CN216118878U - Toll station gate for laser radar identification - Google Patents
Toll station gate for laser radar identification Download PDFInfo
- Publication number
- CN216118878U CN216118878U CN202122446773.0U CN202122446773U CN216118878U CN 216118878 U CN216118878 U CN 216118878U CN 202122446773 U CN202122446773 U CN 202122446773U CN 216118878 U CN216118878 U CN 216118878U
- Authority
- CN
- China
- Prior art keywords
- gate
- laser radar
- rod
- vehicle
- identification
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Devices For Checking Fares Or Tickets At Control Points (AREA)
- Traffic Control Systems (AREA)
Abstract
The utility model relates to a gate machine of a toll station for laser radar identification, which comprises: the gate machine case is internally provided with an electric control device and a driving device; one end of the gate rod is arranged on the gate case and swings and lifts under the driving of the driving device; a license plate recognition unit is arranged above the gate case; the brake rod is provided with at least one laser radar identification part which can be tracked and identified by the laser radar of the vehicle along the length direction; the gate machine of the toll station raises the gate rod after the license plate recognition unit recognizes the license plate of the vehicle, and the vehicle passes through the gate machine of the toll station after judging that the gate rod is raised to a preset position through the laser radar tracking detection laser radar recognition part. According to the utility model, the laser radar identification part is arranged on the gate rod, so that the monitoring area of the gate rod can be effectively increased, and the identification accuracy of the laser radar is improved.
Description
Technical Field
The utility model relates to the technical field of channel gates, in particular to a gate for a toll station for laser radar identification.
Background
At present, a highway toll gate or a parking lot toll gate identifies the rear license plate of a vehicle according to a camera beside a gate rod, and the gate rod rises after identifying the license plate. The driver determines that the brake lever has been raised and drives through the toll gate. However, in the case that the gate machine is not lifted, a worker is required to manually lift the gate rod, and the driver confirms that the gate machine passes through the toll gate after the gate machine is lifted.
With the popularization of ETC toll stations and the development of intelligent traffic, the ability of automatically driving vehicles to safely pass through the ETC toll stations is more urgent and important. When the automatic driving vehicle passes through a toll gate at a high speed or in a parking lot, whether a brake lever rises or not is detected through a vehicle-mounted detection system of a sensing system such as V2X, visual sensing or laser radar and the like, and whether the automatic driving vehicle can safely pass through the toll station or not is judged. Where V2X is limited to the accuracy of the positioning. The visual perception is limited by the scene, and the accuracy of the visual detection effect can be greatly reduced when the lifting state of the brake lever is judged in dark through the visual perception. In many autonomous vehicles equipped with a lidar, if the lidar is used to detect whether the gate lever is raised while the autonomous vehicle is waiting to pass before traveling to the gate of a toll gate, it is difficult to ensure that the gate lever can be detected each time, subject to performance and gate structure limitations, and there is a risk that the gate lever has been raised but the lidar has not detected, resulting in lane blocking.
Therefore, a brake which is easy to identify and detect by a laser radar and ensures that an automatic driving vehicle can smoothly and safely pass is needed at present.
SUMMERY OF THE UTILITY MODEL
Problem that utility model will solve:
in view of the above problems, an object of the present invention is to provide a gate for a toll station for laser radar recognition, which is easy for laser radar recognition and detection and can improve the success rate and safety of passing the gate by an autonomous vehicle.
The technical means for solving the problems are as follows:
in order to solve the above problems, the present invention provides a gate for a toll station for laser radar recognition, comprising:
the gate machine case is internally provided with an electric control device and a driving device; and
one end of the gate rod is arranged on the gate case and swings and rises under the driving of the driving device;
a license plate recognition unit is arranged above the gate case;
the brake rod is provided with at least one laser radar identification part capable of being tracked and identified by a laser radar of a vehicle along the length direction;
the gate machine of the toll station raises the gate rod after the license plate recognition unit recognizes the license plate of the vehicle, and the vehicle passes through the gate machine of the toll station after tracking and detecting the laser radar recognition part through the laser radar and judging that the gate rod is raised to a preset position.
According to the utility model, the laser radar identification part is arranged on the gate rod, so that the monitoring area of the gate rod can be effectively increased, and the identification accuracy of the laser radar is improved.
In the present invention, the laser radar recognition unit may be provided to the floodgate pole through a mounting seat.
In the present invention, the laser radar recognition unit may be provided at the center of the floodgate lever.
In the present invention, the laser radar recognition portion may be a disc-shaped indicator, and a ratio of a diameter of the indicator to a width of the gate rod may be in a range of 2 to 3.
In the present invention, the laser radar of the vehicle may recognize the laser radar recognition unit by a CNN algorithm.
In the present invention, the license plate recognition unit may include an image pickup device and an illumination device.
In the present invention, a display for displaying the license plate of the vehicle after the license plate recognition unit recognizes the license plate of the vehicle may be disposed outside the gate chassis.
The utility model has the advantages that:
the utility model can improve the success rate and the safety of the automatic driving vehicle passing through the gate.
Drawings
FIG. 1 is a schematic diagram of a toll gate for lidar identification according to an aspect of the present application;
FIG. 2 is a schematic illustration of a vehicle with a lidar mounted on top;
FIG. 3 is a schematic view of the toll gate for lidar identification of FIG. 1 in a state in which the vehicle is permitted to pass;
FIG. 4 is a flow chart of a vehicle loaded with a lidar passing through a toll gate for lidar identification;
description of the symbols:
1. a gate case; 2. a brake lever; 3. a laser radar recognition unit; 4. vehicles (autonomous vehicles); 41. a laser radar.
Detailed Description
The present invention is further described below in conjunction with the following embodiments and the accompanying drawings, it being understood that the drawings and the following embodiments are illustrative of the utility model only and are not limiting thereof.
Aiming at the problem that the existing gate is difficult to be identified by the laser radar of the automatic driving vehicle, the utility model provides the gate for the toll station, which is easy for the identification, detection and detection of the laser radar and can improve the success rate and the safety of the automatic driving vehicle passing through the gate.
Fig. 1 is a schematic structural diagram of a gate of a toll gate for lidar identification (hereinafter, also referred to simply as "toll gate") according to an embodiment of the present application. As shown in fig. 1, the gate of the toll booth of the present invention includes a gate case 1, a gate lever 2, and a control system not shown.
The gate case 1 is a main structure of a gate of a toll station, and is formed in a substantially rectangular parallelepiped shape. The interior of the gate case 1 is provided with a drive motor, a control unit, a distribution box, and the like as a drive device.
The top of the gate machine case 1 can be provided with a rotary supporting mechanism, and the rotary supporting mechanism is used for rotatably supporting a license plate recognition unit for recognizing a license plate of an incoming vehicle. The license plate recognition unit can comprise a lighting device for supplementing light to the license plate when the light is insufficient and a camera device for shooting the license plate. The image capture device may be a camera, for example. In addition, a display can be arranged on the outer side of the gate case 1.
As shown in fig. 1, a gate rod 2 crossing a road is inserted into one side of a gate housing 1. The gate rod 2 is a slender straight rod, and can be connected with an output shaft of a driving motor through a swing rod, and under the driving of the driving motor, the gate rod swings and goes up and down at a specified angle (for example, 90 degrees) by taking one end arranged on the gate case 1 as a center.
In order to facilitate laser radar recognition of an automatic driving vehicle, a laser radar recognition part 3 for vehicle-mounted laser radar recognition is arranged on a brake lever 2 to increase the detection area. In the present embodiment, the laser radar discriminating portion 3 is formed in a substantially circular plate shape, in other words, the laser radar discriminating portion 3 is a disc-shaped signboard. In order to facilitate better identification by the lidar, the ratio of the diameter of the lidar identification portion 3 to the width of the gate rod 2 may be, for example, 2-3, in other words the diameter of the lidar identification portion 3 is ideally 2 to 3 times the width of the gate rod 2.
More specifically, a mounting seat may be provided at a central portion of the floodgate lever 2, and the mounting seat may be fixed to the floodgate lever 2 by a pressing type or a trepanning method, etc. The laser radar recognition unit 3 is fixed to the mount base by clamping or fastening means such as bolts, and is thereby provided on the gate rod 2 via the mount base. In addition, the specific structure of the mounting seat is not limited, the laser radar identification part 3 can also be mounted on the mounting seat in an adjustable mode, and the mounting seat can also be arranged on the gate rod 2 in an adjustable mode, so that the gate rods in different shapes can be matched.
Fig. 2 is a schematic diagram of a vehicle 4 with a lidar mounted on top. As shown in fig. 1 and 2, a laser radar 41 is mounted on the roof of a vehicle 4 (autonomous vehicle), and the laser radar 41 operates to detect the surrounding environment of the vehicle when the vehicle is autonomously driven. In the present invention, the laser radar 41 may detect the surroundings of the vehicle, and may determine whether the gate lever 2 is lifted by recognizing and detecting the laser radar recognition unit 3 provided on the gate lever 2.
