Radar and TOF (Time of Flight)-based fused sensing refrigerator anti-collision system

Abstract

The utility model relates to the technical field of refrigerator car safety, and discloses a refrigerator anti-collision system based on radar and TOF fusion perception, which comprises at least four groups of radar sensors and a TOF camera, at least two groups of radar sensors are positioned at the top of a refrigerator and face the driving direction of a car, and the TOF camera is positioned at the top of the refrigerator. The at least two groups of radar sensors are positioned on the side surface of the refrigerator, and an included angle of 20-30 degrees is formed between the orientation of the radar sensors and the driving direction of the vehicle; the radar TOF camera is located at the top of the refrigerator; the radar sensor is used for detecting object distance and speed information in the surrounding environment of the refrigerator; the TOF camera obtains three-dimensional space information of the surrounding environment of the refrigerator. According to the scheme, monitoring data in a short-distance range and a long-distance range are obtained through the radar sensor and the TOF camera, errors and blind areas of a single sensor can be effectively eliminated, the position of an obstacle is accurately judged, and the situation of false alarm or missing alarm of obstacle information is avoided as much as possible.

Description

Technical Field

[0001] This utility model relates to the field of refrigerated truck safety technology, specifically to a refrigerated truck collision avoidance system based on radar and TOF fusion perception. Background Technology

[0002] In the operation of refrigerated trucks, the refrigeration unit, as a key component, is crucial for ensuring the refrigeration and preservation of goods. However, due to factors such as the installation of height restriction barriers on roads, bridge height limitations, and drivers' misjudgment of height, refrigerated trucks frequently face the risk of collisions with height-restricted obstacles during operation. Once a collision occurs, the refrigeration unit mounted on the vehicle's roof will be damaged, and if the vehicle is still in transit, it may even damage the entire container of goods. The repair and replacement of the refrigeration unit, along with the cost of damaged goods, will result in significant economic losses for the user. Currently, height-restricted obstacles are mainly detected using a single sensor. However, in complex environments, such as changes in lighting and weather, a single sensor may produce false alarms or miss detections. Utility Model Content

[0003] The present invention aims to provide a cold machine collision avoidance system based on radar and TOF fusion perception to solve the problem that single sensors are prone to false alarms or missed alarms in complex situations.

[0004] To achieve the above objectives, this utility model adopts the following technical solution: a cold engine collision avoidance system based on radar and TOF fusion perception, comprising at least four sets of radar sensors and a TOF camera, wherein at least two sets of radar sensors are located on the top of the cold engine and all radar sensors face the vehicle's direction of travel, and at least two sets of radar sensors are located on the side of the cold engine and the orientation of the radar sensors forms an angle of 20-30° with the vehicle's direction of travel; the radar TOF camera is located on the top of the cold engine; the radar sensors are used to emit electromagnetic waves and receive their reflected signals to detect the distance and speed information of objects in the environment surrounding the cold engine; the TOF camera obtains three-dimensional spatial information of the environment surrounding the cold engine by emitting laser pulses and measuring the phase difference or time difference between the reflected light and the original light.

[0005] The principle of this solution is as follows: radar sensors and TOF cameras detect obstacles around the refrigeration unit of the refrigerated truck. The radar sensor can collect environmental information over a long distance and a wide range, and can quickly capture the approximate position and movement trend of the target. The TOF camera achieves high-precision distance measurement at close range and has excellent resolution of small obstacles or close-range targets. Based on the data from the radar sensor and the TOF camera, the error and blind spot of a single sensor can be effectively eliminated, and key information such as the position, speed and trajectory of the obstacle can be accurately determined.

[0006] Advantages of this solution: This solution acquires monitoring data at both near and long ranges using radar sensors and TOF cameras, which can effectively eliminate the errors and blind spots of a single sensor, accurately determine the location of obstacles, and minimize false alarms or missed alarms regarding obstacle information; placing the radar sensor and TOF camera on the cold machine is more conducive to acquiring obstacle information within the cold machine's range.

[0007] Preferably, the radar sensor is a millimeter-wave radar or a lidar.

[0008] Preferably, the radar sensor is an infrared laser ranging radar.

[0009] Preferably, the system also includes a mounting bracket, with a recess on the top of the chiller for mounting a radar sensor and a TOF camera. The radar sensor and TOF camera are mounted on the mounting bracket, and the mounting bracket is detachably connected to the recess. The recess protects the radar sensor and TOF camera and facilitates their mounting on the chiller; the detachable connection is simple and convenient for assembly and disassembly.

[0010] Preferably, both the radar sensor and the TOF camera are mounted on a mounting bracket using screws.

[0011] Preferably, the system also includes an alarm and obstacle avoidance module, which is installed in the cab of the refrigerated truck and is used for audible and visual warnings. Based on data from radar sensors and a TOF camera, the alarm and obstacle avoidance module is controlled to prompt the driver to take timely actions such as obstacle avoidance.

[0012] Preferably, the alarm and obstacle avoidance module includes an audible alarm and a visual alarm.

[0013] Preferably, it also includes a network communication module, and the radar sensor, TOF camera, and alarm and obstacle avoidance module are all electrically connected to the network communication module. The network communication module is used to transmit the operating status of the chiller and collision risk information to the remote monitoring center in real time.

[0014] Preferably, the system also includes a light intensity sensor, a temperature sensor, and a humidity sensor, all located on the outside of the refrigerated compartment. These sensors are used to adjust the operating parameters of the radar sensor module and the TOF camera module based on ambient light, humidity, and temperature. Attached Figure Description

[0015] Figure 1 This is a structural schematic diagram of an embodiment of the present utility model.

[0016] Figure 2 This is a structural schematic diagram of an embodiment of the present utility model.

[0017] Figure 3 This is a partial structural schematic diagram of an embodiment of the present utility model. Detailed Implementation

[0018] The following detailed description illustrates the specific implementation method:

[0019] The reference numerals in the accompanying drawings include: radar sensor housing 1, opening 11, and chiller 2.

[0020] Example:

[0021] A cold engine collision avoidance system based on radar and TOF fusion perception, as shown in the attached figure. Figure 1 - Appendix Figure 3 As shown, it includes at least four sets of radar sensors and a TOF camera, such as Figure 1 As shown, at least two sets of radar sensors are located on top of the refrigeration unit 2, with the radar sensors facing the direction of vehicle travel, as... Figure 2 As shown, at least two sets of radar sensors are located on the side of the refrigeration unit 2, and the orientation of the radar sensors forms an angle of 20 to 30° with the vehicle's driving direction.

[0022] Radar sensors can collect environmental information over long distances and large areas, and can quickly capture the approximate location and movement trend of targets; TOF cameras can achieve high-precision distance measurement at close range and have excellent resolution of small obstacles or close-range targets. By acquiring monitoring data at close and long distances through radar sensors and TOF cameras, the errors and blind spots of individual sensors can be effectively eliminated, the location of obstacles can be accurately determined, and the situation of false alarms or missed alarms of obstacle information can be avoided as much as possible.

[0023] The radar sensor is used to emit electromagnetic waves and receive their reflected signals to detect the distance and speed of objects in the environment surrounding the chiller 2. In this embodiment, the radar sensor is a millimeter-wave radar or a lidar, which has long-range detection capabilities and good environmental adaptability. Specifically, the radar sensor is an infrared laser ranging radar, which is cylindrical with a length of 61 mm and a diameter of 23 mm. The radar sensor is existing technology, and its structure and control principle have not been improved in this embodiment.

[0024] The Time-of-Flight (TOF) camera acquires three-dimensional spatial information about the environment surrounding the chiller 2 by measuring the phase difference or time difference between the reflected light and the original light emitted by the pulsed laser. In this embodiment, the TOF camera includes a high-resolution laser emitter and receiver, capable of generating a high-precision three-dimensional environmental map for measuring the distance, shape, and position of objects. The TOF camera is existing technology, and its structure and control principle have not been improved in this embodiment.

[0025] The system also includes a mounting bracket. The top of the chiller 2 has a recess for mounting a radar sensor and a TOF camera. Both the radar sensor and the TOF camera are mounted on the mounting bracket, which is detachably connected to the recess. The recess protects the radar sensor and the TOF camera and facilitates their mounting on the chiller 2. The detachable connection is simple and easy to install and remove. In this embodiment, both the radar sensor and the TOF camera are mounted on the mounting bracket with screws. Alternatively, bolt connections or snap-fit ​​connections can be used depending on the specific requirements.

[0026] like Figure 3 As shown, it also includes a radar sensor housing 1. In this embodiment, a total of 4 radar sensors are provided, such as... Figure 3 As shown, the radar sensor housing 1 has a corresponding number of openings 11, and the radar sensor and TOF camera are installed at the corresponding openings 11.

[0027] It also includes an alarm and obstacle avoidance module, installed in the refrigerated truck's cab. This module provides audible and visual warnings. Based on data from radar sensors and a Time-of-Flight (TOF) camera, the module prompts the driver to take timely obstacle avoidance actions. In this embodiment, the alarm and obstacle avoidance module includes both an audible alarm and a visual alarm, providing synchronized warnings for better effectiveness. Different collision risk levels can be set based on data from the radar sensors and TOF camera, resulting in different audible warning times and different warning lights. For example, the closer the distance between the refrigerated truck and the obstacle, the higher the risk level.

[0028] It also includes a light intensity sensor, a temperature sensor, and a humidity sensor, all located on the outside of the refrigerated compartment. These sensors are used to adjust the operating parameters of the radar sensor module and the TOF camera module based on ambient light, humidity, and temperature. The light intensity sensor typically uses a photoresistor to monitor light intensity.

[0029] It also includes a network communication module, and the radar sensor, TOF camera, alarm and obstacle avoidance module are all electrically connected to the network communication module. The network communication module is used to transmit the operating status of chiller 2 and sensor data to the remote monitoring center in real time.

[0030] It also includes a display that shows data from the radar sensors and TOF camera, allowing drivers to be aware of obstacles in the surrounding environment.

[0031] The specific implementation process is as follows:

[0032] First, install the radar sensor and TOF camera in their respective positions on the chiller 2, and adjust their orientation. Check the tightness of screws and other assembly components to prevent system malfunctions caused by loosening. Connect the cables and data lines between the various modules to ensure normal equipment operation. Organize the cables and clamp them with clips to ensure stable and reliable connections, avoiding signal transmission problems caused by loose cables. When installing screws, avoid other critical internal components and wiring to prevent short circuits or damage. After installation, debug and calibrate the equipment to ensure the radar sensor and TOF camera are working properly. The network communication module is used to transmit the operating status of chiller 2 and collision risk information to the remote monitoring center in real time. The remote monitoring center uses this data to control the alarm and obstacle avoidance modules to provide early warnings to the driver.

[0033] This solution, based on the fusion of radar and Time-of-Flight (TOF) sensors to perceive environmental information, can effectively eliminate the errors and blind spots of individual sensors, accurately determine the location of obstacles, and minimize false alarms or missed alarms. It boasts advantages such as high precision, real-time performance, and reliability, significantly improving the safe operation of the chiller 2 in complex environments. Mounting the radar sensor and TOF camera on the chiller 2 further facilitates the acquisition of obstacle information within its range; the control alarm and obstacle avoidance modules then prompt the driver to take timely obstacle avoidance actions.

[0034] The above descriptions are merely embodiments of this utility model, and common technical solutions and / or characteristics known in the scheme are not described in detail here. It should be noted that those skilled in the art can make various modifications and improvements without departing from the technical solution of this utility model. In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances. The scope of protection claimed in this application shall be determined by the content of its claims, and the specific embodiments described in the specification can be used to interpret the content of the claims.

Claims

1. A cold engine collision avoidance system based on radar and TOF fusion perception, characterized in that, The system includes at least four sets of radar sensors and a Time-of-Flight (TOF) camera. At least two sets of radar sensors are located on the top of the refrigeration unit and are all facing the direction of vehicle travel. At least two sets of radar sensors are located on the side of the refrigeration unit and are oriented at an angle of 20-30° to the direction of vehicle travel. The radar TOF camera is located on the top of the refrigeration unit. The radar sensors are used to emit electromagnetic waves and receive their reflected signals to detect the distance and speed information of objects in the environment surrounding the refrigeration unit. The TOF camera obtains three-dimensional spatial information of the environment surrounding the refrigeration unit by emitting laser pulses and measuring the phase difference or time difference between the reflected light and the original light.

2. The cold engine collision avoidance system based on radar and TOF fusion perception according to claim 1, characterized in that: The radar sensor is a millimeter-wave radar or a lidar.

3. A cold engine collision avoidance system based on radar and TOF fusion perception according to claim 2, characterized in that: The radar sensor is an infrared laser ranging radar.

4. A cold engine collision avoidance system based on radar and TOF fusion perception according to claim 1, characterized in that: It also includes a mounting bracket, the top of which has a groove for mounting a radar sensor and a TOF camera. The radar sensor and the TOF camera are mounted on the mounting bracket, and the mounting bracket is detachably connected to the groove.

5. A cold engine collision avoidance system based on radar and TOF fusion perception according to claim 4, characterized in that: Both the radar sensor and the TOF camera are mounted on the mounting bracket with screws.

6. A cold engine collision avoidance system based on radar and TOF fusion perception according to claim 1, characterized in that: It also includes an alarm and obstacle avoidance module, which is installed in the cab of the refrigerated truck and is used for audible and visual warnings.

7. A cold engine collision avoidance system based on radar and TOF fusion perception according to claim 6, characterized in that: The alarm and obstacle avoidance module includes an audible alarm and a visual alarm.

8. A cold engine collision avoidance system based on radar and TOF fusion perception according to claim 6, characterized in that: It also includes a network communication module, and the radar sensor, TOF camera and alarm and obstacle avoidance module are all electrically connected to the network communication module.

9. A cold engine collision avoidance system based on radar and TOF fusion perception according to claim 1, characterized in that: It also includes a light intensity sensor, a temperature sensor, and a humidity sensor, all of which are located on the outside of the refrigerated compartment.

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