CN107447699B - A kind of high-adaptability cycle path intelligent gate system - Google Patents
A kind of high-adaptability cycle path intelligent gate system Download PDFInfo
- Publication number
- CN107447699B CN107447699B CN201710640443.0A CN201710640443A CN107447699B CN 107447699 B CN107447699 B CN 107447699B CN 201710640443 A CN201710640443 A CN 201710640443A CN 107447699 B CN107447699 B CN 107447699B
- Authority
- CN
- China
- Prior art keywords
- wheel
- vehicle
- side elevation
- image
- lane
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F13/00—Arrangements for obstructing or restricting traffic, e.g. gates, barricades ; Preventing passage of vehicles of selected category or dimensions
- E01F13/04—Arrangements for obstructing or restricting traffic, e.g. gates, barricades ; Preventing passage of vehicles of selected category or dimensions movable to allow or prevent passage
- E01F13/06—Arrangements for obstructing or restricting traffic, e.g. gates, barricades ; Preventing passage of vehicles of selected category or dimensions movable to allow or prevent passage by swinging into open position about a vertical or horizontal axis parallel to the road direction, i.e. swinging gates
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention discloses a kind of high-adaptability cycle path intelligent gate system, including being set to the identification device of lane two sides and along the special gate of identification device direction of traffic setting, wherein identification device is used to acquire wheel side elevation image and measurement identification device by vehicle at a distance from wheel, based on figure and apart from acquisition radius of wheel R and tyre width B, and calculate the relation function value i={ B of tyre width B Yu radius of wheel R, R }, pass through whether vehicle is bicycle by comparing the judgement of the size of i and first threshold, sends judging result to special gate；Special gate receives and is based on judging result and control special gate to open or close.Intelligent gate system of the invention is compared to similar product, without reserving equipment mounting hole and bottom space on ground in advance, if especially cycle path causes to damage using road body construction that will not be high to frame in the isostructural situation of box beam, while being also more applicable for the cycle path of different structure form.
Description
Technical field
The present invention relates to field of road traffic.More particularly, to a kind of high-adaptability cycle path intelligent brake
Machine system.
Background technique
With the development of economy and society, urban population and the quantity of automobile are growing day by day, and the load capacity of public transport
But it is not able to satisfy the needs of people's trip requirements, urban traffic blocking, which has become, restricts the matter of utmost importance that city is further developed.
Cycling trip with environmentally protective and convenient and efficient, facilitates the congestion problems for solving urban transportation, while also helping with it
In health, it is particularly suitable for the features such as short distance is gone on a journey, increasingly becomes the first choice of some citizen.But due to voluntarily
Vehicle lane is easy to be occupied by the swift and violent electric vehicle of parked car wantonly and development, results in the actual use effect of bicycle
Fruit is had a greatly reduced quality, and needs to plan cycle path.
Currently, cycle path has different degrees of popularization and application in Denmark, Holland, Germany etc., but due to state
The difference of feelings, electric bicycle is less in above-mentioned country, and motorcycle uses car lane, while its people generally tend to ride
Cycling trip, therefore wouldn't have bicycle capacity in the above country and disorderly account for the case where abusing, thus similar product is in state
The border country does not have precedent also.
One major issue of cycle path is exactly the identification problem of bicycle.In existing identification method,
Can mainly be had by the technology that the system uses and utilize RFID technique, video monitoring identification, image recognition, electromagnetic induction identification, tail
The modes such as gas detection identification, in which:
(1) RFID identification technology popularity rate is high, at low cost, carries out convenient for extensive, it is clear that simple and easy to do.But which
It needs for existing bicycle to be respectively mounted the RFID card with efficient coding, public bicycles is easier to implement, for accounting for
There is the common privately owned bicycle of more vast share to seem more difficult.In addition, RFID card belongs to external installation, easily it is stolen or turns
Installation is moved to the non-bicycle such as electric vehicle, and then may cause large-scale misrecognition, is in this way suitable for as auxiliary
Means of identification.
(2) video monitoring identification generally requires manual identified, and the large-scale use of equipment is brought in cost sharply
Rise, and video monitoring itself has hysteresis quality, is unfavorable for on-the-spot control, is likely to result in managerial confusion.Which is suitable
It is suitable for and carries out general overview in Master Control Room, screens the application scenarios such as emergency case.
(3) image recognition generally uses the technological means such as visible light, microwave or infrared imaging that measured object is imaged, then
It is identified according to the target property of measured object.The difficult point of which is the type of the vehicles such as bicycle, electric vehicle, motorcycle
It is excessively numerous and jumbled, picture is captured using usual side view or forward sight and is difficult to extract typical shape criterion, and rely on and establish data
The mode in library seems that the basic database construction period is too long again, while recognizer itself is complex and inefficient.Such as use side
Image Acquisition is carried out depending on seat in the plane, to make image frame neatly need an every gate channel is arranged without background interference, and
In lane two sides, installation isolating frame is set.But even if such setting vehicle can pass through, but for Image Acquisition
Great field angle is needed under this scene, causes the distortion of picture serious, and certain difficulty is brought to final identification.And if
Only with light engine position capture picture setting, then may occur in same picture more bicycles and vehicle overlapping ask
Topic is difficult to handle carrying out image recognition Shi Zehui.
(4) electromagnetic induction identification can be screened mainly for the exclusive motor of electric vehicle, in this, as electric vehicle
Criterion.But the permanent-magnetic electric machine of electric vehicle needs to carry out magnetic field detection using sensitive gaussmeter, and uses forever on electric vehicle
Magnets magnetic fields are very big with the decaying of distance, directly carried out in the case where not influencing current non-contact measurement may adopt less than
It effectively reads and influences judgement.Which can not the diesel locomotives such as independent detection motorcycle simultaneously.
(5) Tail gas measuring can be carried out in the way of laser analysis tail gas group etc., as a kind of more mature technological means
It can recognize motor vehicles, but electric vehicle and bicycle cannot be distinguished.
In conclusion coming at this stage or in a foreseeable longer term for the proposed bicycle capacity set
Say, design it is a kind of can quickly through intelligent bicycle identification gate for ensure bicycle special lane traveling to Guan Chong
It wants, while being also that can bicycle capacity realize the effective solution that its design maximum is intended to, however existing technology is on the way
The function cannot be implemented separately in diameter, even the superposition of several technologies can not be solved smoothly, it is therefore necessary to answer for this
With a kind of solution of synthesis of Scenario Design.
Accordingly, it is desirable to provide a kind of high-adaptability cycle path intelligent gate system.
Summary of the invention
It is special in bicycle the purpose of the present invention is to provide a kind of high-adaptability cycle path intelligent gate system
The unartificial identification that most of bicycle is realized with the inlet in lane, allows the citizen of cycling trip quickly through lock
Machine enters runway, while preventing electric vehicle, motorcycle and scooter etc. non-bicycle enters, and then ensures bicycle capacity
Normal operation, manual identified is carried out by Central Control Room simultaneously for the vehicle not being effectively recognized.
In order to achieve the above objectives, the present invention adopts the following technical solutions:
A kind of high-adaptability cycle path intelligent gate system, the identification device 1 including being set to lane two sides
With the special gate 2 being arranged along 1 direction of traffic of identification device, wherein
Identification device 1 is used to acquire wheel side elevation image and measurement identification device 1 by vehicle at a distance from wheel, base
In figure and apart from acquisition radius of wheel R and tyre width B, and calculate the relation function value i of tyre width B Yu radius of wheel R
={ B, R } passes through whether vehicle is bicycle by comparing the judgement of the size of relation function value i and first threshold, sends judgement
As a result to special gate 2；
Special gate 2 receives and is based on judging result and controls special gate 2 opening or closing.
Preferably, relation function value i=B/R.
Preferably, identification device 1 includes side elevation image acquisition all-in-one machine 11 and vehicle induction trigger device 12, wherein
Side elevation image acquisition all-in-one machine 11 is correspondingly arranged in lane two sides, including the first image collecting device, the first ranging
Device 113 and processing module 115；First image collecting device is corresponding to be set to side elevation image acquisition all-in-one machine by wheel height
11 sides, for acquiring the wheel side elevation image by vehicle and sending to processing module 115；First range unit 113 is corresponding
It is set to side elevation image acquisition 11 bottom of all-in-one machine of lane two sides, passes through vehicle tyre width B1 for measurement and is sent to place
Manage module 115；Processing module 115 receives wheel side elevation image and obtains radius of wheel R1, calculates tyre width B1 and wheel half
The ratio i1=B1/R1 of diameter R1, the size judgement for comparing ratio i1 and first threshold pass through whether vehicle is bicycle, and transmission is sentenced
Disconnected result is to special gate 2；
Vehicle induction trigger device 12 is set to lane center ground location, has vehicle to pass through for incuding and starts first
Image collecting device and the first range unit 113.
It is further preferred that side elevation image acquisition all-in-one machine 11 further includes the be correspondingly arranged with the first image collecting device
Two image collecting devices 112 and the second range unit 114 being correspondingly arranged with the first range unit 113, the first image collector
It sets with the first range unit 113 for measuring through the first wheel of vehicle, the second image collecting device 112 and the second range unit
114 for measuring through the second wheel of vehicle, wherein
Second image collecting device 112 is corresponding to be set to side elevation image acquisition 11 side of all-in-one machine by wheel height, uses
Pass through the wheel side elevation image of vehicle in acquisition and sends to processing module 115；Second range unit 114 is correspondingly arranged in lane
The side elevation image of two sides acquires 11 bottom of all-in-one machine, passes through vehicle tyre width B2 for measurement and is sent to processing module 115；
Processing module 115 receives the side elevation image of the second wheel and obtains radius of wheel R2, calculates tyre width B2 and vehicle
The ratio i2=B2/R2 of radius R2 is taken turns, the average value i=i1+i2/2 of the first wheel ratio i1 and the second wheel i2 is calculated, compares
Whether the judgement of the size of ratio i and first threshold is bicycle by vehicle, sends judging result to special gate 2.
It is further preferred that the first range unit 113 is based on laser ranging measures the acquisition of lane two sides side elevation image respectively
All-in-one machine 11 is with by vehicle tyre distance D1 and D2, and it is D that lane two sides side elevation image, which acquires the initial spacing of all-in-one machine 11, then
Vehicle tyre width B1=D-D1-D2；
Second range unit 114 is based on laser ranging and measures lane two sides side elevation image acquisition all-in-one machine 11 respectively and pass through
The distance D3 and D4 of vehicle tyre, it is D that lane two sides side elevation image, which acquires the initial spacing of all-in-one machine 11, then vehicle tyre width B2
=D-D3-D4.
It is further preferred that the first wheel is vehicle front-wheel, the second wheel is vehicle rear wheel.
It is further preferred that vehicle induction trigger device 12 includes front-wheel induction trigger module 121 and rear-wheel induction triggering
Module 122, wherein
Front-wheel induction trigger module 121 has vehicle to pass through and starts the first image collecting device and the first ranging for incuding
Device 113；
Rear-wheel induction trigger module 122 has vehicle to pass through and starts the second image collecting device 112 and second for incuding
Range unit 114.