Fig. 3 is a schematic view of the state when the gate of the toll gate allows the vehicle to pass. As shown in fig. 3, as an example, when the gate lever 2 swings under the driving of the driving motor after the gate of the tollgate recognizes an incoming car, the laser radar recognition part ascends and descends along with the gate lever 2. In other words, the laser radar recognition part 3 is located at different positions when the gate lever 2 is raised and lowered, respectively, so that the vehicle 4 can recognize the position of the laser radar recognition part 3 by means of the laser radar 41 to determine whether the gate lever 2 is raised, and thus whether to control the vehicle to pass through the toll booth. On the other hand, the vehicle 4 may also perform image recognition by the CNN algorithm and detect the lidar identification unit 3 disposed on the gate lever 2, and when the lidar identification unit 3 is detected, the lidar 41 tracks the lever raising process of the gate lever 2 by using the distance tracking identification algorithm, so as to ensure that the vehicle 4 passes through in a state where the gate lever 2 is completely raised.
In this embodiment, a reflective film may be provided on the laser radar recognition unit 3, and the reflective film may reflect light emitted from the laser radar scanner. Through set up the reflective membrane on laser radar discernment portion 3, enable laser radar and receive the laser beam of reflection more easily to can improve the discernment degree that laser radar goes up and down to the floodgate machine. However, the present invention is not limited to this, and the laser radar discriminating portion 3 may not be provided with a reflective film.
[ other embodiments ]
In the present invention, the laser radar recognition unit 3 is not limited to be fixedly provided on the gate lever 2, but may be provided with a swing mechanism that is rotatable by 90 ° driven by a motor on the gate lever 2, and the laser radar recognition unit 3 is fixed to a swing member of the swing mechanism to swing together with the swing member. When the gate rod 2 is lowered to the horizontal position, the swing mechanism enables the laser radar identification part to swing to the horizontal position under the driving of the motor, and at the moment, the laser radar identification part is parallel to the ground in a mode that laser beams emitted by the laser radar cannot irradiate. And the gate machine of toll station detects the coming car, makes gate rod 2 lift the pole, and swing mechanism drives lidar identification portion 3 swing to vertical position under motor drive, and lidar identification portion 3 is perpendicular to ground with the form that can be shone by the laser beam that lidar 41 sent. In other words, the laser radar recognition part 3 can be recognized by the laser radar 41 of the vehicle 4 only when the gate rod 2 is lifted, so that the recognition accuracy of the laser radar can be ensured, and the success rate and the safety of automatically driving the vehicle to pass through the gate can be improved.
In the above, the example in which one laser radar recognition unit 3 is provided at the center of the gate rod 2 of the gate of the toll booth has been described, but the present invention is not limited thereto. The laser radar recognition unit 4 is not limited to the circular sign, and may be formed in other shapes and sizes that can be easily recognized by the laser radar, or may be provided at a position on the gate lever 2 other than the central portion where detection is easy. Further, a plurality of laser radar recognition units 3 may be provided in parallel in the longitudinal direction on the gate lever 2, and the plurality of laser radar recognition units 3 may be arranged in a specific shape at predetermined intervals, thereby enhancing the recognition accuracy of the laser radar.
Fig. 4 is a flowchart of the vehicle 4 loaded with the laser radar 41 passing through the gate of the tollgate for laser radar recognition.
As shown in fig. 4, when a vehicle 4 enters a toll station, a camera on the gate enclosure 1 captures a license plate of the incoming vehicle and sends the captured image of the license plate to a control unit such as a computer, and a specific algorithm is used to obtain a license plate number of the incoming vehicle from the image and display the license plate number on a display.
When the coming vehicle is judged to be allowed to pass, the control unit sends an instruction to the driving motor in the gate case 1, and the driving motor drives the gate rod 2 to rise after receiving the instruction.
At this time, the laser radar 41 on the vehicle 4 detects the laser radar recognition part 3 on the brake lever 2 through the CNN algorithm, and after the laser radar recognition part 3 is detected, the laser radar 41 tracks the lifting process of the brake lever 2 by using the distance tracking algorithm, and determines whether the brake lever 2 is normally lifted by determining the specific position of the laser radar recognition part 3 or whether the laser radar recognition part 3 exists.
And when the brake lever 2 is confirmed to be completely lifted, a confirmation signal is transmitted to the vehicle control unit, and the vehicle 4 controls the vehicle to pass through a toll station according to a rule control algorithm after receiving the confirmation signal.
After the gate of the toll station confirms that the vehicle 4 passes, the gate rod 2 is driven to descend to the horizontal position.
