CN111218894B - Control method and device of light-emitting guide facility, electronic equipment and system - Google Patents

Control method and device of light-emitting guide facility, electronic equipment and system Download PDF

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Publication number
CN111218894B
CN111218894B CN201811418128.4A CN201811418128A CN111218894B CN 111218894 B CN111218894 B CN 111218894B CN 201811418128 A CN201811418128 A CN 201811418128A CN 111218894 B CN111218894 B CN 111218894B
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Prior art keywords
light
vehicle
preset
trigger
emitting guide
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CN111218894A (en
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王科
沈涛
裴建军
于建志
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Hangzhou Hikvision System Technology Co Ltd
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Hangzhou Hikvision System Technology Co Ltd
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    • 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
    • E01F9/00—Arrangement of road signs or traffic signals; Arrangements for enforcing caution
    • 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
    • E01F9/00—Arrangement of road signs or traffic signals; Arrangements for enforcing caution
    • E01F9/30—Arrangements interacting with transmitters or receivers otherwise than by visible means, e.g. using radar reflectors or radio transmitters
    • 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
    • E01F9/00—Arrangement of road signs or traffic signals; Arrangements for enforcing caution
    • E01F9/50—Road surface markings; Kerbs or road edgings, specially adapted for alerting road users
    • E01F9/535—Kerbs or road edgings specially adapted for alerting road users
    • E01F9/547—Kerbs or road edgings specially adapted for alerting road users illuminated
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Circuit Arrangement For Electric Light Sources In General (AREA)
  • Traffic Control Systems (AREA)

Abstract

The embodiment of the invention provides a control method, a control device, electronic equipment and a control system of a light-emitting guide facility, wherein the method comprises the following steps: the method comprises the steps of obtaining a video frame of a monitoring road section, detecting the position of a vehicle in the video frame, sending a first control instruction to a light-emitting guide facility, and controlling the light-emitting guide facility to work according to the first control instruction so as to provide guidance for the vehicle. Because detection devices such as laser, infrared, microwave and geomagnetism are not needed in the process, the method provided by the embodiment can provide road guidance for vehicles, and meanwhile, the cost caused by laying the detection devices such as laser, infrared, microwave and geomagnetism in the prior art is reduced.

Description

Control method and device of light-emitting guide facility, electronic equipment and system
Technical Field
The present invention relates to the field of control technologies, and in particular, to a method, an apparatus, an electronic device, and a system for controlling a light-emitting guide facility.
Background
In severe weather such as dense fog, the visibility is low, which often causes major traffic accidents and serious loss. In order to reduce the occurrence of the traffic accidents, a road guiding method is provided, and warning information is provided for rear vehicles according to the running conditions of front vehicles so as to guide the rear vehicles to avoid the occurrence of the traffic accidents.
In the prior art, control lighting guide facilities are generally used, such as: the LED lamp emits light to realize road guiding. At present, the road guiding method mainly adopts a preset detection device, for example: the detection devices of laser, infrared, microwave, geomagnetism and the like detect the running condition of vehicles on the road, send a control signal to the control module according to the detection result, and control the light-emitting guide facility to emit light by the control module according to a preset control strategy.
Because detection devices such as laser, infrared, microwave and earth magnetism all need lay in advance, not only can increase the hardware cost, moreover because need be under construction, still increased the cost of labor.
Disclosure of Invention
An embodiment of the invention provides a method and a device for controlling a light-emitting guide facility and electronic equipment, so as to reduce cost caused by laying of detection devices such as laser, infrared, microwave and geomagnetic fields.
In order to achieve the above object, an embodiment of the present invention discloses a method for controlling a lighting guiding facility, including:
acquiring a current video frame of a monitoring road section shot by a camera;
carrying out vehicle detection on the current video frame;
when a vehicle is detected, judging whether the position of the vehicle is a preset trigger position or not;
and if so, sending a first control instruction to the light-emitting guide facility corresponding to the trigger position so as to enable the light-emitting guide facility corresponding to the trigger position to work according to the first control instruction.
Optionally, the step of judging whether the position of the vehicle is the preset trigger position includes:
judging whether the position of the vehicle is matched with a trigger position corresponding to one of the plurality of light-emitting guide facilities; wherein each lighting guiding facility corresponds to a triggering position.
Optionally, the plurality of light-emitting guiding facilities are sequentially installed at one side or both sides of the road at preset intervals;
the triggering positions corresponding to the light-emitting guide facilities are as follows: the method comprises the following steps of calibrating the position of a trigger line in a video frame, or the position corresponding to a pixel coordinate meeting a preset functional relationship;
the trigger line is as follows: a line connecting a mark point in a road section in a video frame with the light-emitting guide facility, or a line having a preset distance from the light-emitting guide facility;
the step of judging whether the position of the vehicle is matched with the trigger position corresponding to one of the plurality of light-emitting guide facilities comprises the following steps:
and judging whether the pixel point where the vehicle head is located on the trigger line or not, or whether the coordinate of the pixel point meets the preset functional relation or not.
Optionally, the method further includes:
when a plurality of vehicles are detected, obtaining the position information of each vehicle;
judging whether the distance between the rear vehicle and the front vehicle is smaller than a preset workshop distance or not according to the position information of each vehicle;
if so, sending a second control command to the light-emitting guide facility with the shortest distance between the front side of the rear vehicle and the rear vehicle so as to enable the light-emitting guide facility with the shortest distance between the front side of the rear vehicle and the rear vehicle to work according to the second control command.
