector is disposed adjacent with the roadside unit and direct communication link.
5. the expressway fog early warning system cooperateed with as described in claim 1 based on unmanned aerial vehicle and bus or train route, feature are existed
In the airborne communication module is 3G, 4G or 5G communication module.
6. the expressway fog early warning system cooperateed with as claimed in claim 2 based on unmanned aerial vehicle and bus or train route, feature are existed
In the weather environment sensor is wind sensor.
7. the expressway fog early warning system cooperateed with as claimed in claim 2 based on unmanned aerial vehicle and bus or train route, feature are existed
In the weather environment sensor is sunshine recorder.
8. the expressway fog early warning system cooperateed with as claimed in claim 2 based on unmanned aerial vehicle and bus or train route, feature are existed
In the weather environment sensor is temperature sensor.
9. the expressway fog early warning system cooperateed with as described in claim 1 based on unmanned aerial vehicle and bus or train route, feature are existed
In trackside monitoring system interval 500m-2000m setting.
10. the expressway fog early warning system cooperateed with as described in claim 1 based on unmanned aerial vehicle and bus or train route, feature are existed
In visibility detector is portable visibility detector.
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| CN201820104748.XU CN208673530U (en) | 2018-01-19 | 2018-01-19 | The expressway fog early warning system cooperateed with based on unmanned aerial vehicle and bus or train route |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820104748.XU CN208673530U (en) | 2018-01-19 | 2018-01-19 | The expressway fog early warning system cooperateed with based on unmanned aerial vehicle and bus or train route |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111341118A (en) * | 2020-02-28 | 2020-06-26 | 长安大学 | System and method for early warning of mist on grand bridge |
| CN111736175A (en) * | 2020-06-19 | 2020-10-02 | 合肥学院 | Group fog detecting system based on ESP32 singlechip |
-
2018
- 2018-01-19 CN CN201820104748.XU patent/CN208673530U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111341118A (en) * | 2020-02-28 | 2020-06-26 | 长安大学 | System and method for early warning of mist on grand bridge |
| CN111341118B (en) * | 2020-02-28 | 2021-07-30 | 长安大学 | System and method for early warning of mist on grand bridge |
| CN111736175A (en) * | 2020-06-19 | 2020-10-02 | 合肥学院 | Group fog detecting system based on ESP32 singlechip |
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Granted publication date: 20190329 Termination date: 20200119 |