KR20230127479A - Device and method for detecting collision road facilities - Google Patents

Abstract

A road facility collision detection device and method are disclosed. A road facility collision detection method according to an embodiment of the present invention includes the steps of collecting measurement values measured from 9-axis sensors installed on road facilities at regular intervals, and calculating the amount of impact applied to road facilities using the collected measurement values. , detecting an effective collision by comparing the calculated impact amount with a preset threshold to determine whether the collision is effective, measuring sensor data through a 9-axis sensor when an effective collision is detected, and using the collected sensor data and generating collision information by doing so.

Description

Road facility collision detection device and method {DEVICE AND METHOD FOR DETECTING COLLISION ROAD FACILITIES}

The present invention relates to a road facility collision detection device and method, and more particularly, to a road facility collision detection device and method for detecting damage due to collision of a road facility using a 9-axis sensor.

According to Article 91 of the Domestic Road Act, in the case of damage to road facilities due to a traffic accident, the person responsible for the accident shall bear the costs required for restoration. However, unlike highways, in the case of national and local roads, about half of road facility damage accidents are covered by taxes because the cause is not found. If road facilities damaged due to tax issues are left unattended, it may cause additional accidents as well as additional facility damage.

In order to solve this problem, CCTVs are installed on the roads, but due to cost limitations, CCTVs cannot be installed on all roads, and a lot of manpower and money are consumed to monitor and manage the installed CCTVs.

Methods have been devised to overcome the limitations of CCTV installation and to detect damage to road facilities. Among them, the most frequently used method is a method using a vibration sensor and a 3-axis acceleration sensor. A vibration sensor detects the vibration generated by the impact applied to the facility, and the 3-axis acceleration sensor measures the collision acceleration applied to the facility.

Since the method using the vibration sensor and the 3-axis acceleration sensor simply focuses on the collision occurrence time and whether or not the collision occurs, it does not provide any information on the state of the facility after the collision.

For example, it is determined that a collision has occurred even if an electrode above the threshold value bounces due to a simple malfunction of a sensor. At this time, there is no way to confirm that a collision has not actually occurred. There are difficulties.

Korean Patent Publication No. 10-2020-0088106 (published on July 22, 2020)

In order to solve the above problems, a technical problem to be achieved by the present invention is to provide a road facility collision detection device and method for accurately detecting damage due to collision of road facilities using data measured from a 9-axis sensor. .

The problems of the present invention are not limited to those mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the description below.

As a means for solving the above-described technical problem, a road facility collision detection method according to an embodiment of the present invention includes the steps of collecting measurement values measured from 9-axis sensors installed in road facilities at regular intervals, and collecting the collected measurement values. Calculating the amount of impact applied to the road facility using this method, comparing the calculated amount of impact with a preset threshold to determine whether or not the collision is effective and detecting an effective collision. A step of measuring, and a step of generating collision information using the collected sensor data are included.

Preferably, in the collecting step, the measurement values may be gravitational acceleration and collision acceleration by a 3-axis acceleration sensor.

Also preferably, in the calculating step, the impulse can be calculated using the following formula:

Here, ASD is the impulse, and x, y, and z are acceleration values measured on the x-axis, y-axis, and z-axis of the three-axis acceleration sensor, respectively.

Also preferably, when an effective collision is detected, the method may further include storing the occurrence time of the effective collision and the calculated impact amount.

Also preferably, in the detecting step, an invalid collision may be determined when the impact amount is less than the threshold value, and an effective collision may be determined when the impact amount exceeds the threshold value.

Also preferably, the measuring step may include determining the azimuth angle at which the collision was applied using data measured by the 3-axis acceleration sensor, correcting the determined azimuth angle using data measured by the 3-axis geomagnetic sensor, 3 The method may include determining a slope of a road facility using data measured by an axial acceleration sensor and correcting the determined slope using data measured by a 3-axis gyro sensor.

Also preferably, in the step of determining the azimuth, the azimuth can be calculated by the following formula:

If x ₁ <0, y ₁ <0,

If x ₁ >0, y ₁ <0,

If x ₁ >0, y ₁ >0,

If x ₁ <0, y ₁ >0,

here, is the azimuth, x ₁ is x-axis acceleration data from the 3-axis acceleration sensor at a specific point in time, and y ₁ is y-axis acceleration data from the 3-axis acceleration sensor at a specific point in time.

Also preferably, the step of determining the slope may calculate the slope by the following formula:

Here, FD is the slope, and x and y are acceleration values measured on the x-axis and y-axis of the 3-axis acceleration sensor, respectively.

On the other hand, in the road facility collision detection device according to another embodiment of the present invention, a collection unit that collects measurement values measured from 9-axis sensors installed on the road facility at regular intervals, and an amount of impact applied to the road facility using the collected measurement values A calculation unit that calculates the calculated impact amount with a preset threshold value to determine whether a collision is effective, a sensing unit that detects an effective collision, and when an effective collision is detected, control to collect sensor data of the 9-axis sensor through a collection unit. and a control unit generating collision information using the collected sensor data.

Preferably, the measurement values may be gravitational acceleration and collision acceleration by a 3-axis acceleration sensor.

Also preferably, the calculation unit may calculate the impulse using the following formula:

Here, ASD is the impulse, and x, y, and z are acceleration values measured on the x-axis, y-axis, and z-axis of the three-axis acceleration sensor, respectively.

Also preferably, when an effective collision is detected, a storage unit for storing the occurrence time and the calculated impact amount of the effective collision may be further included.

Also preferably, the sensing unit may determine an invalid collision when the impact amount is less than a threshold value, and determine an effective collision when the impact amount exceeds the threshold value.

Also preferably, the calculation unit determines the azimuth to which the collision is applied using the data measured by the 3-axis acceleration sensor, corrects the determined azimuth using the data measured by the 3-axis geomagnetic sensor, and The slope of the road facility may be determined using the data measured by the gyro sensor, and the determined slope may be corrected using the data measured by the 3-axis gyro sensor.

Also preferably, the calculation unit may calculate the azimuth by the following formula:

If x ₁ <0, y ₁ <0,

If x ₁ >0, y ₁ <0,

If x ₁ >0, y ₁ >0,

If x ₁ <0, y ₁ >0,

here, is the azimuth, x ₁ is x-axis acceleration data from the 3-axis acceleration sensor at a specific point in time, and y ₁ is y-axis acceleration data from the 3-axis acceleration sensor at a specific point in time.

Also preferably, the step of determining the slope may calculate the slope by the following formula:

Here, FD is the slope, and x and y are acceleration values measured on the x-axis and y-axis of the 3-axis acceleration sensor, respectively.

According to the present invention, by installing a 9-axis sensor on a road facility and detecting damage to the road facility using data obtained from the 9-axis sensor, unnecessary data can be removed and only information related to the actual damage of the road facility can be accurately retrieved. There is an effect of providing a road facility collision detection device and method that can be.

The effects of the present invention are not limited to those mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description below.

1 is a block diagram of a road facility collision detection device according to a preferred embodiment of the present invention;
2 is a diagram illustrating a scenario that occurs when a vehicle collides with a road facility;
3 is a graph showing acceleration data measured by a 3-axis acceleration sensor in a road facility collision detection device according to a preferred embodiment of the present invention;
4 is a graph showing acceleration data for defining the impact intensity according to the amount of impact in the road facility collision detection device according to a preferred embodiment of the present invention;
5 is a graph of change in 3-axis acceleration data for azimuth calculation in a road facility collision detection device according to a preferred embodiment of the present invention;
6 is a graph showing changes in acceleration data for azimuth calculation in a road facility collision detection device according to a preferred embodiment of the present invention;
7 is a view for explaining the azimuth angle of FIG. 6;
8 is a diagram for explaining azimuth correction in a road facility collision detection device according to a preferred embodiment of the present invention, and
9 is a flowchart for explaining a road facility collision detection method according to a preferred embodiment of the present invention.

The above objects, other objects, features and advantages of the present invention will be easily understood through the following preferred embodiments in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments described herein and may be embodied in other forms. Rather, the embodiments introduced herein are provided so that the disclosed content will be thorough and complete and the spirit of the present invention will be sufficiently conveyed to those skilled in the art.

In this specification, when an element is referred to as being on another element, it means that it may be directly formed on the other element or a third element may be interposed therebetween. Also, in the drawings, the thickness of components is exaggerated for effective description of technical content.

In this specification, when terms such as first and second are used to describe components, these components should not be limited by these terms. These terms are only used to distinguish one component from another. Embodiments described and illustrated herein also include complementary embodiments thereof.

Also, when it is said that a first element (or component) operates or is executed on (ON) a second element (or component), the first element (or component) means that the second element (or component) It should be understood that it is operated or executed in an environment in which it is operated or executed, or operated or executed through direct or indirect interaction with the second element (or component).

Where an element, component, device, or system is referred to as including a component consisting of a program or software, even if not explicitly stated otherwise, that element, component, device, or system means that the program or software executes or operates. It should be understood that it includes hardware (eg, memory, CPU, etc.) or other programs or software (eg, operating system or driver required to drive hardware) required to do so.

In addition, it should be understood that, unless otherwise specified, the element (or component) may be implemented in any form of software, hardware, or both software and hardware.

In addition, terms used in this specification are for describing embodiments and are not intended to limit the present invention. In this specification, singular forms also include plural forms unless specifically stated otherwise in a phrase. The terms 'comprises' and/or 'comprising' used in the specification do not exclude the presence or addition of one or more other elements.

1 is a block diagram of a road facility collision detection device according to a preferred embodiment of the present invention.

First, the road facility collision detection device 100 includes a 9-axis sensor. However, the 9-axis sensor may be configured as a single module with the road facility collision detection device 100 shown in FIG. 1, but may also be configured as separate modules.

Referring to FIG. 1, a road facility collision detection device 100 according to a preferred embodiment of the present invention includes a collection unit 110, a calculation unit 120, a detection unit 130, a storage unit 140, and a communication unit 150. ), and a control unit 160.

The collection unit 110 collects measurement values measured from 9-axis sensors installed in road facilities at regular intervals. Here, the 9-axis sensor is a sensor for detecting motions in free space, and since values of a total of 9 axes are measured, 3 axes of acceleration, 3 axes of inertia, and 3 axes of geomagnetism, it is called a 9-axis sensor.

The calculation unit 120 calculates the amount of impact applied to the road facility using the measured values collected by the collection unit 110 . The calculation unit 120 may calculate the amount of impact applied to the road facility by Equation 1.

[Equation 1]

Here, ASD is the amount of impact applied to the road facility calculated by the calculation unit 120, and x, y, and z are acceleration values measured on the x-axis, y-axis, and z-axis of the 3-axis acceleration sensor, respectively.

In addition, the calculation unit 120 may calculate the azimuth angle and the slope of the road facility to which the collision is applied using the data measured by the 3-axis acceleration sensor.

The calculation unit 120 may calculate the azimuth to which the collision is applied by Equation 2.

[Equation 2]

If x ₁ <0, y ₁ <0,

If x ₁ >0, y ₁ <0,

If x ₁ >0, y ₁ >0,

If x ₁ <0, y ₁ >0,

here, is the azimuth calculated by the calculator 120, x ₁ is x-axis acceleration data from the 3-axis acceleration sensor, and y ₁ is y-axis acceleration data from the 3-axis acceleration sensor.

The principle of the azimuth calculated by the calculation unit 120 is as follows. The direction in which the collision is applied to the road facility can be calculated using 3-axis acceleration data and 3-axis geomagnetic data. More specifically, the collision direction is calculated by analyzing the change in the 3-axis acceleration data, the azimuth based on the direction the 9-axis sensor is looking is calculated using the 3-axis acceleration data, and the sensor using the 3-axis geomagnetic data Calculate the azimuth angle relative to north regardless of the direction in which the Thereby, the azimuth at which the collision is applied to the road facility is determined.

The calculation unit 120 may calculate the slope of the road facility by Equation 3.

[Equation 3]

Here, FD is the slope of the road facility calculated by the calculation unit 120, and x and y are acceleration values measured on the x-axis and y-axis of the 3-axis acceleration sensor, respectively.

That is, the calculation unit 120 may perform mathematical calculations that occur during the operation of the road facility collision detection device 100 .

The detector 130 compares the amount of impact calculated by the calculator 120 with a predetermined threshold value to determine whether the collision is effective. Here, the detector 130 may classify whether the collision is valid or not into a valid collision and an invalid collision.

More specifically, when the impact amount is smaller than the critical value, it may be determined that the impact applied to the road facility is simple noise or a small collision that does not damage the road facility. In this case, the sensing unit 130 may determine an invalid collision. In addition, when the impact amount exceeds the critical value, the impact applied to the road facility is large, so it can be determined as an effective impact.

The storage unit 140 stores all information necessary for the operation of the road facility collision detection device 100 . For example, the storage unit 140 may store a preset threshold used in determining whether a collision is valid in the sensing unit 130 .

The communication unit 150 supports communication between the present road facility collision detection device 100 and a management server (not shown) or a manager terminal device (not shown). The communication unit 150 may support short-distance communication such as the Internet or Bluetooth. For example, collision information may be transmitted to a manager terminal device (not shown) through the communication unit 150 .

The control unit 160 controls the overall operation of the road facility collision detection device 100 . That is, the control unit 160 controls signal input/output between the collection unit 110 , the calculation unit 120 , the detection unit 130 , the storage unit 140 , and the communication unit 150 .

In addition, when an effective collision is detected by the sensing unit 130, the control unit 160 controls to collect sensor data of the 9-axis sensor through the collecting unit 110, and generates collision information using the collected sensor data. do.

2 is a diagram illustrating a scenario occurring when a vehicle collides with a road facility.

(a) corresponds to the case where no collision occurs with the road facility, and the road facility receives a gravitational acceleration of 9.80655 m/s ² in the vertical direction. Therefore, in road facilities, acceleration data is measured in a direction perpendicular to the ground as indicated by arrow A.

(b) corresponds to a situation in which a collision with a road facility occurs. At this time, the road facility measures the gravitational acceleration in the direction of the arrow A and the data of the collision acceleration in the direction of the collision as indicated by the arrow B.

(c) corresponds to a situation in which the road facility tilts after a collision with the road facility. In this case, unlike (b), the collision acceleration data in the collision direction is not measured, but only the gravitational acceleration in the direction perpendicular to the ground is measured as in (a).

Gravitational acceleration is constantly measured regardless of whether a collision occurs with a road facility, but when a collision occurs with a road facility, a collision acceleration is generated in the direction of the collision, and the direction in which the gravitational acceleration and the collision acceleration are vector synthesized and measured this becomes different As shown in (b), when a collision occurs with a road facility, the collision acceleration is additionally measured in addition to the gravitational acceleration. Through this, it is possible to determine whether or not a collision has been applied to the road facility, and it is possible to measure the gravitational acceleration and the collision acceleration through the 3-axis acceleration sensor.

3 is a graph showing acceleration data measured by a 3-axis acceleration sensor in a road facility collision detection device according to a preferred embodiment of the present invention.

In the road facility collision detection device 100 of the present invention, data measured by a 9-axis sensor is used. Among them, the 3-axis acceleration sensor measures acceleration data generated in the x-axis, y-axis, and z-axis, and each axis is perpendicular to each other.

When a collision occurs with a road facility equipped with a 9-axis sensor, a change occurs in the constant data. This can be seen through the graph of FIG. 3 . The x-axis of the graph is time (ms) and the y-axis is acceleration data (m/s ² ).

Section D in the graph is the 3-axis acceleration data measured before the road facility is impacted. Since the z axis is perpendicular to the ground, the gravitational acceleration is always measured, and the x and y axes do not receive any force, so 0 m/s ² is measured.

However, when an impact occurs on a road facility, the acceleration data measured on the x-axis and y-axis change rapidly, as shown in the E section of the graph, and the z-axis shows little change because the collision acceleration is not measured.

The calculator 120 calculates the amount of impact by applying the acceleration data to Equation 1. In this embodiment, the impact amount calculated by Equation 1 is graphed together with the acceleration data of the x-axis, y-axis, and z-axis.

In section D, the x-axis and y-axis acceleration data is 0 m/s ² , and the z-axis acceleration data is 9.80665 m/s ² . As in section E, when the collision acceleration is measured on the x-axis and the y-axis, the acceleration data at this time becomes 9.80665 m/s ² or more.

This means that since the amount of impact calculated by the calculation unit 120 increases as the collision acceleration increases, it is possible to detect whether or not a collision occurs by defining a threshold value according to the criterion of the collision intensity applied to the road facility.

In the road facility collision detection device 100 of the present invention, the 9-axis sensor installed on the road facility shows 9-axis data as shown in Table 1 in a stopped state.

division x-axis y axis z axis acceleration data 0 m/s ² 0 m/s ² 9.80665 m/s ² gyro data 0 degrees/second 0 degrees/second 0 degrees/second geomagnetic data Depends on measurement environment Depends on measurement environment Depends on measurement environment

A 9-axis sensor points east on the x-axis, north on the y-axis, and perpendicular to the ground on the z-axis. Accordingly, the 3-axis acceleration sensor receives gravitational acceleration in the z-axis. The 3-axis gyro sensor measures the gyroscope value on each axis, and the data measured on the corresponding axis changes. The 3-axis geomagnetic sensor measures the magnetic field around the 9-axis sensor, and measures the azimuth where the 9-axis sensor is placed using the earth's magnetic field data measured on the x-axis and y-axis.

That is, additional information on the road facility after the collision may be obtained in addition to the amount of impact at the moment when the impact is applied to the road facility using the data measured by the 9-axis sensor.

FIG. 4 is a graph showing acceleration data for defining a collision intensity according to an amount of impact in a road facility collision detection device according to a preferred embodiment of the present invention.

In this embodiment, the impact intensity may be defined as three types according to the amount of impact calculated by the calculation unit 120 . That is, the collision intensity can be divided into no collision, weak collision, and strong collision.

In this graph, F is the threshold for weak collisions and G is the threshold for strong collisions. That is, less than F corresponds to no collision, F to G corresponds to weak collision, and exceeding G corresponds to strong collision.

In order to set F and G, it is necessary to consider the range of 3-axis acceleration data measured when no collision occurs and the noise measured in the surrounding environment. In a stopped state, the 3-axis acceleration data measured by the 9-axis sensor appears as 10.5 m/s ² .

Accordingly, when the threshold value is smaller than 10.5 m/s ² , it may be determined that a collision has occurred due to an error in acceleration data measured by the 9-axis sensor even if a collision does not occur with a road facility. Therefore, the threshold of weak impact should be defined as greater than 10.5 m/s ² . Noise measured by external vibrations, not impacts, does not affect the acceleration data. Accordingly, the threshold of weak collision may be defined as 11 m/s ² with a margin in 10.5 m/s ² .

In addition, the impact amount when a vehicle collides with a fixed guardrail is 19 m/s ² . Accordingly, the threshold of strong collision may be defined as 19 m/s ² .