Optionally, the method further includes:
acquiring an ambient light parameter of the monitored road section detected by an ambient detection device in real time;
judging whether the ambient light parameter is lower than a preset first threshold value or not;
if yes, executing the step of acquiring the current video frame of the monitored road section shot by the camera;
the step of sending a first control instruction to the light-emitting guide facility corresponding to the trigger position so that the light-emitting guide facility corresponding to the trigger position operates according to the first control instruction includes:
sending a first control instruction to the light-emitting guide facility corresponding to the trigger position so that the light-emitting guide facility corresponding to the trigger position sends preset rear-end collision prevention warning color light for a preset duration;
the step of sending a second control instruction to the light-emitting guide facility with the shortest distance between the front side of the rear vehicle and the rear vehicle so that the light-emitting guide facility with the shortest distance between the front side of the rear vehicle and the rear vehicle works according to the second control instruction comprises the following steps:
and sending a second control instruction to the luminous guide facility with the shortest distance between the front part of the rear vehicle and the rear vehicle so that the luminous guide facility with the shortest distance between the front part of the rear vehicle and the rear vehicle sends preset following and passing light and flickers at a preset frequency.
Optionally, after the determining that the ambient light parameter is lower than the preset first threshold, the method further includes:
judging whether the ambient light visibility parameter is higher than a preset second threshold value or not; the second threshold is less than the first threshold;
if the ambient light parameter is higher than a preset second threshold value, sending a third control instruction to all the light-emitting guiding facilities so that all the light-emitting guiding facilities emit preset road contour intensified color light;
and if the ambient light parameter is not higher than a preset second threshold value, sending a fourth control instruction to all the light-emitting guide facilities so that all the light-emitting guide facilities emit preset driving active guide color light and flicker at a preset frequency.
In order to achieve the above object, the present invention also discloses a control method of a lighting guiding facility, applied to a camera, the method comprising:
acquiring a current video frame of a shot monitoring road section;
carrying out vehicle detection on the current video frame;
when a vehicle is detected, judging whether the position of the vehicle is a preset trigger position or not;
if yes, sending a first trigger instruction aiming at the light-emitting guide facility corresponding to the trigger position to a server in communication connection with the camera; and enabling the server to send a fifth control instruction to the light-emitting guiding facility corresponding to the trigger position according to the first trigger instruction, so that the light-emitting guiding facility corresponding to the trigger position works according to the fifth control instruction.
Optionally, the method further includes:
when a plurality of vehicles are detected, obtaining the position information of each vehicle;
judging whether the distance between the rear vehicle and the front vehicle is smaller than a preset workshop distance or not according to the position information of each vehicle;
if yes, sending a second trigger instruction aiming at a light-emitting guide facility with the shortest distance between the front part and the rear part of the vehicle to a server in communication connection with the camera; and enabling the server to send a sixth control instruction to the light-emitting guide facility with the shortest distance between the front side of the rear vehicle and the rear vehicle according to the second trigger instruction, so that the light-emitting guide facility with the shortest distance between the front side of the rear vehicle and the rear vehicle works according to the sixth control instruction.
In order to achieve the above object, the present invention further discloses a method for controlling a lighting guidance facility, which is applied to a server communicatively connected to a camera, the method including:
receiving a first trigger instruction which is sent by a camera and aims at the light-emitting guide facility; the first trigger instruction is as follows: when the camera detects that a vehicle exists in a current video frame of a shot monitoring road section and the position of the vehicle is a preset trigger position, sending a trigger instruction aiming at a light-emitting guide facility corresponding to the trigger position to a server in communication connection with the camera;
and sending a fifth control instruction to the light-emitting guiding facility corresponding to the trigger position according to the first trigger instruction, so that the light-emitting guiding facility corresponding to the trigger position works according to the fifth control instruction.
Optionally, the method further includes:
receiving a second trigger instruction sent by the camera and aiming at a light-emitting guide facility; the second trigger instruction is as follows: when the camera detects that a plurality of vehicles exist in a current video frame of a shot monitoring road section and the distance between a rear vehicle and a front vehicle in the plurality of vehicles is less than a preset vehicle-to-vehicle distance, a trigger instruction for a light-emitting guide facility with the shortest distance between the front side of the rear vehicle and the rear vehicle is sent to a server in communication connection with the camera;
and according to the second trigger instruction, sending a sixth control instruction to the light-emitting guide facility with the shortest distance between the front part of the rear vehicle and the rear vehicle so as to enable the light-emitting guide facility with the shortest distance between the front part of the rear vehicle and the rear vehicle to work according to the sixth control instruction.
Optionally, the server is further connected to an environment detection device;
the method further comprises the following steps:
receiving the ambient light parameters of the monitored road section detected by the ambient detection equipment in real time;
judging whether the ambient light parameter is lower than a preset first threshold value or not;
if so, executing a step of sending a fifth control instruction to the light-emitting guide facility corresponding to the trigger position according to the first trigger instruction, and/or executing a step of sending a sixth control instruction to the light-emitting guide facility with the shortest distance between the front part and the rear part of the rear vehicle according to the second trigger instruction;
the step of sending a fifth control instruction to the light-emitting guiding facility corresponding to the trigger position according to the first trigger instruction so that the light-emitting guiding facility corresponding to the trigger position works according to the fifth control instruction includes:
according to the first trigger instruction, sending a fifth control instruction to the light-emitting guide facility corresponding to the trigger position, so that the light-emitting guide facility corresponding to the trigger position sends preset rear-end collision prevention warning color light for a preset duration;
the step of sending a sixth control instruction to the light-emitting guide facility with the closest distance between the front side and the rear side of the vehicle behind according to the second trigger instruction so that the light-emitting guide facility with the closest distance between the front side and the rear side of the vehicle behind works according to the sixth control instruction comprises the following steps:
and sending a sixth control instruction to the light-emitting guide facility with the shortest distance between the front part of the rear vehicle and the rear vehicle according to the second trigger instruction so as to enable the light-emitting guide facility with the shortest distance between the front part of the rear vehicle and the rear vehicle to send preset light with the color of passing by the rear vehicle and flicker at a preset frequency.
Optionally, after the step of determining that the ambient light parameter is lower than the preset first threshold, the method further includes:
judging whether the ambient light parameter is higher than a preset second threshold value or not;
if the ambient light parameter is higher than a preset second threshold value, sending a seventh control instruction to all the light-emitting guiding facilities so that all the light-emitting guiding facilities send out preset road contour intensified color light;
and if the ambient light parameter is not higher than a preset second threshold value, sending an eighth control instruction to all the light-emitting guide facilities so that all the light-emitting guide facilities send out preset driving active guide color light and flicker at a preset frequency.
In order to achieve the above object, the present invention further discloses a method for controlling a lighting guidance facility, which is applied to a server communicatively connected to a camera, the method including:
obtaining position information of a vehicle shot by a camera in a monitored road section thereof;
judging whether the position of the vehicle is a preset trigger position or not;
and if so, sending a ninth control instruction to the light-emitting guide facility corresponding to the trigger position so as to enable the light-emitting guide facility corresponding to the trigger position to work according to the ninth control instruction.
Optionally, the obtaining of the position information of the vehicle shot by the camera in the monitored road section includes:
receiving position information of a vehicle shot in a monitored road section of the vehicle, which is sent by the camera; the position information of the vehicle is: the camera carries out vehicle detection on the shot current video frame; when the vehicle is detected, obtaining the position information of the vehicle; or,
receiving a current video frame of a camera monitoring road section shot currently sent by the camera;
carrying out vehicle detection on the current video frame;
when the presence of the vehicle is detected, position information of the vehicle is obtained.
Optionally, the method further includes:
when the number of the vehicles obtaining the position information is more than one, judging whether the distance between the rear vehicle and the front vehicle is less than the preset workshop distance or not according to the position information of each vehicle;
if so, sending a tenth control command to the light-emitting guide facility with the shortest distance between the front side of the rear vehicle and the rear vehicle so as to enable the light-emitting guide facility with the shortest distance between the front side of the rear vehicle and the rear vehicle to work according to the tenth control command.
Optionally, the method further includes:
acquiring an ambient light parameter of the monitored road section detected by an ambient detection device in real time;
judging whether the ambient light parameter is lower than a preset first threshold value or not;
if yes, executing the step of obtaining the position information of the vehicle shot by the camera in the monitored road section;
the step of sending a ninth control instruction to the light-emitting guiding facility corresponding to the trigger position so that the light-emitting guiding facility corresponding to the trigger position operates according to the ninth control instruction includes:
a ninth control instruction is sent to the light-emitting guide facility corresponding to the trigger position, so that the light-emitting guide facility corresponding to the trigger position sends out preset rear-end collision prevention warning color light for a preset duration;
the step of sending a tenth control instruction to the light-emitting guide facility closest to the rear vehicle in front of the rear vehicle so that the light-emitting guide facility closest to the rear vehicle in front of the rear vehicle works according to the tenth control instruction comprises the following steps:
and sending a tenth control instruction to the luminous guide facility with the shortest distance between the front part of the rear vehicle and the rear vehicle so that the luminous guide facility with the shortest distance between the front part of the rear vehicle and the rear vehicle sends preset following and passing light and flickers at preset frequency.
Optionally, after the determining that the ambient light parameter is lower than the preset first threshold, the method further includes:
judging whether the ambient light parameter is higher than a preset second threshold value or not; the second threshold is less than the first threshold;
if the ambient light parameter is higher than a preset second threshold value, an eleventh control instruction is sent to all the light-emitting guide facilities so that all the light-emitting guide facilities emit preset road contour intensified color light;
and if the ambient light parameter is not higher than a preset second threshold value, sending a twelfth control instruction to all the light-emitting guide facilities so that all the light-emitting guide facilities emit preset driving active guide color light and flicker at a preset frequency.
In order to achieve the above object, an embodiment of the present invention further discloses a control device for a lighting guiding facility, the device including:
the first acquisition module is used for acquiring a current video frame of a monitoring road section shot by a camera;
the first detection module is used for carrying out vehicle detection on the current video frame;
the first judgment module is used for judging whether the position of the vehicle is a preset trigger position or not when the vehicle is detected;
the first sending module is used for sending a first control instruction to the light-emitting guide facility corresponding to the trigger position when the vehicle is detected and the position where the vehicle is located is judged to be a preset trigger position, so that the light-emitting guide facility corresponding to the trigger position works according to the first control instruction.
