CN114241773A - Novel highway center-branch area opening rotary barrel formula wisdom movable guardrail - Google Patents
Novel highway center-branch area opening rotary barrel formula wisdom movable guardrail Download PDFInfo
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Abstract
The invention relates to a novel rotary barrel type intelligent movable guardrail with an opening in a middle section of a highway. Infrared sensors are respectively arranged at the end parts of the transition sections at the two sides of the rotary barrel type movable guardrail and used for early warning vehicles running out of the road shoulder and intruding into the central zone; the end parts of the transition sections at the two sides are respectively provided with a camera device for observing the traffic flow and the vehicle speed and identifying the license plate and the vehicle type; early warning devices are respectively arranged on the inner side upright columns at the end parts of the transition sections at the two sides and are used for accident early warning; an induction chip is arranged in each rotary barrel and used for identifying the severity of the collision accident; each device realizes signal transmission through a built-in sensing chip and a cloud control center; solar panel components are installed on the upper cross beams at the end parts of the transition sections on the two sides, and energy is provided for each intelligent module of the intelligent movable guardrail. The invention can realize the functions of early warning before an accident in time, warning in time when the accident occurs, data checking after the accident occurs and the like; meanwhile, the accident emergency rescue time is effectively reduced, so that the accident death rate is reduced, and the safe operation of the highway is ensured.
Description
Technical Field
The invention relates to the field of highway traffic safety facilities and the field of highway traffic operation safety real-time monitoring, in particular to a novel highway center-divided rotary barrel type intelligent movable guardrail with an opening.
Background
Due to the fact that the operating speed of the highway is high, the accident consequence is serious, the death rate of the highway traffic accident is counted to be 74%, wherein the accident related to the center-zone guardrail accounts for about 30%, and most of the accidents are prone to occur at the end portion of the center-zone opening guardrail at present. At present, the central separation belt opening guardrail type which passes through a full-scale collision test of an actual vehicle and meets the safety performance evaluation standard of a highway guardrail (JTG B05-01-2013) in China mainly comprises a prestressed movable guardrail, a frame-type movable guardrail, a trapezoid seat-type movable guardrail, a combined movable guardrail and other different types, the traditional movable guardrail types play an important role in guaranteeing safe operation of a highway, however, the design concept of the traditional movable guardrails is that collision energy is absorbed through deformation of the traditional movable guardrails and a vehicle, the higher the rigidity of the guardrails is, the greater the damage to a driver is when a collision accident occurs, and the serious degree of the traffic accident is high.
In recent years, countries such as the united states, korea, japan, etc. have proposed a revolutionary rotary barrel type guardrail model, and a crash barrier is provided with a rotary barrel, and the rotary barrel absorbs energy through rotation and deformation thereof in a crash accident, thereby effectively converting part of energy of a vehicle during a crash. Compare in traditional guardrail and pass through the deformation absorption collision energy of vehicle and guardrail self, its energy-absorbing of rotatory bucket formula guardrail is obvious when using with the direction effect, and rebound angle and distance are little after the collision takes place, can effectively avoid the secondary accident to take place, according to the applied condition analysis of countries such as the usa, korea, japan at the highway roadside, can reduce traffic accident death rate more than 90%. Therefore, the domestic rotating barrel type guardrail is being continuously popularized and applied after the service life problem of the rotating barrel is solved.
In addition, according to the statistics of experts and scholars in the traffic safety field, if the time for emergency rescue of traffic accidents can be reduced from 25 minutes to 15 minutes, the death rate of the traffic accidents on the expressway can be reduced by more than 1/3.
At present, the traditional movable guardrail with the opening in the median zone of the highway and the novel movable guardrail with the rotary barrel type in the median zone which is transformed based on the rotary barrel type guardrail at the roadside and can be conveniently opened can not solve the problem of traffic accidents and can timely alarm, so that the emergency rescue waiting time of the accidents is reduced, and the death rate of the traffic accidents is reduced.
