CN109435838A - A kind of expressway traffic accident intelligent reminding device and based reminding method - Google Patents
A kind of expressway traffic accident intelligent reminding device and based reminding method Download PDFInfo
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- CN109435838A CN109435838A CN201811200546.6A CN201811200546A CN109435838A CN 109435838 A CN109435838 A CN 109435838A CN 201811200546 A CN201811200546 A CN 201811200546A CN 109435838 A CN109435838 A CN 109435838A
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- running gear
- traffic accident
- expressway
- intelligent reminding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q7/00—Arrangement or adaptation of portable emergency signal devices on vehicles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a kind of expressway traffic accident intelligent reminding devices and method, including alarming triangle, running gear, storage box, running gear includes: gray-scale sensor module, warn lamp module, ultrasonic sensor modules, motor module, battery power supply module, radio receiving transmitting module A and magnetic switch and LattePandaX86 control module, storage box includes: Arduino control module, radio receiving transmitting module B, loudspeaker module, battery module and magnet module, alarming triangle is arranged in above the running gear, alarming triangle is to be detachably connected with running gear, the running gear is placed in storage box.The automatic placement of alarming triangle may be implemented in the present invention, and the moment monitors back car, exempts the artificial danger placed and be easy to cause secondary injury traffic accident.
Description
Technical field
The invention belongs to road caution technical field, it is specifically related to a kind of expressway traffic accident intelligent reminding device and side
Method.
Background technique
On expressway, since vehicle is all run at high speed, while road conditions are complicated, some driver drivings habit is not advised
Model leads to traffic accident frequent occurrence.Once having a car accident, needed according to China's relevant laws and regulations at the rear for having a car accident vehicle
Triangle warning plate is placed at 150 meters, triangle warning plate should be placed in the lane of rear of vehicle, before reminding back car
Face, which has a car accident, needs slow down or crossover lane.Since the upper speed of high speed is very fast, so the reaction time is very short, brake
Distance, driver when many due to accident vehicle fail or do not place triangle warning plate in time, often will cause two
Secondary traffic accident.On the other hand, driver needs to drive in the wrong direction in the wagon flow run at high speed during placing warning sign, is put with meeting
The legal requirement of warning sign is set, this behavior is also quite dangerous.
In order to preferably realize the warning function of warning sign, the technical solution of triangle warning plate has following several in the prior art
Kind:
Chinese patent application CN201220537951.9 discloses a kind of automobile triangle warning board of having electronic distance measurement function,
As shown in Figure 1, including triangle warning plate main body, the front of triangle warning plate main body is equipped with warning mark, triangle warning plate main body
Lower section is equipped with pedestal, at least one wheel is housed on pedestal, further includes one for recording the counting dress of the wheel turnning circle
It sets, counting device connects a signal processing apparatus, and signal processing apparatus connects a display device.After the utility model, make
User can know the relative distance of automobile triangle warning board and disabled vehicle with information according to display device, and accuracy is much higher than and makes
The case where user estimates merely.To guarantee that automobile triangle warning board is in place, avoid putting not because of automobile triangle warning board
Second accident caused by place.
Chinese patent application CN201620174774.0 discloses a kind of automatic moving foldable triangular warning sign, such as Fig. 2
It is shown, including storage box, three groups of triangle warning plate and its respective pedestal.The outer edge of three groups of triangle warning plate is equipped with red
Color LED light, lower part are connect by spring hinge with pedestal, and base end face has wheel；The pedestal of first group of triangle warning plate is interior
Portion is equipped with the electrification machine base of motor and battery, and the pedestal of second group of triangle warning plate and third group triangle warning plate is
Without motor base；The pedestal spacing of three groups of triangle warning plate be 50 meters, and pass sequentially through draught line and wire binding series connection after,
It is connect again with storage box.This warning sign can substantially reduce the danger that driver places it in 150 meters of distant positions of regulation
Property, the reaction distance of rear driver is increased, to reduce the generation of second accident, greatly improves triangle warning plate
Warning effect and safety.
But triangle warning plate can not be efficiently quickly in place by triangle warning plate in the prior art, and cannot
Enough remind whether party has back car；In the event of an accident, party needs the position of retrograde legal provisions to place police
Show board, is easy to cause the generation of second accident.
Summary of the invention
The purpose of the present invention is to provide a kind of expressway intelligent reminding device and method, warning sign oneself may be implemented
It is dynamic to place, exempt the danger artificially placed；And the moment monitors back car, reminds party to take care, to solve above-mentioned back
The problem of being proposed in scape technology.
To achieve the above object, the invention provides the following technical scheme:
A kind of expressway traffic accident intelligent reminding device comprising: alarming triangle, running gear, storage box；Described
Running gear includes: gray-scale sensor module, warning lamp module, ultrasonic sensor modules, motor module, battery power supply mould
Block, radio receiving transmitting module A, magnetic switch, camera module and LattePandaX86 control module；The storage box includes:
Arduino control module, radio receiving transmitting module B, loudspeaker module, battery module and magnet module；The alarming triangle
It is arranged in above the running gear, the alarming triangle is to be detachably connected with running gear.
Preferably, the warning lamp module includes LED waterproof yellow light Fog-proof light, LED waterproof white light and battery.
Preferably, the gray-scale sensor module includes gray-scale sensor and wireless transmitter.
Preferably, the direction that the ultrasonic sensor modules issue ultrasonic wave is arranged in parallel to ground, perpendicular to
The direction of running gear walking.
Preferably, the motor module includes motor and wheel.
Preferably, the ultrasonic sensor modules can be replaced using infrared sensor module.
Preferably, alarming triangle: serving as warning, and reminds and has a car accident before front vehicle.
Preferably, the gray-scale sensor module is the principle based on visible reflectance, white route reflection compared with
Strong reading value is larger, and the weaker reading value of black (depth) color reflection is smaller, can very easily be patrolled using the difference of the two
The detection of line.
Preferably, the ultrasonic sensor modules/infrared sensor module is for detecting whether associate with vehicle.
Preferably, camera module is used to identify route.
Preferably, the radio receiving transmitting module is for collecting and sending signal.
Preferably, the warning lamp module can issue warning light, serve as warning, mention when low visibility
Awake traffic is taken care.
Preferably, the processor module is used to handle gray-scale sensor, ultrasonic wave/infrared sensor information, and
According to feedback analysis, motor rotation adjustment route is controlled；When ultrasonic wave/infrared sensor has detected back car, pass through
Radio receiving transmitting module issues alarm signal to loudspeaker module, sounds an alarm loudspeaker module.
Preferably, the battery module needs the component of electric energy to power to motor module, processor module etc..
Preferably, motor module driving running gear movement.
Preferably, magnetic switch: for activating running gear to be switched on.
Preferably, magnet module: for activating magnetic switch.
Based on above-mentioned expressway traffic accident intelligent reminding device, the invention also discloses a kind of expressway traffic accident intelligence
The method of prompting, method includes the following steps:
Step 1: running gear is taken out from storage box, the magnetic switch of the magnet activation running gear of storage box, institute
The expressway stated is switched on traffic accident intelligent reminding device；
Step 2: running gear is placed in the light shunting traffic lines of rear of vehicle, make gray-scale sensor towards vehicle
Rear；
Step 3: the expressway is with traffic accident intelligent reminding device, rearward constant speed is mobile automatically, when mobile certain
Between, guarantee the stop motion at 150m of the device and parking position；
Step 4: whether ultrasonic wave/infrared sensor real-time monitoring on the running gear has vehicle to cross warning
Board；When there is vehicle to pass through, loudspeaker module, which sounds an alarm, reminds party to pay attention to back car.
Compared with prior art, the beneficial effects of the present invention are:
1, expressway of the invention traffic accident intelligent reminding device and method is passed by the gray scale being arranged on running gear
Sensor module can utilize and carry out line walking using the reflective degree of marking lines on expressway to calculate gray scale reflection differences
Detection, to reach the function that running gear is directly walked automatically；Simultaneously because sensor is special, it can be in multiple material and color
Marking lines and road surface carry out line walking.
2, expressway of the invention traffic accident intelligent reminding device and method, by the way that ultrasonic wave/infrared sensor mould is arranged
Block is capable of detecting whether to associate with vehicle, and is sounded an alarm when there is vehicle to pass through by loudspeaker module；
3, expressway of the invention traffic accident intelligent reminding device and method, by the way that the warning lamp module is arranged,
It is played a warning role when low visibility, traffic can be made to observe there is accident herein at a distance, to reach
The purpose taken care；
4, expressway of the invention traffic accident intelligent reminding device and method handles gray scale by the way that processor module is arranged
Sensor, ultrasonic wave/infrared sensor information, and according to feedback analysis, control motor rotation adjustment route；When ultrasonic wave/
Infrared sensor has detected that back car makes, and issues alarm signal to loudspeaker module by radio receiving transmitting module, makes loudspeaking
Device module sounds an alarm；
5, expressway of the invention traffic accident intelligent reminding device and method can will gone by the way that magnetic flux device is arranged
It is automatic to activate running gear booting when walking apparatus is taken out from storage box, avoid the trouble for opening running gear manually.
Detailed description of the invention
Fig. 1 is a kind of automobile triangle warning board schematic diagram of having electronic distance measurement function in the prior art；
Fig. 2 is automatic moving foldable triangular warning sign schematic diagram in the prior art；
Fig. 3 is traffic accident intelligent prompt method flow chart in expressway of the invention；
Fig. 4 is traffic accident intelligent reminding device structural schematic diagram in expressway of the invention；
Fig. 5 is traffic accident intelligent reminding device bottom substance schematic diagram in expressway of the invention.
In Fig. 3-5: 1 alarming triangle, 2 running gears, 3 gray-scale sensors, 4 ultrasonic sensors, 5 wireless receiving and dispatchings dress
Set 6 gray-scale sensor a0,7 gray-scale sensor a1,8 gray-scale sensor a2,9 gray-scale sensor a3,10 gray-scale sensor a4.
Arrow direction is the traffic direction of running gear in Fig. 5.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As in Figure 3-5, a kind of expressway traffic accident intelligent reminding device comprising: alarming triangle 1, running gear
2, storage box 3；The running gear 2 includes: gray-scale sensor module, warning lamp module, ultrasonic sensor modules, motor
Module, battery power supply module, radio receiving transmitting module A, magnetic switch, camera module and LattePandaX86 control module；Institute
The storage box stated includes: Arduino control module, radio receiving transmitting module B, loudspeaker module, battery module and magnet module；Institute
The alarming triangle stated is arranged in above the running gear, and the alarming triangle is detachably to connect with running gear
It connects.
The gray-scale sensor uses SKU:RB-02S078 gray-scale sensor module, and number is 5, is respectively provided with and is expert at
Walking apparatus bottom, wherein gray-scale sensor a1, gray-scale sensor a2, gray-scale sensor a3, gray-scale sensor a4 are set to walking
The opposite side of device direction of travel, gray-scale sensor a0 are set to the center of running gear.
The warning lamp module includes LED waterproof yellow light Fog-proof light, LED waterproof white light and battery.
The gray-scale sensor module includes gray-scale sensor and wireless transmitter.
The direction that the ultrasonic sensor modules issue ultrasonic wave is arranged in parallel to ground, perpendicular to running gear
The direction of walking.
The motor module includes motor and wheel.
The ultrasonic sensor modules can be replaced using infrared sensor module.
Alarming triangle serves as warning, and reminds and has a car accident before front vehicle.
The gray-scale sensor module is the principle based on visible reflectance, white ground marking lines route it is anti-
It is larger to penetrate stronger reading value, the weaker reading value of black (depth) color ground return is smaller, can be very convenient using the difference of the two
Progress line walking detection.
Ultrasonic sensor modules/the infrared sensor module is for detecting whether associate with vehicle.
The radio receiving transmitting module is used for collecting and send signal.
The warning lamp module can issue warning light, serve as warning when low visibility, remind dealing
Vehicle is taken care.
Machine view can be used by Machine Vision Recognition line mark, while equipped with camera module in the camera module
Feel and carry out road analysis, it is replaced to become another solution under the weather conditions of gray-scale sensor cisco unity malfunction.
The processor module is used to handle gray-scale sensor, ultrasonic wave/infrared sensor information, and according to feedback
Analysis, control motor rotation adjustment route；When ultrasonic wave/infrared sensor has detected that back car makes, pass through wireless receiving and dispatching
Module issues alarm signal to loudspeaker module, sounds an alarm loudspeaker module.
The battery module needs the component of electric energy to power to motor module, processor module etc..
The motor module driving running gear movement.
Magnetic switch: for activating device to be switched on, the magnetic switch is tongue tube, when magnetic switch is close to magnet
When, the small iron plate in magnetic switch drives magnetic switch closure；Small iron plate when magnetic switch leaves magnet, in magnetic switch
It can disconnect at once.
Magnet module: for activating magnetic switch；
Based on above-mentioned expressway traffic accident intelligent reminding device, the invention also discloses a kind of expressway traffic accident intelligence
The method of prompting, method includes the following steps:
Step 1: running gear is taken out from storage box, the magnetic switch of the magnet activation running gear of storage box, institute
The expressway stated is switched on traffic accident intelligent reminding device；
Step 2: running gear is placed in the shunting traffic lines of rear of vehicle, make gray-scale sensor towards rear of vehicle；
Step 3: the expressway is with traffic accident intelligent reminding device, rearward constant speed is mobile automatically, when mobile certain
Between, guarantee the stop motion at 150m of the device and parking position；
Step 4: whether ultrasonic wave/infrared sensor real-time monitoring on the running gear has vehicle to cross warning
Board；When there is vehicle to pass through, loudspeaker module, which sounds an alarm, reminds party to pay attention to back car.
In the present embodiment, the processor in control module selects LattePandaX86 LattePandaX86 development board,
It is integrated with one piece of Arduino Leonardo on LattePanda, can connect the various kinds sensor module for supporting Arduino
Deng gray-scale sensor and ultrasonic sensor etc. such as can be used in this case.Machine vision (opencv) will be used simultaneously
Carry out road Identification.
After camera obtains image, image procossing is carried out by opencv.
After image procossing, coordinate system is established in processed image, while establishing at image X direction midpoint
One vertical line, referred to as reference line, as calibration.To manage image top midpoint behind place as standard, it is biased to a reference line left side, control electricity
Machine is turned right, and is biased to that reference line is right, and control motor is turned left, on line when keep straight trip.
Guarantee the accurate of robot movement by control motor steering, promise exists in the top of the image allowed after processing
On middle line, ensures that robot is walked on line, play the role of line walking.
Gray-scale sensor can carry out the connection of serial ports with Arduino, and the principle of gray-scale sensor utilizes different colours
Detection faces are to the degree of reflection of light, such as detection faces on black (depth) color asphalt road and white shunting traffic lines are to the anti-of light
Range degree is different, and the color of the two is different, and white light degree of reflection is larger, and the signal numerical value that gray-scale sensor is passed back is in certain model
It in enclosing, is advantageous in that and does not have to difference color, as long as the two has difference to the reflection of light, institute is in order to detection line road.
It is using
Setting gray-scale sensor a0 is standard value, its as shown in Figure 5 position, and when placement is located at white shunting traffic lines
Middle position, the value of reading is the reflected value (refer specifically to number had any different according to different road surfaces) of white shunting traffic lines, according to
The value fed back to is set, it is arranged as reference quantity, the value that remaining four gray-scale sensor is fed back to using a0 is standard value；No
Initial value must be set, and when use can be according to environment adjust automatically.
According to Fig. 5, tetra- gray-scale sensors of a1-a4 are distributed in front of device, and distance is between intermediate two sensors
15cm.According to country/professional standard, the width of white shunting traffic lines is 15cm on expressway.
The reading for being set in the gray-scale sensor a0 in running gear middle position is X, and other gray-scale sensor readings are done with X
Compare, is radiated in white shunting traffic lines more than or equal to X expression, is indicated with number 1；Indicate running gear in cypress less than X
On oil circuit face, indicated with number 0.Tetra- groups of sensors of a1-a4, totally 16 kinds of possible situations, exclude 8 kinds can not situations, (0,0,
0、1)、(0、1、0、1)、 (1、0、0、0)、(1、0、0、1)、(1、0、1、0)、(1、0、1、1)、(1、 1、0、1)、(1、1、1、1)。
Signal is passed back when gray-scale sensor keeps straight trip when being judged as (0,0,0,0)；
When passing signal back when gray-scale sensor and being judged as (0,1,1,0), running gear is as you were；Manually adjusted
Position of the full line walking apparatus on white lines makes gray-scale sensor pass signal (0,0,0,0) back
When gray-scale sensor passes signal back and is judged as (0,0,1,0), (0,0,1,1), (0,1,1,1) situation, running gear
It rotates by a certain angle counterclockwise；When it is (0,0,0,0) that gray-scale sensor, which passes signal back, stop operating, and keep straight on；
When passing signal back when gray-scale sensor and being judged as (0,1,0,0), (1,1,0,0), (1,1,1,0) situation, walking dress
It sets and rotates clockwise certain angle；When it is (0,0,0,0) that gray-scale sensor, which passes signal back, stop operating, and keep straight on.
In order to reach 150 meters of distance, after running gear placement, controlled by the way of constant speed plus timing.If
The initial velocity for setting the operation of running gear normal straight is V, device straight-line travelling (i.e. device is run under (0,0,0,0) state)
Time be T, remover adjustment when micro-displacement, can be calculated from the formula device linear running how long T
Stop later.
X=1/2aT2+VT
This situation can ignore acceleration a, simplification of a formula are as follows:
X=VT
According to the speed of setting, the time required for 150 meters of device linear running can be calculated.
HC-SR04 ultrasonic wave module is selected, SR04 is the sensor using Ultrasonic characteristics detecting distance.There are two its bands
Ultrasonic probe is used separately as emitting and receiving ultrasonic wave.Its measurement range is in 3cm-450cm.Number is used using Arduino
Word pin triggers SR04 module distance measurement function to the Trig pin at least high level signal of 10 μ s of SR04, returns if any signal,
Echo pin can export high level；For the ultrasonic sensor only with having detected whether that object passes through, output signal is high level table
When being shown with vehicle and passing through, remote prompting is performed the next step.
Select NRF24L01 as radio receiving transmitting module, the radio receiving transmitting module B of running gear, which is transmitted signals to, equally to be made
With the storage box of the radio receiving transmitting module of NRF24L01, the Ardunio in storage box receives signal, activates loudspeaker, reminds
Car owner's back car.It thereby realizes automatic places and reminds party's back car, and monitor back car at any time
Function.
Finally, it should be noted that the foregoing is only a preferred embodiment of the present invention, it is not intended to restrict the invention,
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features,
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (7)
1. a kind of expressway traffic accident intelligent reminding device, including alarming triangle (1), running gear (2), storage box；It is special
Sign is: the running gear (2) includes: gray-scale sensor module (3), warning lamp module, ultrasonic sensor modules
(4), motor module, battery power supply module, radio receiving transmitting module A and magnetic switch, camera module, LattePandaX86 control
Molding block；The storage box includes: Arduino control module, radio receiving transmitting module B, loudspeaker module, battery module and magnetic
Swage block；The alarming triangle (1) is arranged in above the running gear (2), the alarming triangle (1) and row
Walking apparatus (2) is to be detachably connected.
2. a kind of expressway traffic accident intelligent reminding device according to claim 1, it is characterised in that: the warning lamp
Module includes LED waterproof yellow light Fog-proof light, LED waterproof white light and battery.
3. a kind of expressway traffic accident intelligent reminding device according to claim 1 or 2, it is characterised in that: the ash
Spending sensor module includes gray-scale sensor (3) and wireless transmitter (5).
4. a kind of expressway traffic accident intelligent reminding device according to claim 1 to 3, it is characterised in that: the ultrasound
The direction that wave sensor module (4) issues ultrasonic wave is arranged in parallel to ground, perpendicular to the direction of running gear walking.
5. a kind of expressway traffic accident intelligent reminding device according to claim 1, which is characterized in that the camera mould
Block is used to identify route.
6. a kind of expressway traffic accident intelligent reminding device according to claim 1, it is characterised in that: the motor mould
Block includes motor and wheel.
7. a kind of for based reminding method of the expressway any one of described claim 1-5 with traffic accident intelligent reminding device, feature
It is: method includes the following steps:
Step 1: running gear is taken out from storage box, the magnetic switch of the magnet activation running gear of storage box is described
Expressway is switched on traffic accident intelligent reminding device；
Step 2: running gear is placed in the light shunting traffic lines of rear of vehicle, running gear makes ash towards rear movement
Sensor is spent towards rear of vehicle；
Step 3: the expressway is with traffic accident intelligent reminding device, rearward constant speed is mobile automatically, the mobile line walking of constant speed, edge
Marking lines it is mobile, the mobile regular hour, guarantee the stop motion at 150m of the device and parking position；
Step 4: whether the ultrasonic sensor real-time monitoring on the running gear has vehicle to cross warning sign；When there is vehicle
When passing through, loudspeaker module, which sounds an alarm, reminds party to pay attention to back car.
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| CN201811200546.6A CN109435838A (en) | 2018-10-16 | 2018-10-16 | A kind of expressway traffic accident intelligent reminding device and based reminding method |
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| CN201811200546.6A CN109435838A (en) | 2018-10-16 | 2018-10-16 | A kind of expressway traffic accident intelligent reminding device and based reminding method |
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| CN109435838A true CN109435838A (en) | 2019-03-08 |
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| CN201811200546.6A Pending CN109435838A (en) | 2018-10-16 | 2018-10-16 | A kind of expressway traffic accident intelligent reminding device and based reminding method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112248930A (en) * | 2020-10-22 | 2021-01-22 | 广西科技大学 | Intelligent automobile warning device |
| CN113183874A (en) * | 2021-04-20 | 2021-07-30 | 浙江小济生态农业有限公司 | Triangle board safety prompting system and method |
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| CN207225208U (en) * | 2017-09-25 | 2018-04-13 | 周超 | It is a kind of can be along the intelligent triangular warning sign of road white line automatic deploying and retracting |
| CN108407712A (en) * | 2018-05-09 | 2018-08-17 | 嘉善阳安电子科技有限公司 | A kind of triangle warning plate of automatically walk |
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| CN105857169A (en) * | 2016-04-26 | 2016-08-17 | 郑光辉 | Warning device |
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Application publication date: 20190308 |