JP2022523890A - Dedicated method for traffic safety and road condition sense evaluation - Google Patents

Abstract

The present application acquires monitoring data of a laser radar system monitoring range, the data includes radar ranging data of a moving object within the monitoring range, and the monitoring range covers the monitoring lane and its partially adjacent lanes. , The step of calculating the moving speed of the moving object within the monitoring range and the distance from the detection point according to the radar ranging data, and analyzing the danger level of the moving object with respect to the detection point according to the moving speed and the distance. Traffic safety and road conditions, including the step of setting an early warning level and the step of issuing a corresponding level of early warning when the movement of the moving object triggers an early warning of the corresponding level. Provide a method dedicated to sense evaluation. This method dedicated to traffic safety and road condition sense assessment acquires data on the surveillance lane and partially adjacent lanes, the straight line distance can reach 200-300 meters, and the operator avoids when an early warning is issued. Sufficient time can be provided to improve safety. Then, according to the analysis of the attitude sense of the moving object in the adjacent lane, the analysis data is complete and the reliability is higher.

Description

The embodiments of the present application relate to the technical field of traffic safety, specifically, to the field of early warning of safety.
In particular, it relates to a method dedicated to traffic safety and road condition sense evaluation.

In the construction and maintenance of traffic roads, such as pavement repair, traffic facility maintenance, and handling of broken vehicles, the speed of passing vehicles is generally very high (more than 80 km / h or 25 m / s). To enhance the personal security of the operator, the warning zone is usually set to 200 meters or more to provide sufficient early warning and avoidance time (5-8 seconds) to the construction operator of the transportation project. It is guaranteed to do so. Conventionally
The traditional method is to deploy an ice cream cone by a traffic safety officer as a warning line to present the arriving vehicle so as not to collide with the construction area, 200 in the occupied lane.
It is to deploy an ice cream cone as long as 300 meters. However, this method consumes more human and material resources and is inefficient, which is very inconvenient, especially for temporary parking lot construction and small-scale rapid construction.

Currently, the laser radar detection technique is applied to the field of automobile smart transportation such as Lidar and high frequency radar. Lidar is an SLA for short-range omnidirectional detection and point cloud data output.
Although it belongs to M modeling technology, the linear detection of SLAM technology cannot reach 200 meters at present. The detection range of millimeter-wave radar is directly limited by frequency loss, and it is necessary to use high-frequency electromagnetic waves for long-range detection. Also, when a traffic project is detected, only the range of the construction lane is detected, and the millimeter wave radar is not accurate enough for long-distance detection. When the amplitude of the millimeter wave lobe is 70 meters apart, it is often larger than two lanes (about 6 meters), the false positive rate is very high, and other techniques need to be used to correct it. , It is not easy to identify long-distance vehicles and apply them to collision avoidance warnings in traffic lane projects.

In view of this, the object of the embodiments of the present application is to solve the problems that the straight line distance monitored by the previous traffic early warning monitoring system is short, the monitoring range is not precise, and the reliability is low, in order to solve the problems of traffic safety and roads. Provide a method dedicated to situation sense evaluation.

The technical proposal used by the embodiments of the present application to solve the above technical problems is a method dedicated to traffic safety and road condition sense evaluation.
The step of acquiring the monitoring data of the laser radar system monitoring range, the data including the radar ranging data of the moving object in the monitoring range, and the monitoring range covering the monitoring lane and its partially adjacent lanes,
A step of calculating the moving speed of the moving object within the monitoring range and the distance from the detection point according to the radar ranging data, and
A step of analyzing the degree of danger of the moving object with respect to the detection point according to the moving speed and the distance, and setting an early warning level.
When the moving object triggers a corresponding level of early warning alert by moving,
Includes steps to issue early warnings at the corresponding level.

In one selectable embodiment, the laser radar system has coaxial optical channel ranging modules, each ranging module independently ranging.
In one selectable embodiment, the plurality of ranging modules with coaxial optical channels are installed incompletely parallel.

In one selectable embodiment, at least two of the ranging modules form a 0.5-5 ° angle.

In one selectable embodiment, the monitoring range of the laser radar system is 200-30.
It is 0 meters.

In one selectable embodiment, the method dedicated to traffic safety and road condition sense assessment further comprises analyzing the attitude sense of an adjacent lane moving object moving to the surveillance lane.

In one selectable embodiment, the method dedicated to traffic safety and road condition sense assessment is
The step of identifying and analyzing the moving object and
It further includes a step of storing the monitoring data within the monitoring range.

In one selectable embodiment, the acquired laser radar system surveillance data further includes image data of the surveillance range displaying the surveillance live status.

In one selectable embodiment, the warning early warning scheme includes voice presentation early warning, display early warning, flashing light early warning.

In one selectable embodiment, the display early warning displays an early warning information live status by a display device, and the early warning information is a real-time image of the trigger early warning and /.
Or include an early warning explanation.

In one selectable embodiment, the display device is a micro display device having a mounting structure.

In one selectable embodiment, the display device is a display with AR glasses or a wristband, armband or waist-worn structure.

One selectable embodiment further comprises adjusting the detection range of the laser radar system monitoring prior to acquiring the monitoring data of the laser radar system monitoring range.

In one selectable embodiment, the detection range of the laser radar system is adjusted according to the image data of the laser radar system.

The method dedicated to traffic safety and road condition sense assessment provided by the embodiments of the present application acquires monitoring data of a laser radar system monitoring range, and the data includes radar ranging data of a moving object within the monitoring range. A step in which the monitoring range covers the monitoring lane and its partially adjacent lane, a step in which the moving object calculates the moving speed within the monitoring range and the distance from the detection point according to the radar ranging data, and the movement. Corresponds to the step of analyzing the danger of the moving object to the detection point according to the speed and the distance and setting the early warning level, and when the movement of the moving object triggers the corresponding level of early warning warning. Level alert Includes a step to issue an early alert. The linear monitoring distance of the present application is 200-3.
After reaching 00 meters, the monitoring distance was extended, and an early warning was issued according to the analysis results,
It can provide sufficient response time for the operator to avoid. Furthermore, the attitude sense of a moving object in an adjacent lane can be analyzed, the analysis data is complete, and the reliability is higher.

The drawings herein are incorporated herein, constitute a portion of the specification, show embodiments according to the invention, and are used with the specification to illustrate the principles of the invention.
In order to more clearly explain the technical proposal of the embodiment or the prior art of the present invention, the drawings that need to be used for the explanation of the embodiment or the prior art are briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained from these drawings without any creative effort.

Is a structural conceptual diagram of an embodiment of the method dedicated to traffic safety and road condition sense evaluation provided by the embodiment of the present invention. Is a structural conceptual diagram of an embodiment to which the method dedicated to the traffic safety and road condition sense evaluation of the present application provided by the embodiment of the present invention is applied. Is a structural conceptual diagram of another embodiment of the method dedicated to traffic safety and road condition sense evaluation provided by the embodiment of the present invention. Is a conceptual diagram of an application scenario of one embodiment of the method dedicated to traffic safety and road condition sense evaluation provided in the embodiment of the present application.

It should be understood that the specific embodiments described herein are used only to illustrate the invention and are not limiting the invention.
In the description below, the "module", "member" or "unit" used to indicate an element is for the purpose of facilitating the description of the present invention and has a specific meaning in itself. not. Therefore, "modules", "members", or "units" can be mixed and used.

With reference to FIG. 1, it is a structural conceptual diagram that realizes a method dedicated to traffic safety and road condition sense evaluation according to each embodiment of the present invention, and the method dedicated to traffic safety and road condition sense evaluation is
S1: The step of acquiring the monitoring data of the laser radar system monitoring range,
S2: A step of calculating the moving speed of a moving object within the monitoring range and the distance from the detection point according to the monitoring data, and
S3: A step of analyzing the danger level of a moving object with respect to a detection point according to the moving speed and distance and setting an early warning level.
S4: When a moving object triggers a corresponding level of early warning alert by moving, it may include a step of issuing a corresponding level of early warning alert.
In step S1, the monitoring data includes radar ranging data of a moving object within the monitoring range, and the monitoring range of the laser radar system exceeds one lane but is smaller than two lanes, that is, the monitoring range. Covers the surveillance lane and its partially adjacent lanes. The data acquired by this method dedicated to traffic safety and road condition sense assessment includes data on all monitored lanes and the monitoring range of partially adjacent lanes.
In one feasible embodiment, the laser radar system uses a ranging module with coaxial optical channels to ensure that the range of detection of the laser radar system covers the surveillance lane and its partially adjacent lanes. At the same time, by independently measuring the distance of each distance measuring module, it is guaranteed that the detection lane is detected by at least one distance measuring module.
Further, the plurality of ranging modules having coaxial optical channels are installed incompletely parallel so that the range of detection of the laser radar system covers the monitoring lane and its partially adjacent lanes.

Preferably, at least two of the ranging modules form a 0.5-5 ° angle and the range of detection of the laser radar system covers the surveillance lane and a small portion of adjacent lanes.
Furthermore, the linear detection distance of the laser radar system is 200-300 meters.
The monitoring distance can be extended to provide sufficient response time for the operator to avoid after issuing an early warning according to the analysis results.
Furthermore, the method dedicated to the traffic safety and road condition sense evaluation of the embodiment of the present application can analyze the attitude sense of a moving object in the adjacent lane according to the monitoring range of a small part of the adjacent lane, and evaluates the road condition safety attitude. However, when a danger is sensed, an alarm can be issued to the person in charge of construction by the alarm of the alarm, and the method dedicated to the traffic safety and road condition sense evaluation of the embodiment of the present application has complete analysis data. , More reliable.
In step S2, the monitored moving object includes, but is not limited to, vehicles, pedestrians, or other moving objects.

In one feasible embodiment, in step S2
Steps to identify moving objects and
It further includes a step of storing the monitoring data within the monitoring range.
In step S3, the danger level and the early warning level of the moving object can be set according to the predetermined threshold value.
In step S4, an early warning is given according to various forms of early warning methods, and the operator is notified to avoid it. The early warning method of the embodiment of the present application includes, but is not limited to, an early warning method such as a voice presentation early warning, a display early warning, and a blinking light early warning.
In one feasible embodiment, the display early warning displays an early warning information live status by a display device, and the early warning information includes a real-time image of the trigger early warning and / or an early warning explanation. Specifically, the display device may be a display device having a wearing structure, and includes, but is not limited to, AR glasses or a wristband, an arm band, or a display having a waist wearing structure.
When the alarm 30 includes smart AR glasses, the smart AR glasses display and indicate danger information. In one specific embodiment, the AR glasses are wirelessly controller 2
Connected to 0, the controller 20 wirelessly transmits the processed real-time road condition image to the AR glasses, the image can display the current road condition safety index, vehicle distance, speed, and in the case of an alarm, the display image and the AR glasses. The attached audio displays early warnings and danger information to the user so that the user can see the real-time image quickly, can judge the danger more concretely, and can effectively improve the efficiency of avoidance. .. Without the early warning, the screen disappears and does not affect the normal operation of the user.
In the embodiment of the present application, in order to guarantee that the data acquired in step S1 is more accurate, the analysis result is made more precise and reliable, and the method dedicated to the traffic safety and road condition sense evaluation is described above. Further includes the step of adjusting the detection range of the laser radar system monitoring.

In one feasible embodiment, the laser radar system includes a plurality of laser ranging modules having coaxial optical video function, and each individual module is connected by a high-precision optical adjustment structure to determine the emission angle of each laser machine. By adjusting the emission angle between the laser ranging modules, which can be adjusted accurately, the laser currently covers the surveillance lane, only the current surveillance lane,
Vehicles in any position in the surveillance lane can be detected by at least one laser ranging module and are not affected by vehicles in adjacent lanes.

In another feasible embodiment, the laser radar system is equipped with a regulator, eg, for example.
An electrical stage is installed, and in one preferred method, the electrical stage is connected to a display device and a control device, smart control of the detection angle of the laser radar system is realized, and the detection range can be adjusted. By artificially adjusting the position and angle with respect to the electric stage of the laser device with the control button of the AR glasses, it is not necessary to stand next to the device, and the user can observe by observing with the real-time image displayed on the AR glasses. Is guaranteed to be safe to operate.
In the embodiment of the present application, the identification range angle of the display device is larger than the detection angle in which the laser is simply used by the cooperative operation of the distance measuring module and the display device, and the identification blind spot of the laser machine can be supplemented. By transmitting dual light path and circuit sources, any trigger early warning can issue an alarm, increase system redundancy, and ensure the accuracy of road condition safety assessments in each weather and road condition. Ru.

In one feasible embodiment, as shown in FIG. 2, a structural conceptual diagram of the application system of the embodiment of the present application is shown. The system 100 includes an alarm 30, a laser ranging device 10, and a controller 20.
, Including the early warning display device 50. Among them, the early warning display device 50 includes a camera 51 and a display 52. The detection range of the laser ranging device 10 covers the monitoring lane and its partially adjacent lane, the controller 20 collects and acquires monitoring data of the moving object detected by the laser ranging device 10, and the controller 20 collects and acquires the monitoring data. , The moving speed of the moving object in the monitoring lane range and the distance to the detection point are further calculated according to the monitoring data, the degree of danger is analyzed, and the early warning level is set. The alarm device 30 issues an alarm according to the analysis result of the controller 20.
The controller 20 is the control center of the traffic early warning monitoring system, and connects each part of the overall traffic early warning monitoring system by various interfaces and railroad tracks, for example, the alarm 30.
The laser ranging device 10, the camera 51, and the display 52 are connected. The controller 20 is
By running or executing software programs and / or modules stored in memory and calling the data stored in memory, various functions and processing data of the traffic early warning monitoring system are executed, and traffic early warning is given. Monitor the entire monitoring system. The controller 20 can include one or more processing units. Preferably, the controller 20 can integrate and apply the processor and the modulation / demodulation processor, in which the application processor mainly processes the operation system, the user interface, the application program, etc., and the modulation / demodulation processor is mainly wireless. Process the communication. It is understandable that the above modulation / demodulation processor does not have to be integrated in the controller 20.
The controller 20 further includes a wireless connection module and the like, and the description thereof will not be repeated here.
The traffic early warning monitoring system 100 is an alarm device 3 by a wireless connection method such as Bluetooth.
0, By connecting to other terminal devices such as the laser ranging device 10, the camera 51, and the display 52, communication and information interaction are realized.
The laser ranging device 10 includes a plurality of ranging modules having a coaxial optical channel, and the ranging module having a coaxial optical channel achieves a detection linear distance of 200 to 300 meters, a large monitoring range, and early safety. The response time of the warning can be improved, providing sufficient early warning and avoidance time (5-8 seconds) to the construction personnel of the transportation project. Then, each distance measuring module measures the distance independently, and it is guaranteed that the monitoring lane is monitored by at least one distance measuring module, further improving the reliability of the traffic early warning monitoring system of the present embodiment. Let me. The controller 20 acquires and analyzes the distance measurement data of the distance measurement module, and when it is analyzed that there is a risk, the controller 20 triggers the alarm device 30 to issue an alarm to give an early warning. When the controller 20 calculates that the vehicle traveling speed within the monitoring range exceeds a predetermined threshold value, the controller 20 controls the alarm device 30 to issue an early warning. The autonomous warning of the traffic early warning monitoring system provided by the present application is triggered by the signal of its own laser ranging device 10, and its work efficiency and reliability are high.

In one embodiment, the traffic early warning monitoring system 100 applies to monitoring early warnings in a road maintenance project where a vehicle or other moving object passing through the maintenance lane avoids a collision in a construction area. Among them, the ranging module includes a plurality of detection heads, the ranging module is installed in the detection head, and the plurality of ranging modules having coaxial optical channels are installed incompletely in parallel and laser emission. The angle is further increased to further ensure that the detection range of the ranging module completely covers the monitored lane, ensuring that any moving object in the monitored lane is detected.
Preferably, the two ranging modules form a 0.5-5 ° angle so that the laser detection range of the laser ranging device 10 is at least covered by the boundaries of the surveillance lane and its adjacent lanes. However, the width is less than the width of the two lanes, avoiding monitoring moving objects in adjacent lanes and causing interference.
Further, the camera 51 is connected to one of the ranging modules, collects an image of the monitoring range of the laser ranging device 10, is processed by the controller 20, and then performs danger information in a video image format. It is convenient to notify the operator and allow the operator to observe and understand the live situation.

In one feasible embodiment, the controller 20 is integrated with an image processing chip, in which the image processing chip is integrated.
It includes an image identification method, for example, an AR identification method, which processes and analyzes an image acquired by the camera 51 to identify and detect whether the monitoring range lane is accurate and to detect the accuracy of the monitoring lane. Detects the moving speed, distance, etc. of a vehicle or other moving object and determines whether it causes a risk.
Further, by displaying the real-time screen acquired by the camera 51 on the display 52, the monitoring range of the laser ranging device 10 can be directly observed, and the effect of "what you see is what you measure" is achieved.
In one preferred embodiment, the traffic early warning monitoring system 100 includes an alarm 30, a laser ranging device 10, a controller 20, and an early warning display device 50. Among them, the early warning display device 50 includes a camera 51 and a display 52, and the display 52 uses AR glasses and is convenient for the operator to wear, and at the same time, does not interfere with the construction work. The alarm 30,
The laser ranging device 10, AR glasses, and the camera 51 are electrically or wirelessly connected to the controller 20, and the laser ranging device 10 includes two ranging modules having coaxial optical channels, and both are 0. A 5 ° angle is formed, and both are monitored lane 3 by laser technology.
It detects 00 meters and monitors moving objects within the lane and its adjacent lane boundaries, which is the early warning area. The controller 20 calculates the moving speed of the detected moving object in the early warning zone. When the moving object is in the early warning region and the moving speed is higher than 20 km / h, the controller 20 feeds back the risk signal of the alarm 30 and issues an early warning warning. At the same time, the controller 20 transmits the surveillance image to the AR glasses to display it, and the operator observes and understands the surveillance live situation and immediately avoids it.
It is understandable that when the controller 20 does not detect the risk, the AR glasses, for example ordinary glasses, do not display the monitoring screen and avoid interference with the construction technician.
Further, the laser ranging device 10 further includes an optical adjustment structure, and the optical adjustment structure includes the optical adjustment structure.
By connecting each of the ranging modules, adjusting the laser emission angle, and adjusting the laser emission angle of the ranging module, the vehicle at any position in the monitoring lane can be detected by at least one laser ranging module. It is preserved and the laser detection function is fixed at the range level of one lane.
The alarm 30 includes a non-hand-held alarm and a hand-held alarm 31, in which the hand-held alarm 31 is wirelessly connected to the controller 20, and the non-hand-held alarm 31 is the controller 20 or the laser. It is installed in the distance measuring device 10.
Further, a light light early warning module, a voice early warning module, and a display early warning module can be installed in the alarm device 30, and the operator is notified by a method such as light light, voice, text, or video, respectively. Achieve early warning. Specifically, the light light early warning module comprises at least one color or more indicator light or flashing light and turns on or flashes different colored light lights according to different early warning levels. The voice early warning module is equipped with at least one warning sound, which broadcasts different early warning sounds according to different early warning levels. The display early warning module includes a display screen and the like, can give an early warning by characters or images, displays the existence of a specific risk on a display such as a display screen, and informs the person in charge of construction. Make them understand specific risk matters.
It is understandable that the light light early warning module and the display early warning module are alarms 30.
It does not belong to the essential configuration of the above and can be omitted as necessary within the range that does not change the essence of the present invention. The alarm device 30 can independently realize an early warning by a voice early warning module, and the embodiment of the present invention is not limited to this.

Further, the voice early warning module broadcasts an early warning presentation sound of a corresponding level according to the signal directly transmitted by the controller 20, and presents the construction personnel that there is a risk. When the display early warning module displays the risk in a character format, for example, "Vehicle XXX"
The distance is 100m, the speed is 40km / h, and the danger level is high. "
It should be understood that in the embodiments of the present invention, when the display uses another display without AR glasses, for example, when a display screen is used, the display can be integrated in the handheld alarm. The mounting structure makes it easier for the operator to carry, for example, by mounting a wristband, armband, belt, or the like.

FIG. 2 shows that the traffic early warning monitoring system 100 further includes a power source (eg, a battery) that supplies power to each member, but preferably the power source is logically connected to the controller 20 by a power management system. The power management system realizes functions such as charge management, discharge management, and power consumption management.
In one feasible embodiment, the traffic early warning monitoring system 100 further includes an electric stage 80, which mounts the laser ranging device 10 and adjusts the ranging angle of the ranging module.

In one feasible embodiment, the electric stage 80 further includes a driver and a remote controller, the driver and the driver being electrically or wirelessly connected to the controller. Specifically, according to the display image of the display 52, the remote controller transmits a signal to the controller 20, and the driver is controlled to drive and move the electric stage, whereby the laser ranging device 10 is used. Adjust the angle.
In one feasible embodiment, the traffic early warning monitoring system further includes a gyroscope, which connects the controller and vibrates the laser ranging device 10 with external vibration such as wind turbulence. Upon detection, the electric stage is controlled and automatically adjusted by the controller to maintain the stability of the posture of the laser ranging device 10 and the stability of the monitoring range, and compensate for the influence of vibration such as wind turbulence.

In one embodiment, the traffic early warning monitoring system 100 further includes an auxiliary light 60, such as an infrared LED auxiliary light 60, which is electrically connected to the controller 20. When the light beam is insufficient, the controller 20 has an infrared ray L.
The ED auxiliary light 60 is turned on to enhance the video image quality and keep the image analyzer 40 accurately identifying the object.

In one embodiment, the camera 51 is provided with an infrared light and has an infrared night-vision function, so that a clear screen can be formed even when there is no light or the light is weak during night-vision construction, and an image is obtained. It is maintained that the analyzer 40 accurately identifies the object.
The early traffic warning system 100 provided by the present application operates in cooperation with image identification by laser ranging, the image identification range angle improves the detection angle, supplements the identification blind spot of the laser machine, and dual information of the optical path and the circuit. By sending the source, any trigger early warning can issue a warning, increasing system redundancy. The monitoring angle is automatically adjusted by the electric stage, its driver, gyroscope, etc., and the accuracy of the safety evaluation of the road condition is guaranteed in various weather and road conditions.

As shown in FIG. 3, in another embodiment, FIG. 3 is a specific structural conceptual diagram of a system that realizes the traffic early warning method provided by the present application, and is a traffic early warning shown in FIG. The monitoring system 100 includes an alarm 31, a handheld alarm 32, an MCU controller 20, and a laser ranging device 1.
0, includes a camera 51, AR glasses 52, and an image analyzer 40. Among them, the alarm device 30, the laser ranging device 10, the camera 51, and the image analyzer 40 are connected to the MCU controller 20 by a wireless or electrical connection method.
Specifically, the laser range-finding device 10 detects movement data of a moving object in the monitoring lane, and the camera 51 is connected to a range-finding module of one of the laser range-finding devices 10 to perform the laser range-finding. Acquire a real-time image within the monitoring range from the coaxial optical path of the module. The MC
The U controller 20 receives the real-time image acquired by the camera 51 and transmits it to the image analyzer 40. The image analyzer 40 according to the acquired real-time image.
The moving object in the monitoring range is risk-analyzed, the risk signal is fed back to the MCU controller 20, and the MCU controller 20 triggers the alarm device 30 to give an alarm according to the risk signal fed back to the image analyzer 40. An early warning is given, and the monitoring live status is displayed by the AR glasses 52.

In one embodiment, the image analyzer 40 has a touch screen as its display module.
The image screen acquired by the camera 51 is displayed, including the display screen and the like. What can be understood is that the detection angle of the laser monitoring device 10 is adjusted to adjust the monitoring range before construction according to this image screen.

In one embodiment, the image analyzer 40 further includes a video processing chip or the like, and the video processing chip analyzes the image acquired by the camera 51 and moves within the monitoring range as the main subject of the analysis module. The moving speed of the object is calculated, the risk level at which this moving object causes danger is evaluated according to a predetermined threshold value, the risk signal is fed back to the MCU controller 20, and the alarm device 30 is controlled to issue an alarm of a corresponding level. ..
It should be understood that the image analyzer 40 may be integrated in the MCU controller 20 or may be installed independently. Preferably, while the image analyzer 40 is installed independently, it improves data processing speed and analytical precision, immediately analyzes risks present on the monitored road surface, and further improves reliability. On the other hand, if the image analyzer 40 is damaged during the use process, the use of the MCU controller 20 is not affected, and the traffic early warning monitoring system 100 continues to monitor.
Further, the analysis module includes a lane identification submodule and an object identification submodule, the lane identification submodule identifies a lane within the monitoring range, and the object identification submodule is a vehicle within the monitoring range. To identify. The video processing chip first identifies and detects the lane adjacent to the lane by the smart identification method, confirms the lane, detects the lane and distance where the vehicle is located, and after the vehicle enters the construction monitoring lane, According to the vehicle distance, the video processing chip sends different levels of alarm signals to the MCU controller 20 and the MCU
The controller 20 sends a signal to the alarm 30 to issue an alarm according to the alarm priority level strategy.
The image analyzer 40 has a posture sense function, and the traffic early warning monitoring system 10
Further improve the reliability of 0. The analysis module can analyze vehicles or other moving objects that cross the adjacent lane boundary and enter the surveillance lane according to real-time images, which will calculate the distance to the construction area and the speed of travel, thereby causing it to the construction area. Analyze the risk level or monitor vehicles evacuating from the surveillance lane within the early warning range and clear the alert.
In this embodiment, the laser ranging device 10 and the image analyzer 40 operate in cooperation with each other, and the range angle identified by the traffic early warning monitoring system by the image analyzer 40 is the laser ranging device 10. Larger than the monitoring angle simply used, it can compensate for the discriminating blind spot of the laser machine, and by the transmission of dual sources of optical path and circuit, any trigger early warning can issue an alarm, Increase device redundancy and improve the accuracy of identification to intruding vehicles.
The AR glasses 52 are wirelessly connected to the image analyzer 40, the image analyzer 40 wirelessly transmits the processed real-time road condition image to the AR glasses 52, and the AR glasses 52 are the safety index of the current road condition. , Vehicle distance and speed can be displayed, and in the case of alarm, early warning and danger information is displayed to the user by the display image and audio attached with AR glasses, so that the user can see the real-time image quickly, which is dangerous. Can be judged more concretely, and the efficiency of avoidance can be effectively improved. Without the early warning, the screen disappears and does not affect the normal operation of the user. The position and angle may be adjusted artificially remotely with respect to the electric stage of the laser device by using the control button of the AR glasses, and it is not necessary to stand next to the device, and by observing with the real-time image displayed on the AR glasses, Safety is guaranteed when the user operates it.
In one embodiment, the image analyzer 40 further comprises a storage module, compresses and encodes video data during operation, stores real-time traffic monitoring images during project implementation, and risks monitoring lanes during the construction process. Used as a record, in some cases as evidence or other records.

In one embodiment, the traffic early warning monitoring system 100 further includes an electrical stage 80, which comprises the laser ranging device 10 and the electrical stage 80.
By controlling the above, the direction and position of the laser ranging device 10 are adjusted, and the laser emission angle is further adjusted.

In one embodiment, the electrical stage 80 may further include a driver 70, the driver 70 connecting the MCU controller 20. The image analyzer 40 includes an angle adjustment module 44, monitors a lane range, analyzes whether the monitoring position corresponds to the monitoring lane, feeds back a signal to the MCU controller 20, and causes the driver 70. The electric stage 80 is controlled and moved to adjust the monitoring range of the laser ranging device 10.
It can be understood that in this embodiment, whether or not the monitoring range of the laser ranging device 10 corresponds to the monitoring lane is observed on a display screen or the like, and the driver 70 is controlled by the angle adjusting module 44. The emission angle of the laser is adjusted by automatically adjusting the direction and position of the electric stage 80.
The image analyzer 40 analyzes whether or not the monitoring range of the laser ranging device 10 covers the monitoring lane by lane identification, evaluates the laser ranging range, and the laser ranging module is located on the electric stage. With video analysis and electric stage control, you can accurately control the laser ranging range, control the electric stage to adjust the angle of the laser ranging module, the laser ranging monitoring range will cover the whole monitoring lane, wind The stability of the entire system for road condition monitoring is guaranteed due to the influence of vibration such as turbulence. At the same time, the laser ranging module cannot control the electrical stage to return the laser ranging module to its normal operating position if the electrical stage is within the adjustable range, for example, in extreme cases such as a device tipping over. Then, the video analysis module issues an alarm, presents the abnormal state of the device to the user, pays attention, and artificially clears the abnormal state of the device.

In one embodiment, the traffic early warning monitoring system 100 further includes an auxiliary light 60, such as an infrared LED auxiliary light 60, wherein the auxiliary light 60 is the M.
It is electrically connected to the CU controller 20. When the light beam is insufficient, the controller 20
Turns on the infrared LED auxiliary light 60 to enhance the video image quality and image analyzer 40
Is maintained to accurately identify the object.

In one embodiment, the camera 51 is provided with an infrared light and has an infrared night-vision function, so that a clear screen can be formed even when there is no light or the light is weak during night-vision construction, and an image is obtained. It is maintained that the analyzer 40 accurately identifies the object.

In one embodiment, the traffic early warning monitoring system 100 further includes a gyroscope 90, which is connected to the MCU controller 20. The gyroscope 90 can detect the vibration state of the entire laser ranging device 10 by vibration such as wind turbulence, and the electric stage 80 is controlled by the MCU controller 20 to control the laser ranging device 10.
While maintaining the stability of the posture, the image analyzer 40 analyzes the laser emission direction by the identification lane, determines whether the laser is aligned with the monitoring lane, evaluates the laser alignment, and evaluates the laser alignment, and also performs the electric stage 80. Controls to adjust the angle of the laser ranging module, ensuring that the device compensates for the effects of vibrations such as wind turbulence.

In yet another embodiment, the traffic early warning monitoring system 100 provided by the embodiments of the present application.
Is applied to a road maintenance scenario, and the traffic early warning monitoring system 100 provided by the embodiment of the present application includes a bracket, a polyphonic waterproof alarm 32, a handheld alarm 31, a laser ranging device 10, a camera 51, and an image analysis. The handheld alarm 31, including the device 40 and the controller 20, is independent of the traffic early warning monitoring system 100, is carried and arranged by a construction person, and is wirelessly connected to the controller 20. The polysyllabic waterproof alarm 32, the laser ranging device 10, the camera 51, and the controller 20 are mounted on the bracket, and the multisyllabic waterproof alarm 32 and the laser ranging device 10 are the controller 20 by a wired or wireless method. Connected to.
The laser ranging device 10 includes both sets of ranging modules having a coaxial optical path, the angle of both sets of ranging modules is 1 °, and the monitoring lane width is larger than one lane. Smaller than 5 lanes, the linear early warning area is 200 meters, i.e., the linear radiation range of the laser ranging device 10 is 200 meters. The camera 51 is connected to a set of ranging modules, the image analyzer 40 is wirelessly or electrically connected to the controller 20, which displays a screen captured by the camera 51. A moving object in the screen is identified, for example, a pedestrian, an animal, a vehicle, or the like is identified, and the distance and the traveling speed between the moving object and the construction site are analyzed. The moving speed of the moving object in the early warning area is 20k.
When m / h or other predetermined thresholds are exceeded, different levels of early warning signals are emitted according to the distance of the moving object. As shown in FIG. 4, a plurality of early warning areas of different levels can be partitioned, corresponding to each early warning area and early warning level, and the multi-syllable waterproof alarm 32 and the handheld alarm 31.
Early warning method is different. For example, within 200 m is a level 3 alarm, within 150 m is a level 2 alarm, and within 100 m is a level 1 alarm.
It should be understood that the laser ranging device 10 and the camera 51 measure the distance of the moving object at a high frequency by each of the laser ranging modules as a sensor for detecting an early warning area moving object in the traffic early warning monitoring system. In particular, it is a vehicle, and the measured vehicle distance data is transmitted to the controller 20, and the controller 20 calculates the vehicle speed and distance detected by each module from a large amount of vehicle distance data. When a danger is detected and predicted by performing laser distance measurement and image identification detection on a vehicle on a high-speed traffic highway to be monitored, a voice warning can be issued by the polysyllabic waterproof alarm 32 and a wireless warning unit. , Present the person in charge of construction and pay attention to avoidance.

The laser ranging device 10 and the camera 51 can be monitored independently or together. However, the range-finding of the laser range-finding device 10 is point-like monitoring, cannot solve the intrusion of vehicles in adjacent lanes, and cannot be suitable for vehicle monitoring on curved roads, and the data processing function of the controller 20. Generally, only simple calculations can be made, and the monitoring results are relatively rough. However, the image analyzer 40 has a high-class calculation processing function, and by analyzing the image, it not only determines the risk of a moving object in the monitoring lane, but also a vehicle or other vehicle in which the adjacent lane enters the monitoring lane. It is also possible to determine the risk of a moving object entering the early warning area, and the risk determination is more precise and more reliable.

In one embodiment, the bracket is provided with an electric stage 80 and a driver 70 thereof, the electric stage 80 is equipped with the laser ranging device 10, and the present application can adjust the electric stage 80 by mechanical control. The driver 70 connected to the controller 20 can smartly adjust the direction and position of the laser ranging device 10 and adjust the laser emission angle. For example, when the image analyzer 40 monitors and analyzes that the monitoring range does not correspond to the monitoring lane range, the angle adjustment module 44 in the image analyzer 40 outputs a signal to the controller 20.
To control the driver 70 to drive the electric stage 80 and adjust the monitoring range of the laser ranging device 10.
Further, the bracket is further provided with a gyroscope 90, and the gyroscope 90 connects the controller 20. The gyroscope 90 can detect the vibration state of the entire laser ranging device 10 by vibration such as wind turbulence, and the controller 20 controls the electric stage 80 to maintain the stability of the posture of the laser ranging device 10 and at the same time. By identifying the lane, the image analyzer 40 analyzes the laser emission direction, determines whether the laser is aligned with the monitoring lane, evaluates the laser alignment, and controls the electric stage 80 to control the laser ranging module. By adjusting the angle of, it is guaranteed that the device compensates for the influence of vibration such as wind turbulence.

Preferred embodiments of the present application are described with reference to the drawings, and the scope of rights of the present application is not limited thereto. Any modifications, equivalent replacements and improvements made by one of ordinary skill in the art without departing from the scope and nature of the present application are within the scope of the rights of the present application.

The embodiments of the present application relate to the technical field of traffic safety, specifically, to the field of early warning of safety.
In particular, it relates to a method dedicated to traffic safety and road condition sense evaluation.

In the construction and maintenance of traffic roads, such as pavement repair, traffic facility maintenance, and handling of broken vehicles, the speed of passing vehicles is generally very high (more than 80 km / h or 25 m / s). To enhance the personal security of the operator, the warning zone is usually set to 200 meters or more to provide sufficient early warning and avoidance time (5-8 seconds) to the construction operator of the transportation project. It is guaranteed to do so. Conventionally
The traditional method is to deploy an ice cream cone by a traffic safety officer as a warning line to present the arriving vehicle so as not to collide with the construction area, 200 in the occupied lane.
Deploy ice cream cones as long as ~ 300 meters. However, this method consumes more human and material resources and is inefficient, which is very inconvenient, especially for temporary parking lot construction and small-scale rapid construction.

Currently, the laser radar detection technique is applied to the field of automobile smart transportation such as Lidar and high frequency radar. Lidar is an SLA for short-range omnidirectional detection and point cloud data output.
Although it belongs to M modeling technology, the linear detection of SLAM technology cannot reach 200 meters at present. The detection range of millimeter-wave radar is directly limited by frequency loss, and it is necessary to use high-frequency electromagnetic waves for long-range detection. Also, when a traffic project is detected, only the range of the construction lane is detected, and the millimeter wave radar is not accurate enough for long-distance detection. When the amplitude of the millimeter wave lobe is 70 meters apart, it is often larger than two lanes (about 6 meters), the false positive rate is very high, and other techniques need to be used to correct it. , It is not easy to identify long-distance vehicles and apply them to collision avoidance warnings in traffic lane projects.

In view of this, the object of the embodiments of the present application is to solve the problems that the straight line distance monitored by the previous traffic early warning monitoring system is short, the monitoring range is not precise, and the reliability is low, in order to solve the problems of traffic safety and roads. Provide a method dedicated to situation sense evaluation.

The technical proposal used by the embodiments of the present application to solve the above technical problems is a method dedicated to traffic safety and road condition sense evaluation.
Steps to acquire image data in the surveillance range, identify and calibrate the type of object in the image, and
The monitoring data of the object in the same monitoring range as the image data by the laser radar system is acquired, the data includes the radar ranging data of the moving object in the monitoring range, and the monitoring range covers the monitoring lane and its partially adjacent lane. Steps to cover and
A step of adjusting the direction of laser radar monitoring according to the image data and calculating the moving speed of the moving object within the monitoring range and the distance from the detection point according to the monitored radar ranging data.
A step of analyzing and determining the degree of danger of the moving object to a detection point and setting an early warning level according to the type of the object, the moving speed and the distance.
When the moving object triggers a corresponding level of early warning alert by moving,
Includes steps to issue early warnings at the corresponding level.

In one selectable embodiment, the laser radar system has at least two coaxial optical channel ranging modules, each ranging module independently ranging.
In one selectable embodiment, the ranging modules with coaxial optical channels are installed incompletely parallel.

In one selectable embodiment, at least two of the ranging modules form a 0.5-5 ° angle.

In one selectable embodiment, the monitoring range of the laser radar system is 200-30.
It is 0 meters.

In one selectable embodiment, the method dedicated to traffic safety and road condition sense assessment analyzes the attitude sense of an adjacent lane moving object moving to the monitoring lane and issues an early warning according to the result of the attitude sense. Includes more steps to issue.

In one selectable embodiment, the method dedicated to traffic safety and road condition sense assessment is
The step of identifying and analyzing the moving object and
It further includes a step of storing the monitoring data within the monitoring range.

In one selectable embodiment, the acquired laser radar system monitoring data further includes image data of the monitoring range displaying the live monitoring status, and the direction of radar monitoring is determined by the monitoring range displayed in the image. To.

In one selectable embodiment, the warning early warning scheme includes voice presentation early warning, display early warning, flashing light early warning.

In one selectable embodiment, the display early warning displays an early warning information live status by a display device, and the early warning information is a real-time image of the trigger early warning and /.
Or include an early warning explanation.

In one selectable embodiment, the display device is a micro display device having a mounting structure.

In one selectable embodiment, the display device is a display with AR glasses or a wristband, armband or waist-worn structure.

One selectable embodiment further comprises adjusting the detection range of the laser radar system monitoring prior to acquiring the monitoring data of the laser radar system monitoring range.

In one selectable embodiment, the detection range of the laser radar system is adjusted according to the image data of the laser radar system.

The method dedicated to traffic safety and road condition sense assessment provided by the embodiments of the present application acquires monitoring data of a laser radar system monitoring range, and the data includes radar ranging data of a moving object within the monitoring range. A step in which the monitoring range covers the monitoring lane and its partially adjacent lane, a step in which the moving object calculates the moving speed within the monitoring range and the distance from the detection point according to the radar ranging data, and the movement. Corresponds to the step of analyzing the danger of the moving object to the detection point according to the speed and the distance and setting the early warning level, and when the movement of the moving object triggers the corresponding level of early warning warning. Level alert Includes a step to issue an early alert. The linear monitoring distance of the present application is 200-3.
After reaching 00 meters, the monitoring distance was extended, and an early warning was issued according to the analysis results,
It can provide sufficient response time for the operator to avoid. Furthermore, the attitude sense of a moving object in an adjacent lane can be analyzed, the analysis data is complete, and the reliability is higher.

In the present application, coaxial optical channels are provided in a plurality of ranging modules, so that the accuracy of data transmission is guaranteed, and by monitoring the image data in the monitoring range, the type of the object in the image is analyzed. The monitored object target is calibrated. By combining the distance measurement data and the image data, the monitoring direction of the distance measurement module can be adjusted by the image displayed in the image data without manually adjusting the distance measurement direction of the distance measurement module.

The drawings herein are incorporated herein, constitute a portion of the specification, show embodiments according to the invention, and are used with the specification to illustrate the principles of the invention.

In order to more clearly explain the technical proposal of the embodiment or the prior art of the present invention, the drawings that need to be used for the explanation of the embodiment or the prior art are briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained from these drawings without any creative effort.

Is a structural conceptual diagram of an embodiment of the method dedicated to traffic safety and road condition sense evaluation provided by the embodiment of the present invention. Is a structural conceptual diagram of an embodiment to which the method dedicated to the traffic safety and road condition sense evaluation of the present application provided by the embodiment of the present invention is applied. Is a structural conceptual diagram of another embodiment of the method dedicated to traffic safety and road condition sense evaluation provided by the embodiment of the present invention. Is a conceptual diagram of an application scenario of one embodiment of the method dedicated to traffic safety and road condition sense evaluation provided in the embodiment of the present application.

It should be understood that the specific embodiments described herein are used only to illustrate the invention and are not limiting the invention.

In the description below, the "module", "member" or "unit" used to indicate an element is for the purpose of facilitating the description of the present invention and has a specific meaning in itself. not. Therefore, "modules", "members", or "units" can be mixed and used.

With reference to FIG. 1, it is a structural conceptual diagram that realizes a method dedicated to traffic safety and road condition sense evaluation according to each embodiment of the present invention, and the method dedicated to traffic safety and road condition sense evaluation is
S1: The step of acquiring the monitoring data of the laser radar system monitoring range,
S2: A step of calculating the moving speed of a moving object within the monitoring range and the distance from the detection point according to the monitoring data, and
S3: A step of analyzing the danger level of a moving object with respect to a detection point according to the moving speed and distance, and setting an early warning level.
S4: When a moving object triggers a corresponding level of early warning alert by moving, it may include a step of issuing a corresponding level of early warning alert.

In step S1, the monitoring data includes radar ranging data of a moving object within the monitoring range, and the monitoring range of the laser radar system exceeds one lane but is smaller than two lanes, that is, the monitoring range. Covers the surveillance lane and its partially adjacent lanes. The data acquired by this method dedicated to traffic safety and road condition sense assessment includes data on all monitored lanes and the monitoring range of partially adjacent lanes.

In one feasible embodiment, the laser radar system uses a ranging module with coaxial optical channels to ensure that the range of detection of the laser radar system covers the surveillance lane and its partially adjacent lanes. At the same time, by independently measuring the distance of each distance measuring module, it is guaranteed that the detection lane is detected by at least one distance measuring module.

Further, the plurality of ranging modules having coaxial optical channels are installed incompletely parallel so that the range of detection of the laser radar system covers the monitoring lane and its partially adjacent lanes.

Preferably, at least two of the ranging modules form a 0.5-5 ° angle and the range of detection of the laser radar system covers the surveillance lane and a small portion of adjacent lanes.

Furthermore, the linear detection distance of the laser radar system is 200-300 meters.
The monitoring distance can be extended to provide sufficient response time for the operator to avoid after issuing an early warning according to the analysis results.

Furthermore, the method dedicated to the traffic safety and road condition sense evaluation of the embodiment of the present application can analyze the attitude sense of a moving object in the adjacent lane according to the monitoring range of a small part of the adjacent lane, and evaluates the road condition safety attitude. However, when a danger is sensed, an alarm can be issued to the person in charge of construction by the alarm of the alarm, and the method dedicated to the traffic safety and road condition sense evaluation of the embodiment of the present application has complete analysis data. , More reliable.
In step S2, the monitored moving object includes, but is not limited to, vehicles, pedestrians, or other moving objects.

In one feasible embodiment, in step S2
Steps to identify moving objects and
It further includes a step of storing the monitoring data within the monitoring range.

In step S3, the danger level and the early warning level of the moving object can be set according to the predetermined threshold value.
In step S4, an early warning is given according to various forms of early warning methods, and the operator is notified to avoid it. The early warning method of the embodiment of the present application includes, but is not limited to, an early warning method such as a voice presentation early warning, a display early warning, and a blinking light early warning.
In one feasible embodiment, the display early warning displays an early warning information live status by a display device, and the early warning information includes a real-time image of the trigger early warning and / or an early warning explanation. Specifically, the display device may be a display device having a wearing structure, and includes, but is not limited to, AR glasses or a wristband, an arm band, or a display having a waist wearing structure.

When the alarm 30 includes smart AR glasses, the smart AR glasses display and indicate danger information. In one specific embodiment, the AR glasses are wirelessly controller 2
Connected to 0, the controller 20 wirelessly transmits the processed real-time road condition image to the AR glasses, the image can display the current road condition safety index, vehicle distance, speed, and in the case of an alarm, the display image and the AR glasses. The attached audio displays early warnings and danger information to the user so that the user can see the real-time image quickly, can judge the danger more concretely, and can effectively improve the efficiency of avoidance. .. Without the early warning, the screen disappears and does not affect the normal operation of the user.

In the embodiment of the present application, in order to guarantee that the data acquired in step S1 is more accurate, the analysis result is made more precise and reliable, and the method dedicated to the traffic safety and road condition sense evaluation is described above. Further includes the step of adjusting the detection range of the laser radar system monitoring.

In one feasible embodiment, the laser radar system includes a plurality of laser ranging modules having coaxial optical video function, and each individual module is connected by a high-precision optical adjustment structure to determine the emission angle of each laser machine. By adjusting the emission angle between the laser ranging modules, which can be adjusted accurately, the laser currently covers the surveillance lane, only the current surveillance lane,
Vehicles in any position in the surveillance lane are ensured to be detected by at least one laser ranging module and are not affected by vehicles in adjacent lanes.

In another feasible embodiment, the laser radar system is equipped with a regulator, eg, for example.
An electrical stage is installed, and in one preferred method, the electrical stage is connected to a display device and a control device, smart control of the detection angle of the laser radar system is realized, and the detection range can be adjusted. By artificially adjusting the position and angle with respect to the electric stage of the laser device with the control button of the AR glasses, it is not necessary to stand next to the device, and the user can observe by observing with the real-time image displayed on the AR glasses. Is guaranteed to be safe to operate.

In the embodiment of the present application, the identification range angle of the display device is larger than the detection angle in which the laser is simply used by the cooperative operation of the distance measuring module and the display device, and the identification blind spot of the laser machine can be supplemented. By transmitting dual light path and circuit sources, any trigger early warning can issue an alarm, increase system redundancy, and ensure the accuracy of road condition safety assessments in each weather and road condition. Ru.

In one feasible embodiment, as shown in FIG. 2, a structural conceptual diagram of the application system of the embodiment of the present application is shown. The system 100 includes an alarm 30, a laser ranging device 10, and a controller 20.
, Including the early warning display device 50. Among them, the early warning display device 50 includes a camera 51 and a display 52. The detection range of the laser ranging device 10 covers the monitoring lane and its partially adjacent lane, the controller 20 collects and acquires monitoring data of the moving object detected by the laser ranging device 10, and the controller 20 collects and acquires the monitoring data. , The moving speed of the moving object in the monitoring lane range and the distance to the detection point are further calculated according to the monitoring data, the degree of danger is analyzed, and the early warning level is set. The alarm device 30 issues an alarm according to the analysis result of the controller 20.

The controller 20 is the control center of the traffic early warning monitoring system, and connects each part of the overall traffic early warning monitoring system by various interfaces and railroad tracks, for example, the alarm 30.
The laser ranging device 10, the camera 51, and the display 52 are connected. The controller 20 is
By running or executing software programs and / or modules stored in memory and calling the data stored in memory, various functions and processing data of the traffic early warning monitoring system are executed, and traffic early warning is given. Monitor the entire monitoring system. The controller 20 can include one or more processing units. Preferably, the controller 20 can integrate and apply a processor and a modulation / demodulation processor, in which the application processor mainly processes the operation system, the user interface, the application program, etc., and the modulation / demodulation processor is mainly wireless. Process the communication. It is understandable that the above modulation / demodulation processor does not have to be integrated in the controller 20.

The controller 20 further includes a wireless connection module and the like, and the description thereof will not be repeated here.
The traffic early warning monitoring system 100 is an alarm device 3 by a wireless connection method such as Bluetooth.
0, By connecting to other terminal devices such as the laser ranging device 10, the camera 51, and the display 52, communication and information interaction are realized.

The laser ranging device 10 includes a plurality of ranging modules having a coaxial optical channel, and the ranging module having a coaxial optical channel achieves a detection linear distance of 200 to 300 meters, a large monitoring range, and early safety. The response time of the warning can be improved, providing sufficient early warning and avoidance time (5-8 seconds) to the construction personnel of the transportation project. Then, each distance measuring module measures the distance independently, and it is guaranteed that the monitoring lane is monitored by at least one distance measuring module, further improving the reliability of the traffic early warning monitoring system of the present embodiment. Let me. The controller 20 acquires and analyzes the distance measurement data of the distance measurement module, and when it is analyzed that there is a risk, the controller 20 triggers the alarm device 30 to issue an alarm to give an early warning. When the controller 20 calculates that the vehicle traveling speed within the monitoring range exceeds a predetermined threshold value, the controller 20 controls the alarm device 30 to issue an early warning. The autonomous warning of the traffic early warning monitoring system provided by the present application is triggered by the signal of its own laser ranging device 10, and its work efficiency and reliability are high.

In one embodiment, the traffic early warning monitoring system 100 applies to monitoring early warnings in a road maintenance project where a vehicle or other moving object passing through the maintenance lane avoids a collision in a construction area. Among them, the ranging module includes a plurality of detection heads, the ranging module is installed in the detection head, and the plurality of ranging modules having coaxial optical channels are installed incompletely in parallel and laser emission. The angle is further increased to further ensure that the detection range of the ranging module completely covers the monitored lane, ensuring that any moving object in the monitored lane is detected.

Preferably, the two ranging modules form a 0.5-5 ° angle to ensure that the laser detection range of the laser ranging device 10 covers at least the boundaries of the surveillance lane and its adjacent lanes. However, the width is less than the width of the two lanes, avoiding monitoring moving objects in adjacent lanes and causing interference.

Further, the camera 51 is connected to one of the ranging modules, collects an image of the monitoring range of the laser ranging device 10, is processed by the controller 20, and then the ranging range of the ranging module. Is matched with the image data range captured by the camera to ensure that the display range of the image corresponds to and matches the items in the ranging range. It is realized that "what is displayed is the ranging range" so that the ranging angle of the ranging module does not need to be manually adjusted. The controller 20 notifies the operator in a video image format according to the level and information of the danger information, and is convenient for the operator to observe and understand the live situation.

In one feasible embodiment, the controller 20 is integrated with an image processing chip, in which the image processing chip is integrated.
It includes an image identification method, for example, an AR identification method, which processes and analyzes an image acquired by the camera 51 to identify and detect whether the monitoring range lane is accurate and to detect the accuracy of the monitoring lane. Detects the moving speed, distance, etc. of a vehicle or other moving object and determines whether it causes a risk.

Further, by displaying the real-time screen acquired by the camera 51 on the display 52, the monitoring range of the laser ranging device 10 can be directly observed, and the effect of "what you see is what you measure" is achieved.

In one preferred embodiment, the traffic early warning monitoring system 100 includes an alarm 30, a laser ranging device 10, a controller 20, and an early warning display device 50. Among them, the early warning display device 50 includes a camera 51 and a display 52, and the display 52 uses AR glasses and is convenient for the operator to wear, and at the same time, does not interfere with the construction work. The alarm 30,
The laser ranging device 10, AR glasses, and the camera 51 are electrically or wirelessly connected to the controller 20, and the laser ranging device 10 includes two ranging modules having coaxial optical channels, and both are 0. A 5 ° angle is formed, and both are monitored lane 3 by laser technology.
It detects 00 meters and monitors moving objects within the lane and its adjacent lane boundaries, which is the early warning area. The controller 20 calculates the moving speed of the detected moving object in the early warning zone. When the moving object is in the early warning region and the moving speed is higher than 20 km / h, the controller 20 feeds back the risk signal of the alarm 30 and issues an early warning warning. At the same time, the controller 20 transmits the surveillance image to the AR glasses to display it, and the operator observes and understands the surveillance live situation and immediately avoids it.

It is understandable that when the controller 20 does not detect the risk, the AR glasses, for example ordinary glasses, do not display the monitoring screen and avoid interference with the construction technician.

Further, the laser ranging device 10 further includes an optical adjustment structure, and the optical adjustment structure includes the optical adjustment structure.
By connecting each of the ranging modules, adjusting the laser emission angle, and adjusting the laser emission angle of the ranging module, the vehicle at any position in the monitoring lane can be detected by at least one laser ranging module. Secured and fixed the laser detection function to the range level of one lane.

The alarm 30 includes a non-hand-held alarm and a hand-held alarm 31, in which the hand-held alarm 31 is wirelessly connected to the controller 20, and the non-hand-held alarm 31 is the controller 20 or the laser. It is installed in the distance measuring device 10.

Further, a light light early warning module, a voice early warning module, and a display early warning module can be installed in the alarm device 30, and the operator is notified by a method such as light light, voice, text, or video, respectively. Achieve early warning. Specifically, the light light early warning module comprises at least one color or more indicator light or flashing light and turns on or flashes different colored light lights according to different early warning levels. The voice early warning module is equipped with at least one warning sound, which broadcasts different early warning sounds according to different early warning levels. The display early warning module includes a display screen and the like, can give an early warning by characters or images, displays the existence of a specific risk on a display such as a display screen, and informs the person in charge of construction. Make them understand specific risk matters.

It is understandable that the light light early warning module and the display early warning module are alarms 30.
It does not belong to the essential configuration of the above and can be omitted as necessary within the range that does not change the essence of the present invention. The alarm device 30 can independently realize an early warning by a voice early warning module, and the embodiment of the present invention is not limited to this.

Further, the voice early warning module broadcasts an early warning presentation sound of a corresponding level according to the signal directly transmitted by the controller 20, and presents the construction personnel that there is a risk. When the display early warning module displays the risk in a character format, for example, "Vehicle XXX"
The distance is 100m, the speed is 40km / h, and the danger level is high. "
It should be understood that in the embodiments of the present invention, when the display uses another display without AR glasses, for example, when a display screen is used, the display can be integrated in the handheld alarm. The mounting structure makes it easier for the operator to carry, for example, by mounting a wristband, armband, belt, or the like.

FIG. 2 shows that the traffic early warning monitoring system 100 further includes a power source (eg, a battery) that powers each member, but preferably the power source is logically connected to the controller 20 by a power management system. The power management system realizes functions such as charge management, discharge management, and power consumption management.

In one feasible embodiment, the traffic early warning monitoring system 100 further includes an electric stage 80, which mounts the laser ranging device 10 and adjusts the ranging angle of the ranging module.

In one feasible embodiment, the electric stage 80 further includes a driver and a remote controller, the driver and the driver being electrically or wirelessly connected to the controller. Specifically, according to the display image of the display 52, the remote controller transmits a signal to the controller 20, and the driver is controlled to drive and move the electric stage, whereby the laser ranging device 10 is used. Adjust the angle.

In one feasible embodiment, the traffic early warning monitoring system further includes a gyroscope, which connects the controller and vibrates the laser ranging device 10 with external vibration such as wind turbulence. It detects and automatically adjusts the electric stage by controlling the electric stage by the controller, maintains the stability of the posture of the laser ranging device 10 and the stability of the monitoring range, and compensates for the influence of vibration such as wind turbulence.

In one embodiment, the traffic early warning monitoring system 100 further includes an auxiliary light 60, such as an infrared LED auxiliary light 60, which is electrically connected to the controller 20. When the light beam is insufficient, the controller 20 has an infrared ray L.
The ED auxiliary light 60 is turned on to enhance the video image quality and ensure that the image analyzer 40 accurately identifies the object.

In one embodiment, the camera 51 is provided with an infrared light and has an infrared night-vision function, so that a clear screen can be formed even when there is no light or the light is weak at night during construction, and an image can be formed. It is ensured that the analyzer 40 accurately identifies the object.

The traffic early warning system 100 provided by the present application operates in cooperation with image identification by laser ranging, the image identification range angle improves the detection angle, supplements the identification blind spot of the laser machine, and dual information of the optical path and the circuit. By sending the source, any trigger early warning can issue a warning, increasing system redundancy. The monitoring angle is automatically adjusted by the electric stage, its driver, gyroscope, etc., and the accuracy of the safety evaluation of the road condition is guaranteed in various weather and road conditions.

As shown in FIG. 3, in another embodiment, FIG. 3 is a specific structural conceptual diagram of a system that realizes the traffic early warning method provided by the present application, and is a traffic early warning shown in FIG. The monitoring system 100 includes an alarm 31, a handheld alarm 32, an MCU controller 20, and a laser ranging device 1.
0, includes a camera 51, AR glasses 52, and an image analyzer 40. Among them, the alarm device 30, the laser ranging device 10, the camera 51, and the image analyzer 40 are connected to the MCU controller 20 by a wireless or electrical connection method.

Specifically, the laser range-finding device 10 detects movement data of a moving object in the monitoring lane, and the camera 51 is connected to a range-finding module of one of the laser range-finding devices 10 to perform the laser range-finding. Acquire a real-time image within the monitoring range from the coaxial optical path of the module. The MC
The U controller 20 receives the real-time image acquired by the camera 51 and transmits it to the image analyzer 40. The image analyzer 40 according to the acquired real-time image.
The moving object in the monitoring range is risk-analyzed, the risk signal is fed back to the MCU controller 20, and the MCU controller 20 triggers the alarm device 30 to give an alarm according to the risk signal fed back to the image analyzer 40. An early warning is given, and the monitoring live status is displayed by the AR glasses 52.

In one embodiment, the image analyzer 40 has a touch screen as its display module.
The image screen acquired by the camera 51 is displayed, including the display screen and the like. What can be understood is that the detection angle of the laser monitoring device 10 is adjusted to adjust the monitoring range before construction according to this image screen.

In one embodiment, the image analyzer 40 further includes a video processing chip or the like, and the video processing chip analyzes the image acquired by the camera 51 and moves within the monitoring range as the main subject of the analysis module. The moving speed of the object is calculated, the risk level at which this moving object causes danger is evaluated according to a predetermined threshold value, the risk signal is fed back to the MCU controller 20, and the alarm device 30 is controlled to issue an alarm of a corresponding level. ..
It should be understood that the image analyzer 40 may be integrated in the MCU controller 20 or may be installed independently. Preferably, while the image analyzer 40 is installed independently, it improves data processing speed and analytical precision, immediately analyzes risks present on the monitored road surface, and further improves reliability. On the other hand, if the image analyzer 40 is damaged during the use process, the use of the MCU controller 20 is not affected, and the traffic early warning monitoring system 100 continues to monitor.

Further, the analysis module includes a lane identification submodule and an object identification submodule, the lane identification submodule identifies a lane within the monitoring range, and the object identification submodule is a vehicle within the monitoring range. To identify. The video processing chip first identifies and detects the lane adjacent to the lane by the smart identification method, confirms the lane, detects the lane and distance where the vehicle is located, and after the vehicle enters the construction monitoring lane, According to the vehicle distance, the video processing chip sends different levels of alarm signals to the MCU controller 20 and the MCU
The controller 20 sends a signal to the alarm 30 to issue an alarm according to the alarm priority level strategy.

The image analyzer 40 has a posture sense function, and the traffic early warning monitoring system 10
Further improve the reliability of 0. The analysis module can analyze vehicles or other moving objects that cross the adjacent lane boundary and enter the surveillance lane according to real-time images, which will calculate the distance to the construction area and the speed of travel, thereby causing it to the construction area. Analyze the risk level or monitor vehicles evacuating from the surveillance lane within the early warning range and clear the alert.

In this embodiment, the laser ranging device 10 and the image analyzer 40 operate in cooperation with each other, and the range angle identified by the traffic early warning monitoring system by the image analyzer 40 is the laser ranging device 10. Larger than the monitoring angle simply used, it can compensate for the discriminating blind spot of the laser machine, and by the transmission of dual sources of optical path and circuit, any trigger early warning can issue an alarm, Increase device redundancy and improve the accuracy of identification to intruding vehicles.

The AR glasses 52 are wirelessly connected to the image analyzer 40, the image analyzer 40 wirelessly transmits the processed real-time road condition image to the AR glasses 52, and the AR glasses 52 are the safety index of the current road condition. , Vehicle distance and speed can be displayed, and in the case of alarm, early warning and danger information is displayed to the user by the display image and audio attached with AR glasses, so that the user can see the real-time image quickly, which is dangerous. Can be judged more concretely, and the efficiency of avoidance can be effectively improved. Without the early warning, the screen disappears and does not affect the normal operation of the user. The position and angle may be adjusted artificially remotely with respect to the electric stage of the laser device by using the control button of the AR glasses, and it is not necessary to stand next to the device, and by observing with the real-time image displayed on the AR glasses, Safety is guaranteed when the user operates it.

In one embodiment, the image analyzer 40 further comprises a storage module, compresses and encodes video data during operation, stores real-time traffic monitoring images during project implementation, and risks monitoring lanes during the construction process. Used as a record, in some cases as evidence or other records.

In one embodiment, the traffic early warning monitoring system 100 further includes an electrical stage 80, which comprises the laser ranging device 10 and the electrical stage 80.
By controlling the above, the direction and position of the laser ranging device 10 are adjusted, and the laser emission angle is further adjusted.

In one embodiment, the electrical stage 80 may further include a driver 70, the driver 70 connecting the MCU controller 20. The image analyzer 40 includes an angle adjustment module 44, monitors a lane range, analyzes whether the monitoring position corresponds to the monitoring lane, feeds back a signal to the MCU controller 20, and causes the driver 70. The electric stage 80 is controlled and moved to adjust the monitoring range of the laser ranging device 10.

It can be understood that in this embodiment, whether or not the monitoring range of the laser ranging device 10 corresponds to the monitoring lane is observed on a display screen or the like, and the driver 70 is controlled by the angle adjusting module 44. The emission angle of the laser is adjusted by automatically adjusting the direction and position of the electric stage 80.

The image analyzer 40 analyzes whether or not the monitoring range of the laser ranging device 10 covers the monitoring lane by lane identification, evaluates the laser ranging range, and the laser ranging module is located on the electric stage. With video analysis and electric stage control, you can accurately control the laser ranging range, control the electric stage to adjust the angle of the laser ranging module, the laser ranging monitoring range will cover the whole monitoring lane, wind The stability of the entire system for road condition monitoring is guaranteed due to the influence of vibration such as turbulence. At the same time, the laser ranging module cannot control the electrical stage to return the laser ranging module to its normal operating position if the electrical stage is within the adjustable range, for example, in extreme cases such as a device tipping over. Then, the video analysis module issues an alarm, presents the abnormal state of the device to the user, pays attention, and artificially clears the abnormal state of the device.

In one embodiment, the traffic early warning monitoring system 100 further includes an auxiliary light 60, such as an infrared LED auxiliary light 60, wherein the auxiliary light 60 is the M.
It is electrically connected to the CU controller 20. When the light beam is insufficient, the controller 20
Turns on the infrared LED auxiliary light 60 to enhance the video image quality and image analyzer 40
Is ensured to identify the object accurately.

In one embodiment, the camera 51 is provided with an infrared light and has an infrared night-vision function, so that a clear screen can be formed even when there is no light or the light is weak at night during construction, and an image can be formed. It is ensured that the analyzer 40 accurately identifies the object.

In one embodiment, the traffic early warning monitoring system 100 further includes a gyroscope 90, which is connected to the MCU controller 20. The gyroscope 90 can detect the vibration state of the entire laser ranging device 10 by vibration such as wind turbulence, and the electric stage 80 is controlled by the MCU controller 20 to control the laser ranging device 10.
While maintaining the stability of the posture, the image analyzer 40 analyzes the laser emission direction by the identification lane, determines whether the laser is aligned with the monitoring lane, evaluates the laser alignment, and evaluates the laser alignment, and also performs the electric stage 80. Controls to adjust the angle of the laser ranging module, ensuring that the device compensates for the effects of vibrations such as wind turbulence.

In yet another embodiment, the traffic early warning monitoring system 100 provided by the embodiments of the present application.
Is applied to a road maintenance scenario, and the traffic early warning monitoring system 100 provided by the embodiment of the present application includes a bracket, a polyphonic waterproof alarm 32, a handheld alarm 31, a laser ranging device 10, a camera 51, and an image analysis. The handheld alarm 31, including the device 40 and the controller 20, is independent of the traffic early warning monitoring system 100, is carried and arranged by a construction person, and is wirelessly connected to the controller 20. The polysyllabic waterproof alarm 32, the laser ranging device 10, the camera 51, and the controller 20 are mounted on the bracket, and the multisyllabic waterproof alarm 32 and the laser ranging device 10 are the controller 20 by a wired or wireless method. Connected to.

The laser ranging device 10 includes both sets of ranging modules having a coaxial optical path, the angle of both sets of ranging modules is 1 °, and the monitoring lane width is larger than one lane. Smaller than 5 lanes, the linear early warning area is 200 meters, i.e., the linear radiation range of the laser ranging device 10 is 200 meters. The camera 51 is connected to a set of ranging modules, the image analyzer 40 is wirelessly or electrically connected to the controller 20, which displays a screen captured by the camera 51. A moving object in the screen is identified, for example, a pedestrian, an animal, a vehicle, or the like is identified, and the distance and the traveling speed between the moving object and the construction site are analyzed. The moving speed of the moving object in the early warning area is 20k.
When m / h or other predetermined thresholds are exceeded, different levels of early warning signals are emitted according to the distance of the moving object. As shown in FIG. 4, a plurality of early warning areas of different levels can be partitioned, corresponding to each early warning area and early warning level, and the multi-syllable waterproof alarm 32 and the handheld alarm 31.
Early warning method is different. For example, within 200 m is a level 3 alarm, within 150 m is a level 2 alarm, and within 100 m is a level 1 alarm.

It should be understood that the laser ranging device 10 and the camera 51 measure the distance of the moving object at a high frequency by each of the laser ranging modules as a sensor for detecting an early warning area moving object in the traffic early warning monitoring system. In particular, it is a vehicle, and the measured vehicle distance data is transmitted to the controller 20, and the controller 20 calculates the vehicle speed and distance detected by each module from a large amount of vehicle distance data. When a danger is detected and predicted by performing laser distance measurement and image identification detection on a vehicle on a high-speed traffic highway to be monitored, a voice warning can be issued by the polysyllabic waterproof alarm 32 and a wireless warning unit. , Present the person in charge of construction and pay attention to avoidance.

The laser ranging device 10 and the camera 51 can be monitored independently or together. However, the range-finding of the laser range-finding device 10 is point-like monitoring, cannot solve the intrusion of vehicles in adjacent lanes, and cannot be suitable for vehicle monitoring on curved roads, and the data processing function of the controller 20. Generally, only simple calculations can be made, and the monitoring results are relatively rough. However, the image analyzer 40 has a high-class calculation processing function, and by analyzing the image, it not only determines the risk of a moving object in the monitoring lane, but also a vehicle or other vehicle in which the adjacent lane enters the monitoring lane. It is also possible to determine the risk of a moving object entering the early warning area, and the risk determination is more precise and more reliable.

In one embodiment, the bracket is provided with an electric stage 80 and a driver 70 thereof, the electric stage 80 is equipped with the laser ranging device 10, and the present application can adjust the electric stage 80 by mechanical control. The driver 70 connected to the controller 20 can smartly adjust the direction and position of the laser ranging device 10 and adjust the laser emission angle. For example, when the image analyzer 40 monitors and analyzes that the monitoring range does not correspond to the monitoring lane range, the angle adjustment module 44 in the image analyzer 40 outputs a signal to the controller 20.
To control the driver 70 to drive the electric stage 80 and adjust the monitoring range of the laser ranging device 10.

Further, the bracket is further provided with a gyroscope 90, and the gyroscope 90 connects the controller 20. The gyroscope 90 can detect the vibration state of the entire laser ranging device 10 by vibration such as wind turbulence, and the controller 20 controls the electric stage 80 to maintain the stability of the posture of the laser ranging device 10 and at the same time. By identifying the lane, the image analyzer 40 analyzes the laser emission direction, determines whether the laser is aligned with the monitoring lane, evaluates the laser alignment, and controls the electric stage 80 to control the laser ranging module. By adjusting the angle of, it is guaranteed that the device compensates for the influence of vibration such as wind turbulence.

Preferred embodiments of the present application are described with reference to the drawings, and the scope of rights of the present application is not limited thereto. Any modifications, equivalent replacements and improvements made by one of ordinary skill in the art without departing from the scope and nature of the present application are within the scope of the rights of the present application.

Claims (10)

The step of acquiring the monitoring data of the laser radar system monitoring range, the data including the radar ranging data of the moving object in the monitoring range, and the monitoring range covering the monitoring lane and its partially adjacent lanes,
A step of calculating the moving speed of the moving object within the monitoring range and the distance from the detection point according to the radar ranging data, and
A step of analyzing the degree of danger of the moving object with respect to the detection point according to the moving speed and the distance, and setting an early warning level.
When the moving object triggers a corresponding level of early warning alert by moving,
A method dedicated to traffic safety and road condition sense assessment, including the step of issuing a corresponding level of warning early warning. The traffic safety and road condition sense evaluation according to claim 1, wherein the laser radar system has a distance measuring module of a coaxial optical channel, and each distance measuring module independently measures the distance. the method of. The method dedicated to traffic safety and road condition sense evaluation according to claim 2, wherein the plurality of distance measuring modules having coaxial optical channels are installed incompletely in parallel. The method dedicated to traffic safety and road condition sense evaluation according to claim 1, wherein the monitoring range of the laser radar system is 200 to 300 meters. The method dedicated to traffic safety and road condition sense evaluation according to claim 1, further comprising a step of analyzing the posture sense of an adjacent lane moving object moving to the monitoring lane. The step of identifying and analyzing the moving object,
The method dedicated to traffic safety and road condition sense evaluation according to claim 1, further comprising a step of storing monitoring data within the monitoring range. The method dedicated to traffic safety and road condition sense evaluation according to claim 1, wherein the acquired laser radar system monitoring data further includes image data of a monitoring range for displaying the monitoring live status. The method for traffic safety and road condition sense evaluation according to claim 8, wherein the warning early warning method includes a voice presentation early warning, a display early warning, and a blinking light early warning. The method dedicated to traffic safety and road condition sense evaluation according to claim 1, further comprising a step of adjusting the detection range of the laser radar system monitoring. The method dedicated to traffic safety and road condition sense evaluation according to claim 9, wherein the detection range of the laser radar system is adjusted according to the image data of the laser radar system.

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