CN204833713U - Simple and easy on -vehicle road conditions detecting system - Google Patents
Simple and easy on -vehicle road conditions detecting system Download PDFInfo
- Publication number
- CN204833713U CN204833713U CN201520571786.2U CN201520571786U CN204833713U CN 204833713 U CN204833713 U CN 204833713U CN 201520571786 U CN201520571786 U CN 201520571786U CN 204833713 U CN204833713 U CN 204833713U
- Authority
- CN
- China
- Prior art keywords
- main control
- car body
- control unit
- vehicle road
- unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Navigation (AREA)
- Traffic Control Systems (AREA)
Abstract
The utility model discloses a simple and easy on -vehicle road conditions detecting system, be provided with the main control unit on the automobile body, the output of laser rangefinder sensor, inertia measuring unit and GPS unit is connected respectively to the input of main control unit, the laser rangefinder sensor includes at least two, and all laser rangefinder sensors are installed in the front end of automobile body uniformly, and its laser emission end all down, inertia measuring unit then install in the center of automobile body, additionally, the output of main control unit is connected with memory cell and output interface. The utility model discloses only adopting two devices of a plurality of laser rangefinder sensors and inertia measuring unit to carry out the automobile body and being expert at the status data that sails the in -process and obtaining and obtain in view of the above pavement condition, simple structure, cost are lower to two different reference frames can be reach, only error that the reference frame probably leaded to has been avoided.
Description
Technical field
The utility model relates to road conditions detection field, is specifically related to a kind of easy vehicle road condition detection system.
Background technology
In road maintenance process, need the situation regularly understanding pavement of road, comprise road surface whether smooth, whether have and break, whether have the small-scale obstacle thing etc.Existing road conditions detection scheme is mainly arrangement personnel and detects on the spot, or uses road conditions inspection vehicle to detect.The former needs to expend more manpower, and the latter is then integrated with a lot of sensor and information analysis treating apparatus, and expensive, maintenance cost is high, generally only just can use when road builds up examination, is not suitable for using for a long time in road maintenance process.
Utility model content
For the deficiencies in the prior art, the utility model aims to provide a kind of easy vehicle road condition detection system, by being combined laser range sensor and Inertial Measurement Unit, with the angle value of the distance value between laser range sensor and ground, tilting of car body and car body at each accekeration axially for according to carrying out com-parison and analysis, obtain the situation of corresponding road surface.
To achieve these goals, the utility model adopts following technical scheme:
A kind of easy vehicle road condition detection system, comprise car body, described car body is provided with main control unit, the input end of described main control unit connects the output terminal of laser range sensor, Inertial Measurement Unit and GPS unit respectively; Described laser range sensor comprises at least two, and all laser range sensors are installed on the front end of car body equably, and Laser emission end all down; Described Inertial Measurement Unit is then installed on the center of described car body; In addition, the output terminal of described main control unit is connected with storage unit and output interface.
It should be noted that, after the effect of two or more laser range sensors is that each laser range sensor records the distance on self and ground, main control unit can by judging the whether excessive acquisition pavement behavior of the difference of each distance value, if difference is excessive, then illustrate that car body front end each point is inconsistent from the distance on road surface, i.e. this road section surface out-of-flatness.The effect of described Inertial Measurement Unit is to measure the angle value of tilting of car body and car body at each accekeration axially, by these data, main control unit judges that (G is acceleration of gravity for acceleration on car body Z-axis (Z axis) direction and G × cos α, angle of inclination when α is car body climb and fall) whether difference excessive, if excessive, then illustrate that Uneven road is steady.
As a kind of preferred version, also comprise image acquisition units and CMOS camera, the output terminal of image acquisition units is connected to described main control unit, and input end then connects the output terminal of CMOS camera.Described CMOS camera and image acquisition units can make to have during unusual condition on discovery road surface to carry out captured in real-time to this road section surface, obtain a more intuitive basis for estimation further.
Further, as a kind of preferred version, described CMOS camera comprises at least two, is installed on the front-end and back-end of described car body respectively.
The beneficial effects of the utility model are: only adopt some laser range sensors and Inertial Measurement Unit two devices carry out car body state data acquisition in the process of moving and obtain pavement behavior accordingly, structure is simple, cost is lower, and two different reference frames can be drawn, avoid the error only having a reference frame to cause.
Accompanying drawing explanation
Fig. 1 is anatomical connectivity block diagram of the present utility model;
Fig. 2 is the force analysis figure of car body when climb and fall.
Embodiment
Below with reference to accompanying drawing, the utility model will be further described, it should be noted that, the present embodiment, premised on the technical program, give detailed embodiment and concrete operating process, but protection domain of the present utility model is not limited to the present embodiment.
As shown in Figure 1, a kind of easy vehicle road condition detection system, comprise car body, described car body is provided with main control unit, the input end of described main control unit connects the output terminal of laser range sensor, Inertial Measurement Unit and the GPS unit that 6 precision are 1mm respectively; All laser range sensors are installed on the front end of car body equably, and Laser emission end all down; Described Inertial Measurement Unit is then installed on the center of described car body; In addition, the output terminal of described main control unit is connected with storage unit and output interface.
As a kind of preferred version, described easy vehicle road condition detection system also comprises image acquisition units and CMOS camera, and the output terminal of image acquisition units is connected to described main control unit, and input end then connects the output terminal of CMOS camera.Described CMOS camera and image acquisition units can make to have during unusual condition on discovery road surface to carry out captured in real-time to this road section surface, obtain a more intuitive basis for estimation further.
Further, as a kind of preferred version, described CMOS camera comprises at least two, is installed on the front-end and back-end of described car body respectively.
After system is opened, laser range sensor and Inertial Measurement Unit start synchronous operation.
Wherein, the Laser emission end of described laser range sensor is with 2000Hz frequency emission pulse laser, laser is got to after on road surface and is received by the laser pick-off termination of laser range sensor through road surface scattering again, thereafter calculate the distance value between laser range sensor and road surface based on phase shift rangefinder principle and transfer to main control unit analysis, if the distance value difference that each laser range sensor records is excessive, then illustrate that car body front end each point is inconsistent from the distance on road surface, i.e. this road section surface out-of-flatness.
The principle of phase shift rangefinder is the laser adopting radiowave band frequency, carry out amplitude modulation(PAM) and electroencephalogram come and gone the measuring difference of phases that distance measuring equipment and object spacing produce, according to wavelength and the frequency of light modulated, converse laser time of flight, then calculate testing distance with this.If light modulated angular frequency is ω, the phase delay that round trip produces between distance measuring equipment and barrier is φ, then time t=(φ+△ the φ)/ω of round trip; △ φ represents the phase differential less than a phase place.C represents the light velocity, then testing distance L=1/2ct=1/2c × (φ+△ φ)/ω.
On the other hand, Inertial Measurement Unit (IMU) is arranged on the center of car body closely, the accekeration that the angle value of tilting of car body and car body suffer can be measured under dynamic environment, can analyze according to these two values and show whether road surface tilts, whether rugged and rough.IMU mainly contains gyroscope and accelerometer composition, and gyroscope is used to measured angular speed, carries out to angular velocity the variable quantity that integration can obtain angle in a period of time; Accelerometer can perceive the free acceleration that acceleration of gravity and car body produce because of motion, and there is corresponding relation at the angle of inclination (luffing angle/roll angle) in acceleration of gravity and object relative level face.
As shown in Figure 2, the angle [alpha]=acrsin (Ax/G) of inclination during car body climb and fall.Wherein Ax represents the component of the acceleration of gravity G that accelerometer measures obtains.In figure, Az represents the accekeration of the car body Z-axis (Z axis) that accelerometer measures obtains.The integration of such gyroscope survey value can obtain an angle value, acceleration measurement also can obtain an angle value through a small amount of calculating, these two angle values are got up by algorithm fusion, just can measure under dynamic environment that to obtain a precision high, rift-free inclined angle of object value.When the acceleration on car body Z-axis (Z axis) direction and G × cos α difference excessive time, then illustrate that this road section surface is comparatively surely rugged and rough.
When main control unit according to laser range sensor and Inertial Measurement Unit record worth go out the result of road surface exception time, generation trigger pip is transferred to GPS unit and CMOS camera, GPS records current road position, and CMOS camera then takes the real-time imaging of lower current road and storage exports other equipment in the memory unit or by output interface.
For a person skilled in the art, according to above technical scheme and design, various corresponding change and distortion can be made, and all these change and distortion all should be included within the protection domain of the utility model claim.
Claims (3)
1. an easy vehicle road condition detection system, comprises car body, it is characterized in that, described car body is provided with main control unit, and the input end of described main control unit connects the output terminal of laser range sensor, Inertial Measurement Unit and GPS unit respectively; Described laser range sensor comprises at least two, and all laser range sensors are installed on the front end of car body equably, and Laser emission end all down; Described Inertial Measurement Unit is then installed on the center of described car body; In addition, the output terminal of described main control unit is connected with storage unit and output interface.
2. the easy vehicle road condition detection system of one according to claim 1, it is characterized in that, also comprise image acquisition units and CMOS camera, the output terminal of image acquisition units is connected to described main control unit, and input end then connects the output terminal of CMOS camera.
3. the easy vehicle road condition detection system of one according to claim 2, it is characterized in that, described CMOS camera comprises at least two, is installed on the front-end and back-end of described car body respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520571786.2U CN204833713U (en) | 2015-07-31 | 2015-07-31 | Simple and easy on -vehicle road conditions detecting system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520571786.2U CN204833713U (en) | 2015-07-31 | 2015-07-31 | Simple and easy on -vehicle road conditions detecting system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204833713U true CN204833713U (en) | 2015-12-02 |
Family
ID=54691286
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520571786.2U Active CN204833713U (en) | 2015-07-31 | 2015-07-31 | Simple and easy on -vehicle road conditions detecting system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204833713U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105702051A (en) * | 2016-04-11 | 2016-06-22 | 上海斐讯数据通信技术有限公司 | Vehicle early warning system and method and vehicle containing vehicle early warning system |
| CN107016870A (en) * | 2017-05-03 | 2017-08-04 | 李良杰 | Rough road condition drives guiding system |
| CN108613656A (en) * | 2018-05-14 | 2018-10-02 | 珠海市微半导体有限公司 | Robot detects the method at the elevation angle based on six axis gyroscopes and detects by the method for card |
| CN108628312A (en) * | 2018-05-14 | 2018-10-09 | 珠海市微半导体有限公司 | Robot is by the control method and chip of the detection method of card and off card |
| CN108681325A (en) * | 2018-05-14 | 2018-10-19 | 珠海市微半导体有限公司 | Elevation angle detection method of the robot based on accelerometer and by card detection and off card method |
| CN109489713A (en) * | 2017-09-12 | 2019-03-19 | 郑州宇通客车股份有限公司 | A kind of automatic recognition system of automobile and its road deterioration extent |
| CN110215341A (en) * | 2019-06-18 | 2019-09-10 | 深圳市中诺通讯有限公司 | A kind of method and system suitable for blind person's trip |
-
2015
- 2015-07-31 CN CN201520571786.2U patent/CN204833713U/en active Active
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105702051A (en) * | 2016-04-11 | 2016-06-22 | 上海斐讯数据通信技术有限公司 | Vehicle early warning system and method and vehicle containing vehicle early warning system |
| CN107016870A (en) * | 2017-05-03 | 2017-08-04 | 李良杰 | Rough road condition drives guiding system |
| CN109489713A (en) * | 2017-09-12 | 2019-03-19 | 郑州宇通客车股份有限公司 | A kind of automatic recognition system of automobile and its road deterioration extent |
| CN108613656A (en) * | 2018-05-14 | 2018-10-02 | 珠海市微半导体有限公司 | Robot detects the method at the elevation angle based on six axis gyroscopes and detects by the method for card |
| CN108628312A (en) * | 2018-05-14 | 2018-10-09 | 珠海市微半导体有限公司 | Robot is by the control method and chip of the detection method of card and off card |
| CN108681325A (en) * | 2018-05-14 | 2018-10-19 | 珠海市微半导体有限公司 | Elevation angle detection method of the robot based on accelerometer and by card detection and off card method |
| CN108613656B (en) * | 2018-05-14 | 2020-12-15 | 珠海市一微半导体有限公司 | Method for detecting stuck robot based on six-axis gyroscope |
| CN108628312B (en) * | 2018-05-14 | 2021-11-19 | 珠海一微半导体股份有限公司 | Method for detecting stuck robot, method for controlling stuck robot and chip |
| CN110215341A (en) * | 2019-06-18 | 2019-09-10 | 深圳市中诺通讯有限公司 | A kind of method and system suitable for blind person's trip |
| CN110215341B (en) * | 2019-06-18 | 2022-04-08 | 深圳市中诺通讯有限公司 | Method and system suitable for blind people to go out |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204833713U (en) | Simple and easy on -vehicle road conditions detecting system | |
| CN102700551B (en) | Method for estimating gradient of road surface in real time in vehicle running process | |
| CN113370982B (en) | Road bump area detection method and device, electronic equipment and storage medium | |
| US20130316310A1 (en) | Methods for determining orientation of a moving vehicle | |
| JP6078722B2 (en) | Road surface property measuring device | |
| CN101900527A (en) | System and method for measuring boxcar volume | |
| CN104864909A (en) | Road surface pothole detection device based on vehicle-mounted binocular vision | |
| CN103792096A (en) | Portable brake performance tester with embedded electronic gyroscope and test method | |
| CN108873043B (en) | Method and device for calculating vehicle sideslip angle | |
| CN104121886A (en) | Distance meter | |
| CN104316716B (en) | A kind of GPS velocity information improves the method for vehicular speeds table | |
| CN106768638A (en) | A kind of passenger car height of center of mass real-time estimation device and evaluation method | |
| CN106197471A (en) | Road Detection spacing based on information fusion triggers device and triggering method | |
| CN103884514A (en) | Multifunctional motor vehicle detecting instrument and detecting method thereof | |
| Gupta et al. | Road grade estimation using crowd-sourced smartphone data | |
| Hou et al. | VehSense: Slippery road detection using smartphones | |
| CN202119429U (en) | Online inclining/vibration detecting device based on internet of things | |
| CN110191412B (en) | Method for correcting vehicle driving route information and vehicle-mounted terminal | |
| CN104527720A (en) | Image acquisition control method and device and image acquisition system | |
| CN104111095A (en) | Fuel consumption analysis method and system based on automobile traveling state | |
| CN103869282B (en) | Method and device for quickly acquiring course angle of trackless vehicle in underground roadway environment | |
| CN104122412A (en) | Accelerometer calibrating method based on Beidou second generation velocity information | |
| CN106314046A (en) | Method, device and system for determining rotating angle of tyre pressure sensor in wheel | |
| Bruwer et al. | Comparison of GPS and MEMS support for smartphone-based driver behavior monitoring | |
| CN113200455B (en) | Performance detection method and system for anti-swing system of crane |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 201417 a, No. 1207, fahua village, Huqiao Town, Fengxian District, Shanghai Patentee after: Shanghai langshang Sensing Technology Co.,Ltd. Address before: 201417 a, No. 1207, fahua village, Huqiao Town, Fengxian District, Shanghai Patentee before: SHANGHAI LAMSHINE Co.,Ltd. |
|
| CP01 | Change in the name or title of a patent holder |