CN211196034U

CN211196034U - Safe distance alarming and protecting device for large truck

Info

Publication number: CN211196034U
Application number: CN201820410692.0U
Authority: CN
Inventors: 吴尚喆; 李金燕; 王冠迪; 董启兴; 赵晏; 南红兵
Original assignee: Ningxia University
Current assignee: Ningxia University
Priority date: 2018-03-26
Filing date: 2018-03-26
Publication date: 2020-08-07
Anticipated expiration: 2028-03-26

Abstract

The utility model provides a safe distance is reported to police and protector for large truck, includes binocular camera, display element, reminds the unit to include binocular stereovision range finding module, processing module, identification module, alarm module, binocular stereovision range finding module is according to the left image, the right image of the corresponding position barrier that binocular camera was gathered, again according to binocular stereovision range finding algorithm, calculates the real-time distance between barrier and the freight train, the utility model discloses utilize binocular camera, binocular stereovision range finding module, can realize the distance detection between freight train and the barrier, can also show freight train side blind area synchronously; the binocular camera is matched with the recognition module to effectively recognize the barrier, and the triggering condition of the alarm module is combined with the safe distance and the barrier confirmation, so that the alarm of the reminding unit is accurate and appropriate, frequent and unnecessary alarms are avoided to distract the driver, traffic accidents are reduced, and the device is suitable for driving safety reminding of the side blind areas of the truck.

Description

Safe distance alarming and protecting device for large truck

Technical Field

The utility model relates to a freight train driving safety equipment technical field, in particular to safe distance is reported to police and protector for large truck.

Background

In the prior art, most vehicles mostly adopt a reversing radar and reversing image safety reminding for tail dead zones; referring to fig. 2 and 3, for a large truck, the area a of the vehicle head blind area seems not to be a blind area, but because the truck is higher, a blind area also appears below the truck body, and needless to say, the technology of adopting a car backing radar and a car backing image can also solve the problem. However, for the side blind area D, it is not suitable to display the blind area and remind the safety distance by using radar and image. And large-scale freight train is because the tonnage is big, and braking distance is long, and the blind area is great, meets the freight train lane change, will be very dangerous, and especially large-scale freight train is when turning, and many rolls people's traffic accident and all relate to large-scale freight train's side blind area D district, and usual radar and image can not discern the barrier, and can't carry out the warning when the distance between specific barrier and the freight train is less than safe distance and remind, consequently is not fit for applying to large-scale freight train side blind area D district safety and reminds.

Disclosure of Invention

In view of the above, there is a need for a safety distance warning and protecting device for a large truck, which can display and remind a specific obstacle in a dead zone on the side of the large truck in real time.

A safe distance alarming and protecting device for a large truck has the advantages that the safe distance alarming and protecting device can display the visual field of a dead zone on the side of the truck in real time, can remind the safe distance between a specific obstacle on the side surface of the truck and the truck, and comprises a binocular camera, a display unit and a reminding unit, wherein the reminding unit comprises a binocular stereoscopic vision ranging module, a processing module, an identification module and an alarming module; the display unit is arranged in a cab of the truck, the binocular camera is arranged on the truck in a manner of pointing to the side blind area, the reminding unit is arranged on the truck, the binocular camera is used for shooting real-time image information of obstacles in the corresponding direction of the side blind area, and the display unit receives the real-time image information from the binocular camera and plays the real-time image information in real time through a video channel of the display unit; the binocular stereoscopic vision distance measurement module calculates real-time image information of a corresponding azimuth side blind area obstacle shot by a binocular camera according to a distance measurement algorithm to obtain a real-time distance between the obstacle and a truck, the real-time distance is input into the processing module, the processing module compares the real-time distance with a first threshold value of a pre-stored safety distance and triggers a first corresponding signal according to a comparison result, the identification module is used for identifying characteristic contour information of the obstacle in the real-time image information and providing the characteristic contour information to the processing module, the processing module matches the characteristic contour information of the real-time image information of the obstacle with a pre-stored characteristic contour template of the obstacle information and triggers a second corresponding signal according to a matching result, the processing module provides the first corresponding signal and the second corresponding signal to the alarm module, and the alarm module receives the first corresponding signal, The second corresponding signal outputs a first alarm action.

