Intelligent tripod safety protection system

Abstract

The invention provides an intelligent tripod safety protection system, and belongs to the technical field of vehicle safety. The intelligent tripod safety protection system comprises an intelligent tripod and a safety supervision platform, the intelligent tripod comprises a flashing light, a positioning module, a communication module, a main control module and a radar ranging module; the main control module is used for determining a target vehicle according to the signal characteristics, collected by the radar ranging module, of the multiple vehicles, determining the safe distance between the vehicle carrying the intelligent tripod and the target vehicle according to the vehicle attributes of the target vehicle, and determining the flicker frequency of the flashing light according to the safe distance; the target vehicle is a vehicle on the same lane as the vehicle carrying the intelligent tripod; and the main control module is also used for sending the data acquired by the positioning module to the safety supervision platform through the communication module when detecting that the data is abnormal. The road safety can be improved, the emergency response capability is enhanced, and the reliability of the system is improved.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle safety technology, and in particular to an intelligent tripod safety protection system. Background Art

[0002] In today's society, with the continuous increase in the number of vehicles, road traffic safety issues are becoming increasingly prominent. Vehicles may encounter various emergencies during driving, such as breakdowns, accidents, etc. When a vehicle breaks down or an accident occurs, in order to ensure the safety of personnel and smooth traffic, it is usually necessary to place a triangular warning frame behind the vehicle to remind the vehicles behind to pay attention and avoid it.

[0003] However, traditional tripods cannot be linked with the vehicle's safety system, cannot monitor the situation of vehicles coming from behind in real time, and cannot adjust the warning effect according to actual conditions. This means that the vehicle still faces a high risk of secondary accidents at the scene of a breakdown or accident. Summary of the invention

[0004] The disclosed embodiment provides an intelligent tripod safety protection system to solve the problem in the prior art that the tripod cannot monitor the rear vehicle in real time and the risk of secondary accidents is high.

[0005] The present disclosure provides an intelligent tripod safety protection system, including: Intelligent tripod and safety monitoring platform; the intelligent tripod includes a flashing light, a positioning module, a communication module, a main control module and a radar ranging module; The main control module is used to determine the target vehicle according to the signal characteristics between the radar ranging module and multiple vehicles, and determine the safe distance between the vehicle equipped with the smart tripod and the target vehicle according to the vehicle attributes of the target vehicle, and determine the flashing frequency of the flashing light according to the safe distance; the target vehicle is a vehicle in the same lane as the vehicle equipped with the smart tripod; The main control module is also used to send the data collected by the positioning module to the security supervision platform through the communication module when data anomalies are detected.

[0006] In an exemplary embodiment of the present disclosure, the smart tripod further includes: Status indication module, battery management module, battery module and USB interface; The battery management module, the status indication module and the USB interface are all connected to the main control module; the battery module is connected to the battery management unit and the USB interface respectively.

[0007] In an exemplary embodiment of the present disclosure, the smart tripod further includes: Alarm module; The main control module is connected to the alarm module through the communication module.

[0008] In an exemplary embodiment of the present disclosure, the smart tripod further includes: Hall sensor; the Hall sensor is connected to the main control module; The legs of the intelligent tripod are provided with magnets; when the legs of the intelligent tripod are unfolded, the intelligent tripod enters a working mode; when the legs of the intelligent tripod are folded, the intelligent tripod enters a dormant mode.

[0009] In an exemplary embodiment of the present disclosure, the step of determining a target vehicle based on signal characteristics between the radar ranging module and a plurality of vehicles includes: The target vehicle is determined according to the Doppler frequency shift directions or relative position changes between the target vehicle and multiple vehicles collected by the radar ranging module within the first time period.

[0010] In an exemplary embodiment of the present disclosure, determining the target vehicle according to the Doppler frequency shift directions between the target vehicle and multiple vehicles collected by the radar ranging module within the first time period includes: If the angle between the Doppler frequency shift direction corresponding to the vehicle and the driving direction of the vehicle equipped with the intelligent tripod is within a first angle range, the vehicle is determined as a target vehicle.

[0011] In an exemplary embodiment of the present disclosure, determining the target vehicle according to the relative position changes between the target vehicle and the multiple vehicles collected by the radar ranging module within the first time period includes: If the relative position change between the vehicle equipped with the intelligent tripod and the vehicle is within a first change range, the vehicle is determined as a target vehicle.

[0012] In an exemplary embodiment of the present disclosure, the step of determining a safe distance between a vehicle equipped with a smart tripod and a target vehicle according to vehicle attributes of the target vehicle includes: The safe distance between the vehicle equipped with the intelligent tripod and the target vehicle is determined according to the model and speed of the target vehicle and the environmental information of the target vehicle.

[0013] In an exemplary embodiment of the present disclosure, determining the flashing frequency of the flashing light according to the safety distance includes: The flashing frequency of the flashing light is determined according to the safety distance and the road condition where the target vehicle is located.

[0014] In an exemplary embodiment of the present disclosure, the intelligent tripod safety protection system further includes: An image acquisition module; the image acquisition module is connected to the main control module; the image acquisition module is used to acquire first data; the first data includes image data, radar data and positioning data; When the smart tripod is in the first state, the main control module is further used to send the first data and the first identification information to the cloud server to instruct the cloud server to generate the first target information according to the first data; When the smart tripod is in the second state, the main control module is further used to send the first data and the second identification information to the mobile phone terminal to instruct the mobile phone terminal to generate the second target information according to the first data; When the smart tripod is in the third state, the main control module generates third target information according to the first data; Wherein, the first state is that the connection state between the smart tripod and the cloud server is normal; The second state is that the connection state between the smart tripod and the cloud server is abnormal, and the connection state between the smart tripod and the mobile terminal is normal; The third state is that the connection state between the smart tripod and the cloud server is abnormal, and the connection state between the smart tripod and the mobile phone terminal is abnormal; The cloud server, mobile terminal and main control module process different numbers of data features.

[0015] The beneficial effects of the intelligent tripod safety protection system provided by the embodiment of the present disclosure are as follows: The present disclosure can improve road safety. By collecting signal features through the radar ranging module, the main control module can accurately identify the target vehicle in the same lane as the vehicle equipped with the smart tripod, which helps to promptly remind the target vehicle to pay attention to the situation ahead and reduce the risk of collision. The main control module can determine the flashing frequency of the strobe light according to the safe distance, so that surrounding vehicles can intuitively understand the degree of danger. The closer the safety distance, the higher the frequency of the strobe light, and the stronger the warning effect, providing more effective safety protection for vehicles and pedestrians on the road.

[0016] The disclosure can enhance emergency response capabilities. When the main control module detects data anomalies, it can promptly send the data collected by the positioning module to the safety supervision platform, which enables the supervision department to quickly grasp the on-site situation, dispatch rescue forces in a timely manner, shorten the rescue response time, and improve the efficiency of emergency response. The safety supervision platform can analyze the received data and provide accurate information support for subsequent traffic diversion, accident handling, etc., which helps to make more scientific and reasonable decisions.

[0017] The present disclosure can improve the reliability of the system. The present disclosure integrates multiple functional modules such as flashing lights, positioning modules, communication modules, main control modules and radar ranging modules. The modules cooperate with each other to improve the overall reliability and stability of the system. By continuously collecting and analyzing data, the system can monitor changes in the surrounding environment in real time and make corresponding adjustments in a timely manner to ensure normal operation in various complex situations, providing continuous and effective protection for road traffic safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0019] Figure 1 is a structural schematic diagram of an intelligent tripod safety protection system provided by an embodiment of the present disclosure; Figure 2 is a schematic diagram of the structure of a positioning module provided in an embodiment of the present disclosure; Figure 3 is a schematic diagram of the structure of a radar ranging module provided in an embodiment of the present disclosure; Figure 4 is a schematic diagram of the flow of intermediate frequency signal processing provided by an embodiment of the present disclosure; Figure 5 is a structural schematic diagram of an intelligent tripod safety protection system provided by another embodiment of the present disclosure; Figure 6 is a control circuit diagram of a status indicator light provided by an embodiment of the present disclosure; Figure 7 is a control circuit diagram of a Hall sensor provided by an embodiment of the present disclosure; Figure 8 It is a control circuit diagram of the flash light provided in the embodiment of the present disclosure. DETAILED DESCRIPTION

[0020] In order to enable people in the technical field to better understand the present solution, the technical solution in the embodiment of the present solution will be clearly described below in conjunction with the drawings in the embodiment of the present solution. Obviously, the described embodiment is an embodiment of a part of the present solution, not all of the embodiments. Based on the embodiments in the present solution, all other embodiments obtained by ordinary technicians in the field without creative work should fall within the scope of protection of the present solution.

[0021] The term "including" and any other variations in the specification and claims of this solution and the above drawings mean "including but not limited to", and is intended to cover non-exclusive inclusions and is not limited to the examples listed in the text. In addition, the terms "first" and "second" are used to distinguish different objects, not to describe a specific order.

[0022] The following is a detailed description of the implementation of the present disclosure in conjunction with the specific drawings: Figure 1 This is a schematic diagram of the structure of an intelligent tripod safety protection system provided by an embodiment of the present disclosure. Figure 1 , the intelligent tripod safety protection system includes: Smart tripod and safety monitoring platform; the smart tripod includes a flashing light, a positioning module, a communication module, a main control module and a radar ranging module; The main control module is used to determine the target vehicle based on the signal characteristics between the radar ranging module and multiple vehicles, and determine the safe distance between the vehicle equipped with the smart tripod and the target vehicle based on the vehicle attributes of the target vehicle, and determine the flashing frequency of the flashing light based on the safe distance; the target vehicle is the vehicle in the same lane as the vehicle equipped with the smart tripod; The main control module is also used to send the data collected by the positioning module to the security supervision platform through the communication module when data anomalies are detected.

[0023] In this embodiment, the smart tripod safety protection system is an intelligent supervision tool designed specifically for automobile failures and accidents. The system consists of a smart tripod and a safety supervision platform. The smart tripod includes a flashing light, a positioning module, a communication module, a main control module and a radar ranging module, which can automatically report vehicle information and precise location when the owner uses the tripod. The flashing light, the positioning module, the communication module and the radar ranging module are all connected to the main control module. The radar ranging module can be a millimeter-wave radar, which can effectively monitor the situation of vehicles coming from behind, remind the accident driver to make emergency avoidance in real time, and use the flashing light to warn to prevent secondary accidents. The supervision platform can receive the alarm information sent by the smart tripod, and display the location of the accident in real time, and can quickly notify relevant personnel to handle the accident.

[0024] The communication module includes a 4G communication unit and a Lora communication unit. The Lora communication module is designed based on a new chip solution and has multiple transmission modes. The default frequency band is 433M, and the Lora spread spectrum technology has a longer transmission distance and a faster speed. The Lora communication unit can establish a wireless data transmission channel between the smart tripod and the alarm, and the alarm is set in the cab of the vehicle. The 4G communication unit can establish data transmission between the smart tripod and the safety supervision platform.

[0025] refer to Figure 2The positioning module can be a real-time kinematic (RTK) positioning module, such as a single Beidou high-precision positioning module. The module has an integrated RTK algorithm and can give full play to the super performance of single-frequency RTK positioning.

[0026] The module adopts a single Beidou chip, and its package size is compatible with mainstream navigation and positioning modules on the market. It has the characteristics of high performance, high precision, anti-interference and low power consumption.

[0027] refer to Figure 3 to Figure 4 The radar ranging module first transmits the first microwave signal (i.e., a continuous frequency modulated millimeter wave signal) to the target through the transmitting antenna (TX), and then receives the second microwave signal reflected from the target through the receiving antenna (RX), mixes the second microwave signal with the first microwave signal into an intermediate frequency signal, and then sends the intermediate frequency signal to the main control module for data processing to obtain the position information of the target object, thereby realizing the induction detection of the target object position. The specific implementation method is: The frequency modulated continuous wave (FMCW) radar sensor in the radar ranging module is modulated by the digital-to-analog conversion port in the main control module, and the modulated microwave signal can be transmitted outward through the antenna. If there is a target in the direction of the transmitted microwave signal, part of the microwave signal will be reflected back to the radar sensor by the target, and the reflected signal is received by the receiving antenna in the radar sensor and mixed with the signal transmitted by the transmitting antenna to obtain an intermediate frequency signal. The intermediate frequency signal contains the distance characteristics of the target. After filtering and amplification, the intermediate frequency signal enters the analog-to-digital conversion port of the main control module. The main control module analyzes and processes the intermediate frequency signal after digital conversion to obtain the target's location information, status information, etc.

[0028] The main control module can determine the target vehicle based on the signal characteristics between the radar ranging module and multiple vehicles, and determine the safe distance between the vehicle equipped with the smart tripod and the target vehicle based on the vehicle attributes of the target vehicle, and determine the flashing frequency of the flashing light based on the safe distance. The target vehicle is the vehicle in the same lane as the vehicle equipped with the smart tripod.

[0029] The target vehicle is determined based on the signal characteristics between the radar ranging module and multiple vehicles, including: Signal characteristics include angle information and distance information; Determine the azimuth of each vehicle relative to the vehicle equipped with the intelligent tripod according to the angle information collected by the radar ranging module; determine the distance change between each vehicle and the vehicle equipped with the intelligent tripod according to the distance information collected by the radar ranging module; The target vehicle is determined based on the azimuth angle and / or the distance change.

[0030] In this embodiment, the radar ranging module can collect the angle information of each vehicle relative to the vehicle equipped with the smart tripod. This angle information can help determine the azimuth of the vehicle, thereby determining the direction of the vehicle relative to the smart tripod vehicle. At the same time, the module can also collect the distance information between each vehicle and the vehicle equipped with the smart tripod. The distance information can reflect the distance relationship between the vehicles, and the change in distance can be determined through continuous collection.

[0031] Based on the angle information collected by the radar ranging module, the azimuth of each vehicle relative to the vehicle equipped with the smart tripod can be calculated. This azimuth is an angle value that represents the direction of the target vehicle in the coordinate system centered on the smart tripod vehicle. The azimuth can help to preliminarily screen vehicles in the same lane. If the azimuth is within a certain range, such as ±5°, it can be considered that the vehicle is in the same lane as the smart tripod vehicle.

[0032] Using the distance information collected by the radar ranging module at different time points, the distance change between each vehicle and the vehicle equipped with the intelligent tripod can be calculated. The distance change reflects the relative motion state between the vehicles. The distance change can be combined with the azimuth to further determine the target vehicle. If the distance change is relatively stable and the azimuth also meets the condition of being in the same lane, then the vehicle is the target vehicle.

[0033] The main control module also has the function of detecting data anomalies. Data anomalies include but are not limited to the following situations: the data collected by the radar ranging module has obvious deviations, the data of the positioning module does not meet expectations, and the communication module transmission failure. When the main control module determines that the data is abnormal based on the data processing results, it can send these data to the safety supervision platform through the communication module. On the one hand, the safety supervision platform can be aware of abnormal situations in a timely manner so as to take appropriate measures, such as dispatching rescue personnel and notifying other nearby vehicles to pay attention to safety. On the other hand, sending data to the safety supervision platform can provide a basis for subsequent troubleshooting and analysis, help determine the cause of the abnormality, so as to improve and optimize the system and improve the stability and reliability of the system.

[0034] It can be concluded from the above that the present disclosure can improve road safety. By collecting signal characteristics through the radar ranging module, the main control module can accurately identify the target vehicle in the same lane as the vehicle equipped with the smart tripod, which helps to promptly remind the target vehicle to pay attention to the situation ahead and reduce the risk of collision. The main control module can determine the flashing frequency of the strobe light according to the safe distance, so that surrounding vehicles can intuitively understand the degree of danger. The closer the safety distance, the higher the frequency of the strobe light, and the stronger the warning effect, providing more effective safety protection for vehicles and pedestrians on the road.

[0035] The disclosure can enhance emergency response capabilities. When the main control module detects data anomalies, it can promptly send the data collected by the positioning module to the safety supervision platform, which enables the supervision department to quickly grasp the on-site situation, dispatch rescue forces in a timely manner, shorten the rescue response time, and improve the efficiency of emergency response. The safety supervision platform can analyze the received data and provide accurate information support for subsequent traffic diversion, accident handling, etc., which helps to make more scientific and reasonable decisions.

[0036] The present disclosure can improve the reliability of the system. The present disclosure integrates multiple functional modules such as flashing lights, positioning modules, communication modules, main control modules and radar ranging modules. The modules cooperate with each other to improve the overall reliability and stability of the system. By continuously collecting and analyzing data, the system can monitor changes in the surrounding environment in real time and make corresponding adjustments in a timely manner to ensure normal operation in various complex situations, providing continuous and effective protection for road traffic safety.

[0037] In one embodiment of the present disclosure, reference Figures 5 and 6 , the smart tripod also includes: Status indication module, battery management module, battery module and USB interface; The battery management module, the status indication module and the USB interface are all connected to the main control module; the battery module is connected to the battery management unit and the USB interface respectively.

[0038] In this embodiment, reference Figure 6 The status indicator module includes multiple indicator lights that can be used to indicate various working states. The battery voltage V42 is connected to the positive pole of the LED lamp bead through the current limiting resistors R25, R33, and R35. The control pin of the main control module controls the conduction and shutdown of the NPN transistor through the transistor base current limiting resistors R10, R11, and R34, thereby controlling the on and off of the diode.

[0039] The battery management module is mainly used to manage the charging and discharging process of the battery module to ensure the safe and efficient use of the battery. It can include battery power monitoring circuit, overcharge protection circuit, over-discharge protection circuit, short-circuit protection circuit, etc. As the power source of the smart tripod, the battery module provides power support for the entire device. The USB interface can provide charging and data transmission functions. Users can charge the battery module through the USB interface, or exchange data between the smart tripod and other devices. From the above, it can be concluded that the smart tripod integrates status indication, battery management and charging interface, which can intuitively display its working status, which not only improves the user experience, but also ensures the continuous and stable operation of the device, enhances the practicality and reliability of the smart tripod in emergency situations, and provides a strong guarantee for road safety.

[0040] In one embodiment of the present disclosure, reference Figure 5 , the smart tripod also includes: Alarm module; The main control module is connected with the alarm module through the communication module.

[0041] In this embodiment, the alarm module can be set in the driver's cab. When the main control module determines that the vehicle is in danger of collision, it can control the strobe lights to flash to remind the vehicles behind to pay attention to safety. At the same time, the warning signal is sent to the alarm module. The alarm module will issue a warning in time to remind the driver to pay attention to safety.

[0042] In one embodiment of the present disclosure, reference Figure 5 and Figure 7 , the smart tripod also includes: Hall sensor; the Hall sensor is connected to the main control module; The legs of the smart tripod are provided with magnets; when the legs of the smart tripod are unfolded, the smart tripod enters a working mode; when the legs of the smart tripod are folded, the smart tripod enters a sleeping mode.

[0043] In this embodiment, the smart tripod automatically enters sleep mode when it is stored in a closed state, and power consumption is minimized. The smart tripod mainboard has a built-in Hall sensor (H1), which can detect the approach of magnetic materials within a certain distance. Small magnets are embedded in the legs of the smart tripod. When the legs are deployed, the Hall sensor detects that the magnets are away, automatically exits sleep mode, and starts alerting. When the legs are folded, the Hall sensor detects the magnets and automatically enters sleep mode.

[0044] In one embodiment of the present disclosure, determining a target vehicle according to signal characteristics between a radar ranging module and a plurality of vehicles includes: The target vehicle is determined according to the Doppler frequency shift directions or relative position changes between the target vehicle and the multiple vehicles collected by the radar ranging module within the first time period.

[0045] In this embodiment, determining the target vehicle according to the Doppler frequency shift directions between the target vehicle and the multiple vehicles collected by the radar ranging module within the first time period includes: Determine a second angle between the vehicle equipped with the intelligent tripod and each vehicle, and a driving direction between each vehicle according to the Doppler frequency shift direction between the vehicle equipped with the intelligent tripod and the multiple vehicles collected by the radar ranging module within the first time period; The target vehicle is determined according to a second angle between the vehicle equipped with the intelligent tripod and each vehicle and a driving direction between the vehicle equipped with the intelligent tripod and each vehicle.

[0046] The Doppler shift direction reflects the relative movement direction of the target relative to the observation point (the vehicle equipped with the smart tripod). The second angle between the vehicle equipped with the smart tripod and each vehicle can be further determined by the Doppler shift direction between the vehicle equipped with the smart tripod and the vehicle within the first time period collected by the radar ranging module. This angle refers to the angle between the driving direction of the vehicle equipped with the smart tripod and the direction of the target vehicle relative to the vehicle. For example, if the Doppler shift direction indicates that the target vehicle is approaching from the left side of the vehicle equipped with the smart tripod, then the specific angle value between the left direction and the driving direction of the vehicle equipped with the smart tripod can be determined by calculation. At the same time, the driving direction between the vehicle equipped with the smart tripod and each vehicle can also be determined based on the Doppler shift information. This driving direction can be relative driving (driving towards each other or away from each other) or driving in the same direction. The target vehicle can be determined by comprehensively considering the second angle between the vehicle equipped with the smart tripod and each vehicle and the driving direction.

[0047] For example, the radar ranging module detects that there are three vehicles within the identification range. The main control module determines that the second angle between the faulty vehicle (the vehicle itself) and vehicle A is 10 degrees, and they are traveling in the same direction; the second angle between the faulty vehicle and vehicle B is 40 degrees, and they are traveling in the same direction; the second angle between the faulty vehicle and vehicle C is 40 degrees, and they are traveling in opposite directions. Therefore, vehicle A can be determined to be the target vehicle.

[0048] Determining the target vehicle according to the relative position changes between the target vehicle and the multiple vehicles collected by the radar ranging module within the first time period includes: During a first time period, the relative position between the vehicle equipped with the intelligent tripod and each vehicle is collected at a first collection frequency to obtain a plurality of relative position change data sets; and a target vehicle is determined according to the plurality of relative position change data sets.

[0049] For example, the relative position change includes the distance change. According to the distances between the vehicle equipped with the smart tripod and other vehicles at different times continuously collected during the first time period, a distance change curve over time can be obtained, thereby calculating the distance change. By analyzing the collected distance changes, it can be determined whether the distance between the vehicles is gradually approaching or gradually moving away. If the distance change is negative and the absolute value gradually increases, it means that the distance between the vehicles is rapidly approaching; if the distance change is positive and the absolute value gradually increases, it means that the distance between the vehicles is rapidly moving away. If, during the first time period, the distance change between a vehicle and a vehicle equipped with a smart tripod continues to be negative and the rate of change is large, it means that the vehicle is rapidly approaching the faulty vehicle, which requires high attention and early warning.

[0050] It can be concluded from the above that determining the target vehicle by using the Doppler frequency shift direction or relative position change collected by the radar ranging module within the first time period can significantly improve the accuracy and real-time performance of target recognition.

[0051] In one embodiment of the present disclosure, determining a target vehicle according to Doppler frequency shift directions between the target vehicle and multiple vehicles collected by a radar ranging module within a first time period includes: If the angle between the Doppler frequency shift direction corresponding to the vehicle and the driving direction of the vehicle equipped with the intelligent tripod is within a first angle range, the vehicle is determined as a target vehicle.

[0052] In this embodiment, the Doppler shift direction indicates the relative motion direction of the target vehicle relative to the vehicle equipped with the smart tripod. The first angle range is a specific angle interval. By setting this range, vehicles that meet specific conditions can be screened out as target vehicles. The first angle range can be determined based on the actual application scenario, the model of the radar sensor, and safety requirements. For example, if the first angle range is set to 0 degrees to 30 degrees, it means that only vehicles whose relative motion direction and the driving direction of the vehicle equipped with the smart tripod are within the first angle range will be considered as target vehicles.

[0053] It can be concluded from the above that, in this embodiment, by setting the first angle range to determine the target vehicle, the vehicles that pose a potential threat to the vehicle equipped with the intelligent tripod can be accurately screened out.

[0054] In one embodiment of the present disclosure, determining a target vehicle according to a relative position change between the target vehicle and a plurality of vehicles collected by a radar ranging module within a first time period includes: If the relative position change between the vehicle equipped with the intelligent tripod and the vehicle is within a first change range, the vehicle is determined as a target vehicle.

[0055] In this embodiment, the relative position change includes the distance change and the angle change. If the relative position change between the vehicle equipped with the intelligent tripod and the vehicle is within the first change range, the vehicle is determined as the target vehicle, including: If the distance change between the vehicle equipped with the smart tripod and the vehicle is negative, and the absolute value of the distance change at the second moment is greater than the absolute value of the distance change at the first moment, the vehicle is determined as the target vehicle; the second moment is greater than the first moment.

[0056] Alternatively, if the angle change between the vehicle equipped with the intelligent tripod and the vehicle is positive, and the absolute value of the angle change at the second moment is greater than the absolute value of the angle change at the first moment, the vehicle is determined as the target vehicle.

[0057] From the above, it can be concluded that this embodiment can more accurately identify potentially dangerous vehicles by determining the target vehicle by combining the distance change and the angle change. When the distance change is negative and the absolute value increases, the fast-approaching vehicle can be quickly locked; when the angle change is positive and the absolute value increases, the vehicle that may be affected by the lane change can be located. This embodiment improves the warning targeting of the smart tripod, enhances road safety, and provides more effective safety protection for faulty vehicles, etc.

[0058] In one embodiment of the present disclosure, determining a safe distance between a vehicle equipped with a smart tripod and a target vehicle according to vehicle attributes of the target vehicle includes: The safe distance between the vehicle equipped with the intelligent tripod and the target vehicle is determined according to the model and speed of the target vehicle and the environmental information of the target vehicle.

[0059] In this embodiment, the safe distance between the vehicle equipped with the smart tripod and the target vehicle is determined according to the model and speed of the target vehicle and the environmental information of the target vehicle, including: determining an initial safe distance according to the model and speed of the target vehicle, and updating the initial safe distance according to the environmental information of the target vehicle to obtain the safe distance between the vehicle equipped with the smart tripod and the target vehicle.

[0060] Vehicles of different models vary greatly in performance and braking capabilities. Large vehicles such as trucks and buses usually have large mass and inertia, and require longer braking distances; while small vehicles such as cars are relatively light and have shorter braking distances. At the same time, the higher the speed of the vehicle, the longer the required braking distance will be. By analyzing the model and speed of the target vehicle, an initial safe distance can be determined. For example, a basic safe distance value can be calculated based on the braking performance parameters corresponding to the speed and model of the target vehicle.

[0061] The target vehicle's environmental information has an important impact on the safety distance. Environmental information includes road conditions (such as flat roads, rugged roads, slippery roads, etc.), weather conditions (such as sunny days, rainy days, snowy days, foggy days, etc.), visibility, etc. If the environmental conditions are poor, such as slippery roads and low visibility, the safety distance needs to be increased accordingly. For example, when driving on rainy days, the friction of the road surface decreases and the vehicle's braking distance will become longer. At this time, a certain distance value should be appropriately increased on the basis of the initial safety distance to ensure safety. If it is foggy, visibility is very low, and the safety distance needs to be further increased so that there is enough time and space to deal with emergencies.

[0062] It can be concluded from the above that this embodiment determines the safe distance by comprehensively considering the model, speed and environmental information of the target vehicle, thereby significantly improving driving safety. This embodiment can flexibly respond to different road and weather conditions, ensure that the vehicle equipped with the smart tripod maintains a sufficient safe distance from the target vehicle, effectively reduce the risk of collision, and provide more reliable driving protection for the driver.

[0063] In one embodiment of the present disclosure, determining the flashing frequency of the flashing light according to the safety distance includes: The flashing frequency of the flashing light is determined according to the safety distance and the road conditions where the target vehicle is located.

[0064] In this embodiment, the flashing frequency of the flashing light is determined according to the safety distance and the road condition of the target vehicle, including: In response to the target vehicle being on a highway, when the safety distance is greater than the first distance and less than or equal to the second distance, the flashing frequency of the flashing light is the first flashing frequency; when the safety distance is less than the first distance, the flashing frequency of the flashing light is the second flashing frequency; the first flashing frequency is less than the second flashing frequency; In response to the target vehicle being located on an ordinary highway, when the safety distance is greater than the third distance and less than or equal to the fourth distance, the flashing frequency of the flashing light is the first flashing frequency; when the safety distance is less than the third distance, the flashing frequency of the flashing light is the second flashing frequency; the first flashing frequency is less than the second flashing frequency.

[0065] refer to Figure 8 The main control module can control the flashing light to flash at different frequencies according to the calculated real-time vehicle distance. The control circuit is as follows: Figure 8 As shown. The main control module controls the alternating flashing frequency of the flashing light by controlling pins PA1 and PA2. The control signal output by the main control module is amplified by NPN transistors Q37 and Q38 to control the current, and VBAT provides the pull-up driving current.

[0066] From the above, it can be concluded that this embodiment dynamically adjusts the flashing frequency of the flashing light according to the safety distance and road conditions, effectively improving the road warning effect. On highways and ordinary roads, by setting different safety distance thresholds and corresponding flashing frequencies, it can more intuitively remind the rear vehicle to keep a distance, reduce the risk of rear-end collision, and avoid unnecessary visual interference, ensuring driving safety and road traffic efficiency.

[0067] In one embodiment of the present disclosure, the intelligent tripod safety protection system further includes: Image acquisition module; the image acquisition module is connected with the main control module; The image acquisition module is used to acquire first data; the first data includes image data, radar data and positioning data; When the smart tripod is in the first state, the main control module is further used to send the first data and the first identification information to the cloud server to instruct the cloud server to generate the first target information according to the first data; When the smart tripod is in the second state, the main control module is further used to send the first data and the second identification information to the mobile phone terminal to instruct the mobile phone terminal to generate the second target information according to the first data; When the intelligent tripod is in the third state, the main control module generates third target information according to the first data; The first state is that the connection between the smart tripod and the cloud server is normal; The second state is that the connection state between the smart tripod and the cloud server is abnormal, and the connection state between the smart tripod and the mobile terminal is normal; The third state is that the connection state between the smart tripod and the cloud server is abnormal, and the connection state between the smart tripod and the mobile terminal is abnormal; The number of data features processed by the cloud server, mobile terminal and main control module is different; The first identification information is used to identify a first state of the smart tripod; and the second identification information is used to identify a second state of the smart tripod.

[0068] In this embodiment, the main control module is also used to: send the image data, radar data and positioning data to the cloud server when the connection status between the smart tripod and the cloud server is normal; When the connection status between the smart tripod and the cloud server is abnormal, and the connection status between the smart tripod and the mobile terminal is normal, the image data, radar data and positioning data are sent to the mobile terminal; When the connection status between the smart tripod and the cloud server is abnormal, or the connection status between the smart tripod and the mobile terminal is abnormal, the main control module performs preliminary processing on the collected data and sends a control signal to the flash light to control the working status of the flash light; The cloud server, mobile terminal and main control module process different numbers of data features.

[0069] The first identification information and the second identification information may include status information of the smart tripod, a data processing mode, unique identification information of the smart tripod, and the like.

[0070] In this embodiment, the data collected by the smart tripod can be processed in three ways.

[0071] In this embodiment, the cloud server generates first target information according to the first data, including: A first number of features are obtained by extracting features from the first data, and first target information is generated according to the first number of features. Specifically, a first number of features are obtained by extracting features from the image data and the radar data, and the first number of features are weighted to obtain weighted fusion features. The positioning data and the plurality of weighted features are data mapped to obtain a first control strategy, and the first target information is generated according to the first control strategy.

[0072] The weighted fusion feature is obtained by weighting according to the following first formula: The first formula is:

[0073] in, represents the weighted fusion feature, represents the features in the image data, represents features in radar data, Represents an element-level multiplication operation, which is used to calculate the element-by-element product of two feature matrices to capture the interaction information between features. represents the weight coefficient of the features in the image data, represents the weight coefficient of the feature in the radar data, Represents cross terms The weight coefficient of .

[0074] The cloud server generates first target information according to the first data, wherein a neural network model can be used for data mapping to ensure the authenticity and effectiveness of data processing in order to obtain a complete control strategy.

[0075] For example, the cloud server first extracts features from the image data collected by the camera on the smart tripod and the radar data obtained by the radar sensor to obtain multiple features. For example, the shape, color and other features of the object are extracted from the image, and the distance, speed and other features of the object are extracted from the radar data. These features are weighted to obtain weighted fusion features. Secondly, the positioning data of the smart tripod and multiple weighted features are input into the pre-trained neural network model for data mapping to obtain the first control strategy. For example, when a vehicle is detected approaching the tripod quickly, the control strategy can be to emit alarm lights and sounds. Finally, the first target information is generated according to this control strategy to ensure the safety of the tripod and prevent it from being damaged by collision.

[0076] In this embodiment, the mobile terminal generates the second target information according to the first data, including: The first data is feature extracted to obtain a second number of features, and the second target information is generated according to the second number of features. Specifically, the image data and the radar data are feature extracted to obtain a second number of features, the positioning data and the second number of features are mapped to obtain a second control strategy, and the second target information is generated according to the second control strategy.

[0077] The data processing capability of the mobile terminal is not as strong as that of the cloud server. When the positioning data and the features of the second quantity are mapped to obtain the second control strategy, the second target information is generated according to the second control strategy.

[0078] For example, when the mobile terminal receives the image data and radar data from the smart tripod, it first extracts features from the image data and radar data to obtain a certain number of features. For example, features such as the general outline of the object are extracted from the image, and features such as the relative distance between the object and the tripod are extracted from the radar data. The mobile terminal directly maps the positioning data and these features. For example, if it is detected that the object is close to the tripod and is approaching quickly, a control strategy is directly generated to remind the user to pay attention. Secondly, the second target information is generated according to this control strategy, such as a warning message popping up on the mobile phone screen to remind the user to take timely measures to protect the tripod and avoid damage to the tripod by collision, so as to ensure that the smart tripod safety protection system can play a more comprehensive role.

[0079] In this embodiment, the main control module generates the third target information according to the first data, including: Extracting features from the first data to obtain a third number of features, and generating third target information according to the third number of features. Specifically, generating the third target information according to the third number of features includes: A third control strategy is generated according to the third number of features, and third target information is generated according to the third control strategy.

[0080] For example, the main control module receives the first data from the sensor, and first extracts features from the image data and radar data to obtain a third number of features, such as extracting ambient brightness features from the image and extracting surrounding object movement speed features from the radar data. Then, a third control strategy is generated based on these features. If the ambient brightness is low and the surrounding objects move quickly, the control strategy may be to increase the brightness of the flashing lights on the tripod. Finally, the third target information is generated based on the control strategy, such as sending a command to make the warning light flash at a specific brightness and frequency to improve the safety of the tripod in complex environments.

[0081] From the above, it can be concluded that the system design takes into account a variety of communication states, including normal connection with the cloud server, abnormal connection with the cloud server, and abnormal connection with the driver's mobile terminal. This multi-level design ensures that the system can effectively process and transmit data under different communication conditions. In the case of losing connection with both the cloud server and the driver's mobile terminal, the system can rely on the main control module to perform preliminary processing of image data, radar data, and positioning data, and directly control the working state of the flashing light. This emergency response capability greatly shortens the response time and improves the safety of the site. By comprehensively considering the communication status, data processing capabilities, and emergency response mechanisms, the system can maintain an efficient and stable working state in various complex environments. This comprehensive safety protection strategy not only improves the system's ability to identify and respond to potential dangers, but also enhances the sense of security of drivers and passengers.

[0082] The above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them. Although the present disclosure has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. An intelligent tripod safety protection system, characterized in that: include: Intelligent tripod and safety monitoring platform; the intelligent tripod includes a flashing light, a positioning module, a communication module, a main control module and a radar ranging module; The main control module is used to determine the target vehicle according to the signal characteristics between the radar ranging module and multiple vehicles, and determine the safe distance between the vehicle equipped with the smart tripod and the target vehicle according to the vehicle attributes of the target vehicle, and determine the flashing frequency of the flashing light according to the safe distance; the target vehicle is a vehicle in the same lane as the vehicle equipped with the smart tripod; The step of determining the target vehicle according to the signal characteristics between the radar ranging module and the multiple vehicles includes: Determine the target vehicle according to the Doppler frequency shift directions or relative position changes between the target vehicle and multiple vehicles collected by the radar ranging module within the first time period; The step of determining the target vehicle according to the relative position changes between the target vehicle and the multiple vehicles collected by the radar ranging module within the first time period includes: If the relative position change between the vehicle equipped with the intelligent tripod and the vehicle is within a first change range, the vehicle is determined as a target vehicle; The main control module is also used to send the data collected by the positioning module to the security supervision platform through the communication module when data anomalies are detected.

2. The intelligent tripod safety protection system according to claim 1, characterized in that: The intelligent tripod also includes: Status indication module, battery management module, battery module and USB interface; The battery management module, the status indication module and the USB interface are all connected to the main control module; the battery module is connected to the battery management unit and the USB interface respectively.

3. The intelligent tripod safety protection system according to claim 1, characterized in that: The intelligent tripod also includes: Alarm module; The main control module is connected to the alarm module through the communication module.

4. The intelligent tripod safety protection system according to claim 1, characterized in that: The intelligent tripod also includes: Hall sensor; the Hall sensor is connected to the main control module; The legs of the intelligent tripod are provided with magnets; when the legs of the intelligent tripod are unfolded, the intelligent tripod enters a working mode; when the legs of the intelligent tripod are folded, the intelligent tripod enters a dormant mode.

5. The intelligent tripod safety protection system according to claim 1, characterized in that: The step of determining the target vehicle according to the Doppler frequency shift directions between the target vehicle and the multiple vehicles collected by the radar ranging module within the first time period includes: If the angle between the Doppler frequency shift direction corresponding to the vehicle and the driving direction of the vehicle equipped with the intelligent tripod is within a first angle range, the vehicle is determined as a target vehicle.

6. The intelligent tripod safety protection system according to claim 1, characterized in that: The step of determining a safe distance between the vehicle equipped with the intelligent tripod and the target vehicle according to the vehicle attributes of the target vehicle includes: The safe distance between the vehicle equipped with the intelligent tripod and the target vehicle is determined according to the model and speed of the target vehicle and the environmental information of the target vehicle.

7. The intelligent tripod safety protection system according to claim 1, characterized in that: The step of determining the flashing frequency of the flashing light according to the safety distance includes: The flashing frequency of the flashing light is determined according to the safety distance and the road condition where the target vehicle is located.

8. The intelligent tripod safety protection system according to claim 1, characterized in that: Also includes: An image acquisition module; the image acquisition module is connected to the main control module; the image acquisition module is used to acquire first data; the first data includes image data, radar data and positioning data; When the smart tripod is in the first state, the main control module is further used to send the first data and the first identification information to the cloud server to instruct the cloud server to generate the first target information according to the first data; When the smart tripod is in the second state, the main control module is further used to send the first data and the second identification information to the mobile phone terminal to instruct the mobile phone terminal to generate the second target information according to the first data; When the smart tripod is in the third state, the main control module generates third target information according to the first data; Wherein, the first state is that the connection state between the smart tripod and the cloud server is normal; The second state is that the connection state between the smart tripod and the cloud server is abnormal, and the connection state between the smart tripod and the mobile terminal is normal; The third state is that the connection state between the smart tripod and the cloud server is abnormal, and the connection state between the smart tripod and the mobile phone terminal is abnormal; The cloud server, mobile terminal and main control module process different numbers of data features.

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