Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Guardrail cleaning vehicle and guardrail obstacle detection and cleaning vehicle lateral deviation early warning method
The invention discloses a guardrail cleaning vehicle and a guardrail obstacle detection and cleaning vehicle transverse deviation early warning method. The guardrail cleaning vehicle comprises a carriage, a laser radar, a high-definition camera, a chassis, a rotary drive, an adjusting mechanism and a cleaning mechanism. The method comprises the following steps of: based on obstacle detection and vehicle lateral deviation early warning of a laser radar, designing a plane distance ratio and smoothness characteristics by utilizing accurate position information of the laser radar and a scanning line neighborhood geometrical relationship, and extracting guardrail candidate points; a guardrail point clustering segmentation algorithm based on neighborhood point search is adopted, and outliers are filtered out; and calculating a transverse deviation value of the reference point through curve fitting. According to the remote monitoring system based on the mobile network, a high-definition camera collects a scene image in front of a vehicle and transmits the scene image to a control terminal, and a networking router connects vehicle end data to the Internet through the mobile network; the stream is pushed to a stream server by using ffmpeg and is displayed in a control center or a handheld terminal; and the vehicle and the far-end server are in bidirectional persistent connection through a websocket protocol.
本发明公开了一种护栏清洗车及护栏障碍检测与清洗车横向偏移预警方法，所述护栏清洗车包括车箱、激光雷达、高清相机、底盘、旋转驱动、调节机构及清洗机构。该方法包括基于激光雷达的障碍检测与车辆横向偏移预警，利用激光雷达精确的位置信息和扫描线邻域几何关系，设计平面距离比、平滑度特征，提取护栏候选点；采用基于邻域点搜索的护栏点聚类分割算法，滤除离群点；曲线拟合计算参考点的横向偏离值。基于移动网络的远程监控系统，高清相机采集车前场景图像传给控制终端，组网路由通过移动网络将车端数据连入互联网；使用ffmpeg推流到流服务器并在控制中心或手持终端展示；车辆与远端服务器通过websocket协议进行双向持久连接。
Guardrail cleaning vehicle and guardrail obstacle detection and cleaning vehicle lateral deviation early warning method
The invention discloses a guardrail cleaning vehicle and a guardrail obstacle detection and cleaning vehicle transverse deviation early warning method. The guardrail cleaning vehicle comprises a carriage, a laser radar, a high-definition camera, a chassis, a rotary drive, an adjusting mechanism and a cleaning mechanism. The method comprises the following steps of: based on obstacle detection and vehicle lateral deviation early warning of a laser radar, designing a plane distance ratio and smoothness characteristics by utilizing accurate position information of the laser radar and a scanning line neighborhood geometrical relationship, and extracting guardrail candidate points; a guardrail point clustering segmentation algorithm based on neighborhood point search is adopted, and outliers are filtered out; and calculating a transverse deviation value of the reference point through curve fitting. According to the remote monitoring system based on the mobile network, a high-definition camera collects a scene image in front of a vehicle and transmits the scene image to a control terminal, and a networking router connects vehicle end data to the Internet through the mobile network; the stream is pushed to a stream server by using ffmpeg and is displayed in a control center or a handheld terminal; and the vehicle and the far-end server are in bidirectional persistent connection through a websocket protocol.
本发明公开了一种护栏清洗车及护栏障碍检测与清洗车横向偏移预警方法，所述护栏清洗车包括车箱、激光雷达、高清相机、底盘、旋转驱动、调节机构及清洗机构。该方法包括基于激光雷达的障碍检测与车辆横向偏移预警，利用激光雷达精确的位置信息和扫描线邻域几何关系，设计平面距离比、平滑度特征，提取护栏候选点；采用基于邻域点搜索的护栏点聚类分割算法，滤除离群点；曲线拟合计算参考点的横向偏离值。基于移动网络的远程监控系统，高清相机采集车前场景图像传给控制终端，组网路由通过移动网络将车端数据连入互联网；使用ffmpeg推流到流服务器并在控制中心或手持终端展示；车辆与远端服务器通过websocket协议进行双向持久连接。
Guardrail cleaning vehicle and guardrail obstacle detection and cleaning vehicle lateral deviation early warning method
一种护栏清洗车及护栏障碍检测与清洗车横向偏移预警方法
LIU PENG (Autor:in) / XI WEIBIN (Autor:in) / LIN LINGLONG (Autor:in) / LIU ZHANLEI (Autor:in) / GU YONGQI (Autor:in) / ZHU YINFENG (Autor:in) / LI LIANJUN (Autor:in) / XU HAO (Autor:in) / WANG ZHANPING (Autor:in) / ZHANG YAOQI (Autor:in)
07.11.2023
Patent
Elektronische Ressource
Chinesisch
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