CN110033622A - Violation snap-shooting based on unmanned plane aerial photography technology occupies Emergency Vehicle Lane method - Google Patents
Violation snap-shooting based on unmanned plane aerial photography technology occupies Emergency Vehicle Lane method Download PDFInfo
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- CN110033622A CN110033622A CN201810047605.4A CN201810047605A CN110033622A CN 110033622 A CN110033622 A CN 110033622A CN 201810047605 A CN201810047605 A CN 201810047605A CN 110033622 A CN110033622 A CN 110033622A
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- unmanned plane
- emergency vehicle
- vehicle lane
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- aerial photography
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
- G06V20/13—Satellite images
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
- G06V20/182—Network patterns, e.g. roads or rivers
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/35—Categorising the entire scene, e.g. birthday party or wedding scene
- G06V20/38—Outdoor scenes
- G06V20/39—Urban scenes
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
- G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
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Abstract
The invention discloses a kind of, and the violation snap-shooting based on unmanned plane aerial photography technology occupies Emergency Vehicle Lane method, it is characterized in that, comprising steps of obtaining the real-time video of the road of unmanned plane, identify road, it identifies Emergency Vehicle Lane, identifies the license plate number of the vehicle in Emergency Vehicle Lane, obtain by the candid photograph time of candid photograph vehicle and capture the information such as position, terminal user's digital certificate is generated, sends the road traffic law violation vehicle captured and relevant information to background server (pending).By means of the invention it is possible to realize full view, real-time high-efficiency, accurately capture the vehicle appeared in Emergency Vehicle Lane.
Description
Technical field
The present invention relates to unmanned plane applications, road unlawful data acquisition technique field, more particularly to building is quickly, efficiently
Sum and full view road violation snap-shooting method.
Background technique
The English abbreviation for including in the present invention is as follows:
UAV:Unmanned Aerial Vehicles unmanned plane
IMU:Inertial measurement unit Inertial Measurement Unit
GPS:Global Positioning System global positioning system
UCS:UAV Control System unmanned aerial vehicle control system
GCS:Ground Control Station ground control station
DEM:Digital Elevation Model digital elevation model
DOM:Digital Orthophoto Map digital orthophoto map
The airborne digital sensor of ADS:Airborne Digital Sensor
ROI:Region Of Interest area-of-interest
In recent years, with the lasting rising of vehicle population, there is congestion often in road, and vehicle occupies highway emergency
Lane.When traffic accident occurs, cause breakdown lorry that can not reach scene in time, pick-up operation can not be carried out in time, also without
The method vehicle for occupying Emergency Vehicle Lane illegal to malice is collected evidence and is punished, to contain the generation again of the phenomenon.
In view of the above problems, also having made many improvement in the prior art, such as Chinese Patent Application No. is
The patent application patent of CN201610083119.9 discloses a kind of illegal occupancy Emergency Vehicle Lane detection method based on unmanned plane,
It include: releasing unmanned plane；Position road right edge position；Judge whether to navigate to road right edge position；Adjust unmanned plane side
Position；Select Emergency Vehicle Lane region；Detect vehicle location；Judge whether successfully to be detected vehicle location；Recognition of License Plate Characters；Storage
Information of vehicles；Correct the flight angle of unmanned plane；Unmanned plane moves ahead automatically；Judge whether unmanned plane flies to distance to a declared goal；It receives
Return unmanned plane.The invention realizes the automatic flight control of unmanned plane, can ignore any traffic obstacle, pass through video image point
Analysis technology is accurately positioned Emergency Vehicle Lane region in real time, and automatic to capture the vehicle appeared in Emergency Vehicle Lane region, which has
System-wide section captures, captures real-time high-efficiency, captures the features such as accurate, accessible；But many operations that the patent is related to are by hand
It carries out, and requires unmanned plane manipulator that must be directed at Emergency Vehicle Lane.
Summary of the invention
In order to overcome defect present in prior art, the present invention provides the violation snap-shootings based on unmanned plane aerial photography technology
Emergency Vehicle Lane method is occupied, system-wide section is can be realized, real-time high-efficiency, accurately captures the vehicle appeared in Emergency Vehicle Lane.
Violation snap-shooting based on unmanned plane aerial photography technology occupies Emergency Vehicle Lane method, the method, which is characterized in that including
It is as follows
(1) real-time video of the road of unmanned plane is obtained；
(2) road is identified；
(3) Emergency Vehicle Lane is identified；
(4) license plate number of identification vehicle in Emergency Vehicle Lane；
(5) it obtains by the candid photograph time of candid photograph vehicle and captures the information such as position；
(6) terminal user's digital certificate is generated；
(7) the road traffic law violation vehicle captured and relevant information are sent to background server (pending).
Further, the unmanned plane, including system control module, unmanned plane autotask module, digital boat take the photograph module
And communication module；Moreover, system control module takes the photograph module and communication module phase with unmanned plane autotask module, digital boat respectively
It connects.
Further, the system control module receives control command and data that ground surface end sends over, is computed place
Reason, exports control instruction and gives unmanned plane executing agency.
Further, the communication module, the wireless communication being responsible between unmanned plane and ground surface end, for example, unmanned plane navigates
Shoot the video/the winged control instruction for being real-time transmitted to ground surface end and earth station of picture is sent to the system control of unmanned plane in real time
Module etc..
Further, the unmanned plane autotask module automatically executes road traffic law violation and captures and appoints for unmanned plane
The various lines of flight of business and generation；In addition, unmanned plane can also be with manual control.
Further, the digital boat takes the photograph module, is responsible for taking photo by plane in real time.
Violation snap-shooting based on unmanned plane aerial photography technology of the invention occupies Emergency Vehicle Lane method, which is characterized in that including
Step: obtaining the real-time video of the road of unmanned plane, identifies road, identifies Emergency Vehicle Lane, identification vehicle in Emergency Vehicle Lane
License plate number, obtain by the candid photograph time of candid photograph vehicle and capture the information such as position, generate terminal user's digital certificate, send
The road traffic law violation vehicle captured and relevant information are to background server (pending).By means of the invention it is possible to realize complete
Visual angle, real-time high-efficiency, accurate candid photograph appear in the vehicle in Emergency Vehicle Lane.
Detailed description of the invention
Fig. 1 is that the frame that the violation snap-shooting of the present invention based on unmanned plane aerial photography technology occupies Emergency Vehicle Lane method shows
It is intended to.
Fig. 2 is the function mould that the violation snap-shooting of the present invention based on unmanned plane aerial photography technology occupies Emergency Vehicle Lane method
Block schematic diagram.
Fig. 3 is that violation snap-shooting occupancy the illegal of Emergency Vehicle Lane method of the present invention based on unmanned plane aerial photography technology grabs
Clap flow chart.
Specific embodiment
Here is with reference to the accompanying drawings with example to further description of the invention:
Fig. 1 is that the frame that the violation snap-shooting of the present invention based on unmanned plane aerial photography technology occupies Emergency Vehicle Lane method shows
It is intended to.Its frame includes unmanned machine management system 150 and ground surface end.
The unmanned machine management system 150, including UAV 170 and aerial surveying camera 180 and wireless network 109 and road
105, service request is received, according to the strategy (for example, apart from nearest strategy) configured, it is illegal to distribute the execution candid photograph of UAV 170
Occupy Emergency Vehicle Lane task.
The earth station, including video server 160.
Fig. 2 is the function mould that the violation snap-shooting of the present invention based on unmanned plane aerial photography technology occupies Emergency Vehicle Lane method
Block schematic diagram.
The unmanned plane 170, including system control module 210, unmanned plane autotask module 220, digital boat take the photograph module
230 and communication module 240；Moreover, system control module 210, takes the photograph mould with unmanned plane autotask module 220, digital boat respectively
Block 230 and communication module 240 are connected with each other.
Further, the system control module 210 receives control command and data that ground surface end 150 sends over, warp
Calculation processing exports control instruction and gives unmanned plane executing agency, realize control to the various model of flight of unmanned plane and course line and
Management and control to task device.
Further, the unmanned plane autotask module 220 automatically executes for unmanned plane and captures illegal occupancy emergency
Lane task and the various lines of flight generated can both fly along above road, can also hover over the top of road, and
Vehicle license plate number can be seen in the terminal of ground surface end；It on the other hand, can be with manual control unmanned plane.
Further, the digital boat takes the photograph module 230, the illegal vehicle for occupying Emergency Vehicle Lane of real-time grasp shoot.
Further, the communication module 240, the wireless communication being responsible between unmanned plane and ground 150, for example, nobody
Machine captures the illegal real-time hair of winged control instruction for being real-time transmitted to ground surface end and earth station for occupying Emergency Vehicle Lane video/picture
It is sent to the system control module etc. of unmanned plane.
The ground surface end (video server 150), including communication module 240, road Identification module 205, Emergency Vehicle Lane are known
Other module 208, Car license recognition module and time and position acquisition module 210.
Further, the road Identification module 205 is real-time transmitted to the highway video figure of ground surface end from unmanned plane
As in, road video image is obtained.
Further, the Emergency Vehicle Lane identification module 208 obtains Emergency Vehicle Lane view from the road video image
Frequency image.
Further, the Car license recognition module 210 can recognize that the vehicle license plate number travelled in Emergency Vehicle Lane.
Further, the time and position acquisition module 212 can get the vehicle in Emergency Vehicle Lane captured
The candid photograph time of traveling and candid photograph place.
Further, the communication module 240, the wireless communication being responsible between ground surface end 150 and unmanned plane, for example, ground
The video/picture of taking photo by plane of face end real-time reception unmanned plane, and send and fly the system control module etc. that unmanned plane is arrived in control instruction.
Fig. 3 is that violation snap-shooting occupancy the illegal of Emergency Vehicle Lane method of the present invention based on unmanned plane aerial photography technology grabs
Clap flow chart.
(1) real-time video 310 of the road of unmanned plane is obtained, the road of ground surface end real-time reception unmanned plane/
The video image of highway extracts frame from the video, then sends road Identification module for these primitive frames.
(2) it identifies road 320, the video image of road is identified from the video image；During road Identification,
The algorithm of use only considered gray component (or bianry image), before this, can also carry out the pretreatment of video image, example
If Gaussian is filtered, etc..In order to reduce the image data amount of redundancy, need that input picture is arranged at area-of-interest (ROI),
ROI improves the speed and precision of road Identification.It can use end point (vanishing point) identification ROI, end point
Road image appears in the center of vertical direction, and ROI is selected in end point region below, because of visible vehicle in road image
Road is normally in the region.Road Identification includes road edge identification and road Identification, for example, Sobel road edge identifies
Method carries out road Identification using acquired road edge feature and color characteristic etc..
(3) it identifies Emergency Vehicle Lane 330, identifies that (it is located at road most to Emergency Vehicle Lane from the road video image
The lane on the right, lane indicate with two parallel solid white lines, other lanes at least white dashed line).Lane line
Identification be applied in first frame, the original lane identified will be used to obtain ROI, it will be searched in subsequent video frame
Lane boundary region；There are also ROI is selected using strong constraints such as shape, width, color and lane line directions to target, to subtract
Few calculation amount and elimination objects interfered；Also can choose ROI is four zonules, and respectively left and right lane and lower regions are in total
4 parts (for example, selection lower right-most portion, i.e. Emergency Vehicle Lane part).Some lane models, using such as straight line model, no
It can sufficiently indicate lane model, and complicated model such as parabola model, clothoid model and B-spline model, calculation amount
It is again too big.The Emergency Vehicle Lane recognition methods of the application, including Emergency Vehicle Lane limb recognition and Emergency Vehicle Lane identification.Emergency car roadside
Edge recognizer, such as Sobel Emergency Vehicle Lane limb recognition algorithm, Canny Emergency Vehicle Lane limb recognition algorithm, based on model
Emergency Vehicle Lane method for identification of edge and Emergency Vehicle Lane method for identification of edge based on histogram, to obtain the edge of Emergency Vehicle Lane
The information such as feature and color characteristic carry out Emergency Vehicle Lane identification.Emergency Vehicle Lane identification includes the Emergency Vehicle Lane identification based on feature
(for example, two stages Feature Extraction Method) and Emergency Vehicle Lane recognition methods (for example, Hough transform) based on model.
(4) license plate number 340 of identification vehicle in Emergency Vehicle Lane；
(5) it obtains by the candid photograph time of candid photograph vehicle and captures the information 350 such as position, captured based on unmanned plane aerial photography technology
It is illegal occupy Emergency Vehicle Lane vehicle, be at least capable of providing by the license plate number of candid photograph vehicle, by capture the time, by capture position/
The information such as section, for example, the time and longitude and latitude/place name captured on video image can get by the candid photograph time, be grabbed
Clap position/road section information.
(6) terminal user's digital certificate 360 is generated, is mainly used to verify the user's for attempting to access that video server 160
Authenticity.In one example, which is verified by the digital certificate of the user account of generation access video server
Authenticity.
(7) the road traffic law violation vehicle captured and relevant information are sent to background server 370 (pending), will be grabbed
It claps image, location information, temporal information and the digital certificate of generation to be sent in background server, in one example.Police
The illegal relevant information processing traffic violations behavior for occupying Emergency Vehicle Lane of the candid photograph being stored in background server can be used.
The foregoing is merely presently preferred embodiments of the present invention, practical range not for the purpose of limiting the invention；It is all according to this
Equivalence changes made by inventing and modification, are considered as the scope of the patents of the invention and are covered.
Claims (7)
1. the present invention provides the violation snap-shootings based on unmanned plane aerial photography technology to occupy Emergency Vehicle Lane method, which is characterized in that packet
Include following steps:
(1) real-time video of the road of unmanned plane is obtained；
(2) road is identified；
(3) Emergency Vehicle Lane is identified；
(4) license plate number of identification vehicle in Emergency Vehicle Lane；
(5) it obtains by the candid photograph time of candid photograph vehicle and captures the information such as position；
(6) terminal user's digital certificate is generated；
(7) the road traffic law violation vehicle captured and relevant information are sent to background server (pending).
2. violation snap-shooting based on unmanned plane aerial photography technology occupies Emergency Vehicle Lane method as described in claim 1, it is described nobody
Machine, including system control module, unmanned plane autotask module, digital boat take the photograph module and communication module.
3. the violation snap-shooting based on unmanned plane aerial photography technology occupies Emergency Vehicle Lane method, the system as claimed in claim 2
Control module receives control command and data that ground surface end sends over, is computed processing, exports control instruction and hold to unmanned plane
Row mechanism.
4. violation snap-shooting based on unmanned plane aerial photography technology occupies Emergency Vehicle Lane method as claimed in claim 2, it is described nobody
Machine autotask module automatically executes the various lines of flight that road traffic law violation is captured task and generated for unmanned plane；Separately
Outside, unmanned plane can also be with manual control.
5. the violation snap-shooting based on unmanned plane aerial photography technology occupies Emergency Vehicle Lane method, the number as claimed in claim 2
Boat takes the photograph module, and real-time grasp shoot is simultaneously transmitted to ground surface end.
6. the violation snap-shooting based on unmanned plane aerial photography technology occupies Emergency Vehicle Lane method, the communication as claimed in claim 2
Module, the wireless communication being responsible between unmanned plane and ground surface end, for example, unmanned plane video/picture is real-time transmitted to ground
The winged control instruction of face end and earth station is sent to the system control module etc. of unmanned plane in real time.
7. the violation snap-shooting based on unmanned plane aerial photography technology occupies Emergency Vehicle Lane method, the system as claimed in claim 2
Control module takes the photograph module and communication module interconnection with the unmanned plane autotask module, the digital boat respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810047605.4A CN110033622A (en) | 2018-01-12 | 2018-01-12 | Violation snap-shooting based on unmanned plane aerial photography technology occupies Emergency Vehicle Lane method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810047605.4A CN110033622A (en) | 2018-01-12 | 2018-01-12 | Violation snap-shooting based on unmanned plane aerial photography technology occupies Emergency Vehicle Lane method |
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| CN110033622A true CN110033622A (en) | 2019-07-19 |
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Cited By (8)
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| CN110648540A (en) * | 2019-09-09 | 2020-01-03 | 安徽师范大学 | Expressway emergency lane occupation tracking system and method based on unmanned aerial vehicle |
| CN110706491A (en) * | 2019-11-05 | 2020-01-17 | 北京深测科技有限公司 | Traffic monitoring and early warning method and system for expressway |
| CN110874578A (en) * | 2019-11-15 | 2020-03-10 | 北京航空航天大学青岛研究院 | Unmanned aerial vehicle visual angle vehicle identification and tracking method based on reinforcement learning |
| CN111508241A (en) * | 2020-04-16 | 2020-08-07 | 陈威 | Unmanned aerial vehicle-based traffic command device under highway emergency and implementation method thereof |
| CN112232285A (en) * | 2020-11-05 | 2021-01-15 | 浙江点辰航空科技有限公司 | Unmanned aerial vehicle system that highway emergency driveway was patrolled and examined |
| CN113096406A (en) * | 2019-12-23 | 2021-07-09 | 深圳云天励飞技术有限公司 | Vehicle information acquisition method and device and electronic equipment |
| CN113763719A (en) * | 2021-10-13 | 2021-12-07 | 深圳联和智慧科技有限公司 | Unmanned aerial vehicle-based illegal emergency lane occupation detection method and system |
| CN113823103A (en) * | 2021-09-14 | 2021-12-21 | 泰州市雷信农机电制造有限公司 | Highway parking order maintenance platform |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110648540A (en) * | 2019-09-09 | 2020-01-03 | 安徽师范大学 | Expressway emergency lane occupation tracking system and method based on unmanned aerial vehicle |
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| CN110706491A (en) * | 2019-11-05 | 2020-01-17 | 北京深测科技有限公司 | Traffic monitoring and early warning method and system for expressway |
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| CN111508241A (en) * | 2020-04-16 | 2020-08-07 | 陈威 | Unmanned aerial vehicle-based traffic command device under highway emergency and implementation method thereof |
| CN111508241B (en) * | 2020-04-16 | 2021-06-25 | 上海江南同创信息技术有限公司 | Unmanned aerial vehicle-based traffic command device under highway emergency and implementation method thereof |
| CN112232285A (en) * | 2020-11-05 | 2021-01-15 | 浙江点辰航空科技有限公司 | Unmanned aerial vehicle system that highway emergency driveway was patrolled and examined |
| CN113823103A (en) * | 2021-09-14 | 2021-12-21 | 泰州市雷信农机电制造有限公司 | Highway parking order maintenance platform |
| CN113763719A (en) * | 2021-10-13 | 2021-12-07 | 深圳联和智慧科技有限公司 | Unmanned aerial vehicle-based illegal emergency lane occupation detection method and system |
| CN113763719B (en) * | 2021-10-13 | 2022-06-14 | 深圳联和智慧科技有限公司 | Unmanned aerial vehicle-based illegal emergency lane occupation detection method and system |
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