技术领域technical field
本发明涉及交通安全技术领域，具体地是涉及一种超声波在工程车上的安全应用方法及其系统。The invention relates to the technical field of traffic safety, in particular to a method and system for safely applying ultrasonic waves on engineering vehicles.
背景技术Background technique
工程车是一个建筑工程的主干力量，由于它们的出现才使建筑工程的进度倍增，大大减少了人力。常见工程车有：重型运输车辆，大型吊车,挖掘机,推土机,压路机,装载车,电力抢修车,工程抢险车,政府专用工程车，越野工程车,电焊工程车,装甲工程车(战斗工程车)，氧化剂污水处理工程车等。Engineering vehicles are the backbone of a construction project. Their appearance doubles the progress of construction projects and greatly reduces manpower. Common engineering vehicles include: heavy transport vehicles, large cranes, excavators, bulldozers, road rollers, loading vehicles, electric emergency repair vehicles, engineering emergency vehicles, government special engineering vehicles, off-road engineering vehicles, welding engineering vehicles, armored engineering vehicles (combat engineering vehicles) ), oxidant sewage treatment engineering vehicles, etc.
在现实中可以注意到，常常由于右前侧盲区和内轮差问题，造成一些事故，其中所述内轮差是指车辆转弯时内前轮转弯半径与内后轮转弯半径之差。平头车太高，在启动行走前无法看法右前两米的视野，这是右前侧盲区问题；还有一种现象工程车的前部虽然已经通过，但是工程车(或挂车)的后部却撞到障碍物、行人，这就是忽视内轮差的结果。车体太长的大货车或者大客车，转弯都是有内轮差的。In reality, it can be noticed that some accidents are often caused by the blind spot on the right front side and the inner wheel difference, wherein the inner wheel difference refers to the difference between the turning radius of the inner front wheel and the turning radius of the inner rear wheel when the vehicle is turning. The flat-headed vehicle is too high, and it is impossible to see the vision of two meters in front of the right before starting to walk. This is the problem of the blind spot on the right front side; there is also a phenomenon that although the front of the construction vehicle has passed, the rear of the construction vehicle (or trailer) has hit Obstacles, pedestrians, this is the result of ignoring the inner wheel difference. Large trucks or buses with too long body will have inner wheel difference when turning.
为了解决这个问题有人在工程车侧右侧增加语音喇叭，在右转弯时，语音提醒外面行人，让其注意周围有车通过。但是仅仅提醒路人，路人无法判断危险的区域，而且更为关键的是不能有效提醒到驾驶人员，即无法从根源上消除危险。In order to solve this problem, someone added a voice speaker on the right side of the construction vehicle. When turning right, the voice reminds pedestrians outside to pay attention to the passing cars around them. But only to remind passers-by, passers-by cannot judge the dangerous area, and more importantly, the driver cannot be effectively reminded, that is, the danger cannot be eliminated from the root cause.
发明内容Contents of the invention
本发明旨在提供一种超声波在工程车上的安全应用方法及其系统来解决工程车因为右前侧盲区和内轮差引起的安全问题。The present invention aims to provide a safe application method and system of ultrasonic waves on engineering vehicles to solve the safety problems of engineering vehicles caused by right front side blind spots and inner wheel differences.
为解决上述技术问题，本发明的技术方案是：In order to solve the problems of the technologies described above, the technical solution of the present invention is:
一种超声波在工程车上的安全应用方法，包括如下步骤：A method for safely applying ultrasonic waves on an engineering vehicle, comprising the following steps:
S1：划分梯度区域，根据工程车长度划分为多个梯度区域并对每一所述梯度区域进行编号，每一所述梯度区域根据行人与工程车的距离关系设定多级报警区间，同时设定每一级所述报警区间所对应的优先级别，其中每一所述优先级别对应一种预警方式，所有的所述梯度区域设定的报警区间的级数相同。S1: Divide the gradient area, divide it into multiple gradient areas according to the length of the engineering vehicle and number each gradient area, set a multi-level alarm interval for each gradient area according to the distance relationship between pedestrians and engineering vehicles, and set The priority levels corresponding to the alarm intervals of each level are determined, wherein each priority level corresponds to an early warning mode, and the number of alarm intervals set in all the gradient areas is the same.
S2：工程车右转弯时，启动超声波模块。S2: When the engineering vehicle turns right, start the ultrasonic module.
S3：所述超声波模块不断发送超声波，实时检测是否有行人，当检测到行人时，确定行人所在的梯度区域并且测量出行人与工程车的距离，并发送测量信息。S3: The ultrasonic module continuously sends ultrasonic waves to detect whether there are pedestrians in real time. When a pedestrian is detected, determine the gradient area where the pedestrian is located, measure the distance between the pedestrian and the construction vehicle, and send measurement information.
S4：接收所述测量信息，根据所述测量信息确定行人所在的梯度区域的编号，结合行人与工程车的距离确定其所在的报警区间以及其所对应的优先级别。S4: Receive the measurement information, determine the number of the gradient area where the pedestrian is located according to the measurement information, and determine the alarm zone where the pedestrian is located and the corresponding priority level in combination with the distance between the pedestrian and the engineering vehicle.
当有一个行人时，按照其优先级别所对应的预警方式提醒驾驶员。When there is a pedestrian, the driver will be reminded according to the warning method corresponding to its priority level.