Preferably, processing module 115 carries out background Processing for removing to the side elevation image received.
Preferably, special gate 2 include RFID identification module, for identification RFID signal and control special gate 2 opening.
Preferably, relation function value i=B/R2Or i=lnB/R or i=INT (B)/INT (R).
Beneficial effects of the present invention are as follows:
The invention proposes one kind, cost is relatively low, and propagable bicycle function identifies gate system, ensures that bicycle exists
The right of way of the cycle path of Urban Traffic can effectively avoid motorcycle, electric vehicle, scooter, tricycle etc. non-certainly
Driving occupies cycle path, for pushing the extensive use of cycle path to play supporting role, convenient for certainly
The low-carbon trip of driving fan.Intelligent gate system of the invention is set compared to similar product without reserving in advance on ground
Standby mounting hole and bottom space, if especially cycle path using will not be high to frame in the isostructural situation of box beam road
Road body construction causes to damage, while being also more applicable for the cycle path of different structure form.
Detailed description of the invention
Specific embodiments of the present invention will be described in further detail with reference to the accompanying drawing.
Fig. 1 shows cycle path gate system structural schematic diagram.
Fig. 2 shows cycle path gate system top views.
Fig. 3 shows cycle path gate system along direction of traffic schematic diagram.
Fig. 4 shows side view identification all-in-one machine structure schematic diagram.
Fig. 5 shows two-way traffic identifying system layout structure schematic diagram.
Fig. 6 shows front-wheel Image Acquisition schematic diagram.
Fig. 7 shows rear-wheel Image Acquisition schematic diagram.
Fig. 8 shows vehicle tyre width instrumentation plan.
Specific embodiment
In order to illustrate more clearly of the present invention, the present invention is done further below with reference to preferred embodiments and drawings
It is bright.Similar component is indicated in attached drawing with identical appended drawing reference.It will be appreciated by those skilled in the art that institute is specific below
The content of description is illustrative and be not restrictive, and should not be limited the scope of the invention with this.
For bicycle, electric vehicle, motorcycle and scooter, big difference in appearance, only by side elevation image by counting
The judgement of calculation machine graphics is difficult to find that typical distinguishing limit；Forward sight image will cause before image capturing system is located at direction of travel
End stops driving, and forward sight image equally exists the fuzzy situation of distinguishing limit；Equally, other single direction views are difficult
With judgement.According to the mode of 3D imaging, binocular stereo camera can be used and be imaged, binocular stereo vision is that one kind exists
The three-dimensional reconstruction set up on the basis of Marr theories of vision is to be in not by two video cameras to same object is shot
The case where with when position, merges the image difference of two eyes acquisition, carries out three dimensional field using image of the geometrical principle to acquisition
The recovery of scape, but the problem same as preceding method can be encountered using which.
There is invention to propose a kind of recognition methods positioned at runway bottom, but have the following disadvantages:
1, it needs that pattern recognition device is installed in runway bottom, needs to carry out in the case where road construction finishes in this way
Secondary construction；
2, as above, if bicycle capacity is overhead section, road support construction is generally concrete box girder or steel knot
Structure is then difficult to carry out secondary construction if concrete box girder, needs to carry out prefabricated；
3, as above, if steel construction road, then secondary construction can be carried out, but the corresponding position of carriageway surfacing must be opened
Hole processing, site workload are larger；
4, it after installing simultaneously is difficult to that rainwater is entirely prevented to enter steel construction ontology, causes the hidden danger of safety problem；
Problem above belongs to build-in attribute, it is difficult to which perfect by design improvement, therefore, a kind of better adaptability, installation is more
Actual use is more bonded for convenient product.To put forth effort to solve the problems, such as this, the present invention is not with emphasis on destroying lane body construction
In the case where, realize the detection identification of passing vehicle to be checked, and can realize Fast Installation.
For passing vehicle to be checked, it is preferred that emphasis is the radius of identification tyre width and wheel, and the ratio of the two is calculated, with
This important criterion as vehicle identification, and for the vehicle that system is not screened, monitor camera can be passed through by Central Control Room
Carry out manual identified.
For the ratio for calculating tyre width and wheel footpath, need to carry out image recognition to front-wheel, in view of side view, forward sight, vertical view
There is inevitable disadvantage in equal visual angles, and then need to punch installation equipment, therefore this below road using bat mode is faced upward
The side of the method that invention is combined using side elevation image identification and side machine position laser ranging method, that is, vehicle passage of being expert at is installed by image
Camera is acquired, vehicle passage two sides installation laser range finder of being expert at measures tyre width by laser range finder, acquired by side view camera
Wheel side elevation image simultaneously calculates wheel footpath by the mode of image recognition.
As shown in Figure 1-3, a kind of high-adaptability cycle path intelligent gate system, including it is set to lane two sides
Identification device 1 and along 1 direction of traffic of identification device setting special gate 2, wherein
Identification device 1 is used to acquire wheel side elevation image and measurement identification device 1 by vehicle at a distance from wheel, base
In figure and apart from acquisition radius of wheel R and tyre width B, and the ratio i=B/R of tyre width B Yu radius of wheel R are calculated,
Pass through whether vehicle is bicycle by comparing the judgement of the size of ratio i and first threshold, sends judging result to special gate
2。
Specifically, as shown in figure 4, identification device 1 includes side elevation image acquisition all-in-one machine 11 and vehicle induction trigger device
12, wherein side elevation image acquisition all-in-one machine 11 is correspondingly arranged in lane two sides, including the first image collecting device, the first ranging dress
Set 113 and processing module 115；First image collecting device is corresponding to be set to side elevation image acquisition all-in-one machine 11 by wheel height
Side, for acquiring the wheel side elevation image by vehicle and sending to processing module 115；First range unit 113 correspondence is set
It is placed in side elevation image acquisition 11 bottom of all-in-one machine of lane two sides, passes through vehicle tyre width B1 for measurement and is sent to processing
Module 115；Processing module 115 receives wheel side elevation image and obtains radius of wheel R1, calculates tyre width B1 and radius of wheel
The ratio i1=B1/R1 of R1, the size judgement for comparing ratio i1 and first threshold pass through whether vehicle is bicycle, send judgement
As a result to special gate 2.
It further includes the second image collector being correspondingly arranged with the first image collecting device that side elevation image, which acquires all-in-one machine 11,
The second range unit 114 setting 112 and being correspondingly arranged with the first range unit 113, the first image collecting device and the first ranging
Device 113 is for measuring through the first wheel of vehicle, the second image collecting device 112 and the second range unit 114 for measuring
By the second wheel of vehicle, wherein the second image collecting device 112 is corresponding to be set to side elevation image acquisition one by wheel height
11 side of body machine, for acquiring the wheel side elevation image by vehicle and sending to processing module 115；Second range unit 114
It is correspondingly arranged in side elevation image acquisition 11 bottom of all-in-one machine of lane two sides, passes through vehicle tyre width B2 for measurement and sends
To processing module 115；Processing module 115 receives the side elevation image of the second wheel and obtains radius of wheel R2, calculates tyre width
The ratio i2=B2/R2 of B2 and radius of wheel R2 calculate the average value i=i1+i2/ of the first wheel ratio i1 and the second wheel i2
2, the size judgement for comparing ratio i and first threshold passes through whether vehicle is bicycle, sends judging result to special gate 2.
Above-mentioned first wheel is vehicle front-wheel, and the second wheel is vehicle rear wheel, and 117 are integrated casing body, and 118 be imaging area
Domain, 119 be distance measuring light beam.
When measurement passes through vehicle tyre width, the first range unit 113 is based on laser ranging and measures lane two sides side respectively
Visible image acquires all-in-one machine 11 with by vehicle tyre distance D1 and D2, and it is initial that lane two sides side elevation image acquires all-in-one machine 11
Spacing is D, then vehicle tyre width B1=D-D1-D2；Second range unit 114 is based on laser ranging and measures lane two sides respectively
Side elevation image acquires all-in-one machine 11 and passes through vehicle tyre distance D3 and D4, at the beginning of lane two sides side elevation image acquires all-in-one machine 11
Beginning spacing is D, then vehicle tyre width B2=D-D3-D4.
As shown in figure 5, vehicle induction trigger device 12 is set to lane center ground location, there is vehicle to pass through for incuding
And start the first image collecting device and the first range unit 113.Vehicle induction trigger device 12 includes that front-wheel incudes trigger mode
Block 121 and rear-wheel incude trigger module 122, and wherein front-wheel induction trigger module 121 has vehicle to pass through and start for incuding
One image collecting device and the first range unit 113；Rear-wheel induction trigger module 122 has vehicle to pass through and starts for incuding
Two image collecting devices 112 and the second range unit 114.
In the present invention, identification device 1 is mounted on the upper of runway 4.Wherein vehicle induction trigger device 12 is mounted on lane
Center, center line alignment, side elevation image acquisition all-in-one machine 11 are mounted on lane two sides, are wherein adopted with the side elevation image of right side seat in the plane
Integrated machine 11 is responsible for acquiring the image in this lane, and side elevation image acquisition 11 right side of all-in-one machine of left side seat in the plane is used as right side
The background of seat in the plane Image Acquisition, while being also responsible for the image of acquisition 4 left-hand lane of runway；Side elevation image acquires 11 He of all-in-one machine
Vehicle induction trigger device 12 has corresponding positional relationship, and the two carries out the mechanical connection for having positioning, to determine the two
Between relative geometrical relation, side elevation image acquires ground with runway 4 of all-in-one machine 11 and vehicle induction trigger device 12
It is fixed.
In specific implementation process, identification device 1 is mounted on the position of 2 front about 3m~5m of special gate, enough to guarantee
Recognition time.Identification device 1 includes that side elevation image acquires all-in-one machine 11, vehicle induction trigger device 12, and the two has machinery
Interface is installed, accurately positioning is needed when installation to fix, integral installation is on runway 4, center alignment；Identification device 1 is because protecting
Cyclist is not parking passes through for card, so needing to have certain width, which can determine according to effective lane-width, generally may be used
Between 500mm~750mm；Side elevation image acquisition all-in-one machine 11 and vehicle induction trigger device 12 are the passes of identification device 1
Key functional component, wherein vehicle induction trigger device 12 is every one, lane, and side elevation image acquisition all-in-one machine 11 is every
Two, lane is located at the left and right sides in lane, two side elevation image acquisition all-in-one machines 11 and vehicle induction trigger device
12 are connected by the communications cable 124, and the communications cable 124 has function of supplying power；Front-wheel image collecting device and rear-wheel image
The industrial camera of visible light and near infrared imaging can be used with complex focus camera lens composition appropriate, supplementary lighting sources in acquisition device 112
116 provide enough background illuminations for acquisition image, and near infrared band can be such that the environmental disturbances in the case of visible light reduce, light filling
Light source 116 is typically mounted at the opposite side of image collecting device, is used for reversible-light shooting；Wherein the specification of industrial camera preferably selects image
Resolution ratio is not less than 640 × 480, and frame number is not less than the product of 20fps equal-specification, in conjunction with the camera lens of appropriate focal length, in runway 4
The imaging region on vertical guide where center line is about 600mm × 450mm, to cover 29 inches of bicycles of maximum wheel footpath at present
Wheel is more than 1/4 wheel range；Front-wheel incudes trigger module 121 and rear-wheel induction trigger module 122 using customization line style pressure
Force snesor switch is main element, two groups of front and back line style pressure sensor can be arranged in each trigger module, in driving conditions
In perceive the pressure activated of front and back wheel after can provide triggering command；Front-wheel range unit 113 and rear-wheel range unit 114 are both needed to
It is mounted on the bottom of side elevation image acquisition all-in-one machine 11, every side elevation image acquisition all-in-one machine 11 need to install 4.Front-wheel ranging dress
Set 113 and rear-wheel range unit 114 geometrically needing respectively with front-wheel incude trigger module 121 and rear-wheel induction trigger module
The alignment of 122 centers apart from ground is about 20mm in height.Secondary development can be carried out on the basis of laser ranging module, if
Size exceeds, then needs to increase optical path switching part, it is ensured that the geometry site of emergent ray.
Special gate 2 receives and is based on judging result and controls special gate 2 opening or closing.The shape of special gate 2
Size needs to be designed according to improving property of usage scenario, such as needs relatively narrow width and lower height, existing lock can be used
Machine general technology is realized；Compared to the functional module of existing gate, be equipped on the special gate 2 notice screen and loudspeaker with
And complaint button.
Bicycle identification process is as follows:
During bicycle in traveling incudes trigger module 121 by the front-wheel in identification device 1, front-wheel induction touching
Hair module 121 sends acquisition instructions when the pressure sensor of front and back two is pressurized triggering to front-wheel image collecting device and front-wheel
Range unit 113.As previously mentioned, front-wheel range unit 113 is to use in pairs, all-in-one machine is acquired from the side elevation image of lane two sides
11 difference emission detection laser beams, the bike tire's two sides tyre sidewall measured in advancing acquire all-in-one machine apart from two sides side elevation image
The distance D1 and distance D2 of 113 datum level of front-wheel range unit in 11.And two 113 datum levels of front-wheel range unit of two sides
The distance between initial value space D be system initial set value, the value according to lane width determine, therefore, tyre width value B1=
D-D1-D2.Front-wheel image collecting device is when receiving acquisition instructions while triggering supplementary lighting sources 116, shines in supplementary lighting sources 116
Front-wheel image is acquired in the case where penetrating, and can reduce the influence of bias light, while the contour edge of prominent determinand, as shown in Figure 6.
According to the typical algorithm in image recognition, wheel footpath R1 can be gone out according to the edge calculations of tire, calculates tyre width B1 and wheel half
The ratio i1=B1/R1 of diameter R1.
During continuing the bicycle travelled by the rear-wheel induction trigger module 122 in identification device 1, rear-wheel induction
Trigger module 122 sends acquisition instructions when the pressure sensor of front and back two is pressurized triggering to rear-wheel image collecting device 112
With rear-wheel range unit 114.As previously mentioned, rear-wheel range unit 114 is to use in pairs, acquired from the side elevation image of lane two sides
All-in-one machine 11 distinguishes emission detection laser beam, and the bike tire's two sides tyre sidewall measured in advancing is acquired apart from two sides side elevation image
The distance D3 and distance D4 of 114 datum level of rear-wheel range unit in all-in-one machine 11.And two rear-wheel range units 114 of two sides
It is that the system initial set value value is equal to the distance between front-wheel range unit 113 that the distance between datum level, which is worth initial space D,
Initial value, the value is determining according to lane width, therefore, tyre width value B2=D-D3-D4.Rear-wheel image collecting device 112 is connecing
When receiving acquisition instructions while supplementary lighting sources 116 are triggered, rear-wheel image is acquired in the case where supplementary lighting sources 116 irradiate, can be dropped
The influence of low bias light, while the contour edge of prominent determinand, as shown in Figure 7.It, can according to the typical algorithm in image recognition
Go out wheel footpath R2 according to the edge calculations of tire, calculates the ratio i2=B2/R2 of tyre width B2 and radius of wheel R2.The wheel of rear-wheel
The measured value of tire width value B2 and wheel footpath R2 are used to compare with the same measured value of front-wheel, can be weighted and averaged processing, reduce
The influence of measurement error.
The average value i=i1+i2/2 for calculating the first wheel ratio i1 and the second wheel i2, compares ratio i and first threshold
Size judgement by vehicle whether be bicycle, send judging result to special gate 2.
According to the tire specification standard of bicycle, electric vehicle and motorcycle, the tool of ratio i can be provided in conjunction with statistical data
Body value.It is bicycle if ratio i falls into section I；It is electric vehicle if ratio i falls into section II；If ratio i falls into section
It is motorcycle when III.Wherein, section I-II is the fuzzy interval of bicycle and electric vehicle, and the vehicle in this section is generally
The wide tire bicycle of small-wheel-diameter and the narrow tire electric vehicle of big wheel footpath, wide tire described herein and narrow tire are not the wide and narrow of absolute value, and
It is wide and narrow in same type vehicle；There is also above situations for the boundary of section II and section III, but the boundary is also significant big
In the codomain of section I-II, therefore it can directly be determined as non-bicycle without further distinguishing.
Since not necessarily lane center is overlapped for the advance axis of bicycle front-wheel under steam, but there are offset and
Angle, therefore need to extract front-wheel image side edge in real image processing, and measurement distance is combined to be corrected.
Image recognition is carried out in the Image Acquisition for carrying out rear-wheel, while for the central area of rear-wheel.The rear-wheel center one of electric vehicle
As be drum-type driving motor, radius is larger, and be enclosed construction, the rear-wheel of significant difference and bicycle in the influence of rear-wheel
Image can carry out edge extracting to this part, its radius be calculated again according to edge, as further decision, when the radius is greater than
It can be judged as electric vehicle after certain preset value.Motorcycle equally exists the problem, i.e. there is biggish drum-type wheel shaft at rear-wheel center.
It should be understood that processing module 115 also carries out background Processing for removing to the side elevation image received.
Optionally, in above-mentioned intelligent gate, for the public bicycles that municipal administration provides, unification can onboard be fixedly mounted
The RFID card of coding, RFID identification module is equipped on special gate to carry out such public bicycles with RFID card
Quickly identification, and give and let pass.Such as special gate 2 includes gate 21, gate ontology 22, RFID identification module, special gate
It is different from the gate of existing ordinary person's class, height and width are required to be customized according to the usage scenario of bicycle, are
A kind of gate of small size.The outer dimension of special gate 2 needs to be designed according to improving property of usage scenario, such as needs relatively narrow
Width and lower height, existing gate general technology can be used to realize.
High-adaptability cycle path intelligent gate system of the invention has following function:
System combined identification device 1 belonging to it, special gate 2 and the bicycle recognition methods 3 carry out bicycle
It identifies and passes through, wherein for the vehicle that can smoothly identify via special gate 2 by entering cycle path, for not
The vehicle that can smoothly identify monitors computer room via middle control and carries out artificial judgment detection by monitoring camera.The system can prevent not
Meet the non-bicycles such as the electric vehicle, motorcycle, tricycle of current standard and cycle path is entered by gate, ensures certainly
It drives a vehicle in the right of way of its dedicated Lanes.
As shown in figure 8, the systematic difference scene and process are as follows:
1. width is generally 2.5m according to the planning of existing bicycle capacity, which is located at entering for special lane
At mouthful, 2.4m or so space is occupied in width direction, occupies the space about 3~5m in direction of traffic；
2. the basic configuration of the system includes two driving lanes, suitably it can be increased and decreased or become according to the width in lane
More；
3. installing identification device 1 and special gate 2 on driving lane, it can be achieved that cycling is not necessarily to get off by detection
Carry out, travel speed can realize higher speed and pass through speed between 5km/h~18km/h, or according to system hardware configuration situation；
4. installing side elevation image acquisition all-in-one machine 11 respectively in the two sides of driving lane, it is used to acquire the vehicle of left-hand lane
Image；
5. front-wheel first passes around front-wheel induction trigger module 121, at this time front-wheel sense when bicycle passes through identification device 1
Trigger module 121 is answered to send acquisition instructions to front-wheel image collecting device and front-wheel range unit 113；
6. front-wheel image collecting device acquires front-wheel side elevation image after receiving acquisition instructions, the image is sent out after acquisition
It gives processing module 115 and carries out wheel footpath calculating；
7. front-wheel range unit 113 carries out ranging after receiving acquisition instructions, the distance value measured is sent after acquisition
To processing module 115, the wide B1 of front tyre is calculated；
8. bicycle continues to move ahead on identification device 1, when rear-wheel is by rear-wheel induction trigger module 122, rear-wheel sense
Trigger module 122 is answered to send acquisition instructions to rear-wheel image collecting device 112 and rear-wheel range unit 114；
9. rear-wheel image collecting device 112 acquires rear-wheel side elevation image after receiving acquisition instructions, by the figure after acquisition
Wheel footpath calculating is carried out as being sent to processing module 115；
10. rear-wheel range unit 114 carries out ranging after receiving acquisition instructions, the distance value measured is sent after acquisition
To processing module 115, the wide B2 of rear tyre is calculated；
11. to reduce measurement error, thus introducing the comparison of front and back wheel measured value, and calculate average value；
12. providing judging result according to the wide ratio with wheel footpath of mean value calculation tire；
13. processing module 115 determines whether to pass through according to judging result, pass-through command is sent if it can pass through to dedicated
Gate 2, special gate opens gate at this time, and bicycle can directly pass through.Special gate 2 need to meet gate professional standard, certainly
Driving is accompanied with safety measure by rear closed shutter；
14. processing module 115 determines whether to pass through according to judging result, notification instruction is sent if impassabitity to logical
Know screen and loudspeaker, notice screen and loudspeaker are sailed out of by screen display and verbal announcement bicyclist at this time；
If 15. due to bicyclist's vehicle belong to system judgement borderline region or other reasons cause to judge by accident, can be in lock
The pressing complaint artificial video detection of button application is at machine to determine whether to pass through.
It should be noted that the tyre width B and radius of wheel R of vehicle front-wheel are system pass detected in the present invention
Key index differentiates that first threshold is not limited to ratio i=B/R, can also be other linearly or nonlinearly superposition calculations of B and R
Method, in order to improve the separating degree of i, such as i=B/R2Or i=lnB/R or i=INT (B)/INT (R) etc., the present invention is with i=
It is illustrated for B/R.
Obviously, the above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be pair
The restriction of embodiments of the present invention may be used also on the basis of the above description for those of ordinary skill in the art
To make other variations or changes in different ways, all embodiments can not be exhaustive here, it is all to belong to this hair
The obvious changes or variations that bright technical solution is extended out are still in the scope of protection of the present invention.
Claims (10)
1. a kind of high-adaptability cycle path intelligent gate system, which is characterized in that including being set to lane two sides
Identification device (1) and the special gate (2) being arranged along the identification device (1) direction of traffic, wherein
The identification device (1) is used to acquire through the wheel side elevation image of vehicle and the measurement identification device (1) and wheel
Distance, wheel side elevation image based on the vehicle and apart from obtaining radius of wheel R and tyre width B, and calculate the wheel
The relation function value i={ B, R } of tire width B and radius of wheel R, by comparing the big of the relation function value i and first threshold
Whether small judgement is bicycle by vehicle, sends judging result to the special gate (2)；
The special gate (2) is received and is controlled the special gate (2) based on the judging result and opened or closed.
2. cycle path intelligent gate system according to claim 1, which is characterized in that the relation function value
I=B/R.
3. cycle path intelligent gate system according to claim 2, which is characterized in that the identification device
It (1) include side elevation image acquisition all-in-one machine (11) and vehicle induction trigger device (12), wherein
Side elevation image acquisition all-in-one machine (11) is correspondingly arranged in lane two sides, including the first image collecting device, the first ranging dress
Set (113) and processing module (115)；The first image acquisition device is corresponding to be set to the side elevation image by wheel height
All-in-one machine (11) side is acquired, for acquiring the wheel side elevation image by vehicle and sending to the processing module (115)；Institute
Side elevation image acquisition all-in-one machine (11) bottom that the first range unit (113) is correspondingly arranged in lane two sides is stated, it is logical for measuring
It crosses vehicle tyre width B1 and is sent to the processing module (115)；The processing module (115) receives the wheel side view
Picture simultaneously obtains radius of wheel R1, calculates the ratio i1=B1/R1 of the tyre width B1 Yu radius of wheel R1, the ratio
Whether the judgement of the size of i1 and first threshold is bicycle by vehicle, sends judging result to the special gate (2)；
The vehicle induction trigger device (12) is set to lane center ground location, has vehicle to pass through for induction and starts institute
State the first image collecting device and the first range unit (113).
4. cycle path intelligent gate system according to claim 3, which is characterized in that the side elevation image is adopted
Integrated machine (11) further includes the second image collecting device (112) being correspondingly arranged with the first image collecting device and surveys with first
Away from the second range unit (114) that device (113) is correspondingly arranged, the first image acquisition device and the first range unit
(113) for measuring through the first wheel of vehicle, second image collecting device (112) and the second range unit (114) are used
In measurement by the second wheel of vehicle, wherein
Second image collecting device (112) is corresponding to be set to side elevation image acquisition all-in-one machine (11) by wheel height
Side, for acquiring the wheel side elevation image by vehicle and sending to the processing module (115)；Second range unit
(114) it is correspondingly arranged in side elevation image acquisition all-in-one machine (11) bottom of lane two sides, passes through vehicle tyre width for measuring
B2 is simultaneously sent to the processing module (115)；
The processing module (115) receives the side elevation image of the second wheel and obtains radius of wheel R2, calculates the tyre width
The ratio i2=B2/R2 of B2 and radius of wheel R2 calculate the average value i=(i1+ of the first wheel ratio i1 and the second wheel i2
I2)/2, whether the judgement of the size of the ratio i and first threshold is bicycle by vehicle, sends judging result to institute
State special gate (2).
5. cycle path intelligent gate system according to claim 4, which is characterized in that
First range unit (113) be based on laser ranging measure respectively lane two sides side elevation image acquisition all-in-one machine (11) with
By the distance D1 and D2 of vehicle tyre, it is D that lane two sides side elevation image, which acquires all-in-one machine (11) initial spacing, then vehicle tyre
Width B1=D-D1-D2；
Second range unit (114) be based on laser ranging measure respectively lane two sides side elevation image acquisition all-in-one machine (11) with
By the distance D3 and D4 of vehicle tyre, it is D that lane two sides side elevation image, which acquires all-in-one machine (11) initial spacing, then vehicle tyre
Width B2=D-D3-D4.
6. cycle path intelligent gate system according to claim 5, which is characterized in that
First wheel is vehicle front-wheel, and second wheel is vehicle rear wheel.
7. cycle path intelligent gate system according to claim 6, which is characterized in that the vehicle induction touching
Transmitting apparatus (12) include front-wheel induction trigger module (121) and rear-wheel incude trigger module (122), wherein
Front-wheel induction trigger module (121) is surveyed for incuding to have vehicle to pass through and start the first image acquisition device and first
Away from device (113)；
Rear-wheel induction trigger module (122) for incude there is vehicle to pass through and start second image collecting device (112) and
Second range unit (114).
8. cycle path intelligent gate system according to claim 7, which is characterized in that the processing module
(115) background Processing for removing is carried out to the side elevation image received.
9. cycle path intelligent gate system according to claim 1, which is characterized in that the special gate
(2) include RFID identification module for identification RFID signal and control the special gate (2) opening.
10. cycle path intelligent gate system according to claim 1, which is characterized in that the relation function
Value i=B/R2Or i=lnB/R or i=INT (B)/INT (R).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2016111513062 | 2016-12-14 | ||
| CN201611151306 | 2016-12-14 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107447699A CN107447699A (en) | 2017-12-08 |
| CN107447699B true CN107447699B (en) | 2019-10-25 |
Family
ID=60489815
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710640443.0A Active CN107447699B (en) | 2016-12-14 | 2017-07-31 | A kind of high-adaptability cycle path intelligent gate system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107447699B (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108550218B (en) * | 2018-06-01 | 2024-03-22 | 厦门市市政工程设计院有限公司 | Comprehensive management and control system and management and control method for bicycle special lane |
| CN109102598A (en) * | 2018-07-13 | 2018-12-28 | 北京无线电计量测试研究所 | A kind of bicycle capacity total management system |
| CN110310400B (en) * | 2019-06-28 | 2022-03-04 | 北京无线电计量测试研究所 | Intelligent gate system for lane special for bicycle and control method thereof |
| CN110298308B (en) * | 2019-06-28 | 2022-03-04 | 北京无线电计量测试研究所 | Special road vehicle and pedestrian recognition system for bicycle |
| CN112614382B (en) * | 2020-11-11 | 2022-03-04 | 山东卓智软件股份有限公司 | Intelligent relative distance adjusting system |
| CN112593506B (en) * | 2020-12-08 | 2022-05-06 | 武汉商学院 | Stop control system |
| CN112595207B (en) * | 2020-12-09 | 2022-05-20 | 北京无线电计量测试研究所 | Non-contact type rapid measuring device and method for width of bicycle tire |
| CN112614368B (en) * | 2020-12-15 | 2022-02-11 | 英华达（南京）科技有限公司 | Driving control method, system and related equipment |
| CN113611029B (en) * | 2021-07-22 | 2023-09-26 | 北京京东乾石科技有限公司 | Monitoring method, device, access control system and readable storage medium |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008015743A (en) * | 2006-07-05 | 2008-01-24 | Mitsubishi Electric Corp | Passage management device |
| JP2008242768A (en) * | 2007-03-27 | 2008-10-09 | Dainippon Printing Co Ltd | Gate system for parking lot for bicycle |
| CN202337304U (en) * | 2011-11-22 | 2012-07-18 | 华北电力大学 | Bicycle identification system |
| CN202632386U (en) * | 2012-05-22 | 2012-12-26 | 济南富尔施特科技发展有限公司 | Intelligent passage control system |
| CN104282150A (en) * | 2014-09-29 | 2015-01-14 | 北京汉王智通科技有限公司 | Recognition device and system of moving target |
| CN205193907U (en) * | 2015-11-04 | 2016-04-27 | 杭州朗米科技有限公司 | Dual verification floodgate of people's car machine system |
-
2017
- 2017-07-31 CN CN201710640443.0A patent/CN107447699B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008015743A (en) * | 2006-07-05 | 2008-01-24 | Mitsubishi Electric Corp | Passage management device |
| JP2008242768A (en) * | 2007-03-27 | 2008-10-09 | Dainippon Printing Co Ltd | Gate system for parking lot for bicycle |
| CN202337304U (en) * | 2011-11-22 | 2012-07-18 | 华北电力大学 | Bicycle identification system |
| CN202632386U (en) * | 2012-05-22 | 2012-12-26 | 济南富尔施特科技发展有限公司 | Intelligent passage control system |
| CN104282150A (en) * | 2014-09-29 | 2015-01-14 | 北京汉王智通科技有限公司 | Recognition device and system of moving target |
| CN205193907U (en) * | 2015-11-04 | 2016-04-27 | 杭州朗米科技有限公司 | Dual verification floodgate of people's car machine system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107447699A (en) | 2017-12-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107447699B (en) | A kind of high-adaptability cycle path intelligent gate system | |
| CN103065470B (en) | Detection device for behaviors of running red light of vehicle based on machine vision with single eye and multiple detection faces | |
| CN103794056B (en) | Based on the vehicle precise classification system and method for real-time two-way video stream | |
| CN102254429B (en) | Video identification-based detection method of detection device of violation vehicles | |
| CN100459704C (en) | Intelligent tunnel safety monitoring apparatus based on omnibearing computer vision | |
| CN100437660C (en) | Device for monitoring vehicle breaking regulation based on all-position visual sensor | |
| CN102496285B (en) | Method for determining red-light running of vehicles at intersection based on video detection and signal control system | |
| CN105427614A (en) | Model classification system and method | |
| CN106327863A (en) | Method, device and system for detection and early warning of vehicle congestion | |
| CN107154152A (en) | Video stake equipment and parking management method | |
| CN101964145A (en) | Automatic license plate recognition method and system | |
| CN109598187A (en) | Obstacle recognition method, differentiating obstacle and railcar servomechanism | |
| CN104805784A (en) | Gate fare evasion detection system and gate fare evasion detection method | |
| CN102129775A (en) | Method and system for obtaining evidence by capturing vehicles at traffic crossing under panoramic video detection | |
| CN102774380A (en) | Method for judging running state of vehicle | |
| CN111882861B (en) | Online traffic incident perception system based on edge cloud fusion | |
| CN107460837B (en) | Intelligent gate system for lane special for bicycle | |
| CN107123270A (en) | A kind of intelligent managing and control system in building site for slag-soil truck | |
| CN109712395A (en) | A kind of system and method obtaining traffic flow parameter | |
| CN108830264A (en) | A kind of the platform occupant detection system and method for unmanned bus | |
| CN104063882A (en) | Vehicle video speed measuring method based on binocular camera | |
| CN109544763A (en) | A kind of high-adaptability cycle path intelligent gate system | |
| CN102496281A (en) | Vehicle red-light violation detection method based on combination of tracking and virtual loop | |
| CN104036640A (en) | Panoramic image acquisition device and panoramic image acquisition method | |
| CN106683400A (en) | Method and a system for obtaining evidence by capturing vehicles at traffic crossing under panoramic video detection |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |