CN106054207A - Laser radar system and method for providing prompt against dangerous road condition - Google Patents
Laser radar system and method for providing prompt against dangerous road condition Download PDFInfo
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- CN106054207A CN106054207A CN201610641770.3A CN201610641770A CN106054207A CN 106054207 A CN106054207 A CN 106054207A CN 201610641770 A CN201610641770 A CN 201610641770A CN 106054207 A CN106054207 A CN 106054207A
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- module
- laser
- monitoring
- dangerous road
- control
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a laser radar system for providing prompt against dangerous road condition. The system comprises a laser radar monitor and a control center connected with the laser radar monitor, the laser radar monitor comprises a laser emission module, a laser reception module and a rotation module, and the control center comprises a master control circuit module, a control module and a signal lamp caution module. The method comprises the steps that the laser radar monitor and the master control circuit module are used to obtain distance and angle information of a monitoring object in a monitoring area, and send the information to the control module; and the control module receives the distance and angle information of the monitoring object, compares the information with a set safety threshold, makes determination and emits a control instruction, and the monitoring object receives prompt information from the signal lamp caution module When a vehicle enters the laser radar monitoring area of the dangerous road condition, prompt of present road condition can be provided for drivers timely, and traffic accidents can be prevented.
Description
Technical field
The present invention relates to the application system of a kind of laser radar, be particularly used for the laser radar system of dangerous road condition advisory
System and method.
Background technology
Laser radar is the radar system launching the characteristic quantities such as the position of detecting laser beam target, speed.Former from work
Say there is no a basic difference with microwave radar in reason: to objective emission detectable signal (laser beam), then by receive from mesh
The signal (target echo) that mark reflects compares with launching signal, after making suitably to process, so that it may obtain the relevant of target
Information, as target range, orientation, highly, the parameter such as speed, attitude, even shape, thus target is detected, follow the tracks of and
Identify.Laser radar be widely used in scan monitoring objective barrier size and and other object between distance and target
The speed of service of barrier.
The probability that vehicle travels in some Dangerous Area generation vehicle accidents is bigger, additionally, carry out by road or road
During construction, road needs to block a period of time, the most simply disposes simple road construction to identify, and vehicle is often being led
Under the guiding of boat system arrive construction section block end just find road cannot normal pass, needs return to do navigation way
Planning.Especially driving personnel are stranger to condition of road surface, or in the case of the vile weather such as night, dense fog is gone on a journey,
Easily there is vehicle accident in Dangerous Area or construction section.
Summary of the invention
The technical problem to be solved is that driving personnel are stranger to condition of road surface, or at night, dense fog
In the case of going on a journey Deng vile weather, easily there is vehicle accident at Dangerous Area or construction section, it is therefore intended that provide and be used for endangering
The laser radar system of danger road condition advisory and method, when vehicle enters in the Monitoring by Lidar region of dangerous road conditions, it is possible to
In time current road conditions are reminded to driving personnel, be conducive to preventing the generation of vehicle accident.
The present invention is achieved through the following technical solutions:
For the laser radar system of dangerous road condition advisory, including Monitoring by Lidar device and control centre, described laser thunder
Reaching monitoring device and control centre connects, Monitoring by Lidar device belongs to prior art；
Described Monitoring by Lidar device includes: laser emitting module, for emission pulse laser, and is sent out by reflection pulse laser
Penetrate the signal of time to send to governor circuit module；Laser pick-off module, for receiving the pulse returned from detected regional reflex
Laser, and the signal of the time of reflection reception pulse laser is sent to governor circuit module；Rotary module, for by rotating
Utilize each position in the pulse laser scanning area to be monitored that laser emitting module launches, and will from area to be monitored each
The pulse laser that position is reflected back is collected in described laser pick-off module successively.
Described control centre includes, governor circuit module belongs to prior art, uses intervalometer (TDC-
GPI)-STC single-chip microcomputer or FPGA control circuit module, for receiving the time of the emission pulse laser of laser emitting module and swashing
Optical Receivers receives the time of pulse laser, sends and controls the rotation of Pulse Width Control rotary module, it is thus achieved that distance and angle information
And it is sent to control module；Control module, uses PLC, sets mobile object distance peace on respective angles direction
Full threshold value, is compared with secure threshold by distance and the angle information governor circuit received module sent, and to signal
Lamp alarm module sends and starts or closing control instruction；Signal lights alarm module, the control sent for receiving control module refers to
Order, during startup, luminescence is used for reminding monitoring objective current dangerous road conditions.Governor circuit module and control module can be connect by communication
Mouth connects, such as RS422.
Preferably, described Monitoring by Lidar device also includes that infrared detector, described infrared detector are used for leading to
Cross existence or the movement of human body in thermoelement monitoring objective region, and monitoring result is sent to control module.
Preferably, described control centre also includes that frequency modulation broadcasting sending module, described frequency modulation broadcasting sending module are used for connecing
Receive the instruction of control module, send the broadcast about dangerous road conditions relevant information setting broadcast transmission region；Described monitoring mesh
Being designated as vehicle, described vehicle is provided with frequency modulation broadcasting automatic reception module, for automatic reception in respective regions about dangerous road
The broadcast of condition relevant information.
Use the method that laser radar system carries out dangerous road condition advisory, including step in detail below:
Step 1, by the distance of monitoring objective in Monitoring by Lidar device and governor circuit module scans acquisition monitored area
And angle information, and it is sent to control module；
Step 2, is received distance and the angle information of monitoring objective, and compares with the secure threshold set by control module
Relatively, if the distance of monitoring objective less than secure threshold, then sends enabled instruction to signal lights alarm module, if monitoring objective away from
From more than secure threshold, then send halt instruction to signal lights alarm module；Wherein secure threshold is Monitoring by Lidar position
To the minima of monitoring objective, it is used for the minimum safe distance reflecting dangerous road conditions position to monitoring objective；
Step 3, monitoring objective receives signal lights alarm module information, makes respective feedback.
Preferably, described step 1 also includes infra-red detection additional step, detects secure threshold model by Infrared Detectors
Enclose existence or the movement of interior human body, and the information detected is sent to control module；Described step 2 also includes, control module
Receive existence or the mobile message having human body in the range of secure threshold, then send enabled instruction letter to signal lights alarm module
Signal lamp is luminous.
Preferably, described step 2 also includes, if the distance of monitoring objective has less than in the range of secure threshold or secure threshold
The existence of human body or movement, control module sends enabled instruction to frequency modulation broadcasting sending module, and frequency modulation broadcasting sending module sends
Broadcast about dangerous road conditions relevant information.
Preferably, described frequency modulation broadcasting sending module independently sets broadcast transmission region, and described step 3 also includes respective area
Monitoring objective in territory receives the broadcast about dangerous road conditions relevant information by frequency modulation broadcasting automatic reception module.
The present invention compared with prior art, has such advantages as and beneficial effect:
1, the present invention is used for laser radar system and the method for dangerous road condition advisory, enters the laser radar of dangerous road conditions at vehicle
Time in monitored area, it is possible in time current road conditions are reminded to driving personnel, be conducive to preventing the generation of vehicle accident；
2, the present invention is used for laser radar system and the method for dangerous road condition advisory, is conducive to carrying by arranging infrared detector
The accuracy of high monitoring, and jointly remind the driving personnel near dangerous road conditions by signal lights and frequency modulation broadcasting, make dangerous road
Condition relevant information is accurately passed on.
Accompanying drawing explanation
Accompanying drawing described herein is used for providing being further appreciated by the embodiment of the present invention, constitutes of the application
Point, it is not intended that the restriction to the embodiment of the present invention.In the accompanying drawings:
Fig. 1 is the laser radar system structural representation for dangerous road condition advisory；
Fig. 2 is the method flow diagram using laser radar system to carry out dangerous road condition advisory.
The parts title of labelling and correspondence in accompanying drawing: 1-Monitoring by Lidar device, 11-laser generation module, 12-
Laser pick-off module, 13-rotary module, 14-infrared detector, 2-control centre, 21-governor circuit module, 22-controls mould
Block, 23-signal lights alarm module, 24-frequency modulation broadcasting sending module, 3-monitoring objective, 31-frequency modulation broadcasting automatic reception module.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with embodiment and accompanying drawing, to this
Invention is described in further detail, and the exemplary embodiment of the present invention and explanation thereof are only used for explaining the present invention, do not make
For limitation of the invention.
Embodiment 1
As it is shown in figure 1, for the laser radar system of dangerous road condition advisory, including Monitoring by Lidar device 1 and control centre
2, Monitoring by Lidar device 1 and control centre 2 connect.Monitoring by Lidar device 1, specifically includes, laser emitting module 11,
For emission pulse laser, and the signal of reflection pulse laser emission time is sent to governor circuit module 21；Laser pick-off
Module 12, for receiving the pulse laser returned from detected regional reflex, and receives the signal of the time of pulse laser by reflection
Send to governor circuit module 21；Rotary module 13, sweeps for the pulse laser utilizing laser emitting module to launch by rotation
Retouch each position in area to be monitored, and the pulse laser being reflected back each position from area to be monitored is collected sharp successively
In Optical Receivers 12；Infrared detector 14, infrared detector 14 is for by people in thermoelement monitoring objective region
The existence of body or movement, and monitoring result is sent to control module 22.
Control centre 2 includes, governor circuit module 21, for receive laser emitting module 11 emission pulse laser time
Between and laser pick-off module 12 receive time of pulse laser, send and control Pulse Width Control rotary module 13 and rotate, it is thus achieved that distance
With angle information be sent to control module 22；Control module 22, sets mobile object distance peace on respective angles direction
Full threshold value, is compared with secure threshold by distance and the angle information governor circuit received module 21 sent, and to letter
Signal lamp alarm module 23 sends and starts or closing control instruction；Signal lights alarm module 23, is used for receiving control module 22 and sends
Control instruction, during startup, luminescence is used for reminding monitoring objective 3 current dangerous road conditions；Frequency modulation broadcasting sending module 24, frequency modulation is wide
Broadcast sending module 24 for receiving the instruction of control module 22, send in setting broadcast transmission region and be correlated with about dangerous road conditions
The broadcast of information.
Monitoring objective 3 is provided with frequency modulation broadcasting automatic reception module 31, for automatic reception in respective regions about danger
The broadcast of road conditions relevant information.
Embodiment 2
As in figure 2 it is shown, use laser radar system to carry out the method flow of dangerous road condition advisory:
Step 101, starts；
Step 102, autonomous setting Monitoring by Lidar device and Infrared Detectors monitor area；Set secure threshold；Set and adjust
Frequently broadcast transmission module broadcast area；
Step 103, Monitoring by Lidar device is scanned monitoring to monitored area；
Step 104, is carried out with step 103 simultaneously, and infra-red detection is by the existence of human body in thermoelement monitoring objective region
Or it is mobile；
Step 105, control module receives monitoring information, if control module receives distance and the angle information of monitoring objective, then
Perform step 106；If control module receives the infra-red detection information of monitoring objective, then perform step 109；
Step 106, control module judges that the distance of monitoring objective, whether less than secure threshold, if being not less than secure threshold, is then held
Row step 107；If less than secure threshold, then perform step 108；
Step 107, control module sends halt instruction to signal lights alarm module and frequency modulation broadcasting sending module；
Step 108, control module sends enabled instruction to signal lights alarm module and frequency modulation broadcasting sending module；
Step 109, whether control module has existence or the movement of human body in judging secure threshold regional extent, if there being depositing of human body
Or mobile, then perform step 108；If without existence or the movement of human body, then perform step 110；
Step 110, control module sends halt instruction to signal lights alarm module and frequency modulation broadcasting sending module；
Step 111, signal lights is luminous；The frequency modulation broadcasting automatic reception wooden unit arranged on monitoring objective receives broadcast；
Step 112, monitoring objective makes feedback, as selected to take a devious route or take in a reef.
Above-described detailed description of the invention, has been carried out the purpose of the present invention, technical scheme and beneficial effect further
Describe in detail, be it should be understood that the detailed description of the invention that the foregoing is only the present invention, be not intended to limit the present invention
Protection domain, all within the spirit and principles in the present invention, any modification, equivalent substitution and improvement etc. done, all should comprise
Within protection scope of the present invention.
Claims (7)
1. for the laser radar system of dangerous road condition advisory, it is characterised in that include Monitoring by Lidar device (1) and control
Center (2), described Monitoring by Lidar device (1) and control centre (2) connect；
Described Monitoring by Lidar device (1) including: laser emitting module (11), for emission pulse laser, and will reflect arteries and veins
The signal rushing laser emission time sends to governor circuit module (21)；Laser pick-off module (12), for receiving from detected
The pulse laser that regional reflex is returned, and the signal of the time of reflection reception pulse laser is sent to governor circuit module (21)；
Rotary module (13), the pulse laser for being utilized laser emitting module to launch by rotation scans each in area to be monitored
Position, and the pulse laser being reflected back each position from area to be monitored collects described laser pick-off module (12) successively
In；
Described control centre (2) includes, governor circuit module (21), and the transmitting pulse being used for receiving laser emitting module (11) swashs
The time of light and laser pick-off module (12) receive the time of pulse laser, send and control Pulse Width Control rotary module (13) turn
Dynamic, it is thus achieved that distance and angle information are also sent to control module (22)；Control module (22), sets mobile object in respective angles
Distance secure threshold on direction, by the distance sent by the governor circuit received module (21) and angle information and safety
Threshold ratio relatively, and sends startup or closing control instruction to signal lights alarm module (23)；Signal lights alarm module (23), is used for
Receiving the control instruction that control module (22) sends, during startup, luminescence is used for reminding monitoring objective (3) current dangerous road conditions.
Laser radar system for dangerous road condition advisory the most according to claim 1, it is characterised in that described laser thunder
Reaching monitoring device (1) and also include infrared detector (14), described infrared detector (14) is for monitoring by thermoelement
The existence of human body or movement in target area, and monitoring result is sent to control module (22).
Laser radar system for dangerous road condition advisory the most according to claim 1, it is characterised in that in described control
The heart (2) also includes that frequency modulation broadcasting sending module (24), described frequency modulation broadcasting sending module (24) are used for receiving control module (22)
Instruction, send the broadcast about dangerous road conditions relevant information setting broadcast transmission region；Described monitoring objective (3) is car
, described vehicle is provided with frequency modulation broadcasting automatic reception module (31), for automatic reception in respective regions about dangerous road conditions
The broadcast of relevant information.
4. use the method that laser radar system carries out dangerous road condition advisory, it is characterised in that include step in detail below:
Step 1, by the distance of monitoring objective in Monitoring by Lidar device and governor circuit module scans acquisition monitored area
And angle information, and it is sent to control module；
Step 2, is received distance and the angle information of monitoring objective, and compares with the secure threshold set by control module
Relatively, if the distance of monitoring objective less than secure threshold, then sends enabled instruction to signal lights alarm module, if monitoring objective away from
From more than secure threshold, then send halt instruction to signal lights alarm module；Wherein secure threshold is Monitoring by Lidar position
To the minima of monitoring objective, it is used for the minimum safe distance reflecting dangerous road conditions position to monitoring objective；
Step 3, monitoring objective receives signal lights alarm module information, makes respective feedback.
Employing laser radar system the most according to claim 4 carries out the method for dangerous road condition advisory, it is characterised in that institute
State step 1 and also include infra-red detection additional step, by Infrared Detectors detection secure threshold in the range of human body existence or
Mobile, and the information detected is sent to control module；Described step 2 also includes, control module receives at secure threshold
In the range of have existence or the mobile message of human body, then send start command signal lamp to signal lights alarm module luminous.
6. the method carrying out dangerous road condition advisory according to the employing laser radar system described in claim 4 or 5, its feature exists
In, described step 2 also includes, if the distance of monitoring objective less than have in the range of secure threshold or secure threshold human body existence or
Mobile, control module sends enabled instruction to frequency modulation broadcasting sending module, and frequency modulation broadcasting sending module sends about dangerous road conditions
The broadcast of relevant information.
Employing laser radar system the most according to claim 6 carries out the method for dangerous road condition advisory, it is characterised in that institute
Stating frequency modulation broadcasting sending module and independently set broadcast transmission region, described step 3 also includes that the monitoring objective in respective regions leads to
Cross frequency modulation broadcasting automatic reception module and receive the broadcast about dangerous road conditions relevant information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610641770.3A CN106054207A (en) | 2016-08-08 | 2016-08-08 | Laser radar system and method for providing prompt against dangerous road condition |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610641770.3A CN106054207A (en) | 2016-08-08 | 2016-08-08 | Laser radar system and method for providing prompt against dangerous road condition |
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| CN106054207A true CN106054207A (en) | 2016-10-26 |
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| CN201610641770.3A Pending CN106054207A (en) | 2016-08-08 | 2016-08-08 | Laser radar system and method for providing prompt against dangerous road condition |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107798918A (en) * | 2017-11-28 | 2018-03-13 | 公安部道路交通安全研究中心 | A kind of scene of a traffic accident security protection monitoring method and device |
| CN108447307A (en) * | 2018-04-24 | 2018-08-24 | 苏州清研微视电子科技有限公司 | A kind of limit for height anti-collision early warning system based on laser sensor |
| CN109461325A (en) * | 2018-10-29 | 2019-03-12 | 交通运输部公路科学研究所 | A kind of safe joint control system and method in construction of the highway area |
| CN109584726A (en) * | 2019-01-21 | 2019-04-05 | 南京达斯琪数字科技有限公司 | A kind of rotational display system |
| CN109741634A (en) * | 2019-03-02 | 2019-05-10 | 安徽超远信息技术有限公司 | Scene of the accident warning region is anti-in straight section bangs into method for early warning and device |
| CN111684297A (en) * | 2019-01-09 | 2020-09-18 | 深圳市大疆创新科技有限公司 | Communication method of laser radar, laser radar and upper equipment |
| CN112346077A (en) * | 2019-08-08 | 2021-02-09 | 杭州海康威视系统技术有限公司 | Ship superelevation detection method and device, electronic equipment and storage medium |
| CN113628452A (en) * | 2020-05-07 | 2021-11-09 | 北醒（北京）光子科技有限公司 | Pedestrian detection system based on laser radar |
| CN113658425A (en) * | 2021-07-26 | 2021-11-16 | 湖南时变通讯科技有限公司 | Vehicle traffic warning device and method |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107798918A (en) * | 2017-11-28 | 2018-03-13 | 公安部道路交通安全研究中心 | A kind of scene of a traffic accident security protection monitoring method and device |
| CN108447307A (en) * | 2018-04-24 | 2018-08-24 | 苏州清研微视电子科技有限公司 | A kind of limit for height anti-collision early warning system based on laser sensor |
| CN109461325A (en) * | 2018-10-29 | 2019-03-12 | 交通运输部公路科学研究所 | A kind of safe joint control system and method in construction of the highway area |
| CN109461325B (en) * | 2018-10-29 | 2020-09-04 | 交通运输部公路科学研究所 | Safety joint control system and method for highway construction area |
| CN111684297A (en) * | 2019-01-09 | 2020-09-18 | 深圳市大疆创新科技有限公司 | Communication method of laser radar, laser radar and upper equipment |
| CN109584726A (en) * | 2019-01-21 | 2019-04-05 | 南京达斯琪数字科技有限公司 | A kind of rotational display system |
| CN109741634A (en) * | 2019-03-02 | 2019-05-10 | 安徽超远信息技术有限公司 | Scene of the accident warning region is anti-in straight section bangs into method for early warning and device |
| CN109741634B (en) * | 2019-03-02 | 2020-10-13 | 安徽超远信息技术有限公司 | Early warning method and device for preventing collision in accident scene warning area in straight road section |
| CN112346077A (en) * | 2019-08-08 | 2021-02-09 | 杭州海康威视系统技术有限公司 | Ship superelevation detection method and device, electronic equipment and storage medium |
| CN113628452A (en) * | 2020-05-07 | 2021-11-09 | 北醒（北京）光子科技有限公司 | Pedestrian detection system based on laser radar |
| CN113658425A (en) * | 2021-07-26 | 2021-11-16 | 湖南时变通讯科技有限公司 | Vehicle traffic warning device and method |
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