Chinese patent CN201721223265.3 discloses a traffic guardrail of rotator is taken to interval ground connection formula, infrared ray can be sent to the infrared ray ware in its circuit integration section of thick bamboo, when the car approached, the infrared ray suffered from the hindrance, signal transmission received the hindrance, circuit integration section of thick bamboo can be connected a section of thick bamboo with signal transmission to electricity on one side, electricity connection section of thick bamboo is the light signal with signal conversion and is sent, the warning light lights, circuit integration section of thick bamboo another side can give loudspeaker with signal transmission, the inside bee calling organ of activation loudspeaker, make bee calling organ send the buzzing of dazzling, suggestion people distance is too near. The traffic guardrail is only suitable for being arranged at the roadside and only has the on-site alarm function, so that the highway related management users cannot be timely warned when an accident happens.
Chinese patent CN201810863981.0 discloses an elastic rotator, a rotary guardrail and an accident measurement and control system, which comprises a rotary body, at least one accommodating cavity is arranged on the rotary body along the circumferential direction, at least one sensor is arranged in the accommodating cavity, the sensor is used for collecting an impact signal chip controller of an arbitrary impacting automobile, and is electrically connected with the sensor, and is used for receiving the impact signal output by the sensor, converting the impact signal into a data signal, and transmitting the data signal in time. The external elastic rotator of elastic rotator combines sensor and chip controller as an organic whole, the impact information of the timely receipt car of sensor, then the impact information is received to the sensor, and with information transmission to chip controller, chip controller will strike signal output, realize data transmission through intelligent equipment, in time transmit the information of car striking to corresponding platform, can realize timely rescue to injured personnel, reduce the casualties, guarantee people's life safety. Through the analysis, the sensor setting of this guardrail is in rotatory bucket, though can avoid the wind to blow the sun, increase of service life, but the sensor function is more single, can't realize in time early warning before the accident, can't discern the severity of accident after colliding, can't detect traffic flow and speed of a motor vehicle in the operation, can't discern motorcycle type and license plate, can't satisfy control management user's requirement.
Chinese patent CN202120726596.9 provides a rotatory bucket formula movable guardrail of highway central separation zone of taking universal wheel, including movable guardrail, movable guardrail both sides lower part is provided with the universal wheel subassembly, movable guardrail includes the crossbeam frame that two at least front and back symmetries set up, is provided with coupling mechanism between the adjacent crossbeam frame, the coupling mechanism both sides are provided with a plurality of stands, and every stand overcoat has rotatory bucket, and every stand is connected with two crossbeam framves respectively through U shaped steel board, and wherein long stand downwardly extending is located the inside steel sleeve of ground. The utility model discloses a reasonable in design conveniently opens under emergency, and daily maintenance changes the convenience, can pass by the manual work after the dismantlement, can overcome the upper and lower discrepancy in elevation and the left and right adjustment between the unit movable guardrail that exists in the construction simultaneously, but this movable guardrail belongs to the improvement and the deformation to traditional movable guardrail, needs newly-increased functional module that satisfies the demands.
Therefore, the function of the rotary barrel type movable guardrail with the opening in the middle of the highway is further perfected, and after the functional requirements of collision prevention and guidance, rapidness in installation and disassembly, convenience in replacement and maintenance and the like are met, the functions of early warning before an accident, warning in time when the accident happens, data checking after the accident happens and the like are also required; while the accident emergency rescue time is effectively reduced, monitoring parameters such as traffic flow speed and flow and the like during normal operation and traffic jam can be monitored and transmitted. Satisfy above-mentioned functional requirement's novel rotatory bucket formula wisdom movable guardrail will effectively reduce highway traffic accident mortality, further improves highway operation safety level and current capacity, ensures economic society steady operation, and the meaning is very great.
Disclosure of Invention
The invention aims to have the functions of early warning before an accident occurs at a central opening of a highway, warning in time when the accident occurs, searching data after the accident occurs and the like, so that the novel central opening rotary barrel type intelligent movable guardrail for the highway is provided, can effectively reduce the emergency rescue time of the accident and can monitor and transmit monitoring parameters such as traffic flow speed, flow and the like during normal operation and traffic jam.
In order to achieve the purpose, the technical scheme of the invention is as follows: a novel rotary barrel type intelligent movable guardrail with openings in a highway comprises a rotary barrel type intelligent movable guardrail, wherein infrared sensing devices and camera devices are mounted on the outer side surfaces of the end parts of transition sections on two sides of the movable guardrail; the early warning device is arranged on the long upright post at the inner side of the end part of the transition section at two sides of the movable guardrail; an induction chip is arranged in each rotary barrel of the movable guardrail; the infrared sensing device, the camera device and the early warning device realize signal transmission through the sensing chip and the cloud control center; solar panel components are mounted on the upper cross beams at the end parts of the transition sections on the two sides of the movable guardrail so as to provide energy for each module.
In an embodiment of the invention, the two outer side surfaces of the end parts of the transition sections at the two sides of the movable guardrail are respectively provided with the infrared sensing devices, the infrared sensing devices are symmetrically arranged in groups on the outer side surfaces of the end parts of the openings in the expressway, and when the vehicle touches infrared rays in the driving process, the infrared rays are interrupted, and signals are transmitted to the early warning device.
In an embodiment of the invention, the two outer side surfaces of the end parts of the transition sections at the two sides of the movable guardrail are respectively provided with the camera devices, and the camera devices are arranged in groups and used for observing the traffic flow and the vehicle speed of the section with the opening part in the highway and identifying the license plate and the vehicle type, and transmitting the observation signals to the cloud control center in real time.
In an embodiment of the invention, the early warning device sends out audible and visual alarm when receiving information generated by the infrared sensing device, and transmits the information to the cloud control center to alarm a management user and a navigation user.
In an embodiment of the invention, the sensing chip can sense pressure, deformation and rotating speed parameters of the rotating barrel when an accident occurs, and transmit information to the cloud control center for identifying the severity of the collision accident.
In an embodiment of the invention, the infrared sensing device, the camera device, the early warning device, the sensing chip and the cloud control center can realize signal interconnection.
In an embodiment of the present invention, the early warning device and the infrared sensing device are networked to monitor operating vehicles in an uplink lane and a downlink lane respectively and simultaneously.
In one embodiment of the invention, the cloud control center comprises a traffic flow detection module, a vehicle speed detection module, a license plate recognition module, a vehicle type recognition module and a vehicle and movable guardrail collision accident severity recognition module; the cloud control center sends a shooting instruction to the camera device, the camera device shoots vehicle images in real time and transmits the images to the cloud control center, the cloud control center sends image information to the functional modules, and the functional modules analyze traffic flow data, vehicle running speed and identify license plates and models of vehicles according to the image information.
Compared with the prior art, the invention has the following beneficial effects:
the invention can realize real-time early warning before an accident of the movable guardrail with the opening in the highway; the information such as the position of the accident can be timely alarmed in the accident, and the severity of the accident can be synchronously identified according to the pressure, deformation and rotating speed parameters transmitted by the rotating drum induction chip, so that the cloud control center can timely start a related emergency plan according to the severity of the accident; the accident process can be restored through the stored data and pictures after the accident, and reliable basis is provided for traffic police accident investigation and determination and the like. Due to the timeliness of accident early warning and transmission of the intelligent guardrail and the capability of monitoring and transmitting monitoring parameters such as traffic flow speed and flow during normal operation and traffic jam, the death rate of traffic accidents on the highway is effectively reduced, and the operation safety level and the traffic capacity of the highway are further improved.
Drawings
FIG. 1 is a frame diagram of the intelligent movable fence, the cloud control center, the management user and the navigation user;
FIG. 2 is a top view of a rotary drum type intelligent movable guardrail with openings in a highway;
FIG. 3 is a vertical view of a rotary drum type intelligent movable guardrail with openings in a highway;
FIG. 4 is a diagram of a built-in chip spin basket and cloud control center architecture;
FIG. 5 is a schematic view of a traffic parameter detection device;
FIG. 6 is a schematic flow chart of the Camshift algorithm;
FIG. 7 is a schematic view of a feature matching vehicle speed detection process;
FIG. 8 is a schematic view of a license plate location process based on a gray scale image;
fig. 9 is a schematic view of the process of identifying the severity of a collision accident between a vehicle and a movable guardrail.
In the figure: 1-an infrared sensing device, wherein: 1-1-infrared sensing device 1, 1-2-infrared sensing device 2, 1-3-infrared sensing device 3, 1-4-infrared sensing device 4;
2-an image pickup apparatus, wherein: 2-1-camera 1, 2-2-camera 2;
3-a pre-warning device, wherein: 3-1-early warning device 1, 3-2-early warning device 2;
4-a solar panel assembly, wherein: 4-1-a solar panel block assembly 1, 4-2-a solar panel block assembly 2;
5-rotating the induction chip arranged in the barrel.
Detailed Description
The technical scheme of the invention is specifically explained below with reference to the accompanying drawings.
The invention discloses a novel rotary barrel type intelligent movable guardrail with an opening in a middle section of a highway, which comprises a rotary barrel type intelligent movable guardrail, wherein an infrared sensing device 1 and a camera device 2 are arranged on the outer side surfaces of the end parts of transition sections on two sides of the movable guardrail; the early warning device 3 is arranged on the long upright post at the inner side of the end part of the transition section at two sides of the movable guardrail; an induction chip 5 is arranged in each rotary barrel of the movable guardrail; the infrared sensing device 1, the camera device 2 and the early warning device 3 realize signal transmission through a sensing chip and a cloud control center; solar panel components 4 are installed on the upper cross beams at the end parts of the transition sections on the two sides of the movable guardrail so as to provide energy for each module.
The following is a specific example of the present invention.
As shown in figures 1-5, the novel highway mid-zone opening rotary barrel type intelligent movable guardrail transmits real-time operation conditions of vehicles and movable guardrails to management users through a cloud control center, the management users comprise maintenance management users, operation management users and safety management users, and the management users take corresponding management measures such as maintenance, accident early warning, investigation and identification on the movable guardrails according to real-time transmission signals and analysis decision results of the cloud control center.
The outer side surfaces of the end parts of the two sides of the movable guardrail are respectively provided with an infrared sensing device 1, and the infrared sensing devices 1-1 and 1-2 form a group to monitor traffic in the direction of an ascending lane; the infrared sensing devices 1-3 and 1-4 form another group to monitor traffic in the direction of the down lane; when the vehicle touches infrared rays in the driving process, the infrared rays are interrupted, the sensing device sends out early warning signals, the early warning device 3 receives the signals and sends out sound and light to remind a driver, meanwhile, the information events are transmitted to the cloud control center through the wireless network, and the information events are processed by the cloud control center and then are transmitted to a management user and a navigation user in time.
The outer side faces of the end parts of the transition sections on the two sides of the movable guardrail are respectively provided with a camera device 2, the camera devices 2-1 and 2-2 form a group, the camera devices 2-3 and 2-4 form a group, induction chips are arranged in the groups to realize signal intercommunication, and observation signals are transmitted to a cloud control center to be used for observing traffic flow and vehicle speed and identifying license plates and vehicle types.
The early warning device 3-1 and the infrared sensing devices 1-1 and 1-2 jointly monitor traffic in the ascending lane direction, the early warning device 3-2 and the infrared sensing devices 1-3 and 1-4 jointly monitor traffic in the descending lane direction, the infrared interruption sensing chip receives an early warning signal, immediately sends out audible and visual alarm and transmits information to the cloud control center, and the cloud control center transmits the information to a management user and a navigation user after processing the information.
And an induction chip 5 is arranged in each rotary barrel, so that parameters such as pressure, deformation, rotating speed and the like of the rotary barrel are induced when an accident occurs, and information is transmitted to the cloud control center for identifying the severity of the collision accident.
The upper cross beams at the two sides of the end part of the transition section of the movable guardrail are respectively provided with a solar panel component 4 which consists of a solar panel 4-1 and a solar panel 4-2 and respectively provide energy for various device inductors at the two sides.
In order to enable those skilled in the art to further understand the workflow between the intelligent movable guardrail and each module of the cloud control center, and the traffic flow parameter detection and specific algorithm, the following is briefly introduced:
each function of the cloud control center comprises a traffic flow detection module, a vehicle speed detection module, a license plate recognition module, a vehicle type recognition module and a vehicle and movable guardrail collision accident severity recognition module; the cloud control center sends a shooting instruction to the camera device, the camera device shoots the vehicle image in real time and transmits the image to the control center, the control center sends the image information to each functional module, and each functional module analyzes traffic flow data, vehicle running speed and identifies the license plate and the model of the vehicle according to the image information.
1. Traffic flow detection algorithm
The traffic flow detection adopts a mature profile center-based multi-target tracking algorithm (Camshift algorithm) applied at present, the working flow is shown in FIG. 6, and the principle is as follows: and obtaining a color probability distribution map which is a gray level image by utilizing a histogram model of the H component in the HSV color space image and performing back projection calculation. The search box is initialized manually and the color probability distribution of the image in the search box is calculated. In the next frame, the color probability distribution map is used as initialization data of the Mean-Shift algorithm, and a new search window is calculated, so that the loop is performed, and the purpose of continuously tracking the selected target in the continuous video sequence is achieved. The Camshift algorithm has the advantages that the object can be effectively prevented from being shielded, and the problem of tracking failure caused by the change of the size of the object is solved. The Camshift algorithm only uses the histogram of the H component for calculation, so the algorithm has low utilization rate of system resources and short execution time of each frame of algorithm.
The Camshift algorithm consists of two parts:
(1) back Projection (Back Projection): because the influence of illumination change on the RGB color space is large, the image needs to be converted from the RGB space to the HSV space; after obtaining an image of an HSV space, manually initializing a search window, separating H components in the window, and making a histogram for the H components; the value of each pixel in the histogram is replaced by the probability value of the corresponding color occurrence, thus completing the back projection process and obtaining a color probability distribution chart of a single-channel gray image.
(2) Simplified Mean-Shift: the Mean-Shift formula is simplified using a rectangular kernel, so that the Mean-Shift vector is simplified to calculate the center of gravity of the image pixel distribution. And using the simplified Mean-Shift algorithm to obtain the size and the center coordinate of a new search window for the color probability distribution diagram of the H component obtained in the last step, and using the obtained new window to initialize the Mean-Shift algorithm for tracking the next frame so as to achieve the aim of continuously tracking the target object.
2. Vehicle speed detection algorithm
The vehicle speed detection adopts a video-based vehicle speed detection algorithm, as shown in fig. 7, the vehicle speed is detected by using feature matching, and vehicle image features of different frames are matched based on the invariance of the vehicle features in a short time, so that the pixel distance between different positions of the vehicle in a certain period of time is measured. Firstly, target characteristics of an observed object in each frame of image in a video are locked, the same vehicle is matched among the frames of images, position information of the vehicle in each frame of image is represented by image coordinates, and then an image coordinate camera is calibrated to obtain the driving distance of the vehicle. Since the frame difference time is known, the distance divided by the frame difference time enables the travel speed of the vehicle to be obtained.
General vehicle features include corner features, texture features, color features, edge contour features, and region features. The ROS-based vehicle speed detection method extracts the ROS centroid of the vehicle as a reference point, and because the vehicles detected by two adjacent frames are the same vehicle, reference point matching is carried out by adopting a 'nearest neighbor' strategy for storing the reference point and the vehicle driving direction. After the image vehicle reference point is detected and matched, the pixel coordinates of the reference point in the current frame and the previous frame can be obtained, and the displacement of the moving vehicle can be calculated by converting the pixel coordinates into actual coordinates.
3. License plate recognition algorithm
The license plate recognition algorithm adopts a license plate positioning method based on a gray image, as shown in fig. 8, a license plate generally consists of elements such as characters, numbers, background frames and the like, and a strong boundary is formed between the characters and the background, so that the horizontal gradient of the vehicle image can be obtained by taking a certain numerical value for the horizontal gradient required by the vehicle image. If the vehicle image passes through the jumping point, a threshold value is set, points with the upper gradient limit larger than the threshold value are marked as edge points, one point of a section of continuous edge points is taken as a first point, the point is defined as the jumping point, the horizontal edge points are scanned, and the distribution of the jumping points on the line can be obtained. If the whole image is scanned, the distribution of the whole jumping points is obtained.
4. Vehicle type recognition algorithm
The vehicle type recognition algorithm determines the vehicle type according to pixel area analysis based on the pixel area of the vehicle image acquired by the camera, and the method generally needs a certain value to determine the vehicle type. The method comprises the steps of judging the vehicle type of a vehicle according to the pixel area occupied by the vehicle in a video picture, shooting independent pictures of various vehicle types, analyzing and processing the independent pictures through a computer, searching the length, the width and the height of the vehicle and the boundary range of the vehicle, determining the vehicle type according to the parameters, determining the length, the width and the height of the vehicle which is captured by a camera, comparing the determined length, the width and the height with the range with the known vehicle type parameters, and determining the vehicle type if the determined length, the width and the height are consistent with the known vehicle type parameters.
5. Identification process for severity of collision accident of vehicle and movable guardrail
The flow chart for recognizing the severity of the collision accident of the vehicle and the rotary barrel of the movable guardrail is shown in fig. 9, after the vehicle collides with the rotary barrel of the movable guardrail, a sensing chip arranged in the rotary barrel can sense the pressure, deformation and rotating speed parameters of the rotary barrel, and the severity of the traffic accident can be judged by comparing the threshold values of the slight accident, the general accident and the severe accident according to the pressure value, the deformation value and the rotating speed value transmitted by the rotary barrel during the collision.
The above are preferred embodiments of the present invention, and all changes made according to the technical scheme of the present invention that produce functional effects do not exceed the scope of the technical scheme of the present invention belong to the protection scope of the present invention.
Claims (8)
1. A novel rotary barrel type intelligent movable guardrail with an opening in a highway is characterized by comprising a rotary barrel type intelligent movable guardrail, wherein an infrared sensing device (1) and a camera device (2) are arranged on the outer side surfaces of the end parts of transition sections on two sides of the movable guardrail; the early warning device (3) is arranged on the long upright post at the inner side of the end part of the transition section at two sides of the movable guardrail; an induction chip (5) is arranged in each rotary barrel of the movable guardrail; the infrared sensing device (1), the camera device (2) and the early warning device (3) realize signal transmission through a sensing chip and a cloud control center; and solar panel components (4) are mounted on the upper cross beams at the end parts of the transition sections on the two sides of the movable guardrail to provide energy for each module.
2. The novel intelligent movable guardrail with the opening and the rotary barrel for the highway according to claim 1, wherein the infrared sensors (1) are respectively installed on two outer sides of the transition section at two sides of the movable guardrail, the infrared sensors (1) are symmetrically arranged in groups on the outer sides of the opening end of the highway, and when a vehicle touches the infrared rays during driving, the infrared rays are interrupted, and signals are transmitted to the early warning device (3).
3. The novel highway mid-zone opening rotary drum type intelligent movable guardrail according to claim 1, wherein the camera devices (2) are respectively mounted on two outer side surfaces of the end parts of transition sections on two sides of the movable guardrail, and the camera devices (2) are arranged in groups and used for observing traffic flow and vehicle speed and recognizing license plates and vehicle types of highway mid-zone opening sections and transmitting observation signals to a cloud control center in real time.
4. The novel highway mid-span opening rotary drum type intelligent movable guardrail according to claim 1, wherein the early warning device (3) sends out an audible and visual alarm when receiving information generated by the infrared sensing device (1), and transmits the information to a cloud control center to alarm a management user and a navigation user.
5. The novel highway mid-span opening rotary barrel type intelligent movable guardrail according to claim 1, wherein the sensing chip (5) can sense pressure, deformation and rotating speed parameters of the rotary barrel during accidents and transmit the information to a cloud control center for collision accident severity identification.
6. The novel highway mid-span opening rotary drum type intelligent movable guardrail according to claim 1, wherein the infrared sensing device (1), the camera device (2), the early warning device (3), the sensing chip (5) and the cloud control center can realize signal interconnection.
7. The novel intelligent movable guardrail with the opening and the rotary barrel for the highway comprises a front alarming device (3) and an infrared sensing device (1), wherein the front alarming device is connected with the front alarming device and the infrared sensing device in a networking mode to monitor operating vehicles on an ascending lane and operating vehicles on a descending lane simultaneously.
8. The novel highway mid-span opening rotary drum type intelligent movable guardrail according to claim 1, wherein the cloud control center comprises a traffic flow detection module, a vehicle speed detection module, a license plate recognition module, a vehicle type recognition module and a vehicle and movable guardrail collision accident severity recognition module; the cloud control center sends a shooting instruction to the camera device, the camera device shoots vehicle images in real time and transmits the images to the cloud control center, the cloud control center sends image information to the functional modules, and the functional modules analyze traffic flow data, vehicle running speed and identify license plates and models of vehicles according to the image information.
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