CN220872913U - Intelligent trolley for detecting highway fog - Google Patents
Intelligent trolley for detecting highway fog Download PDFInfo
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- CN220872913U CN220872913U CN202322248596.4U CN202322248596U CN220872913U CN 220872913 U CN220872913 U CN 220872913U CN 202322248596 U CN202322248596 U CN 202322248596U CN 220872913 U CN220872913 U CN 220872913U
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- 239000003595 mist Substances 0.000 description 10
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Abstract
The utility model discloses an intelligent trolley for detecting highway fog, which comprises a trolley body and a fog detection system carried on the trolley body, wherein the trolley body is provided with 2 driving wheels, 2 driven wheels and 2 auxiliary wheels, the fog detection system comprises a hardware part and an application software layer, the hardware part comprises a power supply, a main controller, a camera module, a positioning module, an obstacle avoidance module, a temperature and humidity acquisition module, an atmospheric pollutant acquisition module, a motor driving module, a wireless communication module and a remote control terminal, and the application software layer comprises an obstacle avoidance module software design, a motor control software design, a camera module software design and a user interface design. The utility model discloses can realize the detection and the release to group fog information, help the department of managing and managing realize the management and control to group fog highway section, have that the space occupies little, easy installation and maintenance, the security is higher, detection range is wider characteristics.
Description
Technical Field
The utility model belongs to the technical field of highway intelligent transportation, concretely relates to detect intelligent dolly of highway group fog.
Background
Along with the rapid development of the economy of China, the number of expressways built in China is increased, the mileage of the expressways is increased continuously, and although the expressways ensure that traffic is more rapid and fast, traffic accidents are easy to happen.
At present, a yellow flashing warning lamp is placed on a road section with a group fog, and the yellow flashing warning lamp only reminds a driver to improve vigilance and slow down, so that traffic accidents are relatively reduced, and the content of monitoring and management aspects of the group fog road section is difficult to provide for a highway traffic management department in real time.
The present patent document discloses a scheme of a movable highway mist detection robot, for example, the utility model with the application number of CN202021146746.0 discloses a track type mist detection robot, which comprises a robot body installed on a highway guardrail, wherein the robot body can reciprocate along the highway guardrail, the robot body comprises a detection device and a power supply device, the detection device detects the mist on the highway during the movement, and the power supply device supplies power for the detection device during the mist detection; the detection device and the power supply device are combined to form an L-shaped structure, the second limiting guide roller is arranged at the bottom of the detection device, and the first limiting guide roller is arranged at one side of the power supply device; in conclusion, the robot disclosed by the utility model is used for executing the movement detection of the road section where the fog is easy to occur, so that the fog situation on the expressway can be known in time under the condition of no need of manual detection; in addition, aiming at the robot, the highway guardrail is used as a moving track, so that the robot has the advantages of low transformation cost and high practicability. However, this patent only works by being placed on a high-speed guardrail, and does not have the function of precisely processing the mist image.
The prior patent literature also discloses a scheme of a highway fog detection device, for example, a novel patent with the application number of CN201820238988.9 discloses a fog detection device on a highway, which comprises a light source, a light receiver module, a controller module, a serial port communication module and a display module, wherein scattered light signals sent by the light source are received by the light receiver module to obtain digital signals, the digital signals are sent to the controller module by the serial port communication module to store data, and then are sent to the display module to be displayed. However, the patent covers a small area for detecting the mist range on the road, and cannot accurately position the mist.
When the group fog detection equipment in the two patents is used, the function is single, the functions of image accurate processing and group fog accurate positioning can not be realized at the same time, the control stability is poor, and the use performance of the equipment is reduced.
Based on the above, the utility model designs an intelligent trolley for detecting highway fog to solve the above problems.
Disclosure of utility model
For overcoming prior art's not enough, this novel intelligent vehicle that detects highway group fog, this intelligent vehicle can hang in highway guardrail and detect group fog, has compensatied the shortcoming that present group fog check out test set can't carry out accurate positioning to group fog.
In order to achieve the above purpose, the technical scheme of the utility model is:
The utility model provides an intelligent trolley for detecting highway group fog, includes the dolly body and carries on the group fog detecting system on the dolly body, the dolly body on be equipped with parts such as 2 driving wheels, 2 follow driving wheels and 2 auxiliary wheel, group fog detecting system include hardware part and application software layer, hardware part include power, main control unit, camera module, positioning module, keep away barrier module, humiture collection module, atmospheric pollutant collection module, motor drive module, wireless communication module and remote control terminal, power module provide stable power supply for dolly and auxiliary equipment thereof, main control unit be responsible for operating control algorithm, obtain environmental information and make corresponding decision through the sensor, control motor driver operation, still be responsible for realizing communication and data transmission with external equipment simultaneously through wireless module, electric drive module drive motor according to the voltage signal that receives, adjust speed and direction, wireless communication module carry out real-time control and dispatch to intelligent trolley, application software layer include and keep away module software design, motor control software design, user interface software design, camera module design.
Preferably, the driving wheel is arranged at the upper end of the trolley body, a solid wheel is adopted for being vertically placed, the driving wheel is used for increasing power and improving speed, the auxiliary wheel is arranged at the upper end of the trolley body, a groove wheel is used for limiting, the driven wheel is arranged at the lower end of the trolley body, and two directional guide wheels running on the lower wave crest of the guardrail are installed.
Preferably, the main control module comprises a camera module, a positioning module, an obstacle avoidance module, a temperature and humidity acquisition module and an atmospheric pollutant acquisition module, wherein the camera module uses an OpenMV 4H 7 Plus type camera.
Preferably, the positioning module adopts Air530Z as a GPS positioning module.
Preferably, the obstacle avoidance module adopts an infrared sensor as an obstacle avoidance device, the model is E18-D80NK, the infrared sensor is arranged at two sides of the trolley body, and the trolley can accurately detect obstacles and can reversely travel when advancing and retreating.
Preferably, the temperature and humidity acquisition module selects a temperature and humidity acquisition sensor with the model of DHT11, the DHT11 temperature and humidity sensor has a simpler interface mode, and can be connected with the controller through 3 pins (VCC, DATA, GND).
Preferably, the atmospheric contaminant collection module employs sensors that detect PM2.5 and PM 10.
Preferably, the wireless communication module transmits all detection information to the remote control terminal and receives a control instruction of the remote control terminal.
Preferably, the obstacle avoidance module software is designed to continuously emit infrared light to the outside through controlling two infrared sensors on two sides of the trolley, and then perform the following operation through reflecting the light, if no signal is received by both sensors, indicating that no obstacle exists in front, then controlling the trolley to move straight; if only the left sensor receives the signal, the condition that the left side of the trolley is provided with an obstacle is indicated, and the trolley needs to move to the right side; if only the right sensor receives a signal, the above operation is reversed.
Preferably, the motor control software is designed to realize the running of the trolley by adjusting the rotating speed of the hub motor, and the control mode of the hub motor is controlled by PWM, so that the device moves left and right on the guardrail, and the trolley is provided with a debugging mode, a remote control mode and an automatic cruising mode.
Preferably, the camera module software designs the group fog image to be processed by STM32MCU in the OpenMV camera, and detects the group fog image on the photographed expressway according to the sequence of graying, gaussian blur processing, canny edge prediction, white marking extraction and final calculation of root mean square error after the initialization setting of the camera is completed.
Preferably, the user interface design main interface module mainly comprises a title bar, a menu bar, an image display area, a detection result list area, a real-time monitoring control panel and a button area.
The utility model relates to a detect intelligent vehicle of highway group fog's beneficial effect does:
the utility model discloses can realize the detection and the release to group fog information, help the department of managing and managing realize the management and control to group fog highway section, have that the space occupies little, easy installation and maintenance, the security is higher, detection range is wider characteristics. The wheels of the driving wheel, the directional guide wheel and the auxiliary wheel are arranged to cooperatively complete the movement on the double-wave type guardrail, so that the low energy consumption, the high speed and the stability of the trolley in the movement detection process are ensured, the gray level treatment, the histogram equalization and the Gaussian blur treatment of the group fog image are arranged, the image definition is improved, the required characteristics of research are extracted, the safety and the stability of the trolley are ensured by arranging the automatic obstacle avoidance module, and the smooth movement detection is further ensured.
Drawings
Fig. 1 is a schematic diagram of the whole structure of an intelligent trolley provided by the novel intelligent trolley;
Fig. 2 is a schematic structural diagram of the intelligent trolley provided by the present invention mounted on a guardrail;
FIG. 3 is a functional block diagram of the intelligent trolley system provided by the present invention;
FIG. 4 is a flow chart of a software design program of the obstacle avoidance module;
FIG. 5, a specific flow chart of a camera module software design;
1-a trolley body; 2-a driving wheel; 3-driven wheel; 4-auxiliary wheels; 5-a camera; 6-highway guardrails; 7-solid wheels; 8-a guide wheel; 9-V type wheel.
Detailed Description
The following description is of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, but is intended to cover any modifications, equivalents, improvements, etc. within the spirit and principles of the present invention.
The utility model provides an intelligent trolley for detecting highway group fog, is shown as fig. 1, 2, including dolly body 1, dolly body 1 be equipped with action wheel 2, adopt solid wheel 7 to erect, increase power as the action wheel, the speed is improved, be equipped with from driving wheel 3 and be located dolly body 1 lower extreme, install the directional guide pulley 8 of operation on two wave crests under the guardrail, be equipped with V type theory 9 and regard as auxiliary wheel 4 in dolly body 1 upper end, consider the dolly probably because of the reasons such as speed of traveling or high-speed guardrail connecting piece obstacle cause between dolly and the guardrail have less offset in the motion process, in order to guarantee that the dolly can hang on the guardrail steadily, adopt the concave sheave to play limiting displacement in the upper end.
Further, in order to ensure that the surface of the driving wheel can be maximally attached to the upper surface of the highway guardrail, the friction force between the driving wheel and the guardrail is improved by adopting a method that the axis of the driving wheel is parallel to the tangent line of the upper wave surface, the driving safety is ensured, and in order to ensure that the hub motor and the upper wave surface are mounted at the same inclination angle and the contact surface is maximized in the mounting process, the bevel type connecting piece is adopted for assembly.
Further, the intelligent trolley is mainly yellow in color, and the yellow is a bright color which usually attracts attention of people and plays a role in emphasizing traffic prompt and warning.
Further, the power module adopts a storage battery to provide power for the trolley and auxiliary equipment thereof.
Further, the main controller adopts a K60 single-chip microcomputer as a main control system of the device, and the single-chip microcomputer supports a plurality of serial communication interfaces including UART, SPI, I C and the like for communicating with other modules (such as a sensor, a wireless module and the like).
Further, the electric driving module adopts a brushless hub motor, so that the whole system operation process is more stable, noise and vibration can not be generated, and better efficiency and performance are achieved.
Furthermore, the Open MV camera is adopted as the camera 5, based on an ARM Cortex-M7 kernel, an OV7725 image sensor is built in, the resolution of 800 multiplied by 600 pixels can be realized, meanwhile, a multimedia processing unit (MMU) is also arranged, images and videos can be rapidly processed, the position of the camera 5 is arranged at the upper left part of the trolley body 1, the shooting angle of the camera is ensured to contain white marks of the expressway, and meanwhile, the camera does not contain too many extraneous factors, so that the image processing analysis is more convenient and concise.
Furthermore, the positioning module adopts an Air530Z as a GPS positioning module, the Air530Z adopts a chip scheme of MTK, a multi-band and multi-satellite system is supported, the sensitivity and the precision are higher, and meanwhile, an EEPROM memory is also built in, an SPI interface and a UART interface are supported, so that the connection with other systems is facilitated.
Further, the obstacle avoidance device adopts an infrared sensor with the model of E18-D80NK, which is a photoelectric sensor integrating emission and receiving, the emitted light is emitted after modulation, the receiving head demodulates and outputs the reflected light, the interference of visible light is effectively avoided, the infrared sensor is arranged at two sides of the trolley body, and the trolley is ensured to accurately detect obstacles and travel reversely when advancing and retreating on the highway guardrail.
Further, the temperature and humidity acquisition sensor adopts the model of DHT11, and after the temperature and humidity acquisition module obtains environmental temperature and humidity data, the intelligent trolley can judge whether the surrounding has the cluster fog to appear according to the data, and combine other sensor data such as vision sensor to carry out comprehensive analysis and judgement.
Further, the atmospheric pollutant collecting module adopts the sensor for detecting PM2.5 and PM10, and can collect data of particulate matters, sulfur dioxide, nitrogen oxides and other harmful gases in the air by using the module, and monitor and analyze the data in real time, and simultaneously, the condition and the characteristics of the mist can be reflected more accurately by combining with other meteorological equipment.
Furthermore, the wireless communication module adopts an ESP8266Wi-Fi model chip, the intelligent trolley can upload collected information such as the group fog data, the atmospheric pollutant data, the image video and the like to the background server through a cloud platform or a network through the wireless communication module, and the intelligent trolley can be controlled and scheduled in real time through the wireless communication module, such as task instruction sending, task area remote setting, movement track planning, obstacle avoidance and the like.
The user interface design of the intelligent group fog detection trolley can help group fog detection personnel pay attention to group fog generation information in real time, and when the intelligent group fog detection trolley is designed, the operation interface is ensured to be concise and attractive, the operation function is convenient and fast, and the main interface module mainly comprises the following parts: 1) Title bar: the method is mainly characterized in that the name of the group fog detection intelligent trolley is; 2) Menu bar: the system comprises functional modules such as files, settings, assistance and the like, and can be added or modified according to the needs; 3) Image display area: displaying a scene image captured by a camera in real time; 4) Detection result list area: presenting the detection result of the mist in a form of a table, and recording information such as the occurrence position, the size, the time and the like of the mist; 5) Real-time monitoring control panel: the real-time monitoring function can be started and stopped, and a detection algorithm, set parameters and the like are selected; 6) Button area: the method comprises the steps of starting/stopping detection, importing local pictures and the like, and is convenient for a user to operate.
Claims (10)
1. An intelligent trolley for detecting highway fog clusters, which is characterized in that: including the dolly body and carry on the group fog detecting system on the dolly body, the dolly body on be equipped with 2 drive wheels, 2 follow driving wheel and 2 auxiliary wheel, group fog detecting system includes hardware part and application software layer, hardware part include power, main control unit, camera module, positioning module, keep away barrier module, humiture collection module, atmospheric pollution thing collection module, motor drive module, wireless communication module and remote control terminal, the application software layer include and keep away barrier module software design, motor control software design, camera module software design, user interface design.
2. An intelligent vehicle for detecting highway fog as claimed in claim 1, wherein: the driving wheel is arranged at the upper end of the trolley body, the driving wheel is vertically arranged by adopting a solid wheel, the driving wheel is used for increasing power and improving speed, the auxiliary wheel is arranged at the upper end of the trolley body and has a limiting function by adopting a groove wheel, the driven wheel is arranged at the lower end of the trolley body, two directional guide wheels running on the lower wave crest of the guardrail are arranged on the driven wheel, and the driving wheel and the upper surface of the high-speed guardrail are assembled by adopting an oblique angle type connecting piece.
3. An intelligent vehicle for detecting highway fog as claimed in claim 2, wherein: the positioning module adopts Air530Z as a GPS positioning module.
4. An intelligent vehicle for detecting highway fog as claimed in claim 3, wherein: the temperature and humidity acquisition module selects a temperature and humidity acquisition sensor with the model of DHT11, the DHT11 temperature and humidity sensor has a simpler interface mode, and can be connected with the controller through 3 pins (VCC, DATA, GND).
5. The intelligent vehicle for detecting highway fog as claimed in claim 4, wherein: the atmospheric pollutant collection module adopts a sensor for detecting PM2.5 and PM 10.
6. The intelligent vehicle for detecting highway fog as claimed in claim 5, wherein: the wireless communication module transmits all detection information to the remote control terminal and receives a control instruction of the remote control terminal.
7. The intelligent vehicle for detecting highway fog as claimed in claim 6, wherein: the obstacle avoidance module adopts an infrared sensor as an obstacle avoidance device, the model is E18-D80NK, the infrared sensors are arranged on two sides of the trolley body, the obstacle avoidance module software is designed to continuously emit infrared light to the outside through controlling the two infrared sensors on two sides of the trolley, and then the next operation is carried out through reflecting the light, if the two sensors do not receive signals, the situation that no obstacle exists in front is indicated, and the trolley is controlled to move straight; if only the left sensor receives the signal, the condition that the left side of the trolley is provided with an obstacle is indicated, and the trolley needs to move to the right side; if only the right sensor receives a signal, the above operation is reversed.
8. The intelligent vehicle for detecting highway fog as claimed in claim 7, wherein: the motor control software is designed to realize the running of the trolley by adjusting the rotating speed of the hub motor.
9. The intelligent vehicle for detecting highway fog as claimed in claim 8, wherein: and the camera module software designs a group fog image to be processed through an STM32MCU in an OpenMV 4H 7 Plus camera, and detects the group fog image on the photographed expressway according to the sequence of graying, gaussian blur processing, canny edge prediction, white marking extraction and final calculation of root mean square error after the camera finishes initialization setting.
10. The intelligent vehicle for detecting highway fog as claimed in claim 9, wherein: the user interface design main interface module mainly comprises a title bar, a menu bar, an image display area, a detection result list area, a real-time monitoring control panel and a button area.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322248596.4U CN220872913U (en) | 2023-08-21 | 2023-08-21 | Intelligent trolley for detecting highway fog |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202322248596.4U CN220872913U (en) | 2023-08-21 | 2023-08-21 | Intelligent trolley for detecting highway fog |
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| CN220872913U true CN220872913U (en) | 2024-04-30 |
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| CN202322248596.4U Active CN220872913U (en) | 2023-08-21 | 2023-08-21 | Intelligent trolley for detecting highway fog |
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2023
- 2023-08-21 CN CN202322248596.4U patent/CN220872913U/en active Active
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