CN106251632B - A kind of detection of height of car and superelevation warning device and method - Google Patents
A kind of detection of height of car and superelevation warning device and method Download PDFInfo
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- CN106251632B CN106251632B CN201610609761.6A CN201610609761A CN106251632B CN 106251632 B CN106251632 B CN 106251632B CN 201610609761 A CN201610609761 A CN 201610609761A CN 106251632 B CN106251632 B CN 106251632B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
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Abstract
The invention discloses a kind of detections of height of car and superelevation warning device and method.The device includes holder, power module, main control module, detection module, trigger module and display alarm module, the trigger module, detection module, main control module and display alarm module are sequentially connected with, and wherein holder is power module, main control module and detection module provide mounting platform.Method is：When vehicle is close to device, the work of trigger module trigger device；When vehicle passes through device, main control module carries out fusion treatment by the measured value that is returned to multiple laser ranging modules and obtains, to vehicle overall height value and carry out first time vehicle super-high detection；After vehicle is by device, main control module carries out second of superelevation detection according to the switching signal of optoelectronic switch sensor to vehicle, and superelevation testing result is transferred to display alarm module by overall height value and twice.The present invention can realize the non-contact measurement of height of car, accuracy is high, it is at low cost, be quick on the draw and real-time is good.
Description
Technical field
The present invention relates to road vehicle height detection technique field, especially a kind of height of car detection is filled with superelevation alarm
It sets and method.
Background technology
With the three-dimensional development trend of urban transportation, the means of transportation such as overhead, tunnel are increasing.For Overheight Vehicles
It is travelled on road, it is to have to cause damage and the driver's life and property loss of the facility structures such as bridge, tunnel, traditional method
Height-limiting gantry is installed, but whether this way can not clearly prompt vehicle superelevation, collide thing on the road that limit for height requires
Therefore it is commonplace, therefore there is an urgent need for a kind of novel vehicle super-high active forewarning devices of development effectively driver to be reminded to keep away
It allows, the traffic accidents such as bridge, Ka Qiao are hit in reduction.
Currently, being concentrated mainly on laser, infrared and three directions of video detection to superelevation detection research both at home and abroad.Germany
SICK companies propose a set of special vehicle super-high detection scheme, utilize the laser of the performances such as HISIC450 and LMS111 brilliance
Sensor carries out the accurate measurement of vehicle super-high；Yang Xiaodan uses Multi-sensor Fusion theory, utilizes infrared electrooptical switching light curtain
Vehicle super-high detection is realized, and accuracy of detection is improved using phase method；Li Ling's tinkling of pieces of jade proposes one kind and is joined by twin camera
The new technology for detecting and positioning Overheight Vehicles is closed, this method can accurately carry out vehicle super-high detection and to track where vehicle
It is positioned.But since the limit for height standard in each section in city differs, above ultrahigh detection device can only to vehicle whether superelevation
Judged, driver can not obtain the exact height information for driving vehicle, when traveling to the limit for not installing ultrahigh detection device
There are still collide risk when high section.
Invention content
That the purpose of the present invention is to provide a kind of accuracy is high, at low cost, is quick on the draw and height of car that real-time is good
Detection and superelevation warning device and method, to realize the non-contact measurement of height of car.
Realize that the technical solution of the object of the invention is：A kind of detection of height of car and superelevation warning device, including branch
Frame, power module, main control module, detection module, trigger module and display alarm module, the trigger module, detection module, master
Control module and display alarm module are sequentially connected with, and wherein holder is power module, main control module and detection module provide installation and put down
Platform, and holder provides initial measurement height for detection module；Trigger module provides work when there is vehicle close to main control module
Make trigger signal；Power module includes multilevel voltage conversion equipment, converts 220V alternating currents to the electricity needed for device modules
Pressure；Detection module includes laser ranging module and infrared photoelectric switch sensor, to measure the overall height of vehicle and detect vehicle
Whether superelevation；Main control module is responsible for the communication of intermodule, coordinates modules concurrent working with finishing device function；Display report
Alert module makes a sound alarm signal while showing vehicle overall height to Overheight Vehicles；
The mounting height of laser ranging module and infrared photoelectric switch sensor in the detection module is according to road
Limit for height value determine；There are multiple laser ranging modules, water of multiple laser ranging module on holder in the detection module
Safety dress distribution by the statistics vehicle width value and preset confidence level of the road vehicle by being determined；When vehicle is close to device, triggering
Module trigger device works；When vehicle passes through device, main control module by measured value that multiple laser ranging modules are returned into
Row fusion treatment obtains, to vehicle overall height value and carry out first time vehicle super-high detection；After vehicle is by device, main control module root
Second of superelevation detection is carried out to vehicle according to the switching signal of optoelectronic switch sensor, and overall height value and superelevation detection twice are tied
Fruit is transferred to display alarm module.
Preferably, the holder uses gantry frame structure, is installed across road, the width of holder is the width of road
Degree, the height of holder are 1.125 times of road limit for height height, are provided for laser ranging module and measure space.
Preferably, the trigger module selects the three-axis sensor HMC5883L of Honeywell companies, with trigger module
The travel direction for installing track is X-direction, using the horizontal component perpendicular to travel direction as Y direction, with perpendicular to X-axis, Y
The vertical component of axis is Z-direction, after the earth magnetism fluctuation in the Z-direction which generates when detecting that vehicle is close,
By I2C interface trigger signal is transmitted to main control module.
Preferably, the STM32F103VET6 cake cores that the main control module is produced using ST Microelectronics as core,
The chip uses Cortex-M3 kernels, maximum operating frequency to reach 72Mhz, be internally integrated CAN, I2C, spi bus, supports
USART and usb communication mode, the control of complete remaining modules of twin installation.
Preferably, the display alarm module includes dot matrix LED display screen and audible-visual annunciator, the display screen edge
Road direction at 10m in front of holder, can show the calculated height of car of main control module, audible-visual annunciator
Alarm signal is sent out when main control module detects vehicle super-high.
Preferably, the detection module includes 3 RLM-S40R types laser ranging modules and a pair of of Omron production
Correlation type infrared photoelectric switch sensor E3Z-T61.
A kind of detection of height of car and superelevation alarm method, steps are as follows：
Step 1, the mounting height of detection module is determined：Using the concrete numerical value of road limit for height as correlation type infrared ray photoelectric
The mounting height of switch sensor, and determine the height D of holder, the i.e. mounting height of laser ranging module；
Step 2, installation distribution of the laser ranging module on holder is determined：When vehicle passing detection device where central axes
Position Normal Distribution, determine three laser ranging modules in holder according to statistical average vehicle width value and preset confidence level
On horizontal layout position, and it is according to this installation position that laser ranging module is rack-mount；
Step 3, height of car detects：After device installs on road, when vehicle passing detection device, three are swashed
Ligh-ranging module returns to distance value of itself distance by vehicle roof with fixed frequency, and overall height h is determined according to the distance value,
H is compared by main control module with road limit for height, for the first time determine vehicle whether superelevation；
Step 4, vehicle super-high is alarmed：After vehicle passing detection device, whether main control module is cut according to vehicle highest point
Cut the beam of infrared photoelectric switch sensor generation, second judge vehicle whether superelevation：If second of superelevation detection
The result is that vehicle superelevation, then in the detection of first time superelevation no matter vehicle whether superelevation, all trigger audible-visual annunciator and send out
Alarm signal；That if second of superelevation detects the result is that the non-superelevation of vehicle, is with the testing result that first time superelevation detects
Foundation determines whether to trigger audible-visual annunciator.
Further, three laser ranging moulds are determined according to statistical average vehicle width value and preset confidence level described in step 2
Horizontal layout position of the block on holder, it is specific as follows：
Statistical average vehicle width value is defined as w, and the computational methods of w are：To installing 500 vehicles of road by device target
Vehicle width Data-Statistics are carried out, is then averaged and can be obtained statistical average vehicle width value w；
Confidence level is defined as α, and the occurrence of confidence alpha determines that value takes 95%~98% according to the aimed at precision of device；
Road width is W, and the position of central axes is obeyed N (0, σ) and is distributed when vehicle passing detection device, the probability of the distribution
Distribution Function Definition is that φ (x) determines that the variances sigma of normal distribution is according to 3 σ principles of normal distribution：
The layout pitch of laser ranging module is defined as x, is calculated by following inequality：
φ(σx)≤(1-α/2)
It is respectively apart from track side (W/2-x) m, (W/2) m, (W/2+x) m that then laser ranging module, which is transversely mounted position,
Place.
Further, three laser ranging modules described in step 3 return to itself distance with fixed frequency and pass through vehicle top
The distance value in portion determines overall height h according to the distance value, specific as follows：
Remember that three laser ranging module measurement distance values are respectivelyWithWherein i indicates the number of samples of laser ranging module, takesThen overall height h is：
H=D-d
Compared with prior art, the present invention its remarkable advantage is：(1) at low cost, reaction is soon and real-time is good；(2) it uses
Laser ranging module realizes that non-contact measurement, measurement result precision are high；(3) multiple laser ranging moulds are determined according to normal distribution
The measurement position of block, it is ensured that measure the peak of vehicle；(4) it carries out superelevation twice to the vehicle by device to detect, ensures dress
Set lower superelevation detection rate of failing to report.
Description of the drawings
Fig. 1 is the structural schematic diagram of height of car of the present invention detection and superelevation warning device.
Fig. 2 is geomagnetic sensor scheme of installation in the present invention.
Fig. 3 is height of car detection principle diagram in the present invention.
Fig. 4 is the scheme of installation of height of car of the present invention detection and superelevation warning device.
Specific implementation mode
Below in conjunction with the accompanying drawings and specific embodiment invention is further described in detail.
In conjunction with Fig. 1, the height of car in the present invention detects and superelevation warning device, including holder, power module, master control mould
Block, detection module, trigger module and display alarm module, the trigger module, detection module, main control module and display alarm mould
Block is sequentially connected with, and wherein holder is power module, main control module and detection module provide mounting platform, and holder is detection mould
Block provides initial measurement height；Trigger module provides work trigger signal when there is vehicle close to main control module；Power module
Including multilevel voltage conversion equipment, it converts 220V alternating currents to the voltage needed for device modules；Detection module includes laser
Range finder module and infrared photoelectric switch sensor, with measure the overall height of vehicle and detect vehicle whether superelevation；Main control module
It is responsible for the communication of intermodule, coordinates modules concurrent working with finishing device function；Show alarm module in display vehicle vehicle
While high, alarm signal is made a sound to Overheight Vehicles；
The mounting height of laser ranging module and infrared photoelectric switch sensor in the detection module is according to road
Limit for height value determine；There are multiple laser ranging modules, water of multiple laser ranging module on holder in the detection module
Safety dress distribution by the statistics vehicle width value and preset confidence level of the road vehicle by being determined；When vehicle is close to device, triggering
Module trigger device works；When vehicle passes through device, main control module by measured value that multiple laser ranging modules are returned into
Row fusion treatment obtains, to vehicle overall height value and carry out first time vehicle super-high detection；After vehicle is by device, main control module root
Second of superelevation detection is carried out to vehicle according to the switching signal of optoelectronic switch sensor, and overall height value and superelevation detection twice are tied
Fruit is transferred to display alarm module.
The holder uses gantry frame structure, is installed across road, the width of holder is the width of road, holder
Height is 1.125 times of road limit for height height, is provided for laser ranging module and measures space.
In conjunction with Fig. 2, the trigger device selects the three-axis sensor HMC5883L of Honeywell companies, with trigger mode
The travel direction that block installs track is X-direction, using the horizontal component perpendicular to travel direction as Y direction, with perpendicular to X/Y
Vertical component be Z-direction, after the earth magnetism fluctuation in the Z-direction which generates when detecting that vehicle is close, lead to
It crosses I2C interface and transmits trigger signal to main control module.
The STM32F103VET6 cake cores that the master control set is produced using ST Microelectronics is cores, the chip
Using Cortex-M3 kernels, maximum operating frequency reaches 72Mhz, is internally integrated CAN, I2C, spi bus, support USART and
Usb communication mode, the control of complete remaining modules of twin installation.
The display alarm module is made of dot matrix LED display screen and audible-visual annunciator, and the display screen is along road
Direction is passed through at 10m in front of holder in road, and display screen can show the accurate overall height of the vehicle by device, sound-light alarm
Device can send out alarm signal in vehicle super-high.
The detection module is red by the correlation type of 3 RLM-S40R types laser ranging modules and a pair of of Omron production
Outside line optoelectronic switch sensor E3Z-T61 compositions.
Height of car detection in the present invention and superelevation alarm method, comprise the steps of：
Step 1, the mounting height of detection module is determined：Using the concrete numerical value of road limit for height as correlation type infrared ray photoelectric
The mounting height of switch sensor, and determine the height D of holder, the i.e. mounting height of laser ranging module；
Step 2, installation distribution of the laser ranging module on holder is determined：When vehicle passing detection device where central axes
Position Normal Distribution, determine three laser ranging modules in holder according to statistical average vehicle width value and preset confidence level
On horizontal layout position, and it is according to this installation position that laser ranging module is rack-mount；
Statistical average vehicle width value is defined as w, and the computational methods of w are：To installing 500 vehicles of road by device target
Vehicle width Data-Statistics are carried out, is then averaged and can be obtained statistical average vehicle width value w；
Confidence level is defined as α, and the occurrence of confidence alpha determines that value takes 95%~98% according to the aimed at precision of device；
Road width is W, and the position of central axes is obeyed N (0, σ) and is distributed when vehicle passing detection device, the probability of the distribution
Distribution Function Definition is that φ (x) determines that the variances sigma of normal distribution is according to 3 σ principles of normal distribution：
The layout pitch of laser ranging module is defined as x, is calculated by following inequality：
φ(σx)≤(1-α/2)
It is respectively apart from track side (W/2-x) m, (W/2) m, (W/2+x) m that then laser ranging module, which is transversely mounted position,
Place.
Step 3, height of car detects：After device installs on road, when vehicle passing detection device, three are swashed
Ligh-ranging module returns to distance value of itself distance by vehicle roof with fixed frequency, and overall height h is determined according to the distance value,
H is compared by main control module with road limit for height, for the first time determine vehicle whether superelevation；
After device installs on road, when vehicle passing detection device, as shown in Fig. 3, three laser rangings
Module can return to distance value of itself distance by vehicle roof with certain frequency, remember three laser ranging module measurement distances
Value is respectivelyWithWherein i indicates the sampling of laser ranging module
Number.It takesThen overall height h is：
H=D-d
After measuring the occurrence of overall height, which is compared by main control module with road limit for height, determines for the first time
Vehicle whether superelevation.
Step 4, vehicle super-high is alarmed：After vehicle passing detection device, whether main control module is cut according to vehicle highest point
Cut the beam of infrared photoelectric switch sensor generation, second judge vehicle whether superelevation：If second of superelevation detection
The result is that vehicle superelevation, then in the detection of first time superelevation no matter vehicle whether superelevation, all trigger audible-visual annunciator and send out
Alarm signal；That if second of superelevation detects the result is that the non-superelevation of vehicle, is with the testing result that first time superelevation detects
Foundation determines whether to trigger audible-visual annunciator.
The principle of the present invention and effect are further described below：
The trigger device is pacified by mould three-axis sensor HMC5883L in the block according to mounting means shown in Fig. 2
Among track, wherein X-direction is the travel direction of track setting, and Y direction is the level point perpendicular to travel direction
Amount, Z-direction are the vertical component perpendicular to X/Y.When vehicle is close to geomagnetic sensor, it will appear magnetic in sensor Z-direction
Field intensity fluctuates.Sensor is fluctuated by detecting the magnetic field intensity occurred in Z-direction to determine whether there is vehicle process.It is described
Detection module in laser ranging module working frequency be 2Hz, measurement accuracy is ± 3mm, and RS232 interface can be passed through
The distance value of measurement is sent to master control set to handle.The detection module uses laser ranging module and infrared ray
Electric switch sensor is detected to carrying out superelevation twice by arrangement vehicle, it is ensured that 99% superelevation verification and measurement ratio.Vehicle passes through
The speed of holder be no more than 20km/h, in vehicle completely by holder after, the accurate vehicle of current vehicle can be shown on display screen
Height, concrete numerical value is as unit of m and is accurate to 2 significant digits；If detection module is detected through vehicle super-high, touch
Hair alarm module makes a sound alarm signal to remind driver to pay attention to detouring.
With reference to specific embodiment, invention is further described in detail.
Embodiment 1
Before certain bridge tunnel mouth at 500m install the present invention in height of car detection and superelevation warning device, road have a lot of social connections for
3.5m, bridge tunnel mouth limit for height are 4m.
Step 1, the installation width of holder is determined as 3.5m, the mounting height of laser sensor module is 4.5m on holder,
The mounting height of infrared photoelectric switch sensor is 4m on holder.
Step 2, it carries out the vehicle width that sample size is 1000 to the vehicle by the road to count, obtains statistical average vehicle width
Value is 2.5m.It is 95% to take laser sensor module to measure through the confidence level of vehicle highest point, calculates vehicle axis line position
The variances sigma of the normal distribution of obedience is 1/3, then vehicle axis line position is obeyed N (0,1/3) and is distributed.Calculate laser ranging mould
The layout pitch x of block is 0.55m, then it is respectively apart from track side 1.2m, 1.75m that laser displacement sensor, which is transversely mounted position,
And 2.3m.
Step 3,4 device is installed with reference to the accompanying drawings, gives system electrification.One irregular lorry in top is with 15km/h
Speed pass through the device, trigger device work.The time that lorry passes through holder is probably 2s, laser ranging module measurement distance
Value is respectively { 1.81,0.94,0.86,0.81 }, { 1.75,0.81,0.73,0.78 } and { 1.80,0.87,0.91,0.88 }, meter
Calculating overall height is 3.72m.Device carries out first time vehicle super-high to vehicle and compares, and as a result shows the non-superelevation of the lorry.
Step 4, the highest point of lorry does not cut the beam of infrared photoelectric switch sensor generation, and device is super for the second time
High detection result shows the non-superelevation of vehicle, shows that specific overall height value 3.72m, warning device do not make a sound report on LED display
Alert signal.
In conclusion height of car detection of the present invention and superelevation warning device and method, are sensed by three laser displacements
The accurate measurement that device and correlation type infrared photoelectric switch sensor realize overall height is detected with superelevation, and overall height information is led to
It crosses LED display to be fed back, be selected so as to the subsequent path of driver or provides overall height information for other Route Guidance Systems
It supports, meanwhile, when the device detects that vehicle oneself height is more than that front section limits height, vehicle driver is warned immediately
Show to remind it to be avoided.The present invention is suitable for the conditional field of overall height to current vehicle such as viaduct, tunnel, culvert
It closes, and protection domain is not limited to the above embodiments.
Claims (2)
1. a kind of height of car detection and superelevation alarm method, which is characterized in that including holder, power module, main control module, inspection
Module, trigger module and display alarm module are surveyed, the trigger module, detection module, main control module and display alarm module are suitable
Secondary connection, wherein holder are power module, main control module and detection module provide mounting platform, and holder carries for detection module
For initial measurement height；Trigger module provides work trigger signal when there is vehicle close to main control module；Power module includes
Multilevel voltage conversion equipment converts 220V alternating currents to the voltage needed for device modules；Detection module includes laser ranging
Module and infrared photoelectric switch sensor, with measure the overall height of vehicle and detect vehicle whether superelevation；Main control module is responsible for
The communication of intermodule coordinates modules concurrent working with finishing device function；Show alarm module in display vehicle overall height
Meanwhile alarm signal is made a sound to Overheight Vehicles；Steps are as follows：
Step 1, the mounting height of detection module is determined：Using the concrete numerical value of road limit for height as correlation type infrared photoelectric switch
The mounting height of sensor, and determine the height D of holder, the i.e. mounting height of laser ranging module；
Step 2, installation distribution of the laser ranging module on holder is determined：Position when vehicle passing detection device where central axes
Normal Distribution is set, determines three laser ranging modules on holder according to statistical average vehicle width value and preset confidence level
Horizontal layout position, and it is according to this installation position that laser ranging module is rack-mount；
Step 3, height of car detects：After device installs on road, when vehicle passing detection device, three Laser Measurings
Distance value of itself distance by vehicle roof is returned to fixed frequency away from module, overall height h, master control are determined according to the distance value
H is compared by module with road limit for height, for the first time determine vehicle whether superelevation；
Step 4, vehicle super-high is alarmed：After vehicle passing detection device, it is red whether main control module cuts according to vehicle highest point
The beam that outside line optoelectronic switch sensor generates, second judge vehicle whether superelevation：If the result of second of superelevation detection
Vehicle superelevation, then first time superelevation detection in no matter vehicle whether superelevation, all trigger audible-visual annunciator send out alarm
Signal；That if second of superelevation detects the result is that the non-superelevation of vehicle, the testing result detected using first time superelevation is foundation
Determine whether to trigger audible-visual annunciator；
Water of three laser ranging modules on holder is determined according to statistical average vehicle width value and preset confidence level described in step 2
Flat installation position, it is specific as follows：
Statistical average vehicle width value is defined as w, and the computational methods of w are：500 vehicles to installing road by device target carry out
Then vehicle width Data-Statistics are averaged and can be obtained statistical average vehicle width value w；
Confidence level is defined as α, and the occurrence of confidence alpha determines that value takes 95%~98% according to the aimed at precision of device；
Road width is W, and the position of central axes is obeyed N (0, σ) and is distributed when vehicle passing detection device, the probability distribution of the distribution
Function is defined as φ (x), according to 3 σ principles of normal distribution, determines that the variances sigma of normal distribution is：
The layout pitch of laser ranging module is defined as x, is calculated by following inequality：
φ(σx)≤(1-α/2)
It is respectively at track side (W/2-x) m, (W/2) m, (W/2+x) m that then laser ranging module, which is transversely mounted position,.
2. height of car detection according to claim 1 and superelevation alarm method, which is characterized in that three described in step 3
Laser ranging module returns to distance value of itself distance by vehicle roof with fixed frequency, and overall height is determined according to the distance value
H, it is specific as follows：
Remember that three laser ranging module measurement distance values are respectivelyWithWherein i indicates the number of samples of laser ranging module, takesThen overall height h is：
H=D-d.
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| CN102074111A (en) * | 2011-02-23 | 2011-05-25 | 武汉长海高新技术有限公司 | Vehicle height excess detecting and alarming device |
| CN203084927U (en) * | 2012-12-30 | 2013-07-24 | 孙海明 | Road height-limitation early warning device |
| CN205049180U (en) * | 2015-10-19 | 2016-02-24 | 何晓昀 | Highway detecting system that transfinites |
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