CN215182441U - Roadside information perception equipment - Google Patents
Roadside information perception equipment Download PDFInfo
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- CN215182441U CN215182441U CN202023319852.7U CN202023319852U CN215182441U CN 215182441 U CN215182441 U CN 215182441U CN 202023319852 U CN202023319852 U CN 202023319852U CN 215182441 U CN215182441 U CN 215182441U
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Abstract
The utility model discloses a trackside information perception equipment, this equipment includes: the device comprises a control module, a radar detection module, a camera assembly and a shell; the control module, the radar detection module and the camera shooting assembly are all positioned in the shell; the control module is respectively connected with the radar detection module and the camera shooting assembly and is used for controlling the operation of the radar detection module and the camera shooting assembly; the radar detection module is used for acquiring the direction information of the traffic participants; and the camera shooting assembly is used for acquiring a road traffic image. The utility model provides a roadside information perception equipment has avoided the demarcation to relative position, relative angle and relative direction angle between radar detection module and the subassembly of making a video recording, to the same traffic region, provides abundant road perception information, simultaneously, through control module's operation control, has guaranteed the traffic participant's that radar detection module acquireed position information, the road traffic image synchronism on the time stamp that acquires with the subassembly of making a video recording.
Description
Technical Field
The utility model relates to a road safety field especially relates to a trackside information perception equipment.
Background
With the continuous progress of society, the number of automobiles is continuously increased, and particularly, the popularization of private automobiles makes road condition information become more complex, which also puts higher requirements on the perception of the road side information.
Roadside perception is perception of traffic behaviors of traffic participants on the whole road surface, roadside information is usually acquired through a radar system and a vision system, but the vision system is greatly influenced by natural environments (such as rainwater, haze and night) and has a small sight distance range; however, when the radar system and the vision system are installed on the road side, the radar system and the vision system are affected by the installation environment, the parameter calibration (such as the relative distance and the relative inclination angle) between the radar system and the vision system is very complicated, and the synchronism of the time stamp is difficult to ensure.
SUMMERY OF THE UTILITY MODEL
The utility model provides a trackside information sensing equipment, include: the device comprises a control module, a radar detection module, a camera assembly and a shell; the control module, the radar detection module and the camera shooting assembly are all positioned in the shell;
the control module is respectively connected with the radar detection module and the camera shooting assembly and is used for controlling the operation of the radar detection module and the camera shooting assembly;
the radar detection module is used for acquiring the direction information of the traffic participants; wherein the orientation information comprises position information, speed information and/or angle information;
the camera shooting assembly is used for acquiring road traffic images.
The roadside information sensing device further includes: a multimedia serial link and controller area network module;
the camera shooting assembly is communicated with roadside edge computing equipment through the multimedia serial link so as to send the acquired road traffic image to the roadside edge computing equipment;
the radar detection module is communicated with the roadside edge computing equipment through the controller local area network module so as to send the acquired direction information of the traffic participants to the roadside edge computing equipment;
the roadside edge computing equipment is used for carrying out information fusion on the road traffic image and the direction information of the traffic participants.
The roadside information sensing device further includes: a built-in global positioning system module, a built-in angle measurement module and/or a built-in electronic compass;
the built-in global positioning system module is connected with the control module and used for acquiring longitude and latitude information and sending the longitude and latitude information to the roadside edge computing equipment through the control module;
the built-in angle measurement module is connected with the control module and used for acquiring inclination angle information and sending the inclination angle information to the roadside edge computing equipment through the control module; the built-in angle measurement module comprises a built-in acceleration sensor and/or an attitude sensor;
the built-in electronic compass is connected with the control module and used for acquiring direction angle information and sending the direction angle information to the roadside edge computing equipment through the control module.
The roadside information sensing device further includes: a wireless internet module; the wireless internet module is connected with the control module and used for acquiring debugging information and transmitting the debugging information to the control module.
The roadside information sensing device further includes: a power management module;
and the power supply management module is connected with the control module and the power supply and is used for converting the power supply into a working power supply.
The camera shooting assembly comprises a first camera and a second camera, the pixel value of the first camera is larger than that of the second camera, and the second camera is connected with the switch;
the second camera is further used for transmitting the acquired road traffic image to the background server so as to display the road traffic image through the background server.
The roadside information sensing device further includes: the horizontal scale and the dip angle scale are both positioned outside the shell;
the horizontal scale is used for providing a horizontal reference object during installation;
the inclination mark is used for providing an inclination reference object during installation.
The roadside information sensing device further includes: the mounting groove is positioned on the upper end surface of the shell and used for providing a mounting interface for externally connecting calibration equipment; the external calibration equipment comprises an external global positioning system module, an external attitude angle sensor and/or an external electronic compass.
The roadside information sensing device further includes: the display screen is positioned on the upper end surface of the shell and used for displaying longitude and latitude information of the built-in global positioning system module, inclination angle information of the built-in angle measurement module and/or direction angle information of the built-in electronic compass.
The roadside information sensing device further includes: a heat sink; the radiating fins are located at the opening of the shell and used for reducing the internal temperature of the roadside information sensing equipment.
The utility model provides a trackside information perception equipment, with radar detection module and the subassembly integration of making a video recording inside a casing, and be located adjacent fixed position, avoided the relative position between radar detection module and the subassembly of making a video recording, the demarcation of relative angle and relative direction angle, to the same traffic region, abundant road perception information is provided, and simultaneously, through control module's operation control, the position information of the traffic participant who has guaranteed radar detection module and has acquireed, the road traffic image synchronism on the time stamp that acquires with the subassembly of making a video recording.
Drawings
Fig. 1 is a structural diagram of a roadside information sensing device provided by the present invention;
fig. 2 is a structural diagram of a roadside information sensing device provided by the present invention;
fig. 3 is a structural diagram of a roadside information sensing device provided by the present invention;
fig. 4 is a structural diagram of the roadside information sensing device provided by the utility model.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is the utility model provides a pair of trackside information sensing equipment's block diagram, include: the device comprises a control module 01, a radar detection module 02, a camera assembly 03 and a shell 04; the control module 01, the radar detection module 02 and the camera assembly 03 are all positioned inside the shell 04;
the control module 01 is respectively connected with the radar detection module 02 and the camera assembly 03 and is used for controlling the operation of the radar detection module 02 and the camera assembly 03; the control module 01 is used as a control center of the roadside information sensing equipment and used for controlling the operation of each functional component and functional module in the roadside information sensing equipment, and the control module 01 specifically comprises an STM32 microcontroller; the STM32 microcontroller has the advantages of high performance, low cost and low power consumption, has excellent compatibility, and can be used as a control mechanism for various extended function modules and extended function modules.
The radar detection module 02 is used for acquiring the direction information of the traffic participants; wherein the orientation information comprises position information, speed information and/or angle information; the radar detection module 02 determines the direction, speed and/or distance of each traffic participant by transmitting a detection signal to the traffic participants (for example, vehicles and pedestrians) in the road and comparing the echo signal with the detection signal when receiving the echo signal reflected by the traffic participants, and has the characteristics of large action range, stable ranging accuracy, small influence of environmental factors and the like; specifically, the radar detection module 02 may include a laser radar, an ultrasonic radar, a microwave radar, and/or a millimeter wave radar; the detection signals of the laser radar are positioned in an infrared band and a visible light band, and the laser is used as a working beam, so that the laser radar has the characteristic of high precision; the detection signal of the ultrasonic radar has strong penetrability in a medium, and is particularly suitable for azimuth measurement in a short distance; the microwave radar uses radio waves with shorter wavelength as detection signals, has better directivity, longer detection distance and stable performance; the Millimeter Wave radar is a detection radar working in a Millimeter Wave band (Millimeter Wave), has a wavelength of 1 mm to 10 mm, and has the characteristic of strong anti-interference capability.
The camera assembly 03 is used for acquiring a road traffic image; the road traffic image shows the traffic condition in the road in an intuitive mode, has extremely high distance measurement precision for each traffic participant in a short distance range, has higher measurement precision for the height information and the width information of each traffic participant, can acquire lane lines and road marks, and enriches the types of road perception information.
As shown in fig. 2, optionally, in the present invention, the roadside information sensing device further includes: a multimedia serial link 05 and a controller area network module 06; the camera component 03 is communicated with roadside edge computing equipment through the multimedia serial link 05 to send the acquired road traffic image to the roadside edge computing equipment; the radar detection module 02 communicates with the roadside edge computing device through the controller area network module 06 to send the acquired direction information of the traffic participant to the roadside edge computing device; the roadside edge computing equipment is used for carrying out information fusion on the road traffic image and the direction information of the traffic participants. Specifically, the roadside edge computing device performs feature extraction and pattern recognition processing on the road traffic image and the direction information of the traffic participants respectively, associates the road traffic image and the direction information of the traffic participants according to categories, and finally integrates all related information of the same traffic participant by using a fusion algorithm, for example, the road traffic image is taken as main information, the direction information of the traffic participants is subjected to image feature conversion and is fused in the road traffic image, and the direction information of each traffic participant is marked in the finally obtained road traffic image; optionally, the utility model discloses in, do not do specifically limit to the information fusion mode of roadside edge computing device.
Multimedia Serial Link (GMSL)05 can carry out serial conversion to digital video and audio data to realize serial transmission through a pair of twisted-pair line, compare in traditional image transmission technique, have the fast characteristics of transmission speed, consequently, the utility model discloses in, camera module 03 includes the GMSL camera, adopts the camera that supports the GMSL function promptly to replace traditional network camera, sends road traffic image for roadside edge computing equipment through multimedia serial link 05, with the delay time that reduces road traffic image transmission. The Controller Area Network (CAN) module 06 is a 16-bit microcontroller with two paths of CAN controllers, supports CAN2.0a and CAN2.0b protocols, has the characteristic of high transmission speed, CAN be simultaneously suitable for high-speed and low-speed CAN bus networks, has excellent sealing performance, CAN be suitable for various severe environments, and CAN ensure the transmission timeliness of the direction information of traffic participants.
The roadside edge computing equipment needs to acquire position information, inclination angle information and direction angle information of the camera assembly 03 and the radar detection module 02 respectively in addition to the road traffic image sent by the camera assembly 03 and the direction information of the traffic participant sent by the radar detection module 02 when information fusion is carried out, so that the accuracy of data is ensured when the information fusion is carried out; in the utility model, the camera module 03 and the radar detection module 02 are integrated into one device, and are located at adjacent positions, and the position information, the inclination angle information and the direction angle information of the device are the same, so that the relative error between the radar detection module 02 and the camera module 03 is not required to be calibrated, and only the position information, the inclination angle information and the direction angle information of the device are required to be acquired; specifically, after the roadside information sensing device is installed, calibration information, that is, position information, inclination angle information and direction angle information, of the roadside information sensing device is detected through an external calibration device and is recorded in the roadside edge computing device in advance, and after the roadside edge computing device acquires road traffic images and direction information of traffic participants sent by the roadside information sensing device, information fusion can be performed directly according to the stored calibration information.
Optionally, the utility model discloses in, trackside information perception equipment still includes: a built-in global positioning system module 07, a built-in angle measurement module 08 and/or a built-in electronic compass 09; the built-in global positioning system module 07 is connected with the control module 01 and used for acquiring longitude and latitude information and sending the longitude and latitude information to the roadside edge computing equipment through the control module 01; the built-in angle measurement module 08 is connected with the control module 01 and used for acquiring inclination angle information and sending the inclination angle information to the roadside edge computing equipment through the control module 01; the built-in angle measurement module 08 comprises a built-in acceleration sensor and/or a built-in attitude sensor; the built-in electronic compass 09 is connected to the control module 01, and is configured to obtain direction angle information, and send the direction angle information to the roadside edge computing device through the control module 01. In a natural environment, the roadside information sensing equipment is interfered by an external environment, vibration and offset easily occur, and the accuracy of data is difficult to ensure, so that calibration equipment, namely a built-in global positioning system module 07, a built-in angle measurement module 08 and/or a built-in electronic compass 09 can be built in the roadside information sensing equipment, and longitude and latitude information, inclination angle information and/or direction angle information are/is sent to roadside edge computing equipment through a control module 01; the direction angle information is an included angle between the roadside information sensing equipment and the due north direction.
Optionally, the utility model discloses in, trackside information perception equipment still includes: a wireless internet access (Wifi) module; the wireless internet module 10 is connected to the control module 01, and is configured to acquire debugging information and transmit the debugging information to the control module 01. When the roadside information sensing equipment is debugged, the debugging equipment sends debugging information to the control module 01 through the wireless internet access module 10 in the roadside information sensing equipment so as to debug the roadside information sensing equipment.
Optionally, the utility model discloses in, trackside information perception equipment still includes: a power management module 11; the power management module 11 is connected to the control module 01 and the power supply, and is a high-frequency electric energy conversion device for converting the power supply into a working power supply. The roadside information sensing equipment has different voltages of working power supplies required by each functional component and functional module, so that the power management module 11 is connected with a power supply (for example, a 220V power supply) and converts the power supply into the working power supplies of each functional component and functional module, for example, the working power supply required by the control module 01 is 3.3V voltage; as shown in fig. 3, the power management module 11 is connected to the control module 01 and the power supply, and outputs a 1.2V working power supply, a 1.8V working power supply, a 3.3V working power supply, a 5V working power supply, and a 0V working power supply (i.e., is grounded); the built-in angle measurement module 08 comprises a six-axis inertia measurement unit with the model of ASM330 LHH; the control module 01 comprises an STM microcontroller, and the control module 01 sends the acquired inclination angle information sent by the built-in angle measurement module 08 to the road side edge computing equipment through the multimedia serial link 05.
Optionally, the utility model discloses in, trackside information perception equipment still includes: a power supply detection module 12; the power supply detection module 12 is connected to the control module 01 and a power supply, and is configured to provide a detection voltage to the control module 01; the detection voltage is used for the control module 01 to judge whether the power supply is powered off or not. The power supply detection module 12 converts a voltage signal of the power supply into a detection voltage (for example, a detection voltage of 3.3V), and provides the detection voltage to the control module 01, when the power supply is in a power-off state, the power supply detection module 12 cannot provide the detection voltage to the control module 01, and when the power supply is not in the power-off state, the power supply detection module 12 provides the detection voltage to the control module 01 all the time; particularly, when the power supply is powered off, the power management module 11 will not be in the power-off state immediately, and will perform a period of continuous discharge (usually lasting 2 seconds to 5 seconds), so as to continue to maintain the normal operation of the control module 01 and the wireless communication module inside the housing 04; the wireless communication module comprises a Narrow-Band Internet of Things (NB-IOT) communication module, a ZigBee communication module and/or a Long Range Radio (LORA) communication module; when the control module 01 cannot acquire the detection voltage sent by the power supply detection module 12, a power-off signal is sent to the background server through the wireless communication module 13 to notify the staff that the power supply is powered off.
Optionally, in the utility model, the camera assembly 03 includes a first camera and a second camera, a pixel value of the first camera is greater than that of the second camera, and the second camera is connected with the switch; the second camera is further used for transmitting the acquired road traffic image to the background server so as to display the road traffic image through the background server. The road traffic picture shot by the camera assembly 03 is used for information fusion of roadside edge computing equipment, and can also provide a monitoring picture of road traffic for a back-end server, so that two cameras with different pixel values, namely a first camera and a second camera, are arranged in the camera assembly 03, and the pixel value of the first camera is larger than that of the second camera, for example, the first camera is a GMSL camera with 500 ten thousand pixels, and the second camera is a network camera with 200 ten thousand pixels; the road traffic pictures shot by the first camera and the second camera can be transmitted to the roadside edge computing device through the multimedia serial link 05, or the road traffic pictures shot by the first camera can be transmitted to the roadside edge computing device through the multimedia serial link 05; the road traffic picture shot by the second camera can be transmitted to a background server at the cloud end through a switch to serve as a background monitoring picture, due to the fact that the pixel value of the second camera is low, when the second camera is used for transmitting at the cloud end, occupied bandwidth resources are low, timeliness of the monitoring picture obtained at the background can be guaranteed, meanwhile, the first camera has a high pixel value, and the fact that the road side edge computing device at the local position can obtain a clear road traffic picture can be guaranteed.
Optionally, the utility model discloses in, trackside information perception equipment still includes: the horizontal scale and the dip angle scale are both positioned outside the shell 04; the horizontal scale is used for providing a horizontal reference object during installation; the inclination mark is used for providing an inclination reference object during installation. Horizontal scale and inclination scale provide the reference object of direction and angle for the installer, and the installer of being convenient for installs.
As shown in fig. 4, optionally, in the present invention, the roadside information sensing device further includes: the mounting groove 13 is located on the upper end surface of the housing 04 and is used for providing a mounting interface for external calibration equipment; the external calibration equipment comprises an external global positioning system module, an external attitude angle sensor and/or an external electronic compass. When the roadside information sensing equipment is installed on the roadside, external calibration equipment is required to detect the accuracy of the installation position and the installation angle, and therefore one or more installation grooves 13 are formed in the upper end face of the roadside information sensing equipment and are used for providing installation interfaces for an external global positioning system module, an external attitude angle sensor and/or an external electronic compass.
Optionally, the utility model discloses in, trackside information perception equipment still includes: the display screen is located on the upper end face of the shell 04 and is used for displaying longitude and latitude information of the built-in global positioning system module 07, inclination angle information of the built-in angle measurement module 08 and/or direction angle information of the built-in electronic compass 09. If built-in calibration equipment, namely a built-in global positioning system module 07, a built-in angle measurement module 08 and/or a built-in electronic compass 09, is included in the roadside information sensing equipment, a display screen can be arranged on the upper end face of the shell 04, the display screen is connected with the control module 01, and longitude and latitude information, inclination angle information and/or direction angle information are displayed through the control module 01, so that installation by workers is facilitated; the upper part of the display screen can comprise a protective turnover cover for preventing the display screen from being damaged; when the protection flip cover is opened, the display screen is displayed on the surface of the shell 04, and when the protection flip cover is closed, the display screen is displayed and shielded under the protection flip cover.
Optionally, the utility model discloses in, trackside information perception equipment still includes: a heat sink; the radiating fins are located at the opening of the shell 04 and used for reducing the internal temperature of the roadside information sensing equipment.
The utility model provides a trackside information perception equipment, with radar detection module and the subassembly integration of making a video recording inside a casing, and be located adjacent fixed position, avoided the relative position between radar detection module and the subassembly of making a video recording, the demarcation of relative angle and relative direction angle, to the same traffic region, abundant road perception information is provided, and simultaneously, through control module's operation control, the position information of the traffic participant who has guaranteed radar detection module and has acquireed, the road traffic image synchronism on the time stamp that acquires with the subassembly of making a video recording.
It should be noted that the foregoing is only a preferred embodiment of the present invention and the technical principles applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail with reference to the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the scope of the present invention.
Claims (10)
1. A roadside information sensing device characterized by comprising: the device comprises a control module, a radar detection module, a camera assembly and a shell; the control module, the radar detection module and the camera shooting assembly are all positioned in the shell; the radar detection module and the camera assembly are located at adjacent positions;
the control module is respectively connected with the radar detection module and the camera shooting assembly and is used for controlling the operation of the radar detection module and the camera shooting assembly;
the radar detection module is used for acquiring the direction information of the traffic participants; wherein the orientation information comprises position information, speed information and/or angle information;
the camera shooting assembly is used for acquiring road traffic images.
2. The roadside information sensing apparatus according to claim 1, further comprising: a multimedia serial link and controller area network module;
the camera shooting assembly is communicated with roadside edge computing equipment through the multimedia serial link so as to send the acquired road traffic image to the roadside edge computing equipment;
the radar detection module is communicated with the roadside edge computing equipment through the controller local area network module so as to send the acquired direction information of the traffic participants to the roadside edge computing equipment;
the roadside edge computing equipment is used for carrying out information fusion on the road traffic image and the direction information of the traffic participants.
3. The roadside information sensing apparatus according to claim 1, further comprising: a built-in global positioning system module, a built-in angle measurement module and/or a built-in electronic compass;
the built-in global positioning system module is connected with the control module and used for acquiring longitude and latitude information and sending the longitude and latitude information to the roadside edge computing equipment through the control module;
the built-in angle measurement module is connected with the control module and used for acquiring inclination angle information and sending the inclination angle information to the roadside edge computing equipment through the control module; the built-in angle measurement module comprises a built-in acceleration sensor and/or an attitude sensor;
the built-in electronic compass is connected with the control module and used for acquiring direction angle information and sending the direction angle information to the roadside edge computing equipment through the control module.
4. The roadside information sensing apparatus according to claim 1, further comprising: a wireless internet module; the wireless internet module is connected with the control module and used for acquiring debugging information and transmitting the debugging information to the control module.
5. The roadside information sensing apparatus according to claim 1, further comprising: a power management module;
and the power supply management module is connected with the control module and the power supply and is used for converting the power supply into a working power supply.
6. The roadside information sensing device according to claim 1, wherein the camera assembly includes a first camera and a second camera, the first camera has a larger pixel value than the second camera, and the second camera is connected to the switch;
the second camera is further used for transmitting the acquired road traffic image to the background server so as to display the road traffic image through the background server.
7. The roadside information sensing apparatus according to claim 1, further comprising: the horizontal scale and the dip angle scale are both positioned outside the shell;
the horizontal scale is used for providing a horizontal reference object during installation;
the inclination angle scale is used for providing an inclination angle reference object during installation.
8. The roadside information sensing apparatus according to claim 1, further comprising: the mounting groove is positioned on the upper end surface of the shell and used for providing a mounting interface for externally connecting calibration equipment; the external calibration equipment comprises an external global positioning system module, an external attitude angle sensor and/or an external electronic compass.
9. The roadside information sensing device according to claim 3, further comprising: the display screen is positioned on the upper end surface of the shell and used for displaying longitude and latitude information of the built-in global positioning system module, inclination angle information of the built-in angle measurement module and/or direction angle information of the built-in electronic compass.
10. The roadside information sensing apparatus according to claim 1, further comprising: a heat sink; the radiating fins are located at the opening of the shell and used for reducing the internal temperature of the roadside information sensing equipment.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023319852.7U CN215182441U (en) | 2020-12-31 | 2020-12-31 | Roadside information perception equipment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202023319852.7U CN215182441U (en) | 2020-12-31 | 2020-12-31 | Roadside information perception equipment |
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| CN215182441U true CN215182441U (en) | 2021-12-14 |
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