CN108116451A - A kind of tramcar is without pause running method - Google Patents
A kind of tramcar is without pause running method Download PDFInfo
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- CN108116451A CN108116451A CN201711456980.6A CN201711456980A CN108116451A CN 108116451 A CN108116451 A CN 108116451A CN 201711456980 A CN201711456980 A CN 201711456980A CN 108116451 A CN108116451 A CN 108116451A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L13/00—Operation of signals from the vehicle or by the passage of the vehicle
- B61L13/005—Operation of signals from the vehicle or by the passage of the vehicle optically actuated
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/087—Override of traffic control, e.g. by signal transmitted by an emergency vehicle
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Refuse-Collection Vehicles (AREA)
Abstract
The present invention provides tramcar without pause running method, tramcar travel assist system is used so that traffic lights are always green light when tramcar passes through highway, wherein tramcar travel assist system includes first laser emitter, first laser reception device, first image collecting device, second laser emitter, second laser reception device, second image collecting device, first trigger device, second trigger device and central processing unit, central processing unit includes image processing module, picture recognition module and control module, the output terminal of image processing module is connected with the input terminal of picture recognition module, the output terminal of picture recognition module is connected with control module, central control unit controls traffic lights, the operational efficiency of tramcar has been ensured with this.
Description
Technical field
The present invention relates to intelligence test field more particularly to a kind of tramcar without pause running method.
Background technology
Tramcar is the light-duty rail traffic vehicle for using electric drive and travelling in orbit.Tramcar is a kind of
Public transport, also known as streetcar, abbreviation electric car belong to the train that the Yi Zhong ﹝ of light railway are promoted with electric power, are also known as electricity Che ﹞.
The relation that tramcar is promoted by it with electric power, vehicle will not discharge exhaust gas, be a kind of free of contamination environmentally friendly vehicles, at present
The main means of transport in major city is become, but has usually walked on Quan streets, and limited by street traffic signal lamp, led
Cause its operational efficiency not high.
The content of the invention
Therefore, in order to overcome the above problem, the present invention is provided a kind of tramcar without pause running method, is sent out using laser
The tramcar of traveling is identified in injection device, laser receiver, image collecting device and central processing unit, image
Harvester gathers the image information of tramcar, and central control unit controls traffic lights so that traffic signals
Lamp is always green light when tramcar passes through highway, and the operational efficiency of tramcar has been ensured with this.
A kind of tramcar according to the present invention is without pause running method, which is characterized in that tramcar traveling auxiliary system
System includes first laser emitter, first laser reception device, the first image collecting device, second laser emitter, the
Dual-laser reception device, the second image collecting device, the first trigger device, the second trigger device and central processing unit, institute
Stating central processing unit includes image processing module, picture recognition module and control module, the output of described image processing module
End is connected with the input terminal of described image identification module, and the output terminal of described image identification module is connected with the control module,
Tramcar is driven towards on the left of highway on the right side of highway, wherein, the tramcar includes the following steps without pause running method：
Step 1：The first laser emitter and first laser reception device correspondence are installed on the left of highway
Track both sides, the second laser emitter and second laser reception device correspondence are installed on right positioned at highway
Described first image harvester is installed on the first laser emitter and the first laser by the both sides of the track of side
The right side centre position of reception device, and on the left of highway, second image collecting device is installed on described second and is swashed
The right side centre position of light emitting devices and the second laser reception device, and on the right side of the highway is separately turned on described the
One laser beam emitting device and the second laser emitter；
Step 2：The input terminal of the output terminal of the first laser reception device and the first trigger device is connected, by described first
The output terminal of trigger device is connected with the input terminal of described first image harvester, by the defeated of described first image harvester
Outlet is connected with the input terminal of described image processing module, and the output terminal of the second laser reception device and the second triggering are filled
The input terminal connection put, the output terminal of second trigger device is connected with the input terminal of second image collecting device,
The output terminal of second image collecting device is connected with the input terminal of described image processing module, by the control module
Output terminal is connected with traffic lights；
Step 3：The first laser emitter emits first laser beam, opens the first laser reception device；
Step 4：If the first laser reception device is not received by the first laser beam, the first trigger device hair
Go out the image information of the first trigger signal driving described first image harvester acquisition tramcar, and enter step 5, if institute
It states first laser reception device and receives the first laser beam, then return to step 3；
Step 5：Described image processing module carries out figure to the image information of described first image harvester acquisition tramcar
As processing, and the tramcar image information of treated described first image harvester acquisition is transmitted to described image and is known
Other module, described image identification module determine whether tramcar by the way that if being judged as having, the control module controls institute
It states traffic lights and becomes green light, and enter step 6, if being judged as nothing, the control module is not to the traffic lights
It is controlled, and return to step 3；
Step 6：The second laser reception device opens the second laser and receives dress for receiving the second laser beam
It puts；
Step 7：If the second laser reception device is not received by the second laser beam, the second trigger device hair
Go out the second trigger signal and drive the image information of the second image acquisition device tramcar, and enter step 8, if institute
It states second laser reception device and receives the first laser beam, then return to step 6；
Step 8：Described image processing module carries out figure to the image information of the second image acquisition device tramcar
As processing, and the tramcar image information of treated second image acquisition device is transmitted to described image and is known
Other module, described image identification module determine whether tramcar by the way that if being judged as having, the control module controls institute
It states traffic lights and becomes red light, if being judged as nothing, the control module does not control the traffic lights, and returns
Return step 6.
Preferably, described first image harvester includes the first ccd image acquisition sensor and the first video image is adopted
Truck, second image collecting device include the second ccd image acquisition sensor and the second video capture card.
Preferably, in step 5 and 8, described image processing module carries out image procossing to the image information of input, specific to walk
It is rapid as follows：
Step S1：It is two-dimensional function f (x, y) by image definition, wherein x, y is space coordinates, and image is carried out to image f (x, y)
Enhancing is handled, wherein, the image after image enhancement, r is constant, and m, k, q are
It is custom parameter；
Step S2：Above-mentioned image g (x, y) is filtered, filtered two-dimensional image function is h (x, y), wherein,
；
Step S3：Above-mentioned image h (x, y) is smoothed, two-dimensional image function is s (x, y) after smoothing processing,
In,
。
Preferably, the first laser emitter and the first laser reception device are installed on positioned at highway left side
The position that 300 meters of edge.
Preferably, the second laser emitter and the second laser reception device are installed on positioned at highway right edge
The position that 400 meters of edge.
Compared with prior art, the present invention has following advantageous effect：
（1）It is provided by the invention based on image identification tramcar without in pause running method use image collecting device to figure
As the image that harvester gathers is identified, the reliability of tramcar travel assist system is improved, is avoided because non-
Tramcar misjudgment phenomenon caused by；
（2）Tramcar provided by the invention based on image identification is without pause running method, and image processing module is to acquisition
Image is handled, the tramcar image in movement can be carried out it is clear, accurately identify, can so as to add image identification
By property, efficiently reduce erroneous judgement and happen.
Description of the drawings
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon：
Fig. 1 is the tramcar travel assist system schematic diagram of the present invention；
Fig. 2 is the functional block diagram of the central processing unit of the present invention.
Reference numeral：
1- tracks, 2- first laser emitters, 3- first laser reception devices, the first image collecting devices of 4-, 5- second swash
Light emitting devices, 6- second laser reception devices, the second image collecting devices of 7-, 8- traffic lights.
Specific embodiment
The tramcar of the present invention is described in detail without pause running method with reference to the accompanying drawings and examples.
As shown in Figure 1, the present invention provides a kind of tramcar without pause running method, tramcar travel assist system bag
Include first laser emitter（2）, first laser reception device（3）, the first image collecting device（4）, second laser transmitting dress
It puts（5）, second laser reception device（6）, the second image collecting device（7）, the first trigger device, the second trigger device and in
Entreat processing unit.
As shown in Fig. 2, the central processing unit includes image processing module, picture recognition module and control module, institute
The output terminal for stating image processing module is connected with the input terminal of described image identification module, the output terminal of described image identification module
It is connected with the control module；
Tramcar is driven towards on the left of highway on the right side of highway；
Specifically, the first laser emitter（2）With the first laser reception device（3）Correspondence is installed on positioned at highway
The track in left side（1）Both sides, the first laser emitter（2）Emit first laser beam, the first laser receives dress
It puts（3）For receiving the first laser beam, described first image harvester（4）It is installed on the first laser emitter
（2）With the first laser reception device（3）Right side centre position, and on the left of the highway, described first image acquisition dress
It puts（4）For gathering the image information of tramcar；
The first laser reception device（3）Output terminal and the first trigger device input terminal connection, it is described first triggering dress
The output terminal and described first image harvester put（4）Input terminal connection, described first image harvester（4）Output
End is connected with the input terminal of described image processing module；
Specifically, the second laser emitter（5）With the second laser reception device（6）Correspondence is installed on positioned at highway
The track on right side（1）Both sides, the second laser emitter（5）Emit second laser beam, the second laser receives dress
It puts（6）For receiving the second laser beam, second image collecting device（7）It is installed on the second laser emitter
（5）With the second laser reception device（6）Right side centre position, and on the right side of the highway, second image collector
It puts（7）For gathering the image information of tramcar；
The second laser reception device（6）Output terminal and the second trigger device input terminal connection, it is described second triggering dress
The output terminal and second image collecting device put（7）Input terminal connection, second image collecting device（7）Output
End is connected with the input terminal of described image processing module；
The output terminal and traffic lights of the control module（8）Connection.
Specifically, described first image harvester（4）Sensor and the first video image are gathered including the first ccd image
Capture card, second image collecting device（7）Sensor and the second video capture card are gathered including the second ccd image.
Specifically, if the first laser reception device（3）The first laser beam is not received by, then described first is touched
Transmitting apparatus sends the first trigger signal driving described first image harvester（4）Gather the image information of tramcar.
Specifically, described image processing module is to described first image harvester（4）Gather the image letter of tramcar
Breath carries out image procossing, and will treated described first image harvester（4）The tramcar image information transmission of acquisition
To described image identification module, described image identification module determine whether tramcar by, if being judged as having, the control
Molding block controls the traffic lights（8）Become green light, if being judged as nothing, the control module is not to the traffic signals
（8）Lamp is controlled.
Specifically, if the second laser reception device（6）The second laser beam is not received by, then described second is touched
Transmitting apparatus sends the second trigger signal and drives second image collecting device（7）Gather the image information of tramcar.
Specifically, described image processing module is to second image collecting device（7）Gather the image letter of tramcar
Breath carries out image procossing, and will treated second image collecting device（7）The tramcar image information transmission of acquisition
To described image identification module, described image identification module determine whether tramcar by, if being judged as having, the control
Molding block controls the traffic lights（8）Become red light, if being judged as nothing, the control module is not to the traffic signals
（8）Lamp is controlled.
Specifically, described image processing module carries out image procossing to the image information of input, is as follows：
Step 1：It is two-dimensional function f (x, y) by image definition, wherein x, y is space coordinates, and image is carried out to image f (x, y)
Enhancing is handled, wherein, the image after image enhancement, r is constant, and m, k, q are
It is custom parameter；
Step 2：Above-mentioned image g (x, y) is filtered, filtered two-dimensional image function is h (x, y), wherein,
；
Step 3：Above-mentioned image h (x, y) is smoothed, two-dimensional image function is s (x, y) after smoothing processing,
In,
。
Specifically, the first laser emitter（2）With the first laser reception device（3）It is installed on positioned at highway
The position that 300 meters of left side edge.
Specifically, the second laser emitter（5）With the second laser reception device（6）It is installed on positioned at highway
The position that 400 meters of right side edge.
Tramcar includes the following steps without pause running method：
Step 1：By the first laser emitter（2）With the first laser reception device（3）It is corresponding to be installed on positioned at public affairs
Track on the left of road（1）Both sides, by the second laser emitter（5）With the second laser reception device（6）It is corresponding
The track being installed on the right side of highway（1）Both sides, by described first image harvester（4）It is installed on the first laser
Emitter（2）With the first laser reception device（3）Right side centre position, and on the left of the highway, by described second
Image collecting device（7）It is installed on the second laser emitter（5）With the second laser reception device（6）Right side in
Between position, and on the right side of the highway, be separately turned on the first laser emitter（2）With the second laser emitter
（5）；
Step 2：By the first laser reception device（3）Output terminal and the first trigger device input terminal connection, will described in
The output terminal of first trigger device and described first image harvester（4）Input terminal connection, described first image is gathered
Device（4）Output terminal be connected with the input terminal of described image processing module, by the second laser reception device（6）Output
End is connected with the input terminal of the second trigger device, by the output terminal of second trigger device and second image collecting device
（7）Input terminal connection, by second image collecting device（7）The input terminal of output terminal and described image processing module connect
It connects, by the output terminal and traffic lights of the control module（8）Connection；
Step 3：The first laser emitter（2）Emit first laser beam, open the first laser reception device（3）；
Step 4：If the first laser reception device（3）The first laser beam is not received by, then the first triggering dress
It puts and sends the first trigger signal driving described first image harvester（4）The image information of tramcar is gathered, and enters step
Rapid 5, if the first laser reception device（3）The first laser beam is received, then return to step 3；
Step 5：Described image processing module is to described first image harvester（4）The image information for gathering tramcar carries out
Image procossing, and will treated described first image harvester（4）The tramcar image information of acquisition is transmitted to described
Picture recognition module, described image identification module determine whether tramcar by, if being judged as having, the control module
Control the traffic lights（8）Become green light, and enter step 6, if being judged as nothing, the control module is not to the friendship
Messenger（8）Lamp is controlled, and return to step 3；
Step 6：The second laser reception device（6）For receiving the second laser beam, open the second laser and receive
Device（6）；
Step 7：If the second laser reception device（6）The second laser beam is not received by, then the second triggering dress
It puts and sends the second trigger signal driving second image collecting device（7）The image information of tramcar is gathered, and enters step
Rapid 8, if the second laser reception device（6）The first laser beam is received, then return to step 6；
Step 8：Described image processing module is to second image collecting device（7）The image information for gathering tramcar carries out
Image procossing, and will treated second image collecting device（7）The tramcar image information of acquisition is transmitted to described
Picture recognition module, described image identification module determine whether tramcar by, if being judged as having, the control module
Control the traffic lights（8）Become red light, if being judged as nothing, the control module is not to the traffic signals（8）Lamp
It is controlled, and return to step 6.
Specifically, in step 5 and 8, described image processing module carries out image procossing to the image information of input, specific to walk
It is rapid as follows：
Step S1：It is two-dimensional function f (x, y) by image definition, wherein x, y is space coordinates, and image is carried out to image f (x, y)
Enhancing is handled, wherein, the image after image enhancement, r is constant, and m, k, q are
It is custom parameter；
Step S2：Above-mentioned image g (x, y) is filtered, filtered two-dimensional image function is h (x, y), wherein,
；
Step S3：Above-mentioned image h (x, y) is smoothed, two-dimensional image function is s (x, y) after smoothing processing,
In,
。
It should be noted last that the above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted.Although ginseng
The present invention is described in detail according to embodiment, it will be understood by those of ordinary skill in the art that, to the technical side of the present invention
Case is modified or replaced equivalently, and without departure from the spirit and scope of technical solution of the present invention, should all be covered in the present invention
Right among.
Claims (5)
1. a kind of tramcar is without pause running method, which is characterized in that tramcar travel assist system includes first laser
Emitter（2）, first laser reception device（3）, the first image collecting device（4）, second laser emitter（5）, second
Laser receiver（6）, the second image collecting device（7）, the first trigger device, the second trigger device and central processing dress
It puts, the central processing unit includes image processing module, picture recognition module and control module, described image processing module
Output terminal is connected with the input terminal of described image identification module, and the output terminal of described image identification module connects with the control module
It connecing, tramcar is driven towards on the left of highway on the right side of highway, wherein, the tramcar includes following step without pause running method
Suddenly：
Step 1：By the first laser emitter（2）With the first laser reception device（3）It is corresponding to be installed on positioned at public affairs
Track on the left of road（1）Both sides, by the second laser emitter（5）With the second laser reception device（6）It is corresponding
The track being installed on the right side of highway（1）Both sides, by described first image harvester（4）It is installed on the first laser
Emitter（2）With the first laser reception device（3）Right side centre position, and on the left of the highway, by described second
Image collecting device（7）It is installed on the second laser emitter（5）With the second laser reception device（6）Right side in
Between position, and on the right side of the highway, be separately turned on the first laser emitter（2）With the second laser emitter
（5）；
Step 2：By the first laser reception device（3）Output terminal and the first trigger device input terminal connection, will described in
The output terminal of first trigger device and described first image harvester（4）Input terminal connection, described first image is gathered
Device（4）Output terminal be connected with the input terminal of described image processing module, by the second laser reception device（6）Output
End is connected with the input terminal of the second trigger device, by the output terminal of second trigger device and second image collecting device
（7）Input terminal connection, by second image collecting device（7）The input terminal of output terminal and described image processing module connect
It connects, by the output terminal and traffic lights of the control module（8）Connection；
Step 3：The first laser emitter（2）Emit first laser beam, open the first laser reception device（3）；
Step 4：If the first laser reception device（3）The first laser beam is not received by, then the first triggering dress
It puts and sends the first trigger signal driving described first image harvester（4）The image information of tramcar is gathered, and enters step
Rapid 5, if the first laser reception device（3）The first laser beam is received, then return to step 3；
Step 5：Described image processing module is to described first image harvester（4）The image information for gathering tramcar carries out
Image procossing, and will treated described first image harvester（4）The tramcar image information of acquisition is transmitted to described
Picture recognition module, described image identification module determine whether tramcar by, if being judged as having, the control module
Control the traffic lights（8）Become green light, and enter step 6, if being judged as nothing, the control module is not to the friendship
Messenger（8）Lamp is controlled, and return to step 3；
Step 6：The second laser reception device（6）For receiving the second laser beam, open the second laser and receive
Device（6）；
Step 7：If the second laser reception device（6）The second laser beam is not received by, then the second triggering dress
It puts and sends the second trigger signal driving second image collecting device（7）The image information of tramcar is gathered, and enters step
Rapid 8, if the second laser reception device（6）The first laser beam is received, then return to step 6；
Step 8：Described image processing module is to second image collecting device（7）The image information for gathering tramcar carries out
Image procossing, and will treated second image collecting device（7）The tramcar image information of acquisition is transmitted to described
Picture recognition module, described image identification module determine whether tramcar by, if being judged as having, the control module
Control the traffic lights（8）Become red light, if being judged as nothing, the control module is not to the traffic signals（8）Lamp
It is controlled, and return to step 6.
2. tramcar according to claim 1 is without pause running method, which is characterized in that described first image acquisition dress
It puts（4）Sensor and the first video capture card, second image collecting device are gathered including the first ccd image（7）Bag
Include the second ccd image acquisition sensor and the second video capture card.
3. tramcar according to claim 1 is without pause running method, which is characterized in that in step 5 and 8, the figure
As processing module carries out image procossing to the image information of input, it is as follows：
Step S1：It is two-dimensional function f (x, y) by image definition, wherein x, y is space coordinates, and image is carried out to image f (x, y)
Enhancing is handled, wherein, the image after image enhancement, r is constant, and m, k, q are
It is custom parameter；
Step S2：Above-mentioned image g (x, y) is filtered, filtered two-dimensional image function is h (x, y), wherein,
；
Step S3：Above-mentioned image h (x, y) is smoothed, two-dimensional image function is s (x, y) after smoothing processing,
In,
。
4. tramcar according to claim 1 is without pause running method, which is characterized in that the first laser transmitting dress
It puts（2）With the first laser reception device（3）It is installed on positioned at the position of 300 meters of highway left side edge.
5. tramcar according to claim 1 is without pause running method, which is characterized in that the second laser transmitting dress
It puts（5）With the second laser reception device（6）It is installed on positioned at the position of 400 meters of highway right side edge.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711456980.6A CN108116451A (en) | 2017-12-28 | 2017-12-28 | A kind of tramcar is without pause running method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711456980.6A CN108116451A (en) | 2017-12-28 | 2017-12-28 | A kind of tramcar is without pause running method |
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|---|---|
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Family
ID=62232091
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Application publication date: 20180605 |
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