Road monitoring and early warning system

Abstract

The utility model discloses a road monitoring and early warning system, relates to the technical field of intelligent traffic, and solves the problems of unstable signals and blurred or lost images caused by the influence of environmental factors on video monitoring equipment in the conventional road monitoring system. According to the scheme, the camera module, the infrared thermal imaging module, the millimeter wave radar module, the LiDAR module, the wireless communication module, the edge calculation module and the energy storage module are integrated; the system can adapt to different illumination and weather conditions, clear and accurate images and data are provided, local preprocessing and analysis are carried out through edge computing nodes, the data burden of a central server is reduced, and the response speed is increased; according to the utility model, the stability and the accuracy of the road monitoring system are improved, and the efficiency and the safety of traffic management are obviously improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to intelligent transportation technology field, and more exactly relates to a road monitoring and early warning system. BACKGROUND

[0002] With the acceleration of urbanization process and the continuous growth of traffic flow, road monitoring and early warning system has become an important tool to ensure traffic safety and improve traffic efficiency. Under the development trend of intelligent transportation system, road monitoring and early warning system is gradually developing towards intelligence, networking and integration to adapt to the increasingly complex traffic environment.

[0003] The existing road monitoring and early warning system is mainly based on sensor technology, data transmission technology, data processing technology and information publishing technology. Sensor technology is used to collect traffic data in real time, data transmission technology realizes fast transmission of data, data processing technology is used to analyze data and issue warnings, and information publishing technology conveys warning information to relevant personnel.

[0004] In the existing road monitoring and early warning system, video monitoring as an important monitoring means, its stability and accuracy are crucial to the overall performance of the early warning system. However, video monitoring equipment is often affected by environmental factors in practical application, such as bad weather, light change, electromagnetic interference, etc., resulting in unstable signal, blurred or lost image. This not only affects the real-time and accuracy of the early warning system, but also may mislead traffic management personnel to make wrong decisions, thus increasing the risk of traffic accidents. SUMMARY

[0005] The purpose of the utility model is to provide a road monitoring and early warning system to solve the problems raised in the background technology.

[0006] In order to realize the above technical effect, the utility model adopts the following technical scheme:

[0007] A road monitoring and early warning system, comprising: a camera module for providing high-resolution image output, supporting day and night mode switching, ensuring clear image capture under different light conditions;

[0008] An infrared thermal imaging module for providing visual information in low light or no light environment, assisting in identifying and tracking target objects;

[0009] A millimeter wave radar module for detecting the speed, position and distance of vehicles;

[0010] A LiDAR module for providing high-precision distance measurement to enhance the ability to identify the shape and size of objects;

[0011] A wireless communication module is configured to upload the collected data of the camera module, the infrared thermal imaging module, the millimeter wave radar module and the LiDAR module to a remote monitoring center;

[0012] An edge computing module is configured to perform local data preprocessing, analysis and temporary storage, thereby reducing the data burden of the central server and accelerating the response speed;

[0013] An energy storage module is configured to provide continuous power supply for the entire system;

[0014] The camera module is located at the top of the roadside lamp pole, and the infrared thermal imaging module is arranged below the camera module; the millimeter wave radar module is located in the middle of the lamp pole, and the LiDAR module is arranged below the millimeter wave radar module; the output ends of the camera module, the infrared thermal imaging module, the millimeter wave radar module and the LiDAR module are connected with the input end of the edge computing module; the output end of the edge computing module is connected with the input end of the wireless communication module; the wireless communication module and the edge computing module are located in the waterproof box at the bottom of the lamp pole; and the energy storage module is located in the ground below the lamp pole, and the power is transmitted to each hardware module through the underground cable.

[0015] As a further description of the above technical solution: the waterproof box is made of glass fiber material.

[0016] As a further description of the above technical solution: the camera module comprises an image sensor, a lens group, an image signal processor, a day and night mode switching circuit, a power management unit, a communication interface, a storage unit and a heating resistor; the image sensor adopts Sony IMX415; the lens group is composed of multiple aspheric glass lenses; the day and night mode switching circuit is integrated with an infrared cut filter driving mechanism, located behind the lens group, and comprises an infrared cut filter and a motor drive IC; the infrared cut filter is arranged between the lens and the image sensor, and the motor drive IC is installed on one side of the filter; a heating resistor is arranged behind the infrared cut filter to prevent the lens from fogging; the image sensor is directly soldered on a PCB, connected with the image signal processor through an FPC flexible cable, and the output end of the image signal processor is connected to the communication interface through an FPC cable; the image sensor, the image signal processor, the day and night mode switching circuit, the communication interface, the storage unit and the heating resistor are electrically connected with the power management unit.

[0017] As a further description of the above technical solution: the infrared thermal imaging module, the millimeter wave radar module and the LiDAR module are connected to one GPIO pin of the main control MCU through a TTL level synchronization signal line.

[0018] As a further description of the above technical solution: the millimeter wave radar module includes an antenna array, a radio frequency front end, a digital signal processor, a power management unit, and a communication interface; the antenna array is connected to the radio frequency front end through a coaxial cable; the radio frequency front end includes a voltage-controlled oscillator, a power amplifier, a low-noise amplifier, and a mixer; the radio frequency front end converts the processed analog signal into a digital signal through an analog-to-digital converter and then transmits it to the digital signal processor for further processing; the digital signal processor sends configuration instructions to the radio frequency front end through a digital-to-analog converter; and the communication interface is connected to the edge computing module through a CAN bus.

[0019] As a further description of the above technical solution: the LiDAR module includes a laser emitter, a mechanical rotating mirror, a photodetector, a time-to-digital converter, a timing control circuit, and a signal processor; the laser emitter uses a 905nm near-infrared laser diode and is connected to the mechanical rotating mirror through a driving circuit and a synchronization signal line to control the direction change of the laser beam by the mechanical rotating mirror; the laser emitter and the photodetector are respectively connected to the timing control circuit; the signal received by the photodetector is amplified and filtered by a high-speed analog front end and then transmitted to the time-to-digital converter; the time-to-digital converter converts the measurement results into a digital signal and then transmits them to the signal processor.

[0020] As a further description of the above technical solution: the wireless communication module supports 5G and Wi-Fi 6E standards.

[0021] As a further description of the above technical solution: the edge computing module is connected to the energy storage module through a multi-core cable; the multi-core cable includes a direct current power line and a ground line; the edge computing module is connected to the camera module, the infrared thermal imaging module, the millimeter wave radar module, and the LiDAR module through a gigabit Ethernet interface RJ45 and is connected to the CAN interface of the central controller through a twisted pair.

[0022] As a further description of the above technical solution: the energy storage module includes a solar panel, a lithium battery pack, a battery management system, a DC-DC converter, and a charging controller; the solar panel is located at the top of the street lamp, receives sunlight, and converts it into direct current, which is transmitted to the DC-DC converter through a photovoltaic cable; the DC-DC converter is connected to the lithium battery pack through a battery connection line; the lithium battery pack is connected to the battery management system; and the output end of the charging controller is connected to the power interface of the camera module, the infrared thermal imaging module, the millimeter wave radar module, the LiDAR module, and the edge computing node module through a direct current cable.

[0023] In summary, due to the adoption of the above technical solution, the present application has the following advantages:

[0024] 1. By adopting high-resolution cameras and supporting automatic day-night mode switching, the present application can provide clear and detailed image capture both during the day and at night. This feature ensures that the system can continuously output high-quality images regardless of changes in lighting conditions, effectively solving the problem of image blurring or loss due to changes in lighting in the prior art. In low-light or no-light environments, the infrared thermal imaging module can capture the heat distribution of objects, generating visualized images. The introduction of this technology enables the system to maintain continuous monitoring of the road even in extreme weather conditions (such as heavy fog, night, etc.), significantly improving the environmental adaptability and stability of the system.

[0025] 2. The combination of high-resolution cameras and infrared thermal imaging technology not only improves the clarity of image capture, but also enhances the recognition and tracking capabilities of target objects, accurately capturing key information even in complex environments. The addition of millimeter wave radar modules and LiDAR modules provides multi-dimensional and high-precision object detection capabilities, further improving the system's accuracy in identifying vehicle speed, position, distance, and object shape and size.

[0026] 3. The introduction of the edge computing module enables local data preprocessing, analysis, and temporary storage, effectively reducing the data burden on the central server and speeding up the system's response to emergency situations. By performing preliminary data analysis and filtering locally, unnecessary data uploads are reduced, and the false alarm rate caused by data transmission delays or losses is lowered BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, a brief introduction of the drawings needed in the embodiment or prior art description will be given below. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings, wherein:

[0028] Figure 1 is a system framework schematic diagram of the present application;

[0029] Figure 2 is a system application structure schematic diagram of the present application;

[0030] Reference numerals in the figure: 1, camera module; 2, infrared thermal imaging module; 3, millimeter wave radar module; 4, LiDAR module; 5, wireless communication module; 6, edge computing module; 7, energy storage module. DETAILED DESCRIPTION

[0031] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0032] like Figure 2 As shown, a road monitoring and early warning system includes a camera module 1 located at the top of a roadside lamppost; an infrared thermal imaging module 2 positioned below the camera module 1; a millimeter-wave radar module 3 located in the middle of the lamppost; and a LiDAR module 4 positioned below the millimeter-wave radar module 3. The outputs of the camera module 1, infrared thermal imaging module 2, millimeter-wave radar module 3, and LiDAR module 4 are connected to the input of an edge computing module 6. The output of the edge computing module 6 is connected to the input of a wireless communication module 5. The wireless communication module 5 and the edge computing module 6 are located in a waterproof box at the bottom of the lamppost. An energy storage module 7 is located underground under the lamppost, transmitting power to each hardware module via an underground cable. The waterproof box is made of fiberglass. The infrared thermal imaging module 2, millimeter-wave radar module 3, and LiDAR module 4 are connected to a GPIO pin of the main control MCU via a TTL level synchronization signal line.

[0033] In implementation, camera module 1 acquires visual image information of the road, recording the appearance characteristics and real-time status of vehicles, pedestrians, traffic signs, etc., providing basic data for traffic flow statistics and violation identification. Infrared thermal imaging module 2 can detect the thermal radiation of objects, effectively identifying heat-generating objects such as vehicle engines and pedestrians at night or in low visibility conditions, compensating for the limited recognition capability of cameras in insufficient light. Millimeter-wave radar module 3 uses electromagnetic waves in the millimeter-wave band to detect targets, accurately measuring the distance, speed, and angle information of targets. It has high accuracy and high reliability for detecting fast-moving vehicles and is unaffected by weather. The LiDAR module constructs three-dimensional point cloud data of the road and its surrounding environment by emitting laser beams and receiving reflected light, which can depict detailed spatial information such as road terrain and obstacle distribution.

[0034] The modules transmit the collected data to the edge computing module 6. The edge computing module 6 integrates powerful computing capabilities. After receiving data from various sensors, it uses advanced algorithms for data processing and analysis. For example, through deep learning algorithm analysis of camera images, vehicle types, license plate numbers, traffic events, etc. are identified; combined with the spatial data of the millimeter wave radar and LiDAR, the driving trajectory of the vehicle is accurately predicted; and infrared thermal imaging data is used to assist in judging potential dangerous targets. The data processed by the edge computing module 6 is transmitted to the remote monitoring center through the wireless communication module 5, realizing real-time sharing and remote management of data. In terms of data synchronization, the infrared thermal imaging module 2, the millimeter wave radar module 3, and the LiDAR module are connected to a GPIO pin of the main control MCU through a TTL level synchronization signal line with the camera module 1, ensuring the consistency of the data of various sensors in time, facilitating subsequent fusion processing.

[0035] In implementation, the installation of each module can be determined according to the situation, and the approximate installation range is given in the present scheme: the camera module 1 is installed at the top of the road lamp pole to obtain a wider field of view, which can cover a larger area of the road. Its installation angle can be adjusted according to the road direction and the key monitoring area to ensure effective monitoring of the key parts of the road such as intersections, curves, etc. The infrared thermal imaging module 2 is located below the camera module 1, and both are installed on the same axis or in close proximity to each other, so that thermal imaging data can be collected synchronously while visual images are obtained, and the line of sight of each other is not blocked.

[0036] The millimeter wave radar module 3 is installed in the middle of the lamp pole, which can avoid being disturbed by ground debris at too low a position and ensure a good detection angle for vehicles on the road. The LiDAR module is installed below the millimeter wave radar module 3, and the installation needs to ensure that the transmission and reception windows are not blocked, and can scan the road and the surrounding environment in all directions. During installation, each module needs to be accurately calibrated to ensure that its detection direction is consistent with the direction of the road, and the relative position relationship between each module is stable and reliable, so as to facilitate coordinate conversion and other operations during data fusion processing.

[0037] The edge computing module 6 and the wireless communication module 5 are placed in the waterproof box at the bottom of the lamp pole. The waterproof box is made of glass fiber material, which has good waterproof, dustproof and corrosion-resistant performance, and can effectively protect the internal electronic equipment from the influence of harsh environment. In the waterproof box, the modules need to be arranged reasonably to ensure good heat dissipation, and the connection lines between the modules need to be neat and orderly to avoid problems such as line entanglement and short circuit. Shielded wires are used for connection lines to reduce the influence of external electromagnetic interference on data transmission.

[0038] The energy storage module 7 is located in the ground under the lamp pole, and the power is transmitted to each hardware module through underground cables. When installing the energy storage module 7, its heat dissipation and maintenance convenience should be considered, and a deep burial method with ventilation ducts can be used. The laying of underground cables should follow relevant electrical specifications to ensure the safety and stability of power transmission. The cables should have sufficient insulation performance and current-carrying capacity to meet the power requirements of each module.

[0039] The system specifically includes the following content: Figure 1 As shown: First, the camera module 1: used to provide high-resolution image output, support day and night mode switching, ensure clear image capture under different lighting conditions; the camera module 1 includes an image sensor, a lens group, an image signal processor, a day and night mode switching circuit, a power management unit, a communication interface, a storage unit and a heating resistor; the image sensor uses Sony IMX415; the lens group is composed of multiple aspherical glass lenses; the day and night mode switching circuit is integrated with an infrared cutoff filter driving mechanism, located behind the lens group, including an infrared cutoff filter and a motor drive IC; the infrared cutoff filter is placed between the lens and the image sensor, and the motor drive IC is installed on one side of the filter; a heating resistor is provided behind the infrared cutoff filter to prevent the lens from fogging; the image sensor is directly soldered on the PCB, connected to the image signal processor through an FPC flexible cable, and the output end of the image signal processor is connected to the communication interface through an FPC cable; the image sensor, image signal processor, day and night mode switching circuit, communication interface, storage unit and heating resistor are electrically connected to the power management unit;

[0040] In specific implementation, the lens group: composed of 6 aspherical glass lenses, focal length 4mm, aperture F1.6, maximum viewing angle 90°. The infrared cutoff filter driving mechanism is located on a specific mounting bracket behind the lens group. The infrared cutoff filter is carefully placed in its corresponding track or slot to ensure that the filter can smoothly enter and exit the light path between the lens and the image sensor under the action of the driving mechanism. The installation position of the filter ensures that it is perpendicular to the lens optical axis and on the optimal switching path. The motor drive IC is installed on the circuit board on one side of the filter, and the circuit board is connected to the main PCB of the camera module 1 through a pin or flexible cable to realize the transmission of electrical signals. The motor drive IC fixing area uses heat-conducting silicone to adhere it to a small heat sink to prevent performance degradation or damage due to long-term heat generation. The heating resistor is installed behind the infrared cutoff filter near the lens and is fixed on the lens seat using adhesive or a sleeve.

[0041] The power supply pin of the motor drive IC is connected to the power management unit of the camera module 1, ensuring that it obtains a stable working voltage, for example, a 3.3V or 5V DC power supply can be generally used, depending on the model requirements of the motor drive IC. The signal control pin is connected to the main control chip of the camera module 1, receiving day and night mode switching instructions from the main control chip. The two ends of the heating resistor are connected to the controlled output end of the power management unit, and the power supply current of the heating resistor is adjusted through the main control chip or a special temperature control circuit to realize automatic control of the heating power according to the ambient temperature. At the same time, a negative temperature coefficient thermistor (NTC) is connected in series in the circuit of the heating resistor, and its feedback signal is connected to the main control chip or temperature control circuit to monitor the temperature near the lens in real time and accurately control the working state of the heating resistor.

[0042] When the ambient light is sufficient, the light sensor (such as a photoresistor or a photodiode) in the camera module 1 detects a strong light intensity, and the electrical signal generated by it is transmitted to the main control chip. The main control chip determines that it is currently in a daytime environment according to the preset light intensity threshold, and then sends instructions to the motor drive IC. After receiving the instructions, the motor drive IC drives the motor to run, driving the infrared cutoff filter to move smoothly along the predetermined track or mechanical structure into the light path between the lens and the image sensor. At this time, the image sensor mainly receives visible light band light, and generates clear and colorful color images under the cooperation of the image signal processor.

[0043] As the ambient light gradually weakens, the light intensity detected by the light sensor is lower than the set threshold, the main control chip determines to enter the night mode, and sends switching instructions to the motor drive IC. The motor drive IC controls the motor to reverse, moving the infrared cutoff filter out of the light path between the lens and the image sensor. The image sensor can receive more infrared light signals at this time, and combines its own low light enhancement technology to image the road scene. Even in weak moonlight or street lamp lighting, it can capture the contours and details of objects on the road and generate image data that can be used for monitoring and analysis.

[0044] In normal operation, the temperature sensor continuously monitors the temperature near the lens and feeds back the temperature data to the main control chip or temperature control circuit. When the ambient temperature is low and the humidity is high, there is a risk of lens fogging. The main control chip controls the power management unit to supply power to the heating resistor according to the feedback signal of the temperature sensor. The heating resistor starts to heat up, raising the temperature of the lens surface, preventing water vapor in the air from condensing into fog on the lens surface. As the lens temperature rises, when the temperature value fed back by the temperature sensor reaches the upper limit of the set safe temperature range, the main control chip controls the power management unit to reduce or stop the power supply to the heating resistor to avoid excessive heating and damage to the lens or other components. Through this closed-loop control method, the heating resistor can effectively prevent the lens from fogging under different environmental conditions, ensuring the normal operation of the camera.

[0045] In terms of installation, the camera module 1 is installed at the top of the roadside lamp pole to obtain the best monitoring field of view. Its lens group is directed towards the road direction, and the installation angle can be accurately adjusted according to the direction of the road and the key monitoring area. In daily work, the power management unit first powers the entire camera module 1, starting the image sensor to begin collecting light signals. The image sensor converts the light signals into electrical signals in real time and transmits them quickly to the image signal processor through the FPC flexible cable. The image signal processor processes the electrical signals according to the preset algorithm and parameters to generate clear image data. When the ambient light changes, the light sensor in the day and night mode switching circuit detects the change in light intensity. If the light intensity is below the set threshold, the motor drive IC will start to drive the infrared cutoff filter to move out of the light path, causing the camera to switch to night mode; otherwise, the filter will be moved into the light path, switching to daytime mode. Throughout the working process, the heating resistor automatically adjusts the heating power according to the ambient temperature to prevent the lens from fogging. The processed image data is temporarily stored by the storage unit and transmitted to the edge computing module 6 through the communication interface. In the edge computing module 6, it is fused with other sensor data for comprehensive monitoring and early warning of road conditions.

[0046] Compared with the prior art, the integrated day and night mode switching circuit has high intelligence and reliability. Compared with some simple day and night switching cameras, it can accurately control the position of the infrared cut-off filter through a motor-driven IC, smoothly switch according to the actual light conditions, and avoid the problem of image quality degradation caused by untimely or inaccurate switching. In the night mode, the infrared light can be fully utilized to enhance the imaging effect, effectively solving the problem of image blur and difficulty in identification in low light environment, and ensuring 24-hour uninterrupted effective monitoring. In addition, the setting of the heating resistor is a big feature of the camera module 1. In humid or large temperature difference environments, many traditional cameras are prone to lens fogging, which seriously affects image acquisition. The heating resistor in the module can actively heat the lens to prevent condensation, ensuring the normal operation of the camera in various harsh weather conditions, reducing the monitoring blind area caused by environmental factors, and improving the overall stability and reliability of the system.

[0047] Infrared thermal imaging module 2, used to provide visual information in low light or no light environment, assist in identifying and tracking target objects;

[0048] Millimeter wave radar module 3, used to detect the speed, position and distance of the vehicle; the millimeter wave radar module 3 includes an antenna array, a radio frequency front end, a digital signal processor, a power management unit, and a communication interface; the antenna array is connected to the radio frequency front end through a coaxial cable; the radio frequency front end includes a voltage-controlled oscillator, a power amplifier, a low-noise amplifier, and a mixer; the radio frequency front end converts the processed analog signal into a digital signal through an analog-to-digital converter and then transmits it to the digital signal processor for further processing; the digital signal processor sends configuration instructions to the radio frequency front end through a digital-to-analog converter; the communication interface is connected to the edge computing module 6 through a CAN bus.

[0049] LiDAR module 4, used to provide high-precision distance measurement and enhance the ability to identify the shape and size of objects; the LiDAR module 4 includes a laser emitter, a mechanical rotating mirror, a photodetector, a time-to-digital converter, a timing control circuit, and a signal processor; the laser emitter uses a 905nm near-infrared laser diode and is connected to the mechanical rotating mirror through a driving circuit and a synchronization signal line to control the direction change of the laser beam; the laser emitter and the photodetector are respectively connected to the timing control circuit; the signal received by the photodetector is amplified and filtered by a high-speed analog front end and then transmitted to the time-to-digital converter; the time-to-digital converter converts the measurement results into a digital signal and transmits them to the signal processor.

[0050] In implementation, the infrared thermal imaging module 2 utilizes the infrared radiation emitted by objects to generate thermal images. In low-light or no-light environments, the infrared thermal imaging module 2 can provide thermal radiation information of targets, assisting in identifying and tracking target objects. In operation, the infrared detector array receives infrared radiation from the road and its surrounding environment, and after signal amplification, filtering, and analog-to-digital conversion, generates digitized thermal image data. These data are transmitted to the edge computing module 6 through a communication interface for further analysis and processing. Compared with traditional visible light imaging technology, the infrared thermal imaging module 2 has all-weather working capability and is not limited by lighting conditions. It can provide clear thermal images at night or in adverse weather conditions, helping to identify targets hidden in shadows or camouflage. In addition, infrared thermal imaging can also reflect the temperature distribution of targets, providing additional information dimensions for the road monitoring and warning system, such as vehicle engine overheating, abnormal body temperature of pedestrians, etc.

[0051] In this scheme, the infrared thermal imaging module 2 has the advantages of all-weather working capability and sensitivity to temperature changes. It can provide thermal images of the road and its surrounding environment, enhancing the monitoring capability of the system. In addition, infrared thermal imaging can also be used to detect vehicle faults, pedestrian abnormalities, etc., providing strong protection for road safety.

[0052] The millimeter wave radar module 3 detects the speed, position, and distance of vehicles by emitting millimeter wave signals and receiving their reflected signals. The antenna array emits millimeter wave signals, and the radio frequency front end is responsible for signal transmission, reception, and processing. In operation, a voltage-controlled oscillator generates millimeter wave signals, which are amplified by a power amplifier and emitted by an antenna array. The received reflected signals are amplified by a low-noise amplifier and mixed with signals generated by a local oscillator in a mixer to generate intermediate frequency signals. After analog-to-digital conversion, the intermediate frequency signals are transmitted to a digital signal processor for further processing, such as target detection, speed measurement, etc.

[0053] In this scheme, the millimeter wave radar module 3 has the advantages of high resolution, long detection distance, and anti-interference capability. It can accurately detect the dynamics of vehicles on the road, providing real-time data support for the road monitoring and warning system. In addition, millimeter wave radar can maintain stable performance in adverse weather conditions, providing strong protection for road safety.

[0054] Among them, some component parameters are: antenna array: frequency band 76-81GHz, beam width ±15°, gain 20dB. Radio frequency front end: voltage-controlled oscillator frequency range 76-81GHz, power amplifier output power 1W, low-noise amplifier gain 30dB. Digital signal processor: model TI TMS320F28379D, main frequency 200MHz, supporting floating-point operation.

[0055] The working principle of LiDAR module 4 is based on laser ranging and time measurement. The laser transmitter emits a laser beam, and the mechanical rotating mirror controls the direction change of the laser beam. The received reflected signal is received by a photodetector and converted into an electrical signal. The time-to-digital converter measures the round-trip time of the laser beam and converts it into distance information. The signal processor processes the received distance information to generate high-precision three-dimensional point cloud data. In implementation, LiDAR module 4 can measure the distance information of the road and its surrounding environment in real time, providing real-time spatial data support for the road monitoring and warning system.

[0056] Compared with traditional radar and infrared imaging technology, LiDAR module 4 has higher precision and resolution. It can generate high-precision three-dimensional point cloud data to provide rich spatial information for the road monitoring and warning system. In addition, LiDAR module 4 also has good anti-interference ability and penetration ability, and can maintain stable performance in complex environments.

[0057] In this scheme, the advantages of LiDAR module 4 are its high precision, high resolution and anti-interference ability. It can generate high-precision three-dimensional point cloud data to provide rich spatial information for the road monitoring and warning system. These information can be used for vehicle recognition, pedestrian detection, road obstacle detection and other applications, providing strong guarantee for road safety. In addition, LiDAR module 4 can maintain stable performance in complex environments, providing reliable data support for the road monitoring and warning system.

[0058] Wireless communication module 5 is used to upload the collected data of camera module 1, infrared thermal imaging module 2, millimeter wave radar module 3 and LiDAR module 4 to the remote monitoring center; the wireless communication module 5 supports 5G and Wi-Fi 6E standards.

[0059] In a specific implementation, after the edge computing module 6 completes the fusion and preliminary processing of the sensor data, the data is transmitted to the wireless communication module 5. The wireless communication module 5 first integrates and packages the data, and classifies and processes it according to factors such as the type and priority of the data. For example, for vehicle abnormal behavior warning data with extremely high real-time requirements, 5G channels are preferentially used for transmission, and the low delay characteristics of 5G are used to ensure that the warning information can be quickly delivered to the monitoring center. For some non-urgent environmental monitoring data, such as long-term image data of the road environment or LiDAR scanned terrain data, Wi-Fi 6E or 5G channels can be flexibly selected for transmission according to the current network load. During transmission, the wireless communication module 5 continuously monitors the network signal strength and quality, and automatically switches the communication frequency band and mode. For example, when the 5G signal is blocked or interfered, causing the signal quality to decrease, the module can automatically switch to a Wi-Fi 6E network for data transmission, ensuring the continuity of data transmission. At the same time, the wireless communication module 5 also has identity authentication and encrypted communication functions with the remote monitoring center, and uses encryption protocols such as SSL / TLS to encrypt the transmitted data, preventing data from being stolen or tampered with during transmission, and ensuring the security and integrity of the data. For example, when establishing a connection with the monitoring center, identity authentication is performed by exchanging digital certificates, and data transmission is only performed after authentication, ensuring the information security of the entire road monitoring and warning system.

[0060] Compared with the prior art, the combination of 5G and Wi-Fi 6E of the wireless communication module 5 provides a transmission rate far exceeding traditional communication technology in terms of speed, enabling the rapid transmission of a large amount of sensor data such as high-definition camera images and high-precision LiDAR point cloud data, reducing the time delay of data transmission, and enabling the remote monitoring center to obtain the real-time status of the road more timely, improving the timeliness of traffic management decisions. For example, in the case of handling a sudden traffic accident, the monitoring center can quickly obtain detailed images and vehicle location information of the accident scene, and timely dispatch rescue resources. In terms of stability, the support of multiple standards and intelligent switching mechanism ensures the stability of data transmission in different environments and network conditions. Whether it is a complex electromagnetic interference environment in urban centers or a situation where network coverage is not perfect in remote areas, the wireless communication module 5 can ensure uninterrupted data transmission through flexible switching of communication methods, improving the reliability of the entire road monitoring system. For example, in urban areas with high-rise buildings, the 5G signal may have a multi-path effect, resulting in unstable signal quality. At this time, Wi-Fi 6E can be used as a backup or supplementary transmission means to ensure stable data transmission. In terms of multi-device connection and resource allocation, the OFDMA technology of Wi-Fi 6E can effectively handle the case of multiple sensors transmitting data at the same time, avoiding data conflicts and congestion, and improving the overall performance of the system. The large capacity characteristics of 5G also provide sufficient space for future more sensor access or higher data volume transmission requirements, which is conducive to the further expansion and upgrading of the road monitoring and early warning system, and adapts to the development of intelligent traffic demand, providing strong communication support for building an efficient, intelligent and safe traffic network.

[0061] The edge computing module 6 is used for local data preprocessing, analysis and temporary storage, reducing the data burden of the central server and speeding up the response speed; the edge computing module 6 is connected with the energy storage module 7 through a multi-core cable; the multi-core cable includes a direct current power line and a ground wire; the edge computing module 6 is connected with the camera module 1, the infrared thermal imaging module 2, the millimeter wave radar module 3 and the LiDAR module 4 through a gigabit Ethernet interface RJ45, and is connected to the CAN interface of the central controller through a twisted pair.

[0062] In a specific implementation, the edge computing module 6 works in coordination with high-performance computing chips and optimized algorithm architecture. For example, the NVIDIA Jetson Xavier NX chip is used, which integrates multiple CUDA cores and Tensor Cores, has strong parallel computing capability, and can efficiently process multi-source heterogeneous data from the camera module 1, infrared thermal imaging module 2, millimeter wave radar module 3, and LiDAR module. In terms of data processing flow, first, each sensor transmits data to the edge computing module 6 at a high rate through the gigabit Ethernet interface RJ45. For image data from the camera module 1, the edge computing module 6 uses deep learning algorithms for target detection and recognition, such as based on a convolutional neural network (CNN) model, which can accurately identify vehicle types, license plate numbers, and pedestrians on the road, and other targets; for data from the infrared thermal imaging module 2, a thermal imaging analysis algorithm is used to extract temperature characteristics and contour information of target objects, in order to assist in identifying potential hazards or abnormal heat sources in low-light or special environments; the speed, position, and distance data of the millimeter wave radar module 3 and the high-precision three-dimensional point cloud data of the LiDAR module are fused and analyzed through special signal processing algorithms to construct a dynamic spatial model of the road scene, accurately depicting the driving trajectory of the vehicle and the spatial relationship with the surrounding environment. In terms of data storage, the module is equipped with large-capacity cache and local storage media, such as DDR4 memory and eMMC storage chips, for temporarily storing data during processing and some key historical data, facilitating subsequent analysis and query, and also providing data redundancy backup for network failure or data transmission interruption, etc.

[0063] The edge computing module 6 is installed in a waterproof box at the bottom of the roadside lamp pole and is connected to the energy storage module 7 through a multi-core cable to obtain power supply, wherein the direct current power line provides stable working voltage and the grounding line ensures electrical safety. In operation, it establishes real-time connection with each sensor to receive data at a high frequency. For example, the camera module 1 transmits high-definition image data at a rate of 30 frames per second, and the edge computing module 6 immediately starts image preprocessing after receiving the data, including image noise reduction, color correction and other operations, and then inputs the processed image into the target detection model for analysis. For infrared thermal imaging data, new data is received every 100 milliseconds and real-time thermal imaging analysis is performed. Millimeter wave radar and LiDAR data are updated at a higher frequency (such as 100 times per second), and the edge computing module 6 synchronously performs data fusion and trajectory prediction. When detecting abnormal situations such as vehicle overspeed, illegal lane change or obstacles on the road, the edge computing module 6 quickly connects to the CAN interface of the central controller through the twisted pair line to send early warning information, so as to take corresponding traffic management measures in time. At the same time, the edge computing module 6 also regularly uploads the processed data summary or key information to the central server through the wireless communication module 5 to realize centralized management and long-term storage of data, but only uploads the refined data after local preliminary processing, greatly reducing the data processing burden of the central server.

[0064] Compared with the traditional centralized computing mode, the edge computing module 6 has significant advantages. In terms of response speed, since data is processed and analyzed locally, there is no need to transmit a large amount of raw data to a remote central server, and the road condition can be responded to and warned in a very short time (such as a few milliseconds to a few tens of milliseconds), effectively avoiding the delay in handling accidents caused by network delay. For example, in a high-speed driving scenario, the abnormal behavior of the vehicle can be detected in time and the surrounding vehicles or traffic management departments are quickly notified, greatly improving the road safety. In terms of data processing efficiency, algorithms are optimized and hardware acceleration is used for specific road monitoring tasks, such as using the hardware acceleration function of Nvidia Jetson Xavier NX chip, which can improve the processing speed by several times compared with general servers when processing the same image and sensor data, and can meet the real-time processing demand of massive data of the road monitoring system. In terms of network bandwidth utilization, only the processed key data is uploaded instead of the raw data, greatly reducing the demand for network bandwidth, enabling the system to operate stably in areas with limited network conditions, while also reducing network transmission costs. In addition, the local storage and processing capacity of the edge computing module 6 also makes distributed deployment possible, even in the case of partial network interruption or central server failure, the edge computing module 6 at each roadside can still operate independently to maintain basic monitoring and warning functions for the local road, improving the reliability and resilience of the entire road monitoring and warning system, and providing a more efficient, flexible and reliable solution for intelligent traffic management.

[0065] Energy storage module 7 for providing continuous power supply for the entire system; the energy storage module 7 includes solar panels, lithium battery packs, battery management system, DC-DC converter and charge controller; the solar panels are located at the top of the street lamp, receiving sunlight and converting it into direct current, which is transmitted to the DC-DC converter through photovoltaic cables; the DC-DC converter is connected to the lithium battery pack through the battery connection line; the lithium battery pack is connected with the battery management system; the output of the charge controller is connected to the power supply interface of the camera module 1, infrared thermal imaging module 2, millimeter wave radar module 3, LiDAR module 4, and edge computing node module through direct current cables.

[0066] In specific implementation, the energy storage module 7 selects high-efficiency monocrystalline solar panels, which have a photoelectric conversion efficiency of more than 20%, such as the Hi-MO 5 series monocrystalline PERC solar panels of Longi Solar. When the solar panels receive sunlight, the internal semiconductor material will undergo a photoelectric effect, converting photon energy into electrical energy to generate direct current. Because the voltage and current output by the solar panels will fluctuate with environmental factors such as light intensity and temperature, the DC-DC converter is used to transmit the direct current output by the solar panels. The DC-DC converter can convert the unstable voltage output by the solar panels into a stable voltage suitable for charging the lithium battery pack, such as converting the 12-24V input voltage with a large fluctuation range into a stable 14.6V charging voltage, to ensure safe and efficient charging of the lithium battery pack. The lithium battery pack, as the energy storage core, uses lithium iron phosphate battery packs, which have high energy density, long cycle life (more than 2000 cycles) and good safety, etc. The battery management system (BMS) monitors the voltage, current and temperature of the lithium battery pack in real time, adjusts the charging and discharging process through control signals, prevents abnormal conditions such as overcharging, overdischarging, overheating and short circuit of the lithium battery pack, and ensures the safe operation of the lithium battery pack and prolongs its service life. The charge controller plays the role of intelligent power distribution, when the solar panels generate sufficient electricity, the lithium battery pack is charged first, and after the lithium battery pack is fully charged, the excess electricity is distributed to other system modules; when the solar panels generate insufficient electricity, the lithium battery pack is discharged to power each module, ensuring the continuous operation of the entire road monitoring and early warning system.

[0067] The solar panels are installed on the top of the street lamps to obtain sufficient light resources, and the installation angle is optimized according to the local latitude and season to ensure that more solar radiation can be received throughout the year. The photovoltaic cable connects the solar panels with the DC-DC converter in the waterproof box at the bottom of the street lamp pole. The cable laying needs to consider factors such as waterproof, sun protection and mechanical damage to ensure the stability of power transmission. The DC-DC converter is connected to the lithium battery pack through the battery connection line, and the connection line must meet the electrical safety standards to ensure good conductivity and connection reliability. The lithium battery pack is closely connected to the battery management system, and the monitoring probe of the battery management system is installed at each key position of the lithium battery pack to collect voltage, current and temperature data in real time. The output of the charging controller is connected to the power interface of the camera module 1, infrared thermal imaging module 2, millimeter wave radar module 3, LiDAR module and edge computing node module through direct current cable, and the power distribution is dynamically adjusted according to the power demand of each module and the power generation of the solar panels. For example, during the day when the light is sufficient, part of the electricity generated by the solar panels is used to charge the lithium battery pack, and the other part is directly supplied to each monitoring module for operation; at night or on cloudy days when the solar panels generate insufficient electricity, the lithium battery pack is discharged to supply power to each module to ensure uninterrupted operation of the system, and the battery management system controls the discharge current reasonably according to the amount of electricity in the lithium battery pack to avoid excessive discharge affecting the battery life.

[0068] Compared with traditional power supply or pure battery power supply, the energy storage module 7 uses solar energy as a clean energy source, which can achieve local sourcing, reduce dependence on traditional grid power, reduce carbon emissions, and meet the green environmental protection concept. For example, in some remote areas or areas with unstable power supply, the solar energy storage module 7 can independently provide power for the road monitoring system, avoiding the problem of system paralysis caused by difficulty in accessing city power or power failure. In terms of cost-effectiveness, although the initial investment in solar panels and lithium battery packs and other equipment is relatively high, in the long run, solar energy is a free energy source that can significantly reduce operating costs and reduce electricity bills. Moreover, the long service life of the lithium iron phosphate battery pack also reduces the frequency and cost of battery replacement. In terms of system stability, the presence of the energy storage module 7 enables the road monitoring and early warning system to work normally when the city power fails or is out of power, improving the reliability and disaster resistance of the system. For example, when the power grid is paralyzed due to natural disasters, the system can still rely on its own energy storage to continue to operate, providing important monitoring data for rescue and traffic diversion, ensuring road safety and smoothness, and providing strong power support for the stable operation of the intelligent transportation system.

[0069] In the implementation application, compared with single sensor monitoring technology, the scheme integrates multiple sensors such as cameras, infrared thermal imaging, millimeter wave radar and LiDAR. This multi-source data fusion method can make up for the limitations of single sensors. For example, the visibility of the camera is reduced in bad weather (such as heavy fog, heavy rain), but the millimeter wave radar and LiDAR are not affected by the weather and can still accurately detect targets; infrared thermal imaging can discover potential targets at night or in low light conditions, while cameras can provide rich image detail information during the day. Through data fusion, the system can more comprehensively and accurately sense the road conditions, improve the accuracy and reliability of monitoring and early warning. At the same time, by using edge computing technology, data is processed locally at the roadside lamp pole, avoiding the delay problem caused by transmitting a large amount of raw data to the cloud or remote center for processing. For example, during the peak traffic period, vehicle violations or road emergencies can be quickly analyzed and identified by the edge computing module 6 locally, and the warning information can be sent out in time through the wireless communication module 5, greatly shortening the response time and improving the efficiency of traffic management. In addition, the various modules are reasonably integrated on the roadside lamp pole and its surrounding facilities, making full use of the existing infrastructure resources of the road and reducing the additional construction cost. The layout between the modules is carefully designed, such as the layered installation of the sensor module on the lamp pole, which ensures that the respective detection functions are not disturbed and facilitates synchronous data acquisition and transmission. The use of waterproof boxes protects electronic equipment, and the underground installation of the energy storage module 7 does not occupy ground space and can provide stable power supply. The whole system has high integration degree, compact layout, improves the stability and maintainability of the system.

[0070] Although the specific embodiments of the present application are described above, those skilled in the art should understand that these specific embodiments are only illustrative, and those skilled in the art can make various omissions, substitutions and changes to the details of the above method and system without departing from the principles and essence of the present application. For example, combining the above method steps, performing substantially the same function in substantially the same way to achieve substantially the same result according to the same method belongs to the scope of the present application. Therefore, the scope of the present application is only limited by the appended claims.

Claims

1. A road monitoring and warning system, characterized in that, Comprise: Camera module for providing high-resolution image output, supporting day and night mode switching, ensuring clear image capture under different lighting conditions; Infrared thermal imaging module for providing visual information in low-light or no-light environments, assisting in identifying and tracking target objects; Millimeter wave radar module for detecting vehicle speed, position, and distance; LiDAR module for providing high-precision distance measurement, enhancing the ability to identify object shape and size; Wireless communication module for uploading collected data from the camera module, infrared thermal imaging module, millimeter wave radar module, and LiDAR module to a remote monitoring center; Edge computing module for local data preprocessing, analysis, and temporary storage, reducing the data burden on the central server and speeding up response; Energy storage module for providing continuous power supply to the entire system; The camera module is located at the top of the roadside lamp pole; the infrared thermal imaging module is arranged below the camera module; the millimeter wave radar module is located in the middle of the lamp pole; the LiDAR module is arranged below the millimeter wave radar module; the output terminals of the camera module, infrared thermal imaging module, millimeter wave radar module, and LiDAR module are connected to the input terminal of the edge computing module; the output terminal of the edge computing module is connected to the input terminal of the wireless communication module; the wireless communication module and the edge computing module are located in the waterproof box at the bottom of the lamp pole; the energy storage module is located in the underground of the lamp pole, and the power is transmitted to each hardware module through the underground cable.

2. A road monitoring and warning system as claimed in claim 1, wherein: The waterproof box is made of glass fiber material.

3. A road monitoring and warning system as claimed in claim 1, wherein: The camera module includes an image sensor, a lens group, an image signal processor, a day and night mode switching circuit, a power management unit, a communication interface, a storage unit, and a heating resistor; the image sensor uses Sony IMX415; the lens group is composed of multiple aspherical glass lenses; the day and night mode switching circuit integrates an infrared cutoff filter driving mechanism, is located behind the lens group, and includes an infrared cutoff filter and a motor drive IC; the infrared cutoff filter is placed between the lens and the image sensor, and the motor drive IC is installed on one side of the filter; a heating resistor is arranged behind the infrared cutoff filter to prevent the lens from fogging; the image sensor is directly soldered on the PCB, connected to the image signal processor through an FPC flexible cable, and the output terminal of the image signal processor is connected to the communication interface through an FPC cable; the image sensor, image signal processor, day and night mode switching circuit, communication interface, storage unit, and heating resistor are electrically connected to the power management unit.

4. The road monitoring and warning system of claim 1, wherein: The infrared thermal imaging module, the millimeter wave radar module, and the LiDAR module are connected to one GPIO pin of the main control MCU through a TTL level synchronization signal line.

5. The road monitoring and warning system of claim 1, wherein: The millimeter wave radar module includes an antenna array, a radio frequency front end, a digital signal processor, a power management unit, and a communication interface; the antenna array is connected to the radio frequency front end through a coaxial cable; The radio frequency front end includes a voltage controlled oscillator, a power amplifier, a low noise amplifier, and a mixer; the radio frequency front end converts the processed analog signal into a digital signal through an analog-to-digital converter, and then transmits the digital signal to a digital signal processor for further processing; the digital signal processor sends a configuration instruction to the radio frequency front end through a digital-to-analog converter; the communication interface is connected to the edge computing module through a CAN bus.

6. The road monitoring and warning system of claim 1, wherein: The LiDAR module includes a laser emitter, a mechanical rotating mirror, a photodetector, a time-to-digital converter, a timing control circuit, and a signal processor; the laser emitter uses a 905nm near-infrared laser diode, which is connected to the mechanical rotating mirror through a driving circuit and a synchronization signal line, and the direction of the laser beam is controlled by the mechanical rotating mirror; the laser emitter and the photodetector are respectively connected to the timing control circuit; the signal received by the photodetector is transmitted to the time-to-digital converter after being amplified and filtered by a high-speed analog front end; the time-to-digital converter converts the measurement results into a digital signal and transmits it to the signal processor.

7. The road monitoring and warning system of claim 1, wherein: The wireless communication module supports 5G and Wi-Fi 6E standards.

8. The road monitoring and warning system of claim 1, wherein: The edge computing module is connected to the energy storage module through a multi-core cable; the multi-core cable includes a DC power line and a ground line; the edge computing module is connected to the camera module, the infrared thermal imaging module, the millimeter wave radar module, and the LiDAR module through a gigabit Ethernet interface RJ45, and is connected to the CAN interface of the central controller through a twisted pair.

9. The road monitoring and warning system of claim 1, wherein: The energy storage module includes a solar panel, a lithium battery pack, a battery management system, a DC-DC converter, and a charging controller; The solar panel is located at the top of the street lamp, receives sunlight and converts it into direct current, which is transmitted to the DC-DC converter through a photovoltaic cable; The DC-DC converter is connected to the lithium battery pack through a battery connection line; The lithium battery pack is connected to the battery management system; the output end of the charging controller is connected to the power interface of the camera module, the infrared thermal imaging module, the millimeter wave radar module, the LiDAR module, and the edge computing node module through a DC cable.

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