当有多个行人时，比较每一行人所对应的优先级别的高低，按照较高优先级别所对应的预警方式提醒驾驶员。When there are multiple pedestrians, compare the priority level corresponding to each pedestrian, and remind the driver according to the early warning method corresponding to the higher priority level.
进一步地所述预警方式包括直鸣、快叫、慢叫，其紧急程度为直鸣大于快叫，快叫大于慢叫。Further, the warning methods include straight beeping, quick beeping, and slow beeping, and the urgency of the beeping is greater than that of a straight beeping, and that of a quick beeping is greater than that of a slow beeping.
进一步地每一所述梯度区域均根据行人与工程车的距离关系设有三级报警区间。Further, each gradient area is provided with a three-level alarm interval according to the distance relationship between pedestrians and engineering vehicles.
第一级报警区间对应第一优先级，其预警方式为直鸣。The first-level alarm interval corresponds to the first priority, and its early warning mode is direct beeping.
第二级报警区间对应第二优先级，其预警方式为快叫。The second-level alarm interval corresponds to the second priority, and its early warning method is quick call.
第三级报警区间对应第三优先级，其预警方式为慢叫。The third level alarm interval corresponds to the third priority level, and its early warning mode is slow call.
优先级别按照从高到低排序为第一优先级、第二优先级、第三优先级。The priority levels are sorted from high to low as first priority, second priority, and third priority.
进一步地所述梯度区域的数量设定为六个，在车头右侧部分设定两个梯度区域，在车身右侧部分设定四个梯度区域。Further, the number of gradient areas is set to six, two gradient areas are set on the right side of the front of the vehicle, and four gradient areas are set on the right side of the vehicle body.
进一步地所述步骤S2还包括工程车在右转弯时通过语音喇叭提醒行人注意避让。Further, the step S2 also includes reminding pedestrians to pay attention to avoiding through the voice horn when the engineering vehicle is turning right.
一种超声波在工程车上的安全应用系统，包括：A safety application system of ultrasonic waves on engineering vehicles, including:
梯度区域划分模块，用于根据工程车长度划分为多个梯度区域并对每一所述梯度区域进行编号，每一所述梯度区域根据行人与工程车的距离关系设定多级报警区间，同时设定每一级所述报警区间所对应的优先级别，其中每一所述优先级别对应一种预警方式，所有的所述梯度区域设定的报警区间的级数相同。The gradient area division module is used to divide into multiple gradient areas according to the length of the engineering vehicle and number each of the gradient areas, and each of the gradient areas sets a multi-level alarm interval according to the distance relationship between pedestrians and engineering vehicles, and at the same time Setting the priority levels corresponding to the alarm intervals of each level, wherein each priority level corresponds to an early warning mode, and the number of stages of the alarm intervals set in all the gradient areas is the same.
超声波启动模块，用于检测到工程车右转弯时，启动超声波模块。The ultrasonic starting module is used to start the ultrasonic module when it detects that the engineering vehicle is turning right.
所述超声波模块，用于不断发送超声波，实时检测是否有行人，当检测到行人时，确定行人所在的梯度区域并且测量出行人与工程车的距离，并发送测量信息至中心控制模块。The ultrasonic module is used to continuously send ultrasonic waves to detect whether there are pedestrians in real time. When a pedestrian is detected, determine the gradient area where the pedestrian is located and measure the distance between the pedestrian and the engineering vehicle, and send the measurement information to the central control module.
所述中心控制模块，用于接收所述测量信息，根据所述测量信息确定行人所在的梯度区域的编号，结合行人与工程车的距离确定其所在的报警区间以及其所对应的优先级别。The central control module is used to receive the measurement information, determine the number of the gradient area where the pedestrian is located according to the measurement information, and determine the alarm zone where the pedestrian is located and the corresponding priority level in combination with the distance between the pedestrian and the engineering vehicle.
当有一个行人时，按照其优先级别确定预警方式。When there is a pedestrian, the early warning method is determined according to its priority.
当有多个行人时，比较每一行人所对应的优先级别的高低，按照较高优先级别确定预警方式。When there are multiple pedestrians, compare the priority level corresponding to each pedestrian, and determine the early warning method according to the higher priority level.
将确定后的预警方式发送给报警模块。Send the determined early warning mode to the alarm module.
所述报警模块，用于按照所述中心控制模块确定的预警方式来提醒驾驶员。The alarm module is used to remind the driver according to the early warning mode determined by the central control module.
进一步地所述预警方式包括直鸣、快叫、慢叫，其紧急程度为直鸣大于快叫，快叫大于慢叫。Further, the warning methods include straight beeping, quick beeping, and slow beeping, and the urgency of the beeping is greater than that of a straight beeping, and that of a quick beeping is greater than that of a slow beeping.
进一步地每一所述梯度区域均根据行人与工程车的距离关系设有三级报警区间。Further, each gradient area is provided with a three-level alarm interval according to the distance relationship between pedestrians and engineering vehicles.
第一级报警区间对应第一优先级，其预警方式为直鸣。The first-level alarm interval corresponds to the first priority, and its early warning mode is straight beeping.
第二级报警区间对应第二优先级，其预警方式为快叫。The second-level alarm interval corresponds to the second priority, and its early warning method is quick call.
第三级报警区间对应第三优先级，其预警方式为慢叫。The third level alarm interval corresponds to the third priority level, and its early warning mode is slow call.
优先级别按照从高到低排序为第一优先级、第二优先级、第三优先级。The priority levels are sorted from high to low as first priority, second priority, and third priority.
进一步地所述梯度区域的数量设定为六个，在车头右侧部分设定两个梯度区域，在车身右侧部分设定四个梯度区域。Further, the number of gradient areas is set to six, two gradient areas are set on the right side of the front of the vehicle, and four gradient areas are set on the right side of the vehicle body.
进一步地还包括语音喇叭模块，用于在工程车在右转弯时提醒行人注意避让。It further includes a voice horn module, which is used to remind pedestrians to pay attention to avoiding when the engineering vehicle is turning right.
采用上述技术方案，本发明至少包括如下有益效果：By adopting the above technical scheme, the present invention at least includes the following beneficial effects:
本发明所述的超声波在工程车上的安全应用方法及其系统，主要利用超声波发送超声波，遇到障碍物反射，利用时间差来判断行人与车体的距离。测距更为精准，响应速度更快。采用梯度区域的方式设置报警区间，针对性更强，有效避免了驾驶员长期使用造成麻木的态度。当探测到在危险范围内，及时通过不同的语音预警方式来提醒驾驶员和行人做出处理动作，更为直观和高效。The safe application method and system of ultrasonic waves on engineering vehicles according to the present invention mainly use ultrasonic waves to send ultrasonic waves, encounter obstacles and reflect, and use time difference to judge the distance between pedestrians and the vehicle body. The distance measurement is more accurate and the response speed is faster. The alarm interval is set in the way of gradient area, which is more targeted and effectively avoids the driver's numb attitude caused by long-term use. When it is detected that it is in a dangerous range, it is more intuitive and efficient to remind drivers and pedestrians to take action through different voice warning methods in time.
附图说明Description of drawings
图1为一种实施例所述的超声波在工程车上的安全应用方法流程图；Fig. 1 is a flow chart of a safe application method of ultrasonic waves on an engineering vehicle described in an embodiment;
图2为一种实施例所述的梯度区域的划分方法示意图；Fig. 2 is a schematic diagram of a method for dividing gradient regions described in an embodiment;
图3为一种实施例所述的超声波在工程车上的安全应用系统的结构示意图。Fig. 3 is a schematic structural diagram of an embodiment of an ultrasonic safety application system on an engineering vehicle.
具体实施方式Detailed ways
下面结合附图和实施例对本发明进一步说明。The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
实施例1Example 1
如图1所示，为符合本实施例所述的一种超声波在工程车上的安全应用方法，包括如下步骤：As shown in Figure 1, in order to meet the safety application method of a kind of ultrasonic wave on engineering vehicle described in this embodiment, it includes the following steps:
S1：划分梯度区域，根据工程车长度划分为多个梯度区域并对每一所述梯度区域进行编号，每一所述梯度区域根据行人与工程车的距离关系设定多级报警区间，同时设定每一级所述报警区间所对应的优先级别，其中每一所述优先级别对应一种预警方式，所有的所述梯度区域设定的报警区间的级数相同；S1: Divide the gradient area, divide it into multiple gradient areas according to the length of the engineering vehicle and number each gradient area, set a multi-level alarm interval for each gradient area according to the distance relationship between pedestrians and engineering vehicles, and set Determine the priority levels corresponding to the alarm intervals of each level, wherein each of the priority levels corresponds to an early warning method, and the number of stages of the alarm intervals set in all the gradient areas is the same;
S2：工程车右转弯时，启动超声波模块；所述超声波模块可以为一个或者多个，安装在工程车右侧。由于其具体位置为本领域技术人员的常规技术手段，故此处不再赘述。S2: When the engineering vehicle turns right, start the ultrasonic module; the ultrasonic module can be one or more, installed on the right side of the engineering vehicle. Since its specific location is a conventional technical means for those skilled in the art, it will not be repeated here.
S3：所述超声波模块不断发送超声波，实时检测是否有行人，当检测到行人时，确定行人所在的梯度区域并且测量出行人与工程车的距离，并发送测量信息；S3: The ultrasonic module continuously sends ultrasonic waves to detect whether there are pedestrians in real time. When a pedestrian is detected, determine the gradient area where the pedestrian is located and measure the distance between the pedestrian and the construction vehicle, and send measurement information;
S4：接收所述测量信息，根据所述测量信息确定行人所在的梯度区域的编号，结合行人与工程车的距离确定其所在的报警区间以及其所对应的优先级别；S4: Receive the measurement information, determine the number of the gradient area where the pedestrian is located according to the measurement information, and determine the alarm zone where the pedestrian is located and the corresponding priority level in combination with the distance between the pedestrian and the construction vehicle;
当有一个行人时，按照其优先级别所对应的预警方式提醒驾驶员；When there is a pedestrian, the driver will be reminded according to the warning method corresponding to its priority level;
当有多个行人时，比较每一行人所对应的优先级别的高低，按照较高优先级别所对应的预警方式提醒驾驶员。When there are multiple pedestrians, compare the priority level corresponding to each pedestrian, and remind the driver according to the early warning method corresponding to the higher priority level.
本实施例的工作原理在于：利用超声波发送超声波，遇到障碍物反射，利用时间差来判断行人与车体的距离。众所周知，超声波的指向性强,能量消耗缓慢,遇到障碍物后反射效率高,是测距的良好载体。测距时由安装在同一位置的超声波发射器和接收器完成超声波的发射与接收,由定时器计时。首先由发射器向特定方向发射超声波并同时启动定时器计时,超声波在介质传播途中一旦遇到障碍物后就被反射回来,当接收器收到反射波后立即停止计时。这样,定时器就记录下了超声波自发射点至障碍物之间往返传播经历的时间t(s)。由于常温下超声波在空气中的传播速度约为340m/s,所以发射点距障碍物之间的距离为：The working principle of this embodiment is: using ultrasonic waves to send ultrasonic waves, encountering obstacles and reflecting them, and using time differences to judge the distance between pedestrians and the vehicle body. As we all know, ultrasonic waves have strong directivity, slow energy consumption, and high reflection efficiency after encountering obstacles, so they are good carriers for distance measurement. When measuring the distance, the ultrasonic transmitter and receiver installed at the same position complete the ultrasonic emission and reception, and the timer counts. First, the transmitter emits ultrasonic waves in a specific direction and starts the timer at the same time. Once the ultrasonic waves encounter obstacles during the medium propagation, they are reflected back, and the receiver stops timing immediately after receiving the reflected waves. In this way, the timer records the time t(s) that the ultrasonic wave travels back and forth from the emission point to the obstacle. Since the propagation speed of ultrasonic waves in the air at normal temperature is about 340m/s, the distance between the emission point and the obstacle is:
S＝340t/2＝170tS=340t/2=170t
当本实施例中每一个梯度区域内都设有一个或者多个所述超声波模块时，那么利用上述公式既可以测出障碍物(即行人)与工程车的距离，无需进行换算，测量精度高、响应速度快，但是成本相对较高。当无法满足每一个梯度区域内都设有所述超声波模块时，需要结合所述超声波模块在工程车上的具体安装位置设定不同的报警区间，只要可以合理的设置报警区间，同样可以达到精确测量的目的，且相对成本较低，具有较大的市场应用前景。本实施例优选使用一个超声波模块，且安装在工程车的车头部分。之所以划分梯度区域，是因为后轮转弯半径小，如果同样侦测距离，很容易侦测到人行道路的人或人行道路侧的电箱和灯箱，给驾驶人员造成习惯麻木的态度，不利于充分提醒驾驶员和保护行人。梯度区域的设置，则可以根据危险程度的不同来提醒驾驶员，灵活性和使用性更高。When one or more ultrasonic modules are provided in each gradient area in this embodiment, the distance between the obstacle (ie pedestrian) and the engineering vehicle can be measured by using the above formula, without conversion, and the measurement accuracy is high , The response speed is fast, but the cost is relatively high. When the ultrasonic module cannot be satisfied in each gradient area, it is necessary to set different alarm intervals in combination with the specific installation position of the ultrasonic module on the engineering vehicle. As long as the alarm interval can be set reasonably, the accuracy can also be achieved. The purpose of measurement, and relatively low cost, has great market application prospects. In this embodiment, one ultrasonic module is preferably used and installed on the front part of the engineering vehicle. The reason for dividing the gradient area is that the turning radius of the rear wheels is small. If the detection distance is the same, it is easy to detect people on the sidewalk or electric boxes and light boxes on the side of the sidewalk. Adequately remind drivers and protect pedestrians. The setting of the gradient area can remind the driver according to the degree of danger, and the flexibility and usability are higher.
优选地所述预警方式包括直鸣、快叫、慢叫，其紧急程度为直鸣大于快叫，快叫大于慢叫。其中所述直鸣的方式为报警声间隔0秒，所述快叫的方式为报警声间隔小于或者等于0.1秒，所述慢叫的方式为报警声间隔小于或者等于0.4秒。当然本领域技术人员可以根据实际的使用需求对上述数据进行调整和改变，本实施例对此不做限定。Preferably, the warning methods include straight beeping, quick beeping, and slow beeping, and the urgency of the beeping is greater than that of a straight beeping, and that of a quick beeping is greater than that of a slow beeping. Wherein the manner of the straight beeping is that the interval of the alarm sounds is 0 seconds, the manner of the quick beeping is that the interval of the alarm sounds is less than or equal to 0.1 seconds, and the manner of the slow beeping is that the interval of the alarm sounds is less than or equal to 0.4 seconds. Of course, those skilled in the art can adjust and change the above data according to actual usage requirements, which is not limited in this embodiment.
优选地每一所述梯度区域均根据行人与工程车的距离关系设有三级报警区间；Preferably, each gradient area is provided with a three-level alarm interval according to the distance relationship between pedestrians and engineering vehicles;
第一级报警区间对应第一优先级，其预警方式为直鸣；The first-level alarm interval corresponds to the first priority, and its early warning mode is direct beeping;
第二级报警区间对应第二优先级，其预警方式为快叫；The second-level alarm interval corresponds to the second priority, and its early warning method is quick call;
第三级报警区间对应第三优先级，其预警方式为慢叫；The third level alarm interval corresponds to the third priority level, and its early warning mode is slow call;
优先级别按照从高到低排序为第一优先级、第二优先级、第三优先级。The priority levels are sorted from high to low as first priority, second priority, and third priority.
优选地所述梯度区域的数量设定为六个，在车头右侧部分设定两个梯度区域，在车身右侧部分设定四个梯度区域。本系统既要解决卡车车头右前盲区，又要兼顾右侧车厢整体范围，在车头右前车和右车轮上缘各一个超声波雷达来顾及车头盲区即所谓第一，二梯度；车厢处按照车厢长度等分各布置4个超声波雷达，来探测右侧方位区域。Preferably, the number of gradient areas is set to six, two gradient areas are set on the right side of the front of the vehicle, and four gradient areas are set on the right side of the vehicle body. This system should not only solve the right front blind area of the truck head, but also take into account the overall range of the right compartment. There is an ultrasonic radar on the right front car and the upper edge of the right wheel to take into account the front blind area, which is the so-called first and second gradients; 4 ultrasonic radars are arranged respectively to detect the azimuth area on the right side.
如图2所示，为一种实施例中梯度区域的划分方法，如图所示，在车头右侧部分设定了第一梯度区域和第二梯度区域，在车身右侧部分均匀设定了第三梯度区域、第四梯度区域、第五梯度区域、第六梯度区域。按照图2所示的划分方法，本实施例优选按照表1所示的数值进行报警区间以及预警方式的设定。As shown in Figure 2, it is a method of dividing the gradient area in an embodiment. As shown in the figure, the first gradient area and the second gradient area are set on the right side of the front of the vehicle, and the right side of the vehicle body is evenly set. The third gradient area, the fourth gradient area, the fifth gradient area, and the sixth gradient area. According to the division method shown in FIG. 2 , in this embodiment, the alarm interval and the early warning mode are preferably set according to the values shown in Table 1.
表1Table 1
例如第一梯度区域设定的梯度区域编号为1，依次类推。例如在第一梯度区域内，其编号为1，第一级报警区间为行人与工程车的距离在小于或者等于0.5米的区间范围内；第二级报警区间为行人与工程车的距离在大于0.5米同时小于或者等于0.9米的区间范围内；第三级报警区间为行人与工程车的距离在大于0.9米同时小于或者等于1.7米的区间范围内；当行人与工程车的距离在大于1.7米时，认定行人处于安全区域，无需预警。其他梯度区域的设定参照第一梯度区域，此处不再赘述。For example, the number of the gradient region set in the first gradient region is 1, and so on. For example, in the first gradient area, its number is 1, the first-level alarm interval is within the interval between pedestrians and engineering vehicles less than or equal to 0.5 meters; the second-level alarm interval is when the distance between pedestrians and engineering vehicles is greater than Within the range of 0.5 meters and less than or equal to 0.9 meters; the third-level alarm zone is within the range where the distance between pedestrians and construction vehicles is greater than 0.9 meters and less than or equal to 1.7 meters; when the distance between pedestrians and construction vehicles is greater than 1.7 meters meters, it is determined that pedestrians are in a safe area without warning. The settings of other gradient regions refer to the first gradient region, and will not be repeated here.
当行人处于第一梯度区域内，且其与工程车的距离为0.6米时，对应第二优先级，此时若无其他行人那么以快叫的方式提醒驾驶员；如果此时还有另一个行人处于第六梯度区域，且其与工程车的距离为0.4米时，由于其在第一级报警区间，其优先级别为第一优先级，高于第二优先级，此时应该以直鸣的方式提醒驾驶员。When the pedestrian is in the first gradient area, and the distance between him and the construction vehicle is 0.6 meters, it corresponds to the second priority. At this time, if there are no other pedestrians, the driver will be reminded by calling quickly; if there is another When the pedestrian is in the sixth gradient area, and the distance between him and the construction vehicle is 0.4 meters, since he is in the first-level alarm zone, his priority is the first priority, which is higher than the second priority. way to remind the driver.
上述数值的设定均是在大量实验基础上获得的，可以较好的保护行人的生命安全以及驾驶员的驾驶效率。本领域技术人员可以根据实际的使用需求进行相应的数值调整和变换，本实施例对此不做限定。The settings of the above values are all obtained on the basis of a large number of experiments, which can better protect the life safety of pedestrians and the driving efficiency of drivers. Those skilled in the art can make corresponding numerical adjustments and transformations according to actual usage requirements, which is not limited in this embodiment.
优选地所述步骤S2还包括工程车在右转弯时通过语音喇叭提醒行人注意避让，从行人和驾驶员的角度双重保护行人的安全，可以有效的降低交通事故的发生。Preferably, the step S2 also includes that the construction vehicle reminds pedestrians to pay attention to avoidance through the voice horn when turning right, so as to double protect the safety of pedestrians from the perspective of pedestrians and drivers, which can effectively reduce the occurrence of traffic accidents.
本实施例所述的超声波在工程车上的安全应用方法，主要利用超声波发送超声波，遇到障碍物反射，利用时间差来判断行人与车体的距离。测距更为精准，响应速度更快。采用梯度区域的方式设置报警区间，针对性更强，有效避免了驾驶员长期使用造成麻木的态度。当探测到在危险范围内，及时通过不同的语音预警方式来提醒驾驶员和行人做出处理动作，更为直观和高效。The safe application method of ultrasonic waves on engineering vehicles described in this embodiment mainly uses ultrasonic waves to send ultrasonic waves, encounter obstacles and reflect them, and use time difference to judge the distance between pedestrians and the vehicle body. The distance measurement is more accurate and the response speed is faster. The alarm interval is set in the way of gradient area, which is more targeted and effectively avoids the driver's numb attitude caused by long-term use. When it is detected that it is in a dangerous range, it is more intuitive and efficient to remind drivers and pedestrians to take action through different voice warning methods in time.
实施例2Example 2
如图3所示，为符合本实施例所述的一种超声波在工程车上的安全应用系统，包括：As shown in Figure 3, in order to comply with the safety application system of a kind of ultrasonic wave on engineering vehicle described in this embodiment, including:
梯度区域划分模块，用于根据工程车长度划分为多个梯度区域并对每一所述梯度区域进行编号，每一所述梯度区域根据行人与工程车的距离关系设定多级报警区间，同时设定每一级所述报警区间所对应的优先级别，其中每一所述优先级别对应一种预警方式，所有的所述梯度区域设定的报警区间的级数相同；The gradient area division module is used to divide into multiple gradient areas according to the length of the engineering vehicle and number each of the gradient areas, and each of the gradient areas sets a multi-level alarm interval according to the distance relationship between pedestrians and engineering vehicles, and at the same time Setting the priority levels corresponding to the alarm intervals at each level, wherein each priority level corresponds to an early warning mode, and the number of alarm intervals set in all the gradient areas is the same;
超声波启动模块，用于检测到工程车右转弯时，启动超声波模块；The ultrasonic starting module is used to start the ultrasonic module when it detects that the engineering vehicle is turning right;
所述超声波模块，用于不断发送超声波，实时检测是否有行人，当检测到行人时，确定行人所在的梯度区域并且测量出行人与工程车的距离，并发送测量信息至中心控制模块；所述超声波模块可以为一个或者多个，安装在工程车右侧。由于其具体位置为本领域技术人员的常规技术手段，故此处不再赘述。The ultrasonic module is used to continuously send ultrasonic waves to detect whether there are pedestrians in real time. When a pedestrian is detected, determine the gradient area where the pedestrian is located and measure the distance between the pedestrian and the engineering vehicle, and send the measurement information to the central control module; One or more ultrasonic modules can be installed on the right side of the engineering vehicle. Since its specific location is a conventional technical means for those skilled in the art, it will not be repeated here.
所述中心控制模块，用于接收所述测量信息，根据所述测量信息确定行人所在的梯度区域的编号，结合行人与工程车的距离确定其所在的报警区间以及其所对应的优先级别；The central control module is used to receive the measurement information, determine the number of the gradient area where the pedestrian is located according to the measurement information, and determine the alarm zone where the pedestrian is located and the corresponding priority level in combination with the distance between the pedestrian and the engineering vehicle;
当有一个行人时，按照其优先级别确定预警方式；When there is a pedestrian, determine the early warning method according to its priority;
当有多个行人时，比较每一行人所对应的优先级别的高低，按照较高优先级别确定预警方式；When there are multiple pedestrians, compare the priority level corresponding to each pedestrian, and determine the early warning method according to the higher priority level;
所述中心控制模块将确定后的预警方式发送给报警模块；The central control module sends the determined early warning mode to the alarm module;
所述报警模块，用于按照所述中心控制模块确定的预警方式来提醒驾驶员。The alarm module is used to remind the driver according to the early warning mode determined by the central control module.
本实施例的工作原理在于：利用超声波发送超声波，遇到障碍物反射，利用时间差来判断行人与车体的距离。众所周知，超声波的指向性强,能量消耗缓慢,遇到障碍物后反射效率高,是测距的良好载体。测距时由安装在同一位置的超声波发射器和接收器完成超声波的发射与接收,由定时器计时。首先由发射器向特定方向发射超声波并同时启动定时器计时,超声波在介质传播途中一旦遇到障碍物后就被反射回来,当接收器收到反射波后立即停止计时。这样,定时器就记录下了超声波自发射点至障碍物之间往返传播经历的时间t(s)。由于常温下超声波在空气中的传播速度约为340m/s,所以发射点距障碍物之间的距离为：The working principle of this embodiment is: using ultrasonic waves to send ultrasonic waves, encountering obstacles and reflecting them, and using time differences to judge the distance between pedestrians and the vehicle body. As we all know, ultrasonic waves have strong directivity, slow energy consumption, and high reflection efficiency after encountering obstacles, so they are good carriers for distance measurement. When measuring the distance, the ultrasonic transmitter and receiver installed at the same position complete the ultrasonic emission and reception, and the timer counts. First, the transmitter emits ultrasonic waves in a specific direction and starts the timer at the same time. Once the ultrasonic waves encounter obstacles during the medium propagation, they are reflected back, and the receiver stops timing immediately after receiving the reflected waves. In this way, the timer records the time t(s) that the ultrasonic wave travels back and forth from the emission point to the obstacle. Since the propagation speed of ultrasonic waves in the air at normal temperature is about 340m/s, the distance between the emission point and the obstacle is:
S＝340t/2＝170tS=340t/2=170t
当本实施例中每一个梯度区域内都设有一个或者多个所述超声波模块时，那么利用上述公式既可以测出障碍物(即行人)与工程车的距离，无需进行换算，测量精度高、响应速度快，但是成本相对较高。当无法满足每一个梯度区域内都设有所述超声波模块时，需要结合所述超声波模块在工程车上的具体安装位置设定不同的报警区间，只要可以合理的设置报警区间，同样可以达到精确测量的目的，且相对成本较低，具有较大的市场应用前景。本实施例优选使用一个超声波模块，且安装在工程车的车头部分。之所以划分梯度区域，是因为后轮转弯半径小，如果同样侦测距离，很容易侦测到人行道路的人或人行道路侧的电箱和灯箱，给驾驶人员造成习惯麻木的态度，不利于充分提醒驾驶员和保护行人。梯度区域的设置，则可以根据危险程度的不同来提醒驾驶员，灵活性和使用性更高。When one or more ultrasonic modules are provided in each gradient area in this embodiment, the distance between the obstacle (ie pedestrian) and the engineering vehicle can be measured by using the above formula, without conversion, and the measurement accuracy is high , The response speed is fast, but the cost is relatively high. When the ultrasonic module cannot be satisfied in each gradient area, it is necessary to set different alarm intervals in combination with the specific installation position of the ultrasonic module on the engineering vehicle. As long as the alarm interval can be set reasonably, the accuracy can also be achieved. The purpose of measurement, and relatively low cost, has great market application prospects. In this embodiment, one ultrasonic module is preferably used and installed on the front part of the engineering vehicle. The reason for dividing the gradient area is that the turning radius of the rear wheels is small. If the detection distance is the same, it is easy to detect people on the sidewalk or electric boxes and light boxes on the side of the sidewalk. Adequately remind drivers and protect pedestrians. The setting of the gradient area can remind the driver according to the degree of danger, and the flexibility and usability are higher.
优选地所述预警方式包括直鸣、快叫、慢叫，其紧急程度为直鸣大于快叫，快叫大于慢叫。其中所述直鸣的方式为报警声间隔小于或者等于0秒，所述快叫的方式为报警声间隔小于或者等于0.1秒，所述慢叫的方式为报警声间隔小于或者等于0.4秒。当然本领域技术人员可以根据实际的使用需求对上述数据进行调整和改变，本实施例对此不做限定。Preferably, the warning methods include straight beeping, quick beeping, and slow beeping, and the urgency of the beeping is greater than that of a straight beeping, and that of a quick beeping is greater than that of a slow beeping. Wherein the manner of the straight beeping is that the interval of the alarm sounds is less than or equal to 0 seconds, the manner of the rapid beeping is that the interval of the alarm sounds is less than or equal to 0.1 seconds, and the manner of the slow beeping is that the interval of the alarm sounds is less than or equal to 0.4 seconds. Of course, those skilled in the art can adjust and change the above data according to actual usage requirements, which is not limited in this embodiment.
优选地每一所述梯度区域均根据行人与工程车的距离关系设有三级报警区间；Preferably, each gradient area is provided with a three-level alarm interval according to the distance relationship between pedestrians and engineering vehicles;
第一级报警区间对应第一优先级，其预警方式为直鸣；The first-level alarm interval corresponds to the first priority, and its early warning mode is direct beeping;
第二级报警区间对应第二优先级，其预警方式为快叫；The second-level alarm interval corresponds to the second priority, and its early warning method is quick call;
第三级报警区间对应第三优先级，其预警方式为慢叫；The third level alarm interval corresponds to the third priority level, and its early warning mode is slow call;
优先级别按照从高到低排序为第一优先级、第二优先级、第三优先级。优选地所述梯度区域的数量设定为六个，在车头右侧部分设定两个梯度区域，在车身右侧部分设定四个梯度区域。本系统既要解决卡车车头右前盲区，又要兼顾右侧车厢整体范围，在车头右前车和右车轮上缘各一个超声波雷达来顾及车头盲区即所谓第一，二梯度；车厢处按照车厢长度等分各布置4个超声波雷达，来探测右侧方位区域。The priority levels are sorted from high to low as first priority, second priority, and third priority. Preferably, the number of gradient areas is set to six, two gradient areas are set on the right side of the front of the vehicle, and four gradient areas are set on the right side of the vehicle body. This system should not only solve the right front blind area of the truck head, but also take into account the overall range of the right compartment. There is an ultrasonic radar on the right front car and the upper edge of the right wheel to take into account the front blind area, which is the so-called first and second gradients; 4 ultrasonic radars are arranged respectively to detect the azimuth area on the right side.
如图2所示，为一种实施例中梯度区域的划分方法，如图所示，在车头右侧部分设定了第一梯度区域和第二梯度区域，在车身右侧部分均匀设定了第三梯度区域、第四梯度区域、第五梯度区域、第六梯度区域。按照图2所示的划分方法，本实施例优选按照表1所示的数值进行报警区间以及预警方式的设定。As shown in Figure 2, it is a method of dividing the gradient area in an embodiment. As shown in the figure, the first gradient area and the second gradient area are set on the right side of the front of the vehicle, and the right side of the vehicle body is evenly set. The third gradient area, the fourth gradient area, the fifth gradient area, and the sixth gradient area. According to the division method shown in FIG. 2 , in this embodiment, the alarm interval and the early warning mode are preferably set according to the values shown in Table 1.
表1Table 1
例如第一梯度区域设定的梯度区域编号为1，依次类推。例如在第一梯度区域内，其编号为1，第一级报警区间为行人与工程车的距离在小于或者等于0.5米的区间范围内；第二级报警区间为行人与工程车的距离在大于0.5米同时小于或者等于0.9米的区间范围内；第三级报警区间为行人与工程车的距离在大于0.9米同时小于或者等于1.7米的区间范围内；当行人与工程车的距离在大于1.7米时，认定行人处于安全区域，无需预警。其他梯度区域的设定参照第一梯度区域，此处不再赘述。For example, the number of the gradient region set in the first gradient region is 1, and so on. For example, in the first gradient area, its number is 1, the first-level alarm interval is within the interval between pedestrians and engineering vehicles less than or equal to 0.5 meters; the second-level alarm interval is when the distance between pedestrians and engineering vehicles is greater than Within the range of 0.5 meters and less than or equal to 0.9 meters; the third-level alarm zone is within the range where the distance between pedestrians and construction vehicles is greater than 0.9 meters and less than or equal to 1.7 meters; when the distance between pedestrians and construction vehicles is greater than 1.7 meters meters, it is determined that pedestrians are in a safe area without warning. The settings of other gradient regions refer to the first gradient region, and will not be repeated here.
当行人处于第一梯度区域内，且其与工程车的距离为0.6米时，对应第二优先级，此时若无其他行人那么以快叫的方式提醒驾驶员；如果此时还有另一个行人处于第六梯度区域，且其与工程车的距离为0.4米时，由于其在第一级报警区间，其优先级别为第一优先级，高于第二优先级，此时应该以直鸣的方式提醒驾驶员。When the pedestrian is in the first gradient area, and the distance between him and the construction vehicle is 0.6 meters, it corresponds to the second priority. At this time, if there are no other pedestrians, the driver will be reminded by calling quickly; if there is another When the pedestrian is in the sixth gradient area, and the distance between him and the construction vehicle is 0.4 meters, since he is in the first-level alarm zone, his priority is the first priority, which is higher than the second priority. way to remind the driver.
上述数值的设定均是在大量实验基础上获得的，可以较好的保护行人的生命安全以及驾驶员的驾驶效率。本领域技术人员可以根据实际的使用需求进行相应的数值调整和变换，本实施例对此不做限定。The settings of the above values are all obtained on the basis of a large number of experiments, which can better protect the life safety of pedestrians and the driving efficiency of drivers. Those skilled in the art can make corresponding numerical adjustments and conversions according to actual usage requirements, which is not limited in this embodiment.
优选地还包括语音喇叭模块，用于在工程车在右转弯时提醒行人注意避让，从行人和驾驶员的角度双重保护行人的安全，可以有效的降低交通事故的发生。Preferably, it also includes a voice horn module, which is used to remind pedestrians to pay attention to avoiding when the engineering vehicle is turning right, so as to double protect the safety of pedestrians from the perspective of pedestrians and drivers, and can effectively reduce the occurrence of traffic accidents.
本实施例所述的超声波在工程车上的安全应用系统，主要利用超声波发送超声波，遇到障碍物反射，利用时间差来判断行人与车体的距离。测距更为精准，响应速度更快。采用梯度区域的方式设置报警区间，针对性更强，有效避免了驾驶员长期使用造成麻木的态度。当探测到在危险范围内，及时通过不同的语音预警方式来提醒驾驶员和行人做出处理动作，更为直观和高效。The safety application system of ultrasonic waves on construction vehicles described in this embodiment mainly uses ultrasonic waves to send ultrasonic waves, encounter obstacles and reflect them, and use the time difference to judge the distance between pedestrians and the vehicle body. The distance measurement is more accurate and the response speed is faster. The alarm interval is set in the way of gradient area, which is more targeted and effectively avoids the driver's numb attitude caused by long-term use. When it is detected that it is in a dangerous range, it is more intuitive and efficient to remind drivers and pedestrians to take action through different voice warning methods in time.
本领域内的技术人员应明白，本发明的实施例可提供为方法、系统、或计算机程序产品。因此，本发明可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本发明可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。Those skilled in the art should understand that the embodiments of the present invention may be provided as methods, systems, or computer program products. Accordingly, the present invention can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
本发明是参照根据本发明实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It should be understood that each procedure and/or block in the flowchart and/or block diagram, and a combination of procedures and/or blocks in the flowchart and/or block diagram can be realized by computer program instructions. These computer program instructions may be provided to a general purpose computer, special purpose computer, embedded processor, or processor of other programmable data processing equipment to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing equipment produce a An apparatus for realizing the functions specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to operate in a specific manner, such that the instructions stored in the computer-readable memory produce an article of manufacture comprising instruction means, the instructions The device realizes the function specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。These computer program instructions can also be loaded onto a computer or other programmable data processing device, causing a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process, thereby The instructions provide steps for implementing the functions specified in the flow chart or blocks of the flowchart and/or the block or blocks of the block diagrams.
尽管已描述了本发明的优选实施例，但本领域内的技术人员一旦得知了基本创造性概念，则可对这些实施例做出另外的变更和修改。所以，所附权利要求意欲解释为包括优选实施例以及落入本发明范围的所有变更和修改。While preferred embodiments of the present invention have been described, additional changes and modifications can be made to these embodiments by those skilled in the art once the basic inventive concept is appreciated. Therefore, it is intended that the appended claims be construed to cover the preferred embodiment as well as all changes and modifications which fall within the scope of the invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410521316.5ACN104267405B (en) | 2014-09-30 | 2014-09-30 | Safety application method and system of ultrasonic waves on engineering van |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410521316.5ACN104267405B (en) | 2014-09-30 | 2014-09-30 | Safety application method and system of ultrasonic waves on engineering van |
| Publication Number | Publication Date |
|---|---|
| CN104267405Atrue CN104267405A (en) | 2015-01-07 |
| CN104267405B CN104267405B (en) | 2017-02-15 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410521316.5AActiveCN104267405B (en) | 2014-09-30 | 2014-09-30 | Safety application method and system of ultrasonic waves on engineering van |
| Country | Link |
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| CN (1) | CN104267405B (en) |
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