According to above-mentioned structure, through set up laser radar identification portion on floodgate machine pole, can effectively increase the monitoring area of floodgate machine pole, judge after the laser radar detects that the floodgate machine pole has risen, pass to vehicle control unit with the signal, the controller is through rule control algorithm, ensures that the automatic driving vehicle is effectual passing through the toll station safely.
The above embodiments are intended to illustrate and not to limit the scope of the utility model, which is defined by the claims, but rather by the claims, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.
Claims (6)
1. A gate of toll station for laser radar identification is characterized in that,
the method comprises the following steps:
the gate machine case is internally provided with an electric control device and a driving device; and
one end of the gate rod is arranged on the gate case and swings and rises under the driving of the driving device;
a license plate recognition unit is arranged above the gate case;
the brake rod is provided with at least one laser radar identification part capable of being tracked and identified by a laser radar of a vehicle along the length direction;
the gate machine of the toll station raises the gate rod after the license plate recognition unit recognizes the license plate of the vehicle, and the vehicle passes through the gate machine of the toll station after tracking and detecting the laser radar recognition part through the laser radar and judging that the gate rod is raised to a preset position.
2. The toll gate for lidar identification of claim 1,
the laser radar identification portion is arranged on the gate rod through a mounting seat.
3. The toll gate for lidar identification of claim 2,
the laser radar recognition part is arranged in the center of the gate rod.
4. The toll gate for lidar identification of claim 1,
the laser radar recognition part is a disc-shaped indication board, and the ratio range of the diameter of the indication board to the width of the gate rod is 2-3.
5. The toll gate for lidar identification of claim 1,
the license plate recognition unit comprises a camera device and an illuminating device.
6. The toll gate for lidar identification of claim 1,
and a display for displaying after the license plate recognition unit recognizes the license plate of the vehicle is arranged on the outer side of the gate case.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122446773.0U CN216118878U (en) | 2021-10-12 | 2021-10-12 | Toll station gate for laser radar identification |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122446773.0U CN216118878U (en) | 2021-10-12 | 2021-10-12 | Toll station gate for laser radar identification |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216118878U true CN216118878U (en) | 2022-03-22 |
Family
ID=80691799
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122446773.0U Active CN216118878U (en) | 2021-10-12 | 2021-10-12 | Toll station gate for laser radar identification |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216118878U (en) |
-
2021
- 2021-10-12 CN CN202122446773.0U patent/CN216118878U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108645628B (en) | Automatic driving automobile test system based on road driving skills | |
| CN108128245B (en) | Vehicle environment imaging system and method | |
| CN211493696U (en) | Charging parking space limiting device | |
| CN106969715B (en) | Container vehicle inspection system | |
| CN110351491B (en) | Light supplementing method, device and system in low-light environment | |
| CN110172936B (en) | Early warning anti-collision parking rod and system for unmanned parking lots | |
| EP1291808B1 (en) | Drive assist system of a vehicle | |
| CN111292557A (en) | Non-lamp control intersection safety early warning method and system based on vehicle speed control | |
| CN112216111A (en) | Vehicle speed and distance early warning system and method based on microwave radar and video image | |
| CN111785083A (en) | Intelligent traffic early warning system based on guardrail patrol machine | |
| CN110738865A (en) | Speed reduction prompting system and method for road tunnel entrance passing vehicles | |
| CN116434604A (en) | Intelligent traffic cone barrel safety warning system and control method | |
| CN216118878U (en) | Toll station gate for laser radar identification | |
| US20220119229A1 (en) | Crane anti-collision system, method, program, and manufacturing method | |
| CN219246203U (en) | Pedestrian crossing safety early warning device based on multi-source heterogeneous sensor | |
| CN116363903A (en) | Anti-collision early warning system for underground passage or tunnel structure | |
| EP3958084B1 (en) | Method of controlling motion of a mobile warning triangle and mobile warning triangle | |
| CN213458183U (en) | Ground rises formula and prevents pounding car, prevent floodgate machine system of unexpected jumper bar | |
| CN112634656A (en) | Intelligent height limit control method and system based on urban road | |
| CN111897338A (en) | Sensing system for shield construction method automatic driving horizontal transport locomotive | |
| KR102708448B1 (en) | APPARATUS FOR DELIVERING TRAFFIC SAFETY FACILITY INFORMATION BASED ON IoT | |
| KR102589765B1 (en) | Obstacle Appearance apparatus for Evaluation of Obstacle Recognition Speed in Vehicles | |
| CN109131040A (en) | Dynamic headlight system and its control method, vehicle | |
| CN220672064U (en) | Wisdom identification means that parks | |
| CN218481896U (en) | Lane departure recognition apparatus |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |