Download - EOS_2015_Fall Team2 - 平交道智慧監控站
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平交道智慧監控站嵌入式作業系統期末專題授課老師:黃育綸學生:馬英傑、王嘉維
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大綱• 系統介紹• 硬體架構• 程式架構• 影片 Demo
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•平交道智慧監控站• 目的:利用影像及感測器等工具,在火車經過平交道時提供等待者更多火車資訊,並監控平交道上的狀況,使柵欄的開關更易於逃生並能通知火車即早因應平交道狀況做出反應,避免災害發生。
系統介紹
𝐷1
𝑇 1𝑇 2
𝐷2
After 5 min Train Pass
To Train
𝑇 𝑏𝑟𝑎𝑘𝑒!
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硬體架構
火車端平交道端
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硬體架構(火車端)•火車(直流馬達)• 輸入電壓: 12 V• 訊號: PWM
•控制器(電壓控制)• Arduino Nano• 直流馬達控制模組• 七段顯示器
火車控制器
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硬體架構(平交道端)•監控站(影像、測速)• Rasberry Pi• 相機• 紅外線感測器 *3
•柵欄• Arduino Mega2560• 伺服馬達 *4• 訊號: 50Hz PWM
柵欄
監控站相機
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程式架構開啟兩條 thread 分工 , 使用 mutex 保護 global variables
Thread1
Thread2
相機端軌道障礙物偵測跑馬燈運作
平交道閘門控制火車速度與煞車距離計算
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程式架構•相機端軌道障礙物偵測使用 raspberry pi camera + OpenCV,background subtraction方式偵測障礙物無障礙物
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程式架構•有障礙物
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程式架構•跑馬燈運作使用 OpenCV 函數 imshow() ,將火車即將抵達時間印出,若可通過,則印出 PASS
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程式架構•平交道閘門控制使用 gpio inturrupt ,當紅外線 sensor 感應到火車經過時, inturrupt 將接收 signal ,並透過 gpio 送出信號,開
( 關 ) 起閘門。
紅外線Sensor
Interrupt signalOpen Gate
Close Gate
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程式架構•火車速度與煞車時間計算
紅外線Sensor 1
紅外線Sensor 2
∆T
S
S2 = 到平交道距離火車到站時間
煞車時間計算
火車速度計算
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程式流程 火車啟動
經過感測器
鐵軌有無障礙物 ?
關起閘門半開閘門
鐵軌有無障礙物 ?
關起閘門火車剎車
有 無
通過平交道,開啟閘門
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影片DEMO情境 a: 平交道上無障礙物 b: 卡車在穿越平交道時柵欄關起 c: 卡車在穿越平交道時被鐵軌卡住,動 彈不得
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情境 a: 平交道上無障礙物
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情境 a: 平交道上無障礙物
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情境 b: 卡車在穿越平交道時柵欄關起
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情境 b: 卡車在穿越平交道時柵欄關起
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情境 c: 卡車在穿越平交道時被鐵軌卡住,動彈不得
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情境 c: 卡車在穿越平交道時被鐵軌卡住,動彈不得