In order to achieve the above object, an embodiment of the present invention further discloses a control device for a lighting guidance facility, which is applied to a camera, and the device includes:
the second acquisition module is used for acquiring the current video frame of the shot monitoring road section;
the second detection module is used for carrying out vehicle detection on the current video frame;
the second judgment module is used for judging whether the position of the vehicle is a preset trigger position or not when the vehicle is detected;
the second sending module is used for sending a first trigger instruction aiming at the light-emitting guide facility corresponding to the trigger position to a server in communication connection with the camera when the vehicle is detected and the position of the vehicle is judged to be the preset trigger position; and enabling the server to send a fifth control instruction to the light-emitting guiding facility corresponding to the trigger position according to the first trigger instruction, so that the light-emitting guiding facility corresponding to the trigger position works according to the fifth control instruction.
In order to achieve the above object, an embodiment of the present invention further discloses a control device for a lighting guiding facility, which is applied to a server communicatively connected to a camera, and the device includes:
the first receiving module is used for receiving a first trigger instruction which is sent by the camera and aims at the light-emitting guide facility corresponding to the trigger position; the first trigger instruction is as follows: when the camera detects that a vehicle exists in a current video frame of a shot monitoring road section and the position of the vehicle is a preset trigger position, sending a trigger instruction aiming at a light-emitting guide facility corresponding to the trigger position to a server in communication connection with the camera;
and the third sending module is used for sending a fifth control instruction to the light-emitting guiding facility corresponding to the trigger position according to the first trigger instruction so as to enable the light-emitting guiding facility corresponding to the trigger position to work according to the fifth control instruction.
In order to achieve the above object, an embodiment of the present invention further discloses a control device for a lighting guiding facility, which is applied to a server communicatively connected to a camera, and the device includes:
the third acquisition module is used for acquiring the position information of the vehicle shot by the camera in the monitored road section;
the third judgment module is used for judging whether the position of the vehicle is a preset trigger position or not;
and the fourth sending module is used for sending a ninth control instruction to the light-emitting guide facility corresponding to the trigger position when the position of the vehicle is judged to be the preset trigger position, so that the light-emitting guide facility corresponding to the trigger position works according to the ninth control instruction.
In order to achieve the above object, an embodiment of the present invention further discloses an electronic device, including: the system comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus;
the memory is used for storing a computer program;
the communication interface is in communication connection with the light-emitting guide facility;
the processor is used for realizing the control method of any one of the light-emitting guide facilities when executing the program stored in the memory.
In order to achieve the above object, an embodiment of the present invention further discloses a camera, including: the system comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus;
the memory is used for storing a computer program;
the communication interface is in communication connection with the server;
the processor is used for realizing the method for controlling any one of the light-emitting guide facilities to be applied to the camera when executing the program stored in the memory.
In order to achieve the above object, an embodiment of the present invention further discloses a server, including: the system comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus;
the memory is used for storing a computer program;
the communication interface is in communication connection with the camera and the light-emitting guide facility;
the processor is used for realizing the method that the control of any one of the light-emitting guide facilities is applied to the server which is in communication connection with the camera when the program stored in the memory is executed.
In order to achieve the above object, an embodiment of the present invention further discloses another server, including: the system comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus;
the memory is used for storing a computer program;
the communication interface is in communication connection with the camera and the light-emitting guide facility;
the processor is used for realizing a method for applying the control of any one of the light-emitting guide facilities to another server which is in communication connection with the camera when the processor executes the program stored in the memory.
In order to achieve the above object, an embodiment of the present invention further discloses a light emitting guide system, which includes: an electronic device and a lighting guide facility communicatively connected with the electronic device; alternatively, it comprises: a camera, a server, and a lighting guide facility communicatively connected to the server; alternatively, it comprises: another server, a camera communicatively connected to the server, and a light-emitting guide facility.
In yet another aspect of the present invention, there is also provided a computer-readable storage medium having stored therein instructions, which when run on a computer, cause the computer to execute any one of the above-described methods of controlling a lighting guiding facility.
In yet another aspect of the present invention, the present invention also provides a computer program product containing instructions, which when run on a computer, causes the computer to execute any one of the above-mentioned control methods of the lighting guiding facility.
According to the control method, the control device, the electronic equipment and the control system of the light-emitting guide facility, the video frame of the monitored road section is obtained, the position of the vehicle in the video frame is detected, the first control instruction is sent to the light-emitting guide facility, and the light-emitting guide facility is controlled to work according to the first control instruction, so that the vehicle is guided. Because detection devices such as laser, infrared, microwave and earth magnetism are not needed in the process, the cost caused by laying the detection devices such as laser, infrared, microwave and earth magnetism in the prior art is reduced while road guidance is provided for the vehicle.
In addition, video monitoring systems are installed on many roads, so that in some embodiments, the monitoring cameras in the installed video monitoring systems can be used for processing video frames shot by the monitoring cameras to realize vehicle detection, and the cost is further reduced.
Of course, it is not necessary for any product or method of practicing the invention to achieve all of the above-described advantages at the same time.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flowchart of a method for controlling a lighting guiding facility according to an embodiment of the present invention;
FIG. 2 is a diagram illustrating the marking of trigger lines in video frames in the embodiment shown in FIG. 1;
FIG. 3 is a flow chart of a manner in which trigger positions are calibrated according to an embodiment of the present invention;
FIG. 4 is another flow chart of a manner in which trigger positions may be calibrated provided by an embodiment of the present invention;
fig. 5 is another flowchart of a method for controlling a lighting guiding facility according to an embodiment of the present invention;
fig. 6 is a flowchart of another control method for a lighting guiding facility according to an embodiment of the present invention;
fig. 7 is a flowchart of a method for controlling a lighting guiding facility applied to a camera according to an embodiment of the present invention;
fig. 8 is a flowchart of a method for controlling a lighting guiding facility, which is provided by an embodiment of the present invention and is applied to a server connected to a camera in communication;
fig. 9 is another flowchart of a method for controlling a lighting guiding facility, which is provided by an embodiment of the present invention, and is applied to a server in communication connection with a camera;
fig. 10 is a schematic structural diagram of a control device of a lighting guiding facility according to an embodiment of the present invention;
fig. 11 is a schematic structural diagram of a camera to which the control device of the light-emitting guide facility according to the embodiment of the present invention is applied;
fig. 12 is a schematic structural diagram of a control device of a lighting guiding facility applied to a server connected to a camera in communication according to an embodiment of the present invention;
fig. 13 is a schematic structural diagram of another configuration in which the control device of the lighting guiding facility provided by the embodiment of the present invention is applied to a server connected to a camera in communication;
fig. 14 is a schematic structural diagram of an electronic device according to an embodiment of the present invention;
fig. 15 is a schematic structural diagram of a camera according to an embodiment of the present invention;
fig. 16 is a schematic structural diagram of a server according to an embodiment of the present invention;
fig. 17 is a schematic structural diagram of another server according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to solve the problems in the prior art, embodiments of the present invention provide a method, an apparatus, an electronic device, and a system for controlling a light-emitting guiding facility. First, a method for controlling a lighting guiding facility according to an embodiment of the present invention will be described.
As shown in fig. 1, fig. 1 is a schematic flowchart of a method for controlling a lighting guiding facility according to an embodiment of the present invention, and may include:
s101: acquiring a current video frame of a monitoring road section shot by a camera;
in practical applications, the current video frame of the monitored road section shot by the camera may be obtained by the camera, may also be obtained by the server, or may be obtained by other hardware devices or software programs, etc. that can obtain the current video frame of the monitored road section shot by the camera.
The camera can be a camera which can shoot a monitored road section under low visibility, or can detect the position of the vehicle, such as an infrared fog-penetrating camera, and can effectively identify the vehicle and detect the position of the vehicle after optical fog penetration and algorithm fog penetration processing.
S102: carrying out vehicle detection on the current video frame;
in practical application, the vehicle detection is performed on the current video frame, and whether a vehicle exists in the current video frame may be detected by performing image processing on the current video frame. The specific image processing process can be that the video data collected by the camera is subjected to feature extraction and selection by using a specific algorithm, and then the selected features form a classifier so as to perform vehicle identification by using the classifier.
S103: when a vehicle is detected, judging whether the position of the vehicle is a preset trigger position or not;
in practical application, when a vehicle is detected in a video frame, whether the position of a pixel point where the vehicle is located is a preset trigger position is judged.
S104: and if the position of the vehicle is a preset trigger position, sending a first control instruction to the light-emitting guide facility corresponding to the trigger position so as to enable the light-emitting guide facility corresponding to the trigger position to work according to the first control instruction.
By applying the embodiment shown in fig. 1, a video frame of a monitored road section is obtained, the position of a vehicle in the video frame is detected, a first control instruction is sent to the light-emitting guiding facility, and the light-emitting guiding facility is controlled to work according to the first control instruction, so that guidance is provided for the vehicle. Because detection devices such as laser, infrared, microwave and earth magnetism are not needed in the process, the cost caused by laying the detection devices such as laser, infrared, microwave and earth magnetism in the prior art is reduced while road guidance is provided for the vehicle.
In one embodiment, each light-emitting guiding facility corresponds to one triggering position, and when a vehicle is detected in S103, it is determined whether the position of the vehicle is a preset triggering position, or whether the position of the vehicle matches a triggering position corresponding to one of the plurality of light-emitting guiding facilities. The position of the vehicle may be, preferably, a position of a head of the vehicle, or a position of any component of the vehicle, such as a lamp or a wheel.
In one case, as shown in fig. 2, a plurality of light-emitting guiding facilities may be sequentially installed at one side or both sides of the road at preset intervals, and the triggering position corresponding to the light-emitting guiding facility may be a position of a trigger line marked in a video frame, or a position corresponding to pixel coordinates satisfying a preset functional relationship. The trigger line may be a connection line connecting the mark point in the road section in the video frame and the light-emitting guide facility, or a connection line having a preset distance from the light-emitting guide facility.
At this time, whether the position of the vehicle is matched with the trigger position corresponding to one of the plurality of light-emitting guide facilities or not is judged, and whether a pixel point where the vehicle head is located on the trigger line or not or whether the coordinate of the pixel point meets the preset functional relationship or not can be judged.
In order to conveniently judge whether the position of the vehicle is matched with the trigger position corresponding to one of the plurality of light-emitting guide facilities, the trigger position corresponding to the light-emitting guide facility needs to be calibrated in a video frame. In the embodiment of the invention, the triggering position can be calibrated in various ways.
The first way to calibrate the trigger position is: the method for calibrating the trigger position by shooting the mark point with the camera for shooting the road, as shown in fig. 3, may include:
s301: shooting a point in an actual monitored road section; the line of the point and the actual road side light-emitting guide facility is perpendicular to the road lane line;
in practical application, the light-emitting guiding facility on the actual road side may be a low-power LED lamp array, which emits red light or yellow light in operation state, and one light-emitting guiding facility may be a group of low-power LED lamp arrays.
In order to mark the triggering position of the luminous guide facility in the video frame, first of all, a point P in the actual monitored route is soughtiWhere i is the identification number of the road-side light-emitting guide facility, i.e. the point PiThe corresponding is the ith luminous guide facility at the road side, the connecting line of the point and the luminous guide facility at the actual road side is perpendicular to the lane line of the road, then the point is shot into a video frame by using a road monitoring camera, and the point is marked in the video frame.
S302: a point photographed in a video frame is designated as a mark point, and a line connecting the mark point and a light emitting guide facility in the video frame is designated as a first trigger line.
In practical applications, the first trigger line may extend through all lanes in the same direction; one for each lighting guiding facility.
In another case, in order to satisfy the condition for triggering the light-emitting guide facility when the vehicle has not reached the first trigger line position, the light-emitting guide facility in front of the vehicle is controlled to operate according to the first control instruction to guide the vehicle, and the second trigger line needs to be calibrated. The second trigger line is a connection line which penetrates through all lanes in the same direction in the monitoring road section in the video frame and is away from each light-emitting guide facility by a preset distance; one for each lighting guiding facility. The calibration method of the second trigger line is similar to that of the first trigger line, and is not described herein again.
The second way to calibrate the trigger position is: and converting the mark points by using a perspective transformation method so as to calibrate the trigger position. Specifically, as shown in fig. 4, the method may include:
s401: acquiring a geographical position coordinate of a point in an actual monitored road section; the line of the point and the actual road side light-emitting guide facility is perpendicular to the road lane line;
in practical applications, first, a point P in the actual monitored road section is foundiWhere i is the identification number of the road-side light-emitting guide facility, i.e. the point PiThe lighting guide facility is the ith lighting guide facility at the road side, the connecting line of the lighting guide facility at the actual road side and the point is perpendicular to the lane line of the road, and then the geographic position coordinates of the point are recorded.
S402: carrying out perspective transformation on the geographic position coordinates of the points to obtain the corresponding points of the points in a video frame coordinate system;
in practical application, the geographic position coordinates of the recorded points are used as initial data of perspective transformation, a preset perspective matrix is input, and perspective transformation is carried out to obtain the corresponding points of the middle points of the actual monitored road sections in a video frame coordinate system.
S403: and marking the point corresponding to the obtained point in the video frame as a marking point, and marking the connecting line of the marking point and the light-emitting guide facility in the video frame as a first trigger line.
In practical applications, the first trigger line may extend through all lanes in the same direction; one for each lighting guiding facility.
In another case, in order to satisfy the condition for triggering the light-emitting guide facility when the vehicle has not reached the first trigger line position, the light-emitting guide facility in front of the vehicle is controlled to operate according to the first control instruction to guide the vehicle, and the second trigger line needs to be calibrated. The calibration method of the second trigger line is similar to that of the first trigger line, and is not described herein again.
At this time, whether the position of the vehicle is matched with the trigger position corresponding to one of the plurality of light-emitting guide facilities or not is judged, whether pixel points where the vehicle head is located are located on the trigger line or not can be judged, and whether the positions of a preset number of pixel points in all the pixel points where the vehicle head is located are located at the trigger position or not can be judged.
In one case, another way of determining whether the vehicle position meets the trigger condition may be to determine whether to send the vehicle to the light-emitting guiding facility by determining whether the coordinates of the pixel points where the vehicle head is located meet a preset functional relationship when the vehicle is detectedA first control instruction. The function relation is as follows: the functional relationship between the abscissa and the ordinate of a point on said first or second trigger line may be yi＝f(xi) Wherein a isi＜xi＜bi，yiIs the coordinate value of y-axis in the video frame coordinate system, xiIs the coordinate value of the x-axis in the video frame coordinate system, aiAnd biThe minimum value and the maximum value which are respectively taken by the x on the first trigger line or the second trigger line, and the coordinate system of the video frame is a coordinate system which takes the upper left corner of the current video frame as the origin, is the positive direction of the x axis towards the right and is the positive direction of the y axis downwards.
At this time, it is determined whether the position of the vehicle matches a trigger position corresponding to one of the plurality of light-emitting guide facilities, which may be determined whether coordinates of a pixel point where the vehicle head is located satisfy a preset functional relationship.
Further, another flowchart of a method for controlling a light-emitting guidance facility is provided in an embodiment of the present invention, as shown in fig. 5, in which when a plurality of vehicles are detected in a video frame, it is determined whether a distance between the vehicles is smaller than a preset inter-vehicle distance, so as to perform guidance for passing by following the vehicle. Specifically, the method may include:
s501: acquiring a current video frame of a monitoring road section shot by a camera;
s502: carrying out vehicle detection on the current video frame;
s503: when a plurality of vehicles are detected, obtaining the position information of each vehicle;
in practical applications, the camera may obtain the position information of each vehicle, the server may obtain the position information of each vehicle, or other hardware devices or software programs that can obtain the position information of each vehicle.
S504: judging whether the distance between the rear vehicle and the front vehicle is smaller than a preset workshop distance or not according to the position information of each vehicle; if so, go to S506;
s506: and sending a second control instruction to the light-emitting guide facility with the shortest distance between the front side of the rear vehicle and the rear vehicle so as to enable the light-emitting guide facility with the shortest distance between the front side of the rear vehicle and the rear vehicle to work according to the second control instruction.
Under one condition, the position of the vehicle in the current video frame is detected, and meanwhile, a lane line can be detected in the current video frame, so that lanes where different vehicles are located are identified, and the following vehicle is guided to pass by according to different lanes.
By applying the embodiment shown in fig. 5, a second control instruction is sent to the light-emitting guiding facility by detecting whether the distance between the rear vehicle and the front vehicle is smaller than the preset inter-vehicle distance, so that the light-emitting guiding facility guides according to the second control instruction. Because detection devices such as laser, infrared, microwave and geomagnetism are not needed in the process, the cost caused by laying the detection devices such as laser, infrared, microwave and geomagnetism in the prior art is reduced while road guidance is provided for the vehicle.
Furthermore, in the embodiment of the present invention, an ambient light parameter of the monitored road section is obtained, and the ambient light parameter is compared with a preset threshold value, so as to control the light emitting guiding facility to operate according to a corresponding control instruction. As shown in fig. 6, fig. 6 is a schematic flowchart of another method for controlling a lighting guiding facility according to an embodiment of the present invention, which may specifically include:
s601: acquiring an ambient light parameter of the monitored road section detected by an ambient detection device in real time;
in practical applications, the environment detection device is connected to the light-emitting guide facility through a communication interface, and the environment detection device may be an ambient light detector, such as an illuminometer, for detecting ambient illuminance, or may be a visibility detector for detecting visibility. The environment detection device can be installed along a road so as to detect the ambient light parameters of the monitored road section in real time, such as: illumination or visibility.
In addition, the environment detection device further comprises an environment detector and a visibility detector, and then, the environment light parameter can be illuminance and visibility.
S602: judging whether the ambient light parameter is lower than a preset first threshold value or not; if yes, executing S603;
in practical application, whether the ambient light parameter is lower than a preset first threshold value may be determined by determining whether an illuminance value detected by the ambient light detector is lower than a preset illuminance first threshold value, or whether a visibility value detected by the visibility detector is lower than a preset visibility first threshold value.
If the ambient light parameter can be illuminance and visibility, whether the ambient light parameter is lower than a preset first threshold value can be judged, whether an illuminance value detected by the ambient light detector is lower than a preset illuminance first threshold value and whether a visibility value detected by the visibility detector is lower than a preset visibility first threshold value can be judged.
S603: acquiring a current video frame of a monitoring road section shot by a camera;
s604: carrying out vehicle detection on the current video frame; if the vehicle is detected, executing S605; if a plurality of vehicles are detected, executing S607;
s605: judging whether the position of the vehicle is a preset trigger position or not; if so, go to S606;
s606: sending a first control instruction to the light-emitting guide facility corresponding to the trigger position so that the light-emitting guide facility corresponding to the trigger position sends preset rear-end collision prevention warning color light for a preset duration;
in practical application, the preset rear-end collision prevention warning color light can be red light emitted by an indicator light of the light-emitting guide facility and lasts for a preset time. The preset time can be 1-3 seconds. The indicator lights of the luminous guide facility are luminous for a preset duration, and a certain number of luminous driving trails of the indicator lights can be formed at the tail part of the vehicle triggering the luminous guide facility, so that the rear-end collision prevention warning effect is achieved for the rear vehicle.
S607: obtaining the position information of each vehicle, and judging whether the distance between a rear vehicle and a front vehicle is smaller than a preset workshop distance or not; if so, go to S608;
s608: and sending a second control instruction to the luminous guide facility with the shortest distance between the front part of the rear vehicle and the rear vehicle so that the luminous guide facility with the shortest distance between the front part of the rear vehicle and the rear vehicle sends preset following and passing light and flickers at a preset frequency.
In practical application, the preset near-color light for following the vehicle can be red light emitted by an indicator lamp of the light-emitting guide facility, and the light flashes at a preset frequency. When the distance between the rear vehicle and the front vehicle is smaller than the preset distance between the vehicles, the light-emitting guide facility which is the closest to the rear vehicle in front of the rear vehicle is triggered to emit red light and twinkle, so that the warning effect of the rear vehicle when the rear vehicle is close to the rear vehicle is achieved.
In addition, when the distance between the rear vehicle and the front vehicle is detected to be smaller than the preset vehicle distance, the vehicle can be subjected to vehicle following over-approach warning guidance in other forms, such as voice warning by controlling a voice player.
By applying the embodiment shown in fig. 6, the ambient light parameter of the monitored road section is obtained, and the ambient light parameter is compared with the preset threshold value, so that the light-emitting guide facility is controlled to emit the rear-end collision prevention warning color light according to the first control instruction, the preset duration is continued, the rear-end collision prevention warning effect is achieved, or the rear-end collision prevention warning color light is emitted according to the second control instruction, the rear-end collision prevention warning effect is achieved, the rear-end collision prevention warning color light flickers at the preset frequency, and the rear-end collision prevention warning effect is achieved. Because detection devices such as laser, infrared, microwave and geomagnetism are not needed in the process, the cost caused by laying the detection devices such as laser, infrared, microwave and geomagnetism in the prior art is reduced while road guidance is provided for the vehicle.
In one embodiment, when the ambient light parameter of the monitored road section detected by the ambient detection device is obtained in real time and is judged to be lower than a preset first threshold, whether the ambient light parameter is higher than a preset second threshold can be judged; wherein the second threshold is less than the first threshold.
If the ambient light parameter is higher than a preset second threshold value, sending a third control instruction to all the light-emitting guiding facilities so that all the light-emitting guiding facilities emit preset road contour intensified color light; the preset road contour intensified color light can be yellow light emitted by an indicator light of a luminous guide facility and keeps a normally-on state.
And if the ambient light parameter is not higher than a preset second threshold value, sending a fourth control instruction to all the light-emitting guide facilities so that all the light-emitting guide facilities emit preset driving active guide color light and flicker at a preset frequency. The preset driving active guiding color light can be a normally bright yellow light emitted by an indicator light of a luminous guiding facility and is in a flashing state at a preset frequency.
In one case, the ambient light parameter may be visibility and illuminance, and then, it is determined whether the ambient light parameter is higher than a preset second threshold, which may be determining whether the visibility is higher than the preset second threshold and determining whether the illuminance is higher than the preset second threshold.
In this embodiment, the ambient light parameter is compared with a preset second threshold value to determine whether all the light-emitting guidance facilities in the monitored road section should be adjusted to the road contour intensified color light or the driving active guidance color light currently, so as to provide corresponding guidance for the vehicles in the road.
Further, as shown in fig. 7, fig. 7 is a flowchart of a method for controlling a lighting guiding facility, which is applied to a camera, where the camera acquires a current video frame, performs vehicle detection on the video frame, determines a vehicle position, and then issues a first trigger instruction, so that a server in communication connection with the camera sends a fifth control instruction to a corresponding lighting guiding facility to control an operating state of the lighting guiding facility. Specifically, the method may include:
s701: acquiring a current video frame of a shot monitoring road section;
s702: carrying out vehicle detection on the current video frame;
s703: when a vehicle is detected, judging whether the position of the vehicle is a preset trigger position or not; if so, go to S704;
s704: sending a first trigger instruction aiming at the light-emitting guide facility corresponding to the trigger position to a server which is in communication connection with the camera; and enabling the server to send a fifth control instruction to the light-emitting guide facility corresponding to the trigger position according to the first trigger instruction, so that the light-emitting guide facility corresponding to the trigger position works according to the fifth control instruction.
In practical application, the light-emitting guide facility corresponding to the trigger position is made to operate according to the fifth control instruction, and the light-emitting guide facility corresponding to the trigger position may be made to emit preset rear-end collision prevention warning color light for a preset duration to perform rear-end collision prevention warning on the vehicle.
By applying the embodiment shown in fig. 7, the camera acquires the video frame, detects the position of the vehicle in the video frame, and sends a trigger instruction to the server, so that the server sends a control instruction to the light-emitting guiding facility to control the light-emitting guiding facility to operate according to the control instruction, and provide guidance for the vehicle. Because the video frame is obtained in the process, the vehicle position is detected and the triggering instruction is sent by the camera, and no detection devices such as laser, infrared, microwave and geomagnetic are used, the cost caused by laying the detection devices such as laser, infrared, microwave and geomagnetic in the prior art is reduced while road guidance is provided for the vehicle.
In one embodiment, the camera may further obtain position information of each vehicle when a plurality of vehicles are detected; judging whether the distance between the rear vehicle and the front vehicle is smaller than a preset workshop distance or not according to the position information of each vehicle;
if the distance between the rear vehicle and the front vehicle is smaller than the preset distance between the vehicles, sending a second trigger instruction aiming at the light-emitting guide facility with the shortest distance between the front side of the rear vehicle and the rear vehicle to a server in communication connection with the camera; and enabling the server to send a sixth control instruction to the light-emitting guide facility with the shortest distance between the front part of the rear vehicle and the rear vehicle according to the second trigger instruction, so that the light-emitting guide facility with the shortest distance between the front part of the rear vehicle and the rear vehicle works according to the sixth control instruction.
In practical application, the light-emitting guiding facility with the closest distance between the front part of the rear vehicle and the rear vehicle can work according to a sixth control instruction, and the light-emitting guiding facility with the closest distance between the front part of the rear vehicle and the rear vehicle can emit preset light with the same color as the rear vehicle and flicker at a preset frequency to warn the vehicle of the same color as the rear vehicle.
Further, as shown in fig. 8, fig. 8 is a flowchart of a method for controlling a lighting guiding facility, which is applied to a server in communication connection with a camera, where the server receives a trigger command sent by the camera and sends a control command to the corresponding lighting guiding facility to control an operating state of the lighting guiding facility. Specifically, the method may include:
s801: receiving a first trigger instruction which is sent by a camera and aims at the light-emitting guide facility; the first trigger instruction is as follows: when the camera detects that a vