Road collapse autonomous identification and instant alarm system and method based on roadside radar

Abstract

The invention provides a road collapse autonomous identification and instant alarm system and method based on a roadside radar, the system comprises a roadside rod, a radar, an edge computer and an acousto-optic warning unit, the roadside rod is fixed at the edge of a road, and the radar is fixed at the upper part of the roadside rod and is used for collecting the distance between a road surface feature point of the road and the radar and sending the distance to the edge computer; a database is formed; the edge computer is electrically connected with the radar; the acousto-optic warning unit is electrically connected with the edge computer; and the edge computer is internally provided with a road collapse autonomous identification and instant alarm algorithm program and is used for receiving and processing the database and sending a working instruction to the acousto-optic warning unit. Through the distance detection technology of the radar, the distance change values of the road surface feature points and the radar at different time are obtained, the database is formed, the edge computer receives and processes the database, the position where the road surface collapses is judged, the working instruction is sent to the acousto-optic warning unit, and passing vehicles and pedestrians are reminded in time.

Description

Technical Field

[0001] The present invention belongs to the technical field of highway sudden disaster early warning, and in particular relates to a road collapse autonomous identification and instant alarm system and method based on roadside radar. Background Art

[0002] Sudden road collapse incidents often cause personal injury and property loss. If the alarm is not reported in time, the damage and loss will be further increased. Although the existing road monitoring system can monitor road collapse incidents, it is not very targeted and most of them adopt the data center decision-making mode, which requires the collected data to be transmitted, collected, and analyzed, and then the center issues an alarm command. It is not timely enough and cannot effectively prevent personal injury and property loss.

[0003] Therefore, how to provide an autonomous road collapse identification and instant alarm system based on roadside radar to monitor the road surface of accident-prone sections in real time, immediately identify the occurrence of sudden road collapse incidents, and immediately issue warnings at the scene of the incident, thereby reducing the degree of harm caused by the accident is a problem that technical personnel in this field urgently need to solve. Summary of the invention

[0004] The object of the present invention is to provide a road collapse autonomous identification and immediate alarm system and method based on roadside radar, so as to solve at least one of the above technical problems.

[0005] To achieve the above-mentioned purpose, the first aspect of the present invention provides a road collapse autonomous identification and immediate alarm system based on roadside radar, the system comprising: a roadside pole, the roadside pole is fixed to the edge of the road; a radar, the radar is fixed to the upper part of the roadside pole, and is used to collect the distance between the road surface feature points of the road and the radar, and form a database; an edge computer, the edge computer is electrically connected to the radar; an sound and light warning unit, the sound and light warning unit is electrically connected to the edge computer; wherein, the edge computer is internally provided with a road collapse autonomous identification and immediate alarm algorithm program, which is used to receive and process the database and send work instructions to the sound and light warning unit; the radar, the sound and light warning unit and the edge computer are fixed on the roadside pole in sequence from top to bottom along the roadside pole.

[0006] In the first aspect, the sampling frequency of the radar is not less than 0.1 Hz; and the distance between two adjacent road feature points is not greater than 0.5 m.

[0007] In the first aspect, the system further includes: a communication unit, one end of which is electrically connected to the edge computer; a server, which is communicatively connected to the other end of the communication unit; and a client, which is communicatively connected to the server.

[0008] In the first aspect, the system further includes: a power supply unit, wherein a light storage module is disposed inside the power supply unit for providing power to the radar, the edge computer, the sound and light warning unit and the communication unit.

[0009] The second aspect of the present invention provides a road collapse autonomous identification and immediate alarm method based on a roadside radar, wherein the road collapse autonomous identification and immediate alarm system based on a roadside radar described in the first aspect is used in the road collapse autonomous identification and immediate alarm method based on a roadside radar, and the method comprises:

[0010] With the direction perpendicular to the road surface axis as the X direction and the direction parallel to the road surface axis as the Y direction, a number of road surface feature points are marked on the road surface to be monitored, the horizontal coordinates of each road surface feature point are marked as (Xi, Yj), the distance between two adjacent road surface feature points in the X direction is Δx, and the distance between two adjacent road surface feature points in the Y direction is Δy; wherein 1≤i≤m, 1≤j≤n, i, j, m and n are all integers, Δx≤0.5m, Δy≤0.5m, m is the number of road surface feature points distributed in the X direction, and n is the number of road surface feature points distributed in the Y direction;

[0011] When the road surface is intact, the distance between each road feature point and the radar is collected by radar to form an initial road distance matrix, which is recorded as D0(i, j), and D0(i, j) is transmitted to the edge computer for storage.

[0012]

[0013] The radar collects the distance between each road feature point and the radar at a time interval of Δt to form a road distance matrix, denoted as D k (i, j), k represents the radar acquisition times, k ≥ 3 and is an integer, Δt ≤ 10s;

[0014] D k (i, j) are transmitted to the edge computer, and the edge computer calculates the distance difference matrix ΔD of each road feature point in the initial road distance matrix and the intermediate road distance matrix. k , ΔD k =D k -D0;

[0015] Define the distance difference safety threshold of each road feature point as U0, and the road collapse area alarm threshold as S0, then the road collapse area S k =T k ×Δx×Δy,T k is the distance difference matrix ΔDk The number of elements greater than U0 in ;

[0016] When S k When ≥S0 and occurs three times in a row, the road surface collapses, the edge computer sends a work instruction to the sound and light warning unit, and the radar stops collecting data;

[0017] The sound and light warning unit executes the work instruction until the road management personnel complete the roadblock setting.

[0018] In the second aspect, the D k (i, j) are transmitted to the edge computer, and the edge computer calculates the distance difference matrix ΔD of each road feature point in the initial road distance matrix and the intermediate road distance matrix. k , ΔD k =D k -D0, including: converting the road distance matrix D during each acquisition by the radar k (i, j) are sequentially input into the edge computer, and the edge computer only stores the road surface distance matrix of the last three inputs, which are recorded as D1(i, j), D2(i, j) and D3(i, j); the edge computer calculates the distance difference matrix ΔD of each road surface feature point in the initial road surface distance matrix and the period road surface distance matrix for the last three times k , which are sequentially stored in the edge computer as ΔD1=D1-D0, ΔD2=D2-D0 and ΔD3=D3-D0.

[0019] In the second aspect, the work instruction includes: the sound and light warning unit continuously emits flashing lights and beeps, and plays a warning audio of "road collapse, no going forward".

[0020] In the second aspect, after the sound and light warning unit executes the work instruction until the road management personnel completes the roadblock setting, it also includes: the road management personnel shuts down the work instruction of the sound and light warning unit; repairs the collapsed road surface; after the repair is completed, the roadblock is removed and the road is restored to traffic; the radar continues to collect the distance between each road feature point and the radar, and inputs the collected data into the edge computer.

[0021] In the second aspect, the method further includes: the edge computer is connected to the server via a communication unit, the server is communicatively connected to the client, the data stored in the edge computer is transmitted to the server via the communication unit, and the client queries and manages the data in the server.

[0022] A third aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon: when the computer program is executed by a processor, the method for autonomously identifying and immediately warning road collapse based on roadside radar as described in the second aspect is implemented.

[0023] Beneficial effects:

[0024] The present invention provides a road collapse autonomous identification and instant alarm system based on roadside radar, including a roadside pole, a radar, an edge computer and an acoustic and light warning unit. The roadside pole is fixed at the edge of the road, and a radar is arranged on the upper part of the roadside pole to fix the relative position of the radar, so as to facilitate the collection of the distance between the road feature point and the radar, and form a database; the edge computer is electrically connected to the radar, and the acoustic and light warning unit is electrically connected to the edge computer, and an autonomous identification and instant alarm algorithm program for road collapse is arranged inside the edge computer to receive and process the database, and send a work instruction to the acoustic and light warning unit to remind passing vehicles and pedestrians and road management personnel; in addition, the radar, the acoustic and light warning unit and the edge computer are fixed on the roadside pole from top to bottom in sequence along the roadside pole, and are electrically connected to ensure the rapid transmission of information, so that a warning can be issued in time. The present invention obtains the distance change value between the road feature point and the radar at different times by fixing the relative position of the radar and using the distance detection technology of the radar, and forms a database, and then receives and processes the database through the edge computer, determines the location where the road collapse occurs, and sends a work instruction to the acoustic and light warning unit to alert pedestrians. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of this specification or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 A schematic diagram of the structure of a road collapse autonomous identification and instant alarm system based on roadside radar provided by the present invention;

[0027] Figure 2 A schematic diagram of distance changes at the initial state and during the road pavement collapse event provided by the present invention;

[0028] Figure 3 A schematic diagram of the structure of a computer-readable storage medium provided by the present invention;

[0029] Reference numerals:

[0030] 1. Roadside pole; 2. Radar; 3. Edge computer; 4. Sound and light warning unit; 5. Communication unit; 6. Server; 7. Client; 8. Power supply unit. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments described here can be implemented in an order other than that illustrated or described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or modules is not necessarily limited to those steps or modules clearly listed, but may include other steps or modules that are not clearly listed or inherent to these processes, methods, products or devices. The naming or numbering of steps in this application does not mean that the steps in the method flow must be executed in the time / logical sequence indicated by the naming or numbering. The process steps that have been named or numbered can change the execution order according to the technical purpose to be achieved, as long as the same or similar technical effects can be achieved.

[0033] The division of modules in this application is a logical division. There may be other division methods when it is implemented in actual applications. For example, multiple modules can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection between modules can be electrical or other similar forms, which are not limited in this application. In addition, the modules or submodules described as separate components may or may not be physically separated, may or may not be physical modules, or may be distributed in multiple circuit modules, and some or all of the modules may be selected according to actual needs to achieve the purpose of the present application.

[0034] Embodiment 1

[0035] See also Figure 1, this embodiment 1 provides a road collapse autonomous identification and immediate alarm system based on a roadside radar 2, the system comprising: a roadside pole 1, a radar 2, an edge computer 3 and an acoustic and visual warning unit 4, the roadside pole 1 is fixed to the edge of the road; the radar 2 is fixed to the upper part of the roadside pole 1, and is used to collect the distance between the road surface feature points of the road and the radar 2, and form a database; the edge computer 3 is electrically connected to the radar 2; the acoustic and visual warning unit 4 is electrically connected to the edge computer 3; wherein, the edge computer 3 is internally provided with a road collapse autonomous identification and immediate alarm algorithm program, which is used to receive and process the database and send a work instruction to the acoustic and visual warning unit 4; the radar 2, the acoustic and visual warning unit 4 and the edge computer 3 are fixed on the roadside pole 1 in sequence from top to bottom along the roadside pole 1.

[0036] Specifically, the present invention provides an autonomous road collapse identification and immediate alarm system based on a roadside radar 2, comprising a roadside pole 1, a radar 2, an edge computer 3 and an acoustic and light warning unit 4, wherein the roadside pole 1 is fixed at the edge of the road, and the radar 2 is arranged on the upper part of the roadside pole 1 to fix the relative position of the radar 2, so as to facilitate the collection of the distance between the road feature point and the radar 2, and form a database; the edge computer 3 is electrically connected to the radar 2, the acoustic and light warning unit 4 is electrically connected to the edge computer 3, and an autonomous road collapse identification and immediate alarm algorithm program is arranged inside the edge computer 3 to receive and process the database, and send a work instruction to the acoustic and light warning unit 4 to remind passing vehicles, pedestrians and road management personnel; in addition, the radar 2, the acoustic and light warning unit 4 and the edge computer 3 are fixed on the roadside pole 1 in sequence from top to bottom along the roadside pole 1, and are electrically connected to ensure the rapid transmission of information, so that a warning can be issued in time. The present invention fixes the relative position of the radar 2 and utilizes the distance detection technology of the radar 2 to obtain the distance change values ​​between the road feature points and the radar 2 at different times and form a database. The database is then received and processed by the edge computer 3 to determine the location where the road collapse occurs, and a work instruction is sent to the sound and light warning unit 4 to alert pedestrians.

[0037] In some possible implementations, the sampling frequency of the radar 2 is not less than 0.1 Hz; and the distance between two adjacent road feature points is not greater than 0.5 m.

[0038] This is because, in order to improve the monitoring of road collapse events and deal with collapsed road surfaces in a timely manner, the sampling frequency of radar 2 is selected to be no less than 0.1 Hz, that is, the time interval between each sampling of radar 2 is no more than 10 s. When road feature points are set on the road surface to be monitored, the distance between two adjacent road feature points is no more than 0.5 m. In a specific embodiment, the distance resolution measured by radar 2 is greater than 0.1 m.

[0039] In some possible implementations, the system further includes: a communication unit 5, one end of which is electrically connected to the edge computer 3; a server 6, which is communicatively connected to the other end of the communication unit 5; and a client 7, which is communicatively connected to the server 6.

[0040] Those skilled in the art can understand that the system provided by the present application also includes a communication unit 5, a server 6 and a client 7. One end of the communication unit 5 is electrically connected to the edge computer 3, and the other end of the communication unit 5 is connected to the server 6 to realize the information data exchange between the edge computer 3 and the server 6. Through the communication unit 5, the edge computer 3 can upload data to the server 6, and can also receive data from the server 6; in addition, the client 7 is connected to the server 6 in communication, and the client 7 can access the server 6 to query and manage the data in the edge computer 3. In a specific embodiment, the edge computer 3 can be a small industrial computer, the communication unit 5 is an Internet of Things card that can be placed inside the small industrial computer, the server 6 can be a cloud server 6, and the client 7 can be a mobile phone, a tablet or a laptop computer, etc.

[0041] In some possible implementations, the system further includes: a power supply unit 8 , wherein a light storage module is disposed inside the power supply unit 8 for providing power to the radar 2 , the edge computer 3 , the sound and light warning unit 4 and the communication unit 5 .

[0042] The power supply unit 8 is provided with a photoelectric storage module inside, which can generate electricity by itself or use municipal electricity; at the same time, the power supply unit 8 also has a power storage function, which can provide power to the radar 2, edge computer 3, sound and light warning unit 4 and communication unit 5.

[0043] Embodiment 2

[0044] The second embodiment provides a method for autonomously identifying and immediately warning a road collapse based on a roadside radar 2. The system for autonomously identifying and immediately warning a road collapse based on a roadside radar 2 described in the first aspect is used in the method for autonomously identifying and immediately warning a road collapse based on a roadside radar 2. The method includes:

[0045] With the direction perpendicular to the road surface axis as the X direction and the direction parallel to the road surface axis as the Y direction, a number of road surface feature points are marked on the road surface to be monitored, the horizontal coordinates of each road surface feature point are marked as (Xi, Yj), the distance between two adjacent road surface feature points in the X direction is Δx, and the distance between two adjacent road surface feature points in the Y direction is Δy; wherein 1≤i≤m, 1≤j≤n, i, j, m and n are all integers, Δx≤0.5m, Δy≤0.5m, m is the number of road surface feature points distributed in the X direction, and n is the number of road surface feature points distributed in the Y direction;

[0046] When the road surface is intact, the distance between each road feature point and the radar 2 is collected by the radar 2 to form an initial road distance matrix, which is recorded as D0(i, j), and the D0(i, j) is transmitted to the edge computer 3 for storage.

[0047]

[0048] The radar 2 collects the distance between each road feature point and the radar 2 at a time interval of Δt to form a road distance matrix, which is recorded as D k (i, j), k represents the number of acquisitions by the radar 2, k ≥ 3 and is an integer, Δt ≤ 10s;

[0049] D k (i, j) are transmitted to the edge computer 3, and the edge computer 3 calculates the distance difference matrix ΔD of each road feature point in the initial road distance matrix and the intermediate road distance matrix. k , ΔD k =D k -D0;

[0050] Define the distance difference safety threshold of each road feature point as U0, and the road collapse area alarm threshold as S0, then the road collapse area S k =T k ×Δx×Δy,T k is the distance difference matrix ΔD k The number of elements greater than U0 in ;

[0051] When S k ≥S0 and occurs three times in a row, the road surface collapses, the edge computer 3 sends a work instruction to the sound and light warning unit 4, and the radar 2 stops collecting data;

[0052] The sound and light warning unit 4 executes the work instruction until the road management personnel completes the roadblock setting.

[0053] Specifically, the present invention provides a method for autonomously identifying and immediately warning road collapse based on a roadside radar 2. First, a plurality of road surface feature points are marked on the road surface to be monitored, with the direction perpendicular to the road surface axis as the X direction and the direction parallel to the road surface axis as the Y direction, and the horizontal coordinates of each road surface feature point are marked as (Xi, Yj), wherein the number of road surface feature points marked in the X direction is m, the number of road surface feature points marked in the Y direction is n, and the spacing between two adjacent road surface feature points in the X direction is Δx, and the spacing between two adjacent road surface feature points in the Y direction is Δy. 1≤i≤m, 1≤j≤n, i, j, m and n are all integers, Δx≤0.5m, Δy≤0.5m, so that the marked road surface feature points cover the road surface to be monitored; secondly, when the road surface to be monitored is intact and empty, the radar 2 is used to collect the distance between each road surface feature point and the radar 2, and it is recorded as D0(i, j) to form an initial road surface distance matrix, so as to transmit the data to the edge computer 3 for storage, which is convenient for subsequent calculations; then, the distance between each road surface feature point and the radar 2 is collected at a time interval of Δt to form a period road surface distance matrix, which is recorded as D k (i, j), k represents the number of acquisitions by the radar 2, k ≥ 3 and is an integer, Δt ≤ 10s, and the data D k (i, j) is transmitted to the edge computer 3, and the distance difference between the initial state and the intermediate state of each road feature point is calculated by the edge computer 3, which is recorded as ΔD k , ΔD k =D k -D0; Next, in edge computing, the distance difference safety threshold of each road feature point is defined as U0, and the road collapse area alarm threshold is defined as S0, then the road collapse area S k =T k ×Δx×Δy,T k is the distance difference matrix ΔD k The number of elements in S that are greater than U0 is obtained by k Compare with S0 to determine whether the road surface collapses. k ≥S0 and occurs three times in a row, the road surface collapses, and the edge computer 3 sends a work instruction to the sound and light warning unit 4 to issue a warning. At the same time, the radar 2 stops collecting data. Finally, when the sound and light warning unit 4 executes the work instruction and issues an alarm, the road management personnel arrive at the scene to set up roadblocks to further alert passing vehicles or pedestrians. After the roadblocks are set, the sound and light warning unit 4 can be turned off. In other words, the present application monitors the distance changes between the road feature points set on the road surface and the radar 2 in real time through the radar 2, and transmits the data to the edge computer 3. When each distance difference matrix ΔD kThe distance change value in is greater than the preset distance difference safety threshold, and the continuously calculated collapse area S k ≥S0 and occurs three times in a row, it can be determined that a collapse event has occurred on the road surface to be monitored, and the edge computer 3 sends a work instruction to the sound and light warning unit 4, which sounds an alarm, thereby reducing the probability of vehicles falling and casualties after road collapse and improving road safety.

[0054] In some possible embodiments, the D k (i, j) are transmitted to the edge computer 3, and the edge computer 3 calculates the distance difference matrix ΔD of each road feature point in the initial road distance matrix and the intermediate road distance matrix. k , ΔD k =D k -D0, including: the road distance matrix D during each acquisition by the radar 2 k (i, j) are sequentially input into the edge computer 3, and the edge computer 3 only stores the road surface distance matrix of the last three inputs, which are recorded as D1(i, j), D2(i, j) and D3(i, j); the edge computer 3 calculates the distance difference matrix ΔD of each road surface feature point in the last three times in the initial road surface distance matrix and the period road surface distance matrix k , which are sequentially stored in the edge computer 3 as ΔD1=D1-D0, ΔD2=D2-D0 and ΔD3=D3-D0.

[0055] In order to simplify the algorithm program in the edge computer 3, reduce the amount of calculation, and increase the speed of information transmission, the D obtained by the radar 2 is converted into k (i, j) is transmitted to the edge computer 3, and the data input later will overwrite the data input earlier in sequence. Only the road surface distance matrix of the last three inputs is stored in the edge computer 3, recorded as D1(i, j), D2(i, j) and D3(i, j), and the distance difference ΔD between the initial and the intermediate states of each road surface feature point is calculated. k , its schematic diagram is as follows Figure 2 As shown, the last three distance differences are stored in the edge computer 3 in sequence, recording ΔD1=D1-D0, ΔD2=D2-D0 and ΔD3=D3-D0.

[0056] In some possible implementations, the work instruction includes: the sound and light warning unit 4 continuously emits flashing lights and beeps, and plays a warning audio message of "road collapse, no going forward".

[0057] Those skilled in the art can understand that by sending a work instruction to the sound and light warning unit 4 through the edge computer 3, the sound and light warning unit 4 can continuously emit flashing lights and beeping sounds, and play a warning audio of "road collapse, no going forward", so as to issue a warning to distant vehicles and pedestrians in advance, so that distant vehicles and pedestrians have more time to make corresponding responses, thereby reducing the probability of vehicle crashes and casualties.

[0058] In some possible implementations, after the sound and light warning unit 4 executes the work instruction until the road management personnel completes the roadblock setting, it also includes: the road management personnel shut down the work instruction of the sound and light warning unit 4; repair the collapsed road surface; after the repair is completed, remove the roadblock and restore road traffic; the radar 2 continues to collect the distance between each road feature point and the radar 2, and inputs the collected data into the edge computer 3.

[0059] In some possible implementations, the method further includes: the edge computer 3 is connected to the server 6 via the communication unit 5, the server 6 is communicatively connected to the client 7, the data stored in the edge computer 3 is transmitted to the server 6 via the communication unit 5, and the client 7 queries and manages the data in the server 6.

[0060] Embodiment 3

[0061] The third embodiment provides a road collapse autonomous identification and immediate alarm system and method based on a roadside radar 2. A road prone to collapse is selected as a test point. Ten sets of road collapse autonomous identification and immediate alarm systems based on a roadside radar 2 are set on a 2-kilometer-long, four-lane, two-way road. Five sets are set on each side of the road. Specifically, the following contents are included:

[0062] (1) Select a tubular Q345 steel material with a height of 8m, a diameter of 156mm, and a wall thickness of 10mm as the roadside pole 1, and perform hot-dip galvanizing on the roadside pole 1. Install the first roadside pole 1 at the oncoming end of both sides of the road section to be tested, and install a roadside pole 1 every 400m in the forward direction behind.

[0063] (2) A radar 2 is installed on each roadside pole 1. The radar 2 is 7.5 m above the ground, close to the inner side of the road to be tested, and facing the driving direction. The detection area covers the entire road section 400 m long from the roadside pole 1 in the direction of the vehicle. The distance resolution measured by the radar 2 is 0.01 m. The distance between the detected road feature points is set to Δx = Δy = 0.5 m. The detection areas of the adjacent radars 2 are closely connected, so that the detection areas of all radars 2 can cover the entire road section to be tested after being spliced;

[0064] (3) An edge computer 3 is installed below each roadside pole 1 where a radar 2 is installed. The edge computer 3 is connected to the radar 2 through wires, and an algorithm program for autonomously identifying and immediately warning road collapse is set in the edge computer 3. An audible and visual warning unit 4 is installed above the edge computer 3. The audible and visual warning unit 4 is 1.8 m above the ground. The edge computer 3 analyzes and processes the data obtained from the radar 2. When a preset condition threshold is met, a work instruction is sent to the audible and visual warning unit 4 to implement a warning.

[0065] (4) A communication unit 5 is provided, one end of which is connected to the edge computer 3 via a wire, and the other end of the communication unit 5 is connected to the server 6 for communication, so that the edge computer 3 can receive or send information to the server 6; in addition, a mobile phone, a tablet or a laptop computer can be provided as a client 7 to query and manage the information in the server 6.

[0066] Based on the above system, this embodiment provides a method for autonomous identification and immediate alarm of road collapse based on roadside radar 2. First, the number of road feature points covered by each radar 2 in the X direction is set to m=23, and the number in the Y direction is set to n=800. That is, in this embodiment, the number of road feature points covered by each radar 2 is: 23×800=18400; at night, when the road section to be tested is empty and there are no cars, the road surface is clean, and there are no spilled objects or fallen rocks, the initial road surface distance matrix D0 in the initial state is detected by radar 2, as shown below:

[0067]

[0068] Taking D0 as the calculation basis, the data detected by radar 2 are all the period status of the road surface, which is recorded as the period road surface distance matrix D k , and radar 2 collects data at an interval of 10s, and uses D k -D0 calculates the distance difference ΔD between the period state and the initial state k ,

[0069]

[0070] ΔD k The negative number in ΔD indicates that there is an object on the road surface to be tested, and the distance between the road feature point and radar 2 is smaller than the distance in the initial state of the road surface; k A positive number in indicates that the road surface of the road to be tested is dented or collapsed. The distance between the road feature point and radar 2 is larger than the distance in the initial state of the road surface. When the distance increases continuously, if the difference is too large and the ratio is high, it indicates that the road surface of the road to be tested has collapsed.

[0071] In this embodiment, the distance difference safety threshold U0 of each feature point is set to 2m, and the road surface collapse area alarm threshold S0 is set to 30m. 2 , traverse ΔD in sequence k For each element in, count the number of elements T greater than U0 k , and calculate the collapsed area S of the road surface k =T k ×Δx×Δy, and the edge computer 3 only stores the road surface distance matrix of the last three inputs and calculates the difference between the road surface feature points in the initial state and the period state for the last three times, and records them as ΔD1=D1-D0, ΔD2=D2-D0 and ΔD3=D3-D0 in sequence. k ≥S0 and appears three times in a row, it can be determined that the road surface has collapsed or sunken, and the edge computer 3 sends a work instruction to the sound and light warning unit 4, that is, when S1≥S0, S2≥S0 and S3≥S0, the edge computer 3 generates an alarm instruction and sends it to the sound and light warning unit 4, so that the sound and light warning flashes, beeps, and plays the warning audio "Road collapse, no going forward". In addition, the edge computer 3 uploads the last three D k (i, j), ΔD k and S k , and saved in the server 6 for query by the client 7. At the same time, the server 6 can also push the information of the collapse event of the road section to the client 7; after receiving the information of the road pavement collapse, the road management personnel will rush to the scene in time, set up roadblocks or billboards, and guide subsequent vehicles to detour; after the roadblocks or billboards are set up, the alarm system is turned off, and after the road maintenance is completed and the traffic is restored, the alarm system is further reset to continue monitoring the road surface.

[0072] In summary, compared with the prior art, the road collapse autonomous identification and instant alarm system and method based on the roadside radar 2 provided by the present invention has the following advantages:

[0073] (1) The present invention aims to address the incidents that have occurred many times in real life, such as vehicles running off the road and falling due to the failure to issue a timely warning after a road collapse, causing casualties and vehicle losses. The present invention proposes an accurate road collapse autonomous identification and instant alarm system, which effectively reduces the losses caused by road collapse or depression incidents and has good economic and social benefits.

[0074] (2) The present invention utilizes the mature radar 2 distance detection technology, fixes the position of radar 2 to obtain the change of the distance between the road feature point and radar 2 at different time periods, and sets the radar 2 sampling time interval Δt≤10s. The distance between two adjacent road feature points in the X direction and the Y direction is no more than 0.5m, and only the last three D values ​​are stored in the edge computer 3. k and D0 to calculate the collapsed area S of the road surface k and compare it with S0 to infer whether a road pavement collapse occurs. The judgment logic is simple and the calculation amount is small, which improves the accuracy, immediacy and stability of the alarm system.

[0075] (3) The present invention connects the radar 2, edge computer 3 and sound and light warning unit 4 by wires and sets them on the same roadside pole 1, thereby ensuring fast information transmission between the core components of the system, sensitive operation and timely alarm.

[0076] (4) The system provided by the present invention continuously sounds an alarm after identifying a road collapse until the alarm is manually terminated, thereby ensuring that the alarm lasts for a sufficient length of time so that as many drivers and passengers who arrive later as possible can be warned, thereby giving full play to the role of the system.

[0077] (5) The information transmission architecture setting of the edge computer 3, server 6 and client 7 expands the information transmission area without losing the independence of on-site decision-making and action, providing convenience for system management in a larger range.

[0078] (6) The power supply unit 8 can be connected to the mains power and self-generated power and has a power storage function, which expands the application area of ​​the system and improves the stability of power supply.

[0079] (7) The system provided by the present invention has simple hardware and software composition, strong practicality, good stability and low cost.

[0080] Embodiment 4

[0081] The present invention also provides a computer-readable storage medium. Figure 3 , Figure 3 The present invention is a schematic diagram of an embodiment of a computer-readable storage medium in an embodiment of the present invention, wherein the computer-readable storage medium may store a computer program, which, when executed, includes some or all of the steps of the method for autonomous identification and immediate alarm of road collapse based on roadside radar recorded in the above method embodiment.

[0082] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices, electronic devices and computer-readable storage media can refer to the corresponding processes of the road collapse autonomous identification and immediate alarm method based on roadside radar in the aforementioned method embodiment, and will not be repeated here.

[0083] In the several embodiments provided in the present application, it should be understood that the disclosed systems and methods can be implemented in other ways. For example, the system embodiments described above are only schematic, for example, the division of units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of systems or units, which can be electrical, mechanical or other forms.

[0084] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0085] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0086] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0087] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features thereof may be replaced by equivalents. 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 invention.

Claims

1. A road collapse autonomous identification and instant alarm system based on roadside radar, characterized in that: The system comprises: A roadside pole, the roadside pole being fixed to the edge of the road; A radar, the radar being fixed to the upper part of the roadside pole and used for collecting the distance between the road surface feature points and the radar and forming a database; an edge computer, the edge computer being electrically connected to the radar; an audible and visual warning unit, the audible and visual warning unit being electrically connected to the edge computer; Among them, the edge computer is internally provided with an algorithm program for autonomously identifying road collapse and immediately warning, which is used to receive and process the database and send work instructions to the sound and light warning unit; the radar, the sound and light warning unit and the edge computer are fixed on the roadside pole in sequence from top to bottom along the roadside pole.

2. The road collapse autonomous identification and immediate alarm system based on roadside radar according to claim 1 is characterized in that: The sampling frequency of the radar is not less than 0.1 Hz; the distance between two adjacent road feature points is not greater than 0.5 m.

3. The road collapse autonomous identification and immediate alarm system based on roadside radar according to claim 2 is characterized in that: The system further comprises: a communication unit, one end of which is electrically connected to the edge computer; A server, the server being communicatively connected to the other end of the communication unit; A client is connected to the server for communication.

4. The road collapse autonomous identification and immediate alarm system based on roadside radar according to claim 3 is characterized in that: The system further comprises: A power supply unit is provided with a light storage module inside the power supply unit for providing power to the radar, the edge computer, the sound and light warning unit and the communication unit.

5. A method for autonomously identifying and immediately warning road collapse based on roadside radar, characterized in that: The road collapse autonomous identification and immediate alarm system based on roadside radar according to any one of claims 1 to 4 is used in the road collapse autonomous identification and immediate alarm method based on roadside radar, the method comprising: With the direction perpendicular to the road surface axis as the X direction and the direction parallel to the road surface axis as the Y direction, a number of road surface feature points are marked on the road surface to be monitored, the horizontal coordinates of each road surface feature point are marked as (Xi, Yj), the spacing between two adjacent road surface feature points in the X direction is Δx, and the spacing between two adjacent road surface feature points in the Y direction is Δy; wherein 1≤i≤m, 1≤j≤n, i, j, m and n are all integers, Δx≤0.5m, Δy≤0.5m, m is the number of the road surface feature points distributed in the X direction, and n is the number of the road surface feature points distributed in the Y direction; When the road surface is intact, the distance between each road feature point and the radar is collected by radar to form an initial road distance matrix, which is recorded as D0(i, j), and D0(i, j) is transmitted to the edge computer for storage. The radar collects the distance between each road feature point and the radar at a time interval of Δt to form a road distance matrix, denoted as D k (i, j), k represents the radar acquisition times, k ≥ 3 and is an integer, Δt ≤ 10s; D k (i, j) are transmitted to the edge computer, and the distance difference matrix ΔD between the initial road surface distance matrix and the intermediate road surface distance matrix is ​​calculated by the edge computer. k , ΔD k =D k -D0; Define the distance difference safety threshold of each road feature point as U0, and the road collapse area alarm threshold as S0, then the road collapse area S k =T k ×Δx×Δy,T k is the distance difference matrix ΔD k The number of elements greater than U0 in ; When S k When ≥S0 and occurs three times in a row, the road surface collapses, the edge computer sends a work instruction to the sound and light warning unit, and the radar stops collecting data; The sound and light warning unit executes the work instruction until the road management personnel complete the roadblock setting.

6. The method for autonomously identifying and immediately warning road collapse based on roadside radar according to claim 5 is characterized in that: The D k (i, j) are transmitted to the edge computer, and the distance difference matrix ΔD between the initial road surface distance matrix and the intermediate road surface distance matrix is ​​calculated by the edge computer. k , ΔD k =D k -D0, includes: The road distance matrix D during each acquisition of the radar k (i, j) are sequentially input into the edge computer, and the edge computer only stores the road distance matrix during the last three inputs, recorded as D1(i, j), D2(i, j) and D3(i, j); The edge computer calculates the distance difference matrix ΔD between the initial road surface distance matrix and the intermediate road surface distance matrix for each of the road surface feature points for the last three times k , which are sequentially stored in the edge computer as ΔD1=D1-D0, ΔD2=D2-D0 and ΔD3=D3-D0.

7. The method for autonomously identifying and immediately warning road collapse based on roadside radar according to claim 6 is characterized in that: The work instructions include: The sound and light warning unit continuously emits flashing lights and beeps, and plays a warning audio message of "Road collapse, no going forward".

8. The method for autonomously identifying and immediately warning road collapse based on roadside radar according to claim 7 is characterized in that: After the sound and light warning unit executes the work instruction until the road management personnel complete the roadblock setting, it also includes: A work instruction from a road management staff member to turn off the sound and light warning unit; Repair collapsed road surfaces; After the maintenance is completed, the roadblocks are removed and the road is restored to traffic; The radar continues to collect the distance between each road feature point and the radar, and inputs the collected data into the edge computer.

9. The method for autonomously identifying and immediately warning road collapse based on roadside radar according to claim 8 is characterized in that: The method further comprises: The edge computer is connected to the server via a communication unit, and the server is in communication connection with the client. The data stored in the edge computer is transmitted to the server via the communication unit, and the client queries and manages the data in the server.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by the processor, the method for autonomous identification and immediate alarm of road collapse based on roadside radar as described in any one of claims 5 to 9 is implemented.

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