Preferably, the processing module compares the real-time distance detected by the binocular stereo vision ranging module with a second threshold value of a safety distance prestored in the processing module, and triggers a third corresponding signal according to a comparison result, the safety distance alarm and protection device further comprises a steering sensor, the steering sensor is mounted on a front wheel of the truck and used for detecting the steering action of the truck and providing the steering information of the truck to the processing module, the processing module provides the second corresponding signal, the third corresponding signal and the steering information to the alarm module, and the alarm module outputs a second alarm action according to the received second corresponding signal, the second corresponding signal and the steering information.

Preferably, the safety distance alarming and protecting device further comprises a protecting component, wherein the two protecting components are vertically arranged on two sides of the truck respectively, wheels of the truck are located between the protecting components on the two sides, the protecting component comprises cross rods, telescopic components and hydraulic cylinders, the cross rods are arranged in parallel along the vertical direction, one cross rod located on the upper portion of each cross rod is fixedly connected with the truck, the telescopic components are arranged between every two adjacent cross rods and are uniformly distributed along the horizontal direction of the cross rods so as to be mutually far away or close to the two cross rods connected with the telescopic components through telescopic driving of the telescopic components, each protecting component is provided with at least two hydraulic cylinders which are respectively arranged on two sides of one side of the truck, cylinder bodies of the hydraulic cylinders are fixed on the truck, the free end portions of the telescopic rods of the hydraulic cylinders are fixedly connected with one cross rod located on the lower portion of each, The hydraulic cylinder comprises a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, wherein the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod are sequentially hinged end to end, two hinge points opposite to the telescopic assembly are hinged with cross rods correspondingly connected respectively, a controller of the hydraulic cylinder is electrically connected with an alarm module, the controller obtains a first alarm action from the alarm module, and the controller controls the extension of a telescopic rod of the hydraulic cylinder according to the first alarm action.

The utility model utilizes the binocular camera and the binocular stereo vision distance measuring module, which can realize the distance detection between the truck and the barrier and synchronously display the dead zone on the side of the truck; the binocular camera is matched with the recognition module to effectively recognize the barrier, and the triggering condition of the alarm module is combined with the safe distance and the barrier confirmation, so that the alarm of the reminding unit is accurate and appropriate, frequent and unnecessary alarms are avoided to distract the driver, the traffic accidents are reduced, and the warning device is suitable for the driving safety reminding of the side dead zone of the truck.

Drawings

Fig. 1 is a functional block diagram of the safety distance warning and protecting apparatus for a large truck.

Fig. 2 is a schematic view of a dead zone of a truck.

Fig. 3 is a schematic view showing a mounting position of the shield assembly on the truck.

Fig. 4 is a partially enlarged schematic view of the shield assembly.

Fig. 5 is a partially enlarged schematic view of the telescopic assembly.

In the figure: the binocular camera 10, the display unit 20, the reminding unit 30, the binocular stereoscopic vision ranging module 31, the processing module 32, the identification module 33, the alarm module 34, the steering sensor 40, the protective assembly 50, the cross bar 51, the telescopic assembly 52, the first connecting rod 521, the second connecting rod 522, the third connecting rod 523, the fourth connecting rod 524, the hydraulic cylinder 53, the cylinder body 531, the telescopic rod 532 and the controller 533.

Detailed Description

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.

