KR102329249B1 - Entry vehicle detection system and detection method for active bollards - Google Patents

Abstract

Using a non-rotational phased array optical beam LIDAR sensor, the distance, speed, and movement trajectory of a moving object (or vehicle) approaching from the front is detected, and the elevation height of the bollard embedded in the ground is determined according to the result. A plurality of active bollards installed so as to be able to ascend and descend to the upper and lower parts of the ground, a driving unit for driving the lifting and lowering of the plurality of active bollards, and a front area of the active bollards An optical beam sensor unit for detecting a moving object approaching in and a control module for controlling the operation of the driving unit, wherein the optical beam sensor unit is composed of a plurality of channels arranged in parallel, and each channel transmits an optical beam signal having a phase difference from each other on the surface of the movable body. By providing a configuration including a receiving module for receiving the reflected signal of the reflected optical beam signal, the approaching vehicle detection system can be implemented at low cost and at high speed.

Description

Entry vehicle detection system and detection method for active bollards

The present invention relates to an approaching vehicle detection system and a detection method for an active bollard, and in particular, the distance, speed, movement trajectory, etc. of a moving object (or vehicle) approaching from the front using a non-rotating phased array optical beam lidar (LIDAR) sensor It relates to an approaching vehicle detection system and detection method for an active bollard that detects and automatically controls the elevation height of a bollard buried in the ground according to the result.

In general, a vehicle entry barrier, a bollard, is a vehicle entry prevention seat that is usually installed on a boundary stone, sidewalk, crosswalk, etc. It is produced and used for this purpose.

In other words, bollards are installed at predetermined intervals to block the entry of vehicles, prohibit parking, and protect pedestrians in parks, plazas, densely populated areas, or sidewalks. It is used and is formed and fixedly installed in a column shape so as to protrude from the ground by a predetermined height. For example, it is installed to protect pedestrians by installing a plurality of bollards to have a predetermined interval at the entrance of an area where the passage of vehicles is controlled, or to prevent parking the vehicle on a wide sidewalk.

On the other hand, recently, the bollard is also installed for anti-terrorism in order to prevent the entry of bombing vehicles in public buildings, etc. in addition to preventing the passage and parking of vehicles.

However, since such a bollard is formed to protrude as much as a predetermined height from the ground and is fixedly installed, there is a problem in that it interferes with the passage of vehicles and pedestrians in normal times, and it is difficult to use it for the prevention of terrorism due to the restriction in the installation location. There was a problem in that it was impossible to completely prevent vehicles from entering the building.

In other words. In the case of a conventional fixed bollard device installed on the boundary between a road and a sidewalk for pedestrian safety, there was a problem in causing injuries due to collision of the visually impaired or the weak in traffic, such as the elderly. In addition, even in the case of an automatic bollard system for solving this problem, there was a problem in that it was not possible to control the elevation of the bollard by distinguishing between the vehicle and the person because it is a method of detecting only whether a moving object is approaching.

An example of such a technique is disclosed in Patent Documents 1 to 3 and the like.

For example, in Patent Document 1 below, a sensor unit for detecting the entrance of a vehicle, a bollard protruding to the ground to block the progress of an entering vehicle when the sensor unit detects an entrance of a vehicle, and entering according to a detection signal of the sensor unit A microcomputer that determines the speed of the vehicle and determines the operation timing of the bollard, a drive unit that projects the bollard to the ground according to a control signal of the microcomputer, and sends an emergency signal to the microcomputer according to the manager's selection to operate the bollard It is disclosed for a rod-type bollard device for preventing vehicle terrorism including a control signal input unit to be enabled.

In addition, in Patent Document 2 below, a bollard case serving as a frame, a motor driving the bollard case to move up and down, a bracket serving to support the motor, and a ball for moving the bollard case up and down by driving the motor A ball screw composed of a screw shaft and a ball screw nut, a vehicle identification detection unit for identifying an accessible vehicle, an object detection sensor unit formed on the upper portion of the bollard case to detect an object around the bollard case, and the vehicle identification detection unit and object detection Disclosed is an electric automatic bollard capable of vertical movement including a control module for controlling the driving of the motor to move the bollard case in the vertical direction according to whether the sensor unit detects or not.

On the other hand, the following Patent Document 3 includes a support part embedded in the ground, a driving part connected to the support part and driving up and down by a preset height from the ground, and a control module for controlling the driving of the driving part, wherein the support part includes a lower plate, the lower plate and and a first guide rail and a second guide rail extending long in a first vertical direction, and an upper plate parallel to the lower plate and including a first through hole and a second through hole, wherein the driving unit includes a motor, a ball screw, and a shaft. and an automatic bollard including a driving plate moving up and down along the first and second guide rails, a first driving support shaft, a second driving support shaft, and a cylinder.

Republic of Korea Patent Publication No. 2015-0126092 (published on November 11, 2015) Republic of Korea Patent Publication No. 10-1146608 (registered on May 3, 2012) Republic of Korea Patent Publication No. 10-1721186 (registered on March 23, 2017)

In the technology disclosed in Patent Document 1 as described above, the sensor unit detects its entry state, provides a detection signal to the microcomputer, and then the second sensor provides the detection signal to the microcomputer. In the technology disclosed in , there is a problem in that it is impossible to determine the type of the moving object, the approach distance, the moving speed, and the moving trajectory.

In addition, Patent Document 2 discloses a technique for automatically controlling the lifting and lowering of the bollard according to the detection result of the sensor, but even in Patent Document 2, the type of the moving object, the approach distance, the moving speed, and the moving trajectory cannot be determined. It has not been disclosed for a technique for controlling the lifting and lowering of the bollard.

On the other hand, in the technology disclosed in Patent Document 3, when an emergency situation occurs, the bollard is driven up and down to allow passage of fire fighting vehicles or ambulances. Although the technology for detecting a vehicle equipped with an RFID tag by configuring the sensing unit as an RFID reader has been disclosed, since each RFID tag must be attached to an emergency vehicle, there is a problem in that the cost for realizing this is increased.

In addition, in order to prevent terrorism that is continuously occurring at home and abroad, to secure the lives and safety of the people, and to establish protection measures for major facilities, the government has established the legislation of the Anti-Terrorism Act, and anti-terrorism organizations and safety organizations for roads comply with international standards. An impact test should be conducted, but there was also a problem that it was practically impossible for small and medium-sized bollard suppliers to secure test evaluation and reliability by themselves.

In addition, since the point laser detects only distance information, it is difficult to detect vehicles approaching from the front, the recognition rate of CCTV is lowered by direct sunlight and reflected light, the infrared sensor is difficult to detect stationary objects, and the outdoor application is limited due to environmental factors. There was also an adversarial problem.

An object of the present invention has been made to solve the above-described problems, and similarly to an expensive radar system, the type (vehicle or person), movement speed, and movement trajectory of a forward moving object are determined using a fixed multi-channel optical beam sensor. and to provide a system and a detection method for detecting an approaching vehicle for an active bollard that can control the lifting and lowering of the bollard in stages according to the determination result.

Another object of the present invention is to use a multi-optical beam sensor that is strong against environmental factors and has high detection precision to detect and warn vehicles approaching in stages for the purpose of preventing terrorism and infiltrating major security facilities, and control the height of the bollard. It is to provide an approach vehicle detection system and detection method for an active bollard.

Another object of the present invention is to provide an approaching vehicle detection system and detection method for an active bollard that can efficiently control the entry of an approaching vehicle by controlling the height of the bollard according to the type of approaching vehicle (vehicle size, speed, distance) will do

In order to achieve the above object, the system for detecting an approaching vehicle for an active bollard according to the present invention includes a plurality of active bollards installed to be able to move up and down on the ground, a driving unit for driving the lift of the plurality of active bollards, and a front area of the active bollard. An optical beam sensor unit for detecting an approaching moving object, and using the output of the optical beam sensor unit to obtain information on at least one of a type of a moving object, an approach distance, a moving speed, and a moving trajectory, and according to the obtained information, the driving unit and a control module for controlling the operation of the optical beam sensor, wherein the optical beam sensor includes a plurality of channels arranged in parallel, and each channel includes a transmission module that transmits an optical beam signal having a phase difference from each other and a reflection from the surface of the movable body It characterized in that it comprises a receiving module for receiving the reflected signal of the optical beam signal.

In addition, in the system for detecting an approaching vehicle for an active bollard according to the present invention, the control module is an optical signal of point information including noise for each channel for each sampling period of the received reflected signal in order to simultaneously detect a paused object and an oncoming front object. is converted into line segment information, and the total area information of the reflected signal is obtained by using the reflected signal area information for each channel obtained by accumulating the reflected signals sensed in the form of line segments for a certain period of time, and the total area information is stored in advance. It is characterized in that the information on the type of the moving object is acquired according to the

In addition, in the system for detecting an approaching vehicle for an active bollard according to the present invention, the control module calculates the difference in the approach distance of the moving object for the channels adjacent to each other among the channels from which the reflected signal area information is obtained, and sets the calculated approach distance difference in advance The total area information of the reflected signal is obtained by summing the reflected signal area information of the adjacent channels that are less than or equal to the value.

In addition, in the system for detecting an approaching vehicle for an active bollard according to the present invention, the control module determines whether the active bollard is raised or lowered according to a predetermined method in response to at least one information of the type of the moving object, the approach distance, the moving speed, and the moving trajectory. Or it is characterized in that to control the elevation height.

In addition, in the entry vehicle detection system for an active bollard according to the present invention, the database includes information on the types of large trucks, buses, small vehicles, people and pets, large trucks, buses, small vehicles, and the size of people and pets. Information on the area information of large trucks, buses, small vehicles, people and pets according to the information and distances is stored, and the control module controls the moving object according to the information stored in the database to large trucks, buses, small vehicles, It is characterized in that it is judged as either a person or a pet.

In addition, in the system for detecting an entry vehicle for an active bollard according to the present invention, when the type of moving object detected by the control module is a heavy truck, a bus, or a small vehicle, and the active bollard rises, an alarm is generated for the moving object and the moving object It characterized in that it further comprises a detection alarm unit for photographing.

In addition, in the system for detecting an approaching vehicle for an active bollard according to the present invention, the detection alarm unit outputs a horn and an alarm signal of 4 stages according to the approach distance of the vehicle, and the active bollard has 3 stages in response to the warning signal of the 4 stage characterized by rising to

In addition, in the system for detecting an approaching vehicle for an active bollard according to the present invention, the optical beam sensor unit generates and transmits an optical beam with a different phase difference, and then has 16 receiving channels to acquire area information from the reflected signal. characterized.

In addition, in the entry vehicle detection system for an active bollard according to the present invention, a first detection unit provided at the entrance of a vehicle to detect a vehicle entering toward the active bollard, to prevent a subsequent vehicle from colliding with the bollard in the vehicle passage area A second sensing unit for monitoring the distance between the vehicles, a third sensing unit for detecting a rising state of the active bollard and a state of passing the bollard of the vehicle, and a fourth sensing unit for detecting the passing completion state of the active bollard characterized in that

In addition, in the system for detecting an approaching vehicle for an active bollard according to the present invention, a moving object speed determination unit for determining the speed of a moving object according to a detection signal from the first detection unit and the optical beam sensor unit, and a detection signal from the optical beam sensor unit and a moving object type determination unit that determines the type of moving object according to the information stored in the database, and a movement position of a vehicle entering from the second to fourth sensing units to prevent a collision of a subsequent vehicle and a collision with the active bollard and a vehicle movement state determination unit for determining, wherein the control module detects the movement state of the vehicle for an active bollard and controls to prevent collision of a subsequent vehicle bollard.

On the other hand, the front object detection device using the optical beam sensor according to the present invention is composed of a plurality of channels arranged in parallel, each channel transmits an optical beam signal having a phase difference from each other and the optical beam reflected from the surface of the moving object An optical beam sensor unit that detects a moving object approaching from the front area by receiving a reflected signal of the signal, and at least one of the type, approach distance, moving speed, and movement trajectory of the moving object using the output of the optical beam sensor unit a channel obtained by accumulating for a predetermined time the reflected signal sensed in the form of a line segment for each channel for each sampling period of the received reflected signal in order to simultaneously detect a paused object and an oncoming front object at the same time It is characterized in that the total area information of the reflected signal is obtained using the area information of the star reflected signal, and the information about the type of the moving object is obtained by searching the total area information in a pre-stored database.

In addition, in order to achieve the above object, the method for detecting an approaching vehicle for an active bollard according to the present invention is (a) an optical beam sensor that detects a moving object by detecting at least one of the type of the moving object, the approach distance, the moving speed, and the moving trajectory. determining, (b) outputting a horn or warning signal in response to the approach distance when the moving object is a vehicle as a result of the detection in step (a), (c) the horn or warning signal in step (b) and raising and lowering the active bollard in synchronization with the signal, wherein the detection and determination of the moving object in step (a) is generated by accumulating line segments per unit time in the control module by generating line segment information of the moving object detected by the optical beam sensor unit It is characterized in that the determination is made using the obtained area information.

In addition, in the method for detecting an approaching vehicle for an active bollard according to the present invention, the output of the horn or warning signal in step (b) and the active bollard elevation in step (c) are large trucks, buses, It is characterized in that it responds to information about small vehicles, people and pets, and controls the height of the bollard step by step when approaching at a speed higher than a defined speed in a predefined distance area.

As described above, according to the system and method for detecting an approaching vehicle for an active bollard according to the present invention, the distance, speed, and movement trajectory of the moving object is detected using a multi-optical beam lidar sensor, and the result is buried in the ground. By automatically controlling the height of the raised bollard, the effect of realizing the approaching vehicle detection system at low cost is obtained.

In addition, according to the system and detection method for entering an active bollard for an active bollard according to the present invention, since the type of large truck, bus, small vehicle, person and pet is determined only by area information for a moving object, the operation of the system can be performed at high speed. effect is obtained.

1 is a view showing an application state of an approach vehicle detection system for an active bollard according to the present invention;
2 is a block diagram of an approach vehicle detection system for an active bollard according to the present invention;
Figure 3 is a block diagram showing the configuration of the control module shown in Figure 2;
4 is a diagram showing an example of the output of a horn or warning signal to an oncoming vehicle;
5 is a view for controlling the elevation state of the active bollard in the drive control unit in response to the output of the horn or alarm signal as shown in FIG. 4;
Figure 6 is a view for explaining the operation of the active bollard shown in Figure 1;
7 is a view for explaining the configuration of a receiving module provided in the optical beam sensor unit shown in FIG. 2;
8 is a photograph showing an example of a large truck, a bus, a small vehicle, and a person as a moving object applied to the present invention;
9 is a flowchart for explaining an approach vehicle detection process for an active bollard according to the present invention;
10 is a view for explaining a method of obtaining the total area of the moving object reflected signal in the control module shown in FIG. 2;
11 is a view for explaining the calculation of the total area of the reflected signal (correlation analysis between adjacent channels and the method of calculating the accumulated area) in the control module shown in FIG. 2;
12 is a view for explaining the simultaneous sensing and sensing method of a moving object using a multi-channel optical beam in the optical beam sensor unit shown in FIG. 2;
13 is a view showing the test results of the detection characteristics of the vehicle approach state in the system for detecting an approaching vehicle for an active bollard according to the present invention;
14 is a view showing a test result of a detection characteristic of a human approach state in the system for detecting an approaching vehicle for an active bollard according to the present invention.

The above and other objects and novel features of the present invention will become more apparent from the description of the present specification and accompanying drawings.

As used herein, the term "LIDAR" refers to, for example, the distance, concentration, and velocity of a measurement object from the time and intensity of emitting a laser and returning a scattered or reflected laser, a change in phase, a change in polarization state, etc. , refers to a device that uses a technique to measure physical properties, such as shape. In addition, the term "active bollard" used in the present invention means a bollard installed so as to be able to elevate up and down on the ground.

An approaching vehicle detection system and detection method for an active bollard according to the present invention uses a multi-channel (eg, 16 ch) optical beam sensor arranged in parallel in the horizontal direction to detect a signal (optical beam) with a different phase difference for each channel. After transmission, a method of detecting the moving object in front is applied by receiving the signal reflected from the surface of the moving object in each channel.

In addition, in the case of a multi-channel optical beam sensor, in the case of a multi-channel optical beam sensor, point information is detected for each channel for each sampling period of the received reflected signal, and the time including noise related to the point information in the system and detection method for entering an active bollard according to the present invention Converts to line segment information according to the passage of time, accumulates line segment information for a certain period of time to obtain the total area of a signal reflected from a moving object, and uses the total area to obtain the type of moving object (large truck, bus, small vehicle, person, and pet) Animal), approach distance, movement speed, movement trajectory, etc. can be determined to perform the same function as an expensive radar device.

Accordingly, depending on the detection result of the multi-channel optical beam sensor (whether it is a large truck, a bus, a small vehicle, a person or a pet, whether the movement speed and movement trajectory are abnormal, etc.), whether the active bollard installed in the monitoring area is raised or lowered The height can be controlled step by step.

As described above, in the system and method for detecting an approaching vehicle for an active bollard according to the present invention, a detection target object (entrance vehicle or infiltrating person) existing on the road or front safety area of the main facility entrance area using a multi-optical beam sensor Converts the optical signal of point information, including noise reflected back from the , into line segment information, accumulates it to generate area information, obtains size and shape information, and detects the approach of a moving object by comparing it with information stored in the database.

On the other hand, for step-by-step warning according to the speed and distance of an approaching vehicle, a non-rotating optical beam sensor module (16 channels x 3 degrees = 48 degrees) has a different phase difference and the reflected signal of the transmitted optical beam is stored in 16 Using the information received through the optical beam receiving sensor channel, it detects an approaching vehicle, and alerts it by, for example, a visible (traffic light) or an audible (siren) method.

Hereinafter, an embodiment according to the present invention will be described with reference to the drawings.

1 is a view showing an application state of an approaching vehicle detection system for an active bollard according to the present invention, FIG. 2 is a block diagram of an entering vehicle detection system for an active bollard according to the present invention, and FIG. 3 is the control shown in FIG. It is a block diagram showing the configuration of the module.

As shown in FIGS. 1 and 2, the system for detecting an approaching vehicle for an active bollard according to the present invention includes a plurality of active bollards 10 installed so as to be able to ascend and descend on the ground, and the lifting and lowering of the plurality of active bollards 10 The driving unit 100 for driving, the optical beam sensor unit 300 for detecting a moving object approaching from the front region of the active bollard 10, and first to fourth sensing units 31 to 34 for detecting the positional state of the moving object ), using the output of the optical beam sensor unit 300 to obtain at least any one of the type of the moving object, the approach distance, the moving speed, and the moving trajectory, and control the operation of the driving unit according to the obtained information When the control module 400, the database 500 in which information on the moving object is stored, and the type of the moving object detected by the control module 400 are a heavy truck, a bus, or a small vehicle, and the active bollard 10 rises, the and a detection and alarm unit 41 for generating an alarm for the moving object and photographing the moving object.

As shown in FIG. 1, the system for detecting an approaching vehicle for an active bollard according to the present invention is mounted on a road through which a vehicle or a person can pass, and the active bollard 10 is, for example, adjacent to a guard post. mounted on top 1 shows a structure in which three active bollards 10 are provided, but the present invention is not limited thereto, and four or more may be mounted depending on the width of the road. In addition, although FIG. 1 shows a structure in which three are provided in one row, it may be provided in two rows or a plurality of rows in a zigzag form in order to more reliably block the entry of a vehicle.

In addition, a control box 20 is provided on the sidewalk adjacent to the active bollard 10 , and functions such as the driving unit 100 and the control module 400 are built in the control box 20 .

On the other hand, as shown in FIG. 1, a plurality of fixed bollards 30 are mounted at regular intervals on the sidewalk in order to distinguish the road from the sidewalk. The plurality of fixed bollards have a first detector 31 , a second detector 32 , a third detector 33 , and a fourth detector 34 sequentially to detect the position of the vehicle according to the entry position of the vehicle. ) is provided, for example, a traffic light 40 is provided at a vehicle entry position adjacent to a guard post, and the detection and alarm unit 41 may be mounted on the traffic light 40 .

An ultrasonic sensor is provided in the first detection unit 31 , the second detection unit 32 , the third detection unit 33 , and the fourth detection unit 34 , and a horn or an alarm signal is provided to the detection and alarm unit 41 . An alarm generating means for outputting an alarm, a photographing means having a camera are mounted, and an optical beam sensor unit 300 may be provided.

As shown in FIG. 1 , the first sensing unit 31 is provided in the entry part S1 of a vehicle such as a moving object, for example, a large truck, a bus, or a small vehicle, and enters toward the active bollard 10 . It is provided to confirm the authorization, the second detection unit 32 is provided to check the distance between the vehicles to prevent a subsequent vehicle from collided with the bollard in the vehicle passage area S2, and the third detection unit 33 is provided to detect the rising state of the active bollard 10 in the region S3 and the state while the vehicle is passing the bollard, and the fourth sensing unit 34 is the active bollard 10 in the region S4. is prepared to check.

In addition, the detection and alarm unit 41 according to the moving state of the vehicle, for example, according to the information detected by the first to the fourth sensing units 31 to 34, outputs different alarm sounds to the manager at the guard post. It is possible to recognize the moving state of the vehicle. In addition, the detection and alarm unit 41 may control a traffic light according to the moving state of the vehicle to allow the driver of the vehicle to recognize the moving state of the vehicle.

For example, when the traffic light is green, when a vehicle entering from 50 m ahead enters at a speed higher than a prescribed speed, the first detection unit 31 or detection and alarm unit 41 detects a vehicle entering at a speed higher than the prescribed speed. If detected, an alarm sound can be generated to the manager of the guard post so that the manager can recognize the abnormal movement of the vehicle. In addition, when the interval between the vehicles entering the second detection unit 32 from the region S2 becomes close, the detection and alarm unit 41 changes the state of the traffic light to red, and the first detection unit 31 generates an alarm. It is also possible to output an alarm sound higher than the sound, so that the manager or driver can recognize the state of the vehicle. In addition, when the state of the active bollard 10 is not lowered by being detected by the third detection unit 33, the detection and alarm unit 41 for a vehicle passing the area S3 of a different pattern of alarm sounds and traffic lights By changing the color from green to yellow or red, the operating state and dangerous situation of the active bollard 10 can be recognized by a manager or a driver.

As described above, in the detection system according to the present invention, the vehicle movement state is performed in four stages: the first sensing unit 31 , the second sensing unit 32 , the third sensing unit 33 , and the fourth sensing unit 34 . By detecting this, it is possible to prevent in advance the entry state of the vehicle, the collision of the vehicle, the collision of the bollard of the subsequent vehicle, and the like, and allow the manager to recognize such state information.

The optical beam sensor unit 300 is mounted on, for example, a traffic light 40 to detect a type of a moving object, an approach distance, a moving speed, a moving trajectory, etc., but is not limited thereto. It can also be mounted on a part.

The system for detecting an approaching vehicle for an active bollard according to the present invention includes multiple optical beam (H: 48 degrees, V: 3.0 degrees) sensors in the first to fourth detection units 31 to 34 and the optical beam sensor unit 300 described above. 4, it detects a vehicle entering within 50M using The detection and operation height of the bollard can be monitored, and the height of the bollard can be controlled step-by-step according to the active bollard collision prevention of subsequent vehicles and the entry state.

As shown in FIG. 3 , the control module 400 includes a transceiver 410 , a moving object speed determination unit 420 , a moving object type determination unit 430 , a vehicle movement state determination unit 440 , and a driving control unit 450 . ), and an alarm control unit 460 .

The transceiver 410 includes the above-described first sensing unit 31 , second sensing unit 32 , third sensing unit 33 , and fourth sensing unit 34 and optical beam sensor unit 300 . Receives a detection signal, and transmits an operation signal to the traffic light 40 and the detection alarm unit 41, for example, LoRa (Long Range) method, Narrowband Internet of Things (NB-IoT) method, UNB (Ultra Narrow) -Band) modulation method, Wi-Sun (Smart utility networks) method, ZigBee method, ISM (Industry-Science-Medical) band method, RF communication method, Bluetooth (BLE) method can transmit and receive. Accordingly, the first detection unit 31, the second detection unit 32, the third detection unit 33, and the fourth detection unit 34 have a built-in transmission function for transmitting detection information, and the traffic light ( 40) and the detection and alarm unit 41 may have a built-in reception function.

The moving object speed determining unit 420 determines the speed of a moving object, for example, a vehicle according to the detection signals from the first detecting unit 31 and the optical beam sensor 300 , and the moving object type determining unit 430 . ) determines the type of a moving object, for example, a large truck, a bus, a small vehicle, a person, and a pet, according to a detection signal from the optical beam sensor unit 300 and information stored in the database 500, and moves the vehicle. The state determination unit 440 determines the moving position of the entering vehicle to prevent a collision of a subsequent vehicle and a collision with the active bollard 10, according to the detection state of the second to fourth sensing units, the entering vehicle. can determine the moving position of

The driving control unit 450 is a driving unit ( 100), and the alarm control unit 460 includes a traffic light 40 and a detection alarm unit according to the determination results of the moving object speed determination unit 420, the moving object type determination unit 430, and the vehicle moving state determination unit 440. (41) is controlled.

The control module 400 includes, for example, a microprocessor for controlling the driving unit 100, the traffic light 40, and the detection and alarm unit 41, and the operation of the driving unit 100, the signal light 40, and the detection and alarm unit 41. and a memory for storing information about the reflected signal area information for each channel obtained by accumulating the reflected signal sensed in the form of a line segment for each channel for a certain period of time for each sampling period of the reflected signal received from the optical beam sensor unit 300 The total area information of the reflected signal is obtained using the information about the type of the moving object according to the information of the database 500 pre-stored in the total area information.

That is, the control module 400 calculates the difference in the approach distance of the moving object with respect to the channels adjacent to each other among the channels from which the reflected signal area information is obtained, and calculates the reflected signal area information of the adjacent channels in which the calculated approach distance difference is less than or equal to a predetermined setting value. The total area information of the reflected signal is obtained by summing, and the moving object is determined as any one of a large truck, a bus, a small vehicle, a person, and a pet according to the area information.

4 is a diagram illustrating an example of outputting a horn or warning signal to an oncoming vehicle. As shown in FIG. 4 , the moving object speed determination unit 420 of the control module 400 outputs a green warning signal from the traffic light 40 as a first-stage warning when the vehicle approaches within 50M, and the vehicle approaches within 30M. When the vehicle approaches within 20M, a yellow warning signal is output as a 2-stage alarm, and when the vehicle approaches within 20M, a red alarm signal is output as a 3-stage alarm. 41) controls to output an alarm sound. In addition, the alarm control unit 460 controls to output different alarm sounds from stage 1 to stage 4 in synchronization with the control of the traffic light 40 as described above.

FIG. 5 is a diagram for controlling the lifting state of the active bollard 10 in the driving control unit 450 in response to the output of the horn or alarm signal as shown in FIG. 4 .

The active bollard 10 is normally maintained on the same plane as the road, and as shown in FIG. 5 , it rises to the third stage in response to the alarm signal of the fourth stage from the detection and alarm unit 41 . That is, if the vehicle approaches the defined speed within 50m (eg 30km/h, 20km/h, etc.), it will stay in the first level position according to the green warning, and if the vehicle approaches within 30m, it will follow the yellow warning Ascends to the 2nd position, if the vehicle approaches within 20m, it rises to the 3rd position according to a red warning, and if the vehicle approaches within 10m, it maintains the 3rd position with the output of the horn.

As described above, it is possible to prevent unnecessary driving of the active bollard 10 for the passage of a normal vehicle by adjusting the raising stage of the active bollard 10 to three stages.

In addition, although the description has been made in the configuration of outputting the horn together with the red alarm signal, the present invention is not limited thereto, and the output of the alarm sound may also be divided into 1 to 4 stages.

Next, the step of raising the active bollard 10 will be described according to FIG. 6 .

FIG. 6 is a view for explaining the operation of the active bollard shown in FIG. 1 , and FIG. 6 (a) is a view showing a coupling relationship between the active bollard 10 and the driving unit 100, FIG. 6 (b) is a diagram for explaining the operation of the active bollard (10).

The active bollard 10 applied to the entering vehicle detection system for the active bollard according to the present invention is hydraulically or electrically by the driving unit 100 according to the control of the driving control unit 450 of the control module 400, as shown in FIG. can rise as

When the active bollard 10 detects the movement of a vehicle or the like by the optical beam sensor unit 300 , the control module 400 controls the operation of the driving unit 100 according to the detection signal. That is, the active bollard 10 maintains the same plane state as the roadway as shown in FIG. 6(b) according to the green warning when the vehicle approaches within 50M, and moves the vehicle in the optical beam sensor unit 300 When approaching within this 30M, it rises to the second level position according to the yellow warning, and when the vehicle approaches within 20M, it rises to the third level position according to the red warning.

To this end, the driving unit 100 includes a controller that transmits and receives a control signal from the control module 400, an oil tank that raises and lowers the active bollard 10, and a solenoid, as shown in FIG. It may include a valve, a flow rate detection sensor, a manifold, and the like.

The optical beam sensor unit 300 is composed of a plurality of channels arranged in parallel, and each channel has a transmission module that transmits an optical beam signal having a phase difference with each other and, as shown in FIG. and a receiving module for receiving a reflected signal of the reflected optical beam signal.

FIG. 7 is a view for explaining the configuration of a receiving module provided in the optical beam sensor unit 300 shown in FIG. 2 .

The reception module of the optical beam sensor unit 300 receives an optical signal of point information including noise reflected from a moving target object (incoming vehicle or person) based on a multi-optical beam sensor, and transmits and receives the control module 400 . It is transmitted to the moving object speed determining unit 420 and the moving object type determining unit 430 through the unit 410, and the control module 400 converts the optical signal of point information including noise received from the receiving module into line segment information, , after generating area information accumulated over time, the moving object type determining unit 430 acquires the size and shape to determine the moving object as any one of a large truck, a bus, a small vehicle, a person, and a pet.

That is, as shown in FIG. 7 , the optical beam sensor unit 300 includes two non-rotational phased array optical beam sensor modules (16 channels x 3 degrees = 48 degrees) for step-by-step warning according to the speed and distance of an entering moving object. ) is provided with a different phase difference, and has 16 optical beam receiving channels that contain the reflected signal of the transmitted optical beam, and the control module 400 has an area according to the information received from the optical beam sensor unit 300 . information can be obtained.

8 is a photograph showing an example of a large truck, a bus, a small vehicle, a person, and a pet to which the present invention is applied. The database 500 stores information about heavy trucks, buses, small vehicles, people, and pets as shown in FIG. 8 .

That is, in the database 500, information on the types of heavy trucks (a), buses (b), small vehicles (c), and people (d) shown in FIG. Information on the area information is stored, and the control module 400 controls the moving object according to the information stored in the database 400 and the information detected by the optical beam sensor unit 300 to be a large truck, a bus, a small vehicle, a person, and a pet. determine whether it is an animal. In addition, although the control module 400 and the database 500 have been described in a separate structure in FIG. 2 , the database 500 may be provided in a memory within the control module 400 .

That is, in the present invention, the maximum and minimum values in the hysteresis curve for the area information of the moving object sensed by the moving object type determination unit 430 are not precisely detected for the classification of large trucks, buses, small vehicles, people, and pets. It is determined by dividing it into four steps within the range of, and it controls the operation of the active bollard 10 by judging the size information of large trucks, buses, small vehicles, people and pets in detail by repeated learning of such judgments. , it can be configured as a simple system using a relatively inexpensive optical beam LiDAR sensor.

Next, a process for detecting an approach vehicle for an active bollard will be described with reference to FIGS. 9 to 12 .

9 is a flowchart for explaining a process of detecting an approaching vehicle for an active bollard according to the present invention

In the method for detecting an approaching vehicle for an active bollard according to the present invention, the optical beam sensor unit 300 for detecting a moving object detects at least one of the type of the moving object, the approach distance, the moving speed, and the moving trajectory, and the control module 400 The moving object speed determination unit 420 and the moving object type determination unit 430 determine the type of the moving object, and when the moving object is a vehicle as a result of detection by the control module 400, the traffic light 40 according to the control of the alarm control unit 460 ) and the detection and alarm unit 41 outputs a horn or an alarm signal in response to the approach distance, and at the same time, the driving unit 100 raises the active bollard 10 under the control of the driving control unit 450 .

To this end, the optical beam sensor unit 300 acquires distance information from the moving object using multiple optical beams (S10). For example, a moving object approaching at a speed of 3 km/h or more is detected. Such detection may be performed, for example, by the first sensing unit 31 as shown in FIG. 1 .

The optical signal of the point information including the noise of the moving object detected by the optical beam sensor unit 300 is converted into line segment information in the moving object type determination unit 430 of the control module 400 and is displayed as a distance line segment accumulation per unit time ( S20). For example, only about 50 such marks may be displayed.

Next, the control module 400 calculates the detection object size (y-axis) per optical beam channel as shown in FIG. 10 ( S30 ). That is, the width of one channel (the size of the y-axis) = y _t (tan24°*x)/8.

FIG. 10 is a diagram for explaining a method of obtaining the total area of the moving object reflected signal in the control module shown in FIG. 2 , and the calculation of the reflected signal area in a unit channel according to FIG. 10 is described.

The sensing angle for each channel is assumed to be 3°.

The sampling period of the reflected signal is 50 Hz (20 ms), and 50 times of reflected signals (line segment form) are accumulated for each judgment, and as shown in FIG. 10 for each channel, the control module 400 generates a trapezoidal reflected signal area. make it 10 shows, for example, a state accumulated for 1 second.

The reflected signal area (S) of each channel in which the moving object is detected is obtained by the following equation.

That is, the channel width (y) can be calculated using a trigonometric formula by making a right triangle. You can calculate the width of one channel by calculating the length of the width (y) of the 8 channels using the tangent of the half 24° (8 channels) and the distance value (x) of the total 48° (16 channels) and dividing by 8 .

Next, the control module 400 calculates the distance change amount (y-axis) according to the defined speed (S40).

Distance change (X-axis size) =ΔX = X _max - X _min

Then, the control module 400 calculates the area (trapezoid) through the detection size (x, y) per channel (S50).

1/2(y _min + y _max )*ΔX = area (S)

Next, the control module 400 sums only the area information of the relevant channels (S60).

S = S1 + S2 + S3 …

That is, as shown in FIG. 10 , only area information of related channels is summed to analyze the correlation between adjacent channels. FIG. 11 is a view for explaining calculation of a total area of a reflected signal (correlation analysis between adjacent channels and a method of calculating a cumulative area) in the control module shown in FIG. 2 .

11 shows, for example, _{distance comparison between adjacent channels among the distance information (x min} ) of 16 channels, and when the distance difference between adjacent channels is less than or equal to a certain range (ex. 0.1m), there is a correlation by the following formula It is determined and recognized as a reflected signal of the same moving object.

_{The total area (S t} ) of the reflected signal is obtained by summing the areas of the reflected signals of adjacent channels with respect to each other.

_{Next, the total area (S t} ) calculated differently depending on the size, approach distance, and speed of the moving object, that is, the determined area information of the object by distance and speed, is compared with the reference table stored in the database 500 to determine the type of the moving object ( S70). The following table is a comparison table showing an example of the criteria stored in the database 500 .

Table 1 is a comparison table of the reflected signal area of a unit channel according to distance and speed.

In Table 1 above, the area is calculated by accumulating 10 line segments in units of 20 ms (50 pieces per second), and the detection area changes the channel width (y-axis size) according to the distance, and the distance change amount (x-axis size) according to the speed change can be seen

Table 2 shows the channel width for each distance and the number of channel occupants of an object, which can be used for correlation analysis.

Table 3 is a comparison table of the reflected signal area by distance and speed, which can be used to determine the type of moving object.

In step S70, the control module 400 compares the determined area information of the object by distance and speed with the reference table stored in the database 500 to determine the type of the moving object, and if the moving object continues to proceed, FIGS. 4 and 5 The active bollard 10 is operated by operating the driving unit 100 according to the regulations as shown in Fig. 1, and the detection alarm unit 41 is operated to output a horn or an alarm signal (S80).

Next, with reference to FIG. 12 , a process for detecting a moving object by using the optical beams 48° and 16ch in the detection and warning unit 41 will be described. 12 is a view for explaining the simultaneous detection and detection method of a moving object using a multi-channel optical beam in the optical beam sensor shown in FIG. 2 .

In the optical beam sensor unit 300, a multi-channel (ex. 16ch) optical beam sensor arranged in parallel in the horizontal direction is provided with a multi-optical beam LiDAR sensor, and a signal (optical beam) with a different phase difference for each channel is transmitted. After receiving the signal reflected from the surface of the moving object in each channel, multiple moving objects located in the front are sensed at the same time.

In the system for detecting an approaching vehicle for an active bollard according to the present invention, the control module 400 converts the optical signal of the point information including noise for each channel into line segment information for each channel for each sampling period of the received reflected signal in the case of a lidar sensor, and The total area of the signal reflected from the moving object shown in FIG. 12 is obtained by accumulating the signal detected in the form for a certain time, and the type of the moving object (large truck, bus, small vehicle, person, and pet) using this total area , an approach distance, a moving speed, a moving trajectory, etc., so that it can perform the same function as an expensive radar device.

Next, test results of applying the system for detecting an approaching vehicle for an active bollard according to the present invention will be described with reference to FIGS. 13 and 14 .

13 is a view showing the test results of the detection characteristics of the vehicle approach state in the system for detecting an approaching vehicle for an active bollard according to the present invention, and FIG. is a diagram showing the test results of

In FIG. 13 , it is assumed that an object of about 1,800 * 1,000 mm is a vehicle for the evaluation of the detection characteristics of the approaching vehicle, and in FIG. 14 , the results of an experiment are shown in which a person moves within the detection area in an indoor environment.

In addition, in the present invention, as shown in Fig. 1, in order to obtain accurate information of the moving body of the moving body in the access road of the vehicle equipped with the active bollard 10, as shown in Figs. 13 and 14, as shown in Figs. By removing the recognition of the structure, it is possible to improve the detection precision by detecting only information about the moving object in an empty space state.

In addition, distance information (y-axis information) is obtained according to the detection of a sensing object in the front area, and area information is obtained by sensing the speed according to the movement (moving object) of the sensing object, that is, the amount of change in distance, and this area information and database It is possible to easily realize judgment of large trucks, buses, small vehicles, people and pets with the information of moving objects stored in the .

For example, when the optical beam sensor unit 300 detects a moving object located at a distance of 50 m as a single point including noise as shown in FIG. 4 , the control module 400 converts the point information into line segment information. As the moving object is recognized and the moving object approaches, the channel occupancy of the optical beam sensor unit 300 increases and thus the density increases, and thus the resolution increases, so that it can be applied to image processing and the like.

In FIG. 13 , it was possible to detect a vehicle entering at 17.6 m, and in FIG. 14 , it was confirmed that a person was approaching at a size of about 0.64 m from 5.67 m.

The invention made by the present inventors has been described in detail according to the above embodiments, but the present invention is not limited to the above embodiments and various modifications can be made without departing from the gist of the present invention.

That is, in the above description, the active bollard has been described as a structure in which the active bollard rises as the vehicle enters, but the present invention is not limited thereto, and it can also be applied to a structure for lowering the active bollard that maintains an elevated state when a person passes.

In addition, in the above description, although described as a configuration applied to an approach vehicle detection system for an active bollard, it is not limited thereto, and it is also applicable to a front object detection device using an optical beam sensor.

By using the approaching vehicle detection system and detection method for active bollards according to the present invention, the approaching vehicle detection system can be implemented at low cost and at high speed.

10 : Active Bollard
41: detection and alarm unit
100: drive unit
300: optical beam sensor unit
400: control module

Claims (13)

A number of active bollards installed to be able to ascend and descend to the upper and lower parts of the roadway,
A number of fixed bollards installed at regular intervals in India,
A driving unit for driving the lifting and lowering of the plurality of active bollards;
An optical beam sensor unit for detecting a moving object approaching from the front area of the active bollard,
First to fourth sensing units respectively mounted on the plurality of fixed bollards and sensing the positional state of the movable body;
A control module for acquiring at least one of a type of a moving object, an approach distance, a moving speed, and a moving trajectory by using the area information detected through the optical beam sensor unit, and controlling the operation of the driving unit according to the obtained information includes,
The optical beam sensor unit is composed of a plurality of channels arranged in parallel, and each channel arranges an optical beam channel so that a phase difference can occur with a transmission module for transmitting an optical beam signal and a phase difference reflected from the surface of the movable body Including a receiving module for receiving different and scattered light type dot (dot) information,
The first sensing unit is provided at the entrance of the vehicle to detect a vehicle entering toward the active bollard, and the second sensing unit to check the distance between the vehicles to prevent a subsequent vehicle from colliding with the bollard in the vehicle passage area. provided, wherein the third sensing unit is provided to detect a rising state of the active bollard in an area in front of the active bollard and a state in which the vehicle is passing through the bollard, and the fourth sensing unit is an active bollard in an area after the active bollard. An approaching vehicle detection system for an active bollard, characterized in that it is provided to check the passing completion state of the. In claim 1,
The control module converts the optical signal of the point information including noise for each channel into line segment information for each sampling period of the received reflected signal in order to simultaneously detect the paused object and the approaching front object, and the reflected signal sensed in the form of a line segment The total area information of the reflected signal is obtained by using the reflected signal area information for each channel obtained by accumulating for a certain period of time, and information on the type of the moving object is obtained according to the information of a database stored in advance of the total area information. An approaching vehicle detection system for active bollards. In claim 2,
The control module calculates the difference in the approach distance of the moving object with respect to the channels adjacent to each other among the channels from which the reflected signal area information is obtained, and sums up the reflected signal area information of the adjacent channels in which the calculated approach distance difference is equal to or less than a predetermined set value to reflect the reflected signal area information. An approaching vehicle detection system for an active bollard, characterized in that it obtains the total area information of the signal. In claim 2,
The control module enters for active bollard, characterized in that it controls whether to raise or lower the active bollard according to a predetermined method in response to at least one information of a type of a moving object, an approach distance, a moving speed, and a moving trajectory vehicle detection system. In claim 4,
The database includes information on the types of heavy trucks, buses, small vehicles, people and pets, information on the size of large trucks, buses, small vehicles, people and pets, and large trucks, buses, small vehicles, Information about the area information of people and pets is stored,
The control module enters vehicle detection system for an active bollard, characterized in that the moving object is determined as any one of a heavy truck, a bus, a small vehicle, a person, and a pet according to the information stored in the database. In claim 2,
When the type of the moving object detected by the control module is a large truck, a bus, or a small vehicle, and the active bollard rises, an alarm is generated for the moving object and a detection alarm unit for photographing the moving object Entry vehicle detection system for bollards. In claim 6,
The detection and alarm unit outputs a horn and a warning signal of 4 stages according to the entry distance of the vehicle, and the active bollard enters the vehicle detection system for an active bollard, characterized in that it rises to 3 stages in response to the warning signal of the 4 stage . In claim 2,
The optical beam sensor unit generates and transmits an optical beam with a different phase difference, and then has 16 receiving channels to acquire area information from the reflected signal. delete In claim 2,
The control module is
a moving object speed determination unit for determining the speed of the moving object according to the detection signals from the first sensing unit and the optical beam sensor unit;
a moving object type determination unit for determining the type of the moving object according to a detection signal from the optical beam sensor unit and information stored in the database;
A vehicle movement state determination unit for determining the moving position of the vehicle entering from the second sensing unit to the fourth sensing unit in order to prevent a collision of a subsequent vehicle and a collision with the active bollard,
The control module is an active bollard entering vehicle detection system, characterized in that the control to detect the moving state of the vehicle for the active bollard and to prevent the collision of the following vehicle bollard. It is composed of a plurality of channels arranged in parallel, and each channel transmits an optical beam signal having a phase difference with each other and receives a reflected signal of the optical beam signal reflected from the surface of the moving object to detect a moving object approaching from the front area. optical beam sensor unit,
First to fourth sensing units respectively mounted on a plurality of fixed bollards and sensing the positional state of the movable body;
and a control module for acquiring at least one information of a type of the moving object, an approach distance, a moving speed, and a moving trajectory by using the area information detected through the optical beam sensor unit,
The control module converts a noise component in the form of point information reflected from an object for each channel into a line segment form by connecting with an adjacent channel for each sampling period of the received reflected signal in order to simultaneously detect a paused object and an oncoming object at the same time Then, the total area information is obtained by collecting the area information for each channel obtained by accumulating for a certain time, the total area information is calculated in advance, and the area stored in the database is calculated by calculating the change in the area according to the approach distance and the approach speed of the approaching object. Obtain information about the type of the moving object by searching in the information,
The first sensing unit is provided at the entry part of the vehicle to detect a vehicle entering toward the bollard, and the second sensing unit is provided to check the distance between the vehicles to prevent a subsequent vehicle from colliding with the bollard in the vehicle passage area, , The third sensing unit is provided to detect a rising state of the active bollard in a region in front of the active bollard and a state in which the vehicle is passing through the bollard, and the fourth sensing unit passes the active bollard in the region after the active bollard. Front object detection device using an optical beam sensor, characterized in that provided to confirm the completion state. (a) First to fourth sensing units mounted on a plurality of fixed bollards, respectively, for detecting the positional state of a moving object to prevent a subsequent vehicle from colliding with the bollard in a vehicle traffic area, and an optical beam sensor unit for detecting the moving object detecting and determining the type of moving object, the approach distance, the moving speed and the moving trajectory;
(b) outputting a horn or warning signal corresponding to the approach distance when the moving object is a vehicle as a result of the detection in step (a);
(c) elevating and lowering the active bollard with three-stage height control in synchronization with the horn or alarm signal in step (b);
In step (a), the detection and determination of the moving object is performed by linking the dot information in the form of scattered light detected by the optical beam sensor unit with the dot information of the adjacent channel to unit the line segment information generated for the entire channel. It is determined using the area information accumulated over time,
The first sensing unit is provided at the entrance of the vehicle to detect a vehicle entering toward the active bollard, and the second sensing unit to check the distance between vehicles to prevent a subsequent vehicle from colliding with the bollard in the vehicle passage area. provided, wherein the third sensing unit is provided to detect a rising state of the active bollard in an area in front of the active bollard and a state in which the vehicle is passing through the bollard, and the fourth sensing unit is an active bollard in an area after the active bollard. An approaching vehicle detection method for an active bollard, characterized in that it is provided to check the passing completion state of the. In claim 12,
The output of the horn or alarm signal in step (b) and the active bollard raising and lowering in step (c) correspond to information about heavy trucks, buses, small vehicles, people and pets determined by the area information, An approaching vehicle detection method for an active bollard, characterized in that the height of the bollard is controlled step by step when approaching at a speed higher than a defined speed in a predefined distance area.

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