As a result, when the threshold is set as described above, it is determined that there is no collision from 0 to 10.9 m/s ² , from 11 m/s ² to 18.9 m/s ² is determined to be a weak collision, and from 19 m/s ² or more to a strong collision. can be determined by conflict.

The sensor 130 compares the amount of impact with a predetermined threshold value to determine whether the collision is effective. In this case, the sensing unit 130 may classify the collision into an effective collision and an invalid collision. A non-collision and a weak collision may be classified as an invalid collision, and a strong collision may be classified as a valid collision. Also, in some cases, the detector 130 may classify a no collision as an invalid collision, and classify a weak collision and a strong collision as an effective collision.

5 is a graph of a change amount of 3-axis acceleration data for calculating an azimuth angle in a road facility collision detection device according to a preferred embodiment of the present invention.

This graph shows three-axis acceleration data measured when a collision occurs with a road facility.

H shows the change when a collision occurs at the bottom of a road facility. A collision occurs on the y-axis of the 9-axis sensor, and the y-axis acceleration data shows a positive value and then changes to a negative value. On the other hand, I shows the change when a collision occurs above the road facility. Contrary to H, in I, the y-axis acceleration data of the 9-axis sensor shows a negative value and then changes to a positive value.

J shows the change when a collision occurs on the left side of a road facility. In this case, the x-axis acceleration data of the 9-axis sensor changes from a positive value to a negative value. On the other hand, K shows the change when a collision occurs on the right side of a road facility. Contrary to J, K changes the x-axis acceleration data of the 9-axis sensor from negative to positive.

Accordingly, it can be seen that the direction of the collision applied to the road facility can be determined by changing the x-axis acceleration data and the y-axis acceleration data.

FIG. 6 is a graph showing changes in acceleration data for calculating an azimuth angle in a road facility collision detection device according to a preferred embodiment of the present invention, and FIG. 7 is a diagram for explaining the azimuth angle of FIG. 6 .

When a collision occurs with a road facility, the x-axis acceleration data and the y-axis acceleration data are changed according to the direction of the collision. A collision can occur in any direction of a road facility, and acceleration data measured accordingly are shown in this graph.

Referring to this graph, the closer the collision is to a specific axis, the greater the amount of data change compared to other axes. For example, x ₁ shows a larger increase than y ₁ . Therefore, it can be determined that a collision occurred closer to the x-axis than the y-axis. In measuring the collision direction, x ₁ and y ₁ are proportional to each other. Accordingly, the calculation unit 120 may calculate the azimuth by Equation 2.

According to Equation 2, the collision azimuth is calculated differently according to the values of x ₁ and y ₁ . For example, if x ₁ is negative and y ₁ is negative, the collision occurred above and to the right of the sensor. As a result, it can be seen that the collision occurred at 0° to 90° based on the 9-axis sensor.

As shown in FIG. 7 , a collision azimuth of 0° to 360° may be calculated. Here, L corresponds to a point in time when a collision with a road facility occurs. However, this does not consider the direction in which the 9-axis sensor attached to the road facility is placed, and can be corrected using the 3-axis geomagnetic sensor.

8 is a diagram for explaining azimuth correction in a road facility collision detection device according to a preferred embodiment of the present invention.

The collision azimuth calculated using the 3-axis acceleration data does not consider the direction of the 9-axis sensor attached to the road facility. Accordingly, in order to consider the direction of the 9-axis sensor, it is corrected using geomagnetic data.

The 3-axis geomagnetic sensor measures the surrounding magnetic field, and calculates the azimuth at which the 9-axis sensor is placed using x-axis geomagnetic data and y-axis geomagnetic data. Therefore, using the azimuth of the 9-axis sensor, a constant collision azimuth is returned regardless of the direction in which the 9-axis sensor is placed.

When a strong collision occurs on a road facility, the slope of the road facility changes. Accordingly, the 9-axis sensor attached to the road facility is also inclined. When the 9-axis sensor tilts, the gravitational acceleration received by the 3-axis acceleration sensor changes, and the tilt of the road facility after collision can be measured by Equation 3.

At this time, it is unnecessary to measure the inclination while a collision occurs with the road facility and the road facility is tilted. For example, acceleration data measured while a road facility collides and tilts includes not only gravitational acceleration but also collision acceleration. In this situation, it may be inaccurate to measure the slope of the road facility.

Therefore, it can be corrected using 3-axis gyro data. The 3-axis gyro data can detect the movement of road facilities by measuring the degree of movement of the sensor in the x-axis, y-axis, and z-axis. That is, the 3-axis gyro data measured while the road facility is tilted after a collision is applied is 0 m/s ^{2 \} or more, and in this case, the inclination of the road facility is not measured.

9 is a flowchart illustrating a road facility collision detection method according to a preferred embodiment of the present invention.

A 9-axis sensor is installed in the road facility, and the road facility collision detection device 100 is installed in connection with the 9-axis sensor. The collection unit 110 collects measurement values of the 9-axis sensor according to a certain period (S210). Here, the measured value of the 9-axis sensor includes 3-axis acceleration data, 3-axis gyro data, and 3-axis geomagnetic data.

The calculation unit 120 calculates the amount of impact using the measured values of the 9-axis sensors collected by the collection unit 110 (S220). Calculation of the impact amount of the calculation unit 120 may be calculated by Equation 1.

When the calculation unit 120 calculates the amount of impact, the sensing unit 130 compares the amount of impact with a predetermined threshold value to classify the intensity of the impact. By distinguishing the collision intensity in the sensing unit 130, it is possible to determine whether the collision is effective (S230).

As a result of classifying the collision intensity of the sensing unit 130, when an effective collision is detected (S240-Y), the controller 160 controls the collecting unit 110 to collect sensor data of the 9-axis sensor, and collects the sensor data of the 9-axis sensor. 110 collects sensor data of the 9-axis sensor under the control of the controller 160 (S250).

Thereafter, the control unit 160 may generate collision information using the sensor data of the 9-axis sensor collected by the collection unit 110 and transmit the generated collision information through the communication unit 150 (S260).

Through this procedure, the road facility collision detection method according to the present invention continuously collects data from the 9-axis sensor installed on the road facility, detects whether or not the road facility has collided with it, and determines whether or not there is an effective collision according to the collision detection. judge Accordingly, it is possible to detect a case in which damage actually occurs to a road facility, excluding unnecessary information due to a malfunction of the 9-axis sensor and road noise.

Those skilled in the art to which the present invention pertains will understand that the present invention may be embodied in other specific forms without changing its technical spirit or essential features. Therefore, the embodiments described above should be understood as illustrative in all respects and not limiting. The scope of the present invention is indicated by the following claims rather than the detailed description above, and all changes or modifications derived from the meaning and scope of the claims and equivalent concepts should be construed as being included in the scope of the present invention. do.

100: road facility collision detection device 110: collection unit
120: calculation unit 130: detection unit
140: storage unit 150: communication unit
160: control unit

Claims (16)

Collecting measurement values measured from 9-axis sensors installed in road facilities at regular intervals;
calculating an amount of impact applied to the road facility using the collected measurement values;
detecting an effective collision by comparing the calculated impact amount with a preset threshold to determine whether the collision is effective;
measuring sensor data through the 9-axis sensor when the effective collision is detected; and
A road facility collision detection method comprising the step of generating collision information using the collected sensor data. According to claim 1,
In the collecting step, the measured values are a gravitational acceleration and a collision acceleration by a three-axis acceleration sensor. According to claim 1,
The calculating step is
A road facility collision detection method characterized in that the impact amount is calculated using the following formula:

Here, ASD is the impulse, and x, y, and z are acceleration values measured on the x-axis, y-axis, and z-axis of the three-axis acceleration sensor, respectively. According to claim 1,
and storing the occurrence time of the effective collision and the calculated impact amount when the effective collision is detected. According to claim 1,
The step of detecting
The road facility collision detection method, characterized in that determining an invalid collision when the impact amount is less than the threshold value, and determining the effective collision when the impact amount exceeds the threshold value. According to claim 1,
The measuring step is
determining an azimuth angle at which a collision is applied using data measured by a 3-axis acceleration sensor;
correcting the determined azimuth using data measured by a 3-axis geomagnetic sensor;
determining an inclination of the road facility using data measured by the 3-axis acceleration sensor; and
and correcting the determined slope using data measured by a 3-axis gyro sensor. According to claim 6,
In the step of determining the azimuth, the road facility collision detection method, characterized in that the azimuth is calculated by the following formula:
If x ₁ <0, y ₁ <0,
If x ₁ >0, y ₁ <0,
If x ₁ >0, y ₁ >0,
If x ₁ <0, y ₁ >0,
here, is the azimuth, x ₁ is x-axis acceleration data from the 3-axis acceleration sensor at a specific point in time, and y ₁ is y-axis acceleration data from the 3-axis acceleration sensor at a specific point in time. According to claim 6,
In the step of determining the slope, the road facility collision detection method, characterized in that the slope is calculated by the following formula:

Here, FD is the slope, and x and y are acceleration values measured on the x-axis and y-axis of the 3-axis acceleration sensor, respectively. a collection unit that collects measurement values measured from 9-axis sensors installed in road facilities at regular intervals;
a calculation unit that calculates an amount of impact applied to the road facility using the collected measurement values;
a sensing unit that compares the calculated amount of impact with a predetermined threshold value to determine whether a collision is effective and detects an effective collision;
When the effective collision is detected, a controller for controlling to collect sensor data of a 9-axis sensor through the collection unit and generating collision information using the collected sensor data; road facility collision detection device comprising a . According to claim 9,
The road facility collision detection device, characterized in that the measured values are gravitational acceleration and collision acceleration by a three-axis acceleration sensor. According to claim 9,
The calculator,
Road facility collision detection device, characterized in that for calculating the amount of impact using the following formula:

Here, ASD is the impulse, and x, y, and z are acceleration values measured on the x-axis, y-axis, and z-axis of the three-axis acceleration sensor, respectively. According to claim 9,
and a storage unit configured to store the occurrence time of the effective collision and the calculated impact amount when the effective collision is detected. According to claim 9,
the sensor,
The road facility collision detection apparatus, characterized in that determining an invalid collision when the impact amount is less than the threshold value, and determining the effective collision when the impact amount exceeds the threshold value. According to claim 9,
The calculator,
The azimuth angle at which the collision is applied is determined using the data measured by the 3-axis acceleration sensor, and the determined azimuth angle is corrected using the data measured by the 3-axis geomagnetic sensor;
The road facility collision detection device, characterized in that for determining the slope of the road facility using the data measured by the 3-axis acceleration sensor, and correcting the determined slope using the data measured by the 3-axis gyro sensor. 15. The method of claim 14,
The road facility collision detection device, characterized in that the calculator calculates the azimuth by the following formula:
If x ₁ <0, y ₁ <0,
If x ₁ >0, y ₁ <0,
If x ₁ >0, y ₁ >0,
If x ₁ <0, y ₁ >0,
here, is the azimuth, x ₁ is x-axis acceleration data from the 3-axis acceleration sensor at a specific point in time, and y ₁ is y-axis acceleration data from the 3-axis acceleration sensor at a specific point in time. 15. The method of claim 14,
In the step of determining the slope, the road facility collision detection device, characterized in that the slope is calculated by the following formula:

Here, FD is the slope, and x and y are acceleration values measured on the x-axis and y-axis of the 3-axis acceleration sensor, respectively.

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