Referring to fig. 1, 2 and 3, an embodiment of the present invention provides a safe distance alarm and protection device for large trucks, which has a real-time display of the field of view of the dead zone on the truck side, and can remind the safe distance between a specific obstacle on the truck side and the truck, and comprises a binocular camera 10, a display unit 20 and a reminding unit 30, wherein the reminding unit 30 comprises a binocular stereo vision distance measuring module 31, a processing module 32, an identification module 33 and an alarm module 34; the display unit 20 is installed in a cab of a truck, the binocular camera 10 points to the side blind area and is installed on the truck, the reminding unit 30 is installed on the truck, the binocular camera 10 is used for shooting real-time image information of obstacles in the corresponding direction of the side blind area, and the display unit 20 receives the real-time image information from the binocular camera 10 and plays the real-time image information in real time through a video channel of the display unit 20; the binocular stereo vision distance measurement module 31 calculates real-time image information of a corresponding blind area obstacle on the azimuth side shot by the binocular camera 10 according to a distance measurement algorithm to obtain a real-time distance between the obstacle and a truck, the real-time distance is input into the processing module 32, the processing module 32 compares the real-time distance with a first threshold value of a pre-stored safety distance and triggers a first corresponding signal according to a comparison result, the recognition module 33 is used for recognizing characteristic contour information of the obstacle in the real-time image information and providing the characteristic contour information to the processing module 32, the processing module 32 matches the characteristic contour information of the real-time image information of the obstacle with a pre-stored characteristic contour template of the obstacle information and triggers a second corresponding signal according to a matching result, the processing module 32 provides the first corresponding signal and the second corresponding signal to the alarm module 34, and the alarm module 34 receives the first corresponding signal, the second corresponding signal, the alarm module receives the first corresponding signal, The second corresponding signal outputs a first alarm action.

The binocular camera 10 obtains an image through the calibrated two cameras by using a bionics principle, and then calculates third-dimensional depth information of the pixel points of the obtained two-dimensional image.

Specifically, the distance measurement process of the binocular stereo vision distance measurement module 31 is as follows: (1) acquiring real-time image information, namely a left image and a right image, acquired by a binocular camera 10, and performing stereo matching on the left image and the right image to acquire a disparity map between the left image and the right image; (2) determining a depth image according to the disparity map; (3) extracting depth information in the depth image, and determining a three-dimensional coordinate of the obstacle according to the depth information; (4) and determining the distance between the obstacle and the truck according to the three-dimensional coordinates of the obstacle.

The identification module 33 can acquire real-time image information acquired by the binocular camera 10, perform image processing on the real-time image information, extract feature profile information of obstacles, pre-store feature profile information of objects to be identified in the processing module 32, such as people, other animals, various automobiles, motorcycles, electric vehicles, bicycles, and the like, and then match the feature profile information provided by the identification module 33, if the feature profile information is consistent with the feature profile information, trigger a second corresponding signal, and for other objects on the roadside, such as buildings, trees, and other objects without pre-stored feature profile information, the second corresponding signal cannot be triggered, so that selective identification alarm is effectively performed, and conventional distance measuring devices such as ultrasound, laser, infrared, and the like cannot meet the function of selective identification alarm.

For example, when a truck is driving in an urban area, the recognition module 33 scans objects on the roadside, when the recognition module acquires a picture of a passerby, the recognition module informs the alarm module 34 that the passerby is an object to be reminded, the binocular stereoscopic vision ranging module 31 measures the distance between the passerby and the truck, if the distance between the passerby and the truck is less than a safe distance, the recognition module 34 informs the alarm module 34 that the passerby is at a dangerous distance and needs to be reminded, after the alarm module 34 simultaneously obtains the two confirmation information, an alarm is sent to a driver and the passerby to keep the safe distance, and if the passerby is a building or a tree on the roadside, the alarm is not triggered, and the driver can ensure safe driving through the. The necessity of obstacle identification lies in avoiding frequent and unnecessary alarming, which not only can not play a role of reminding, but also can influence the attention of the driver and play a negative role.

The information quantity of the image information is richer, and various requirements such as display, measurement, identification and the like can be met, so that the diversified requirements of intelligent control are enriched, the measurement requirements of different parameters by adopting various sensors are met, and the system errors and the control system complexity caused by the conversion of data structures among the various sensors are also avoided. Compared with other existing distance measuring devices, the safe distance alarm device in the embodiment has the advantages that the distance between the truck and the barrier can be detected by using the binocular camera 10 and the binocular stereoscopic vision distance measuring unit, selective alarm identification can be realized, a visual field blind area can be synchronously displayed, and the binocular camera 10, the binocular stereoscopic vision distance measuring module 31, the processing module 32, the identification module 33 and the alarm module 34 are mutually matched to achieve multiple purposes.

The utility model utilizes the binocular camera 10 and the binocular stereo vision ranging module 31, which can realize the distance detection between the truck and the barrier and synchronously display the dead zones on the side of the truck; the binocular camera 10 can effectively identify the barrier by matching with the identification module 33, and combines the triggering condition of the alarm module 34 with the safe distance and the barrier confirmation, so that the alarm of the reminding unit 30 is accurate and appropriate, frequent and unnecessary alarms are avoided to disperse the attention of a driver, the occurrence of traffic accidents is reduced, and the device is suitable for the driving safety reminding of the dead zone on the side of the truck.

Referring to fig. 1 and 3, further, the processing module 32 compares the real-time distance detected by the binocular stereo vision ranging module 31 with a second threshold of a safety distance pre-stored in the processing module 32, and triggers a third corresponding signal according to the comparison result, the safety distance alarm and protection device further includes a steering sensor 40, the steering sensor 40 is mounted on a front wheel of the truck and is used for detecting a steering action of the truck and providing steering information of the truck to the processing module 32, the processing module 32 provides the second corresponding signal, the third corresponding signal and the steering information to the alarm module 34, and the alarm module 34 outputs the second alarm action according to the received second corresponding signal, the received second corresponding signal and the received steering information.

The truck is large in size, the turning radius is large when the truck turns, even if an obstacle beyond the first safe distance is rolled under the condition, particularly, when pedestrians on the roadside are not concentrated, rolling accidents often occur, the steering sensor 40 is used for detecting the turning condition in real time, the turning condition is used as a condition for triggering the second safe distance alarm, and the driving safety of the dead zone at the side during turning is further guaranteed.

Referring to fig. 1 to 5, further, the safety distance warning and protecting device further includes protecting components 50, two protecting components 50 are respectively vertically installed on two sides of the truck, wheels of the truck are located between the protecting components 50 on the two sides, each protecting component 50 includes a cross bar 51, a telescopic component 52 and a hydraulic cylinder 53, the cross bars 51 are arranged in parallel along the vertical direction, one cross bar 51 on the upper portion of each cross bar 51 is fixedly connected with the truck, a plurality of telescopic components 52 are installed between two adjacent cross bars 51, the telescopic components 52 are uniformly distributed along the horizontal direction of the cross bars 51 so as to drive the two cross bars 51 connected with the telescopic components 52 to be far away from or close to each other, each protecting component 50 has at least two hydraulic cylinders 53 which are respectively installed on two sides of one side of the truck, a cylinder body 531 of each hydraulic cylinder 53 is fixed on the truck, a free end portion of a telescopic rod 532 of each hydraulic cylinder 53 is fixedly connected with one cross bar, the telescopic assembly 52 comprises a first connecting rod 521, a second connecting rod 522, a third connecting rod 523 and a fourth connecting rod 524, the first connecting rod 521, the second connecting rod 522, the third connecting rod 523 and the fourth connecting rod 524 are sequentially hinged end to end, two opposite hinge points of the telescopic assembly 52 are respectively hinged with the cross rod 51 which is correspondingly connected, a controller 533 of the hydraulic cylinder 53 is electrically connected with the alarm module 34, the controller 533 obtains a first alarm action from the alarm module 34, and the controller 533 controls the telescopic rod 532 of the hydraulic cylinder 53 to extend according to the first alarm action.

The protection component 50 is used as a further safety guarantee, and under the condition that a passerby is possibly rolled into the bottom of the truck, the opened protection component 50 is used for blocking between an obstacle and the truck, so that the passerby can be effectively protected from being rolled by the truck.

The embodiment of the utility model provides a module or unit in the device can merge, divide and delete according to actual need.

While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.

Claims

1. The utility model provides a safe distance is reported to police and protector for large truck which characterized in that: the safe distance alarming and protecting device has the advantages that the visual field of the dead zone at the side of the truck can be displayed in real time, the safe distance between a specific obstacle on the side surface of the truck and the truck can be reminded, the safe distance alarming and protecting device comprises a binocular camera, a display unit and a reminding unit, and the reminding unit comprises a binocular stereoscopic vision distance measuring module, a processing module, an identification module and an alarming module; the display unit is arranged in a cab of the truck, the binocular camera is arranged on the truck in a manner of pointing to the side blind area, the reminding unit is arranged on the truck, the binocular camera is used for shooting real-time image information of obstacles in the corresponding direction of the side blind area, and the display unit receives the real-time image information from the binocular camera and plays the real-time image information in real time through a video channel of the display unit; the binocular stereoscopic vision distance measurement module calculates real-time image information of a corresponding azimuth side blind area obstacle shot by a binocular camera according to a distance measurement algorithm to obtain a real-time distance between the obstacle and a truck, the real-time distance is input into the processing module, the processing module compares the real-time distance with a first threshold value of a pre-stored safety distance and triggers a first corresponding signal according to a comparison result, the identification module is used for identifying characteristic contour information of the obstacle in the real-time image information and providing the characteristic contour information to the processing module, the processing module matches the characteristic contour information of the real-time image information of the obstacle with a pre-stored characteristic contour template of the obstacle information and triggers a second corresponding signal according to a matching result, the processing module provides the first corresponding signal and the second corresponding signal to the alarm module, and the alarm module receives the first corresponding signal, The second corresponding signal outputs a first alarm action.

2. A safety distance warning and shielding apparatus for large trucks according to claim 1, characterised in that: the processing module compares the real-time distance detected by the binocular stereo vision ranging module with a second threshold value of a safety distance prestored in the processing module, and triggers a third corresponding signal according to a comparison result.

3. A safety distance warning and shielding apparatus for large trucks according to claim 2, characterised in that: the safe distance alarming and protecting device further comprises a protecting component, wherein two protecting components are vertically arranged on two sides of a truck respectively, wheels of the truck are located between the protecting components on the two sides, each protecting component comprises a transverse rod, a telescopic component and a hydraulic cylinder, the transverse rods are arranged in parallel in the vertical direction, one transverse rod positioned on the upper portion of each transverse rod is fixedly connected with the truck, a plurality of telescopic components are arranged between every two adjacent transverse rods and are uniformly distributed in the horizontal direction of the transverse rods so as to be far away from or close to the two transverse rods connected with the telescopic components in a telescopic mode, each protecting component is provided with at least two hydraulic cylinders which are respectively arranged on two sides of one side of the truck, cylinder bodies of the hydraulic cylinders are fixed on the truck, free end portions of telescopic rods of the hydraulic cylinders are fixedly connected with one transverse rod positioned on the lower portion of each, The hydraulic cylinder comprises a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, wherein the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod are sequentially hinged end to end, two hinge points opposite to the telescopic assembly are hinged with cross rods correspondingly connected respectively, a controller of the hydraulic cylinder is electrically connected with an alarm module, the controller obtains a first alarm action from the alarm module, and the controller controls the extension of a telescopic rod of the hydraulic cylinder according to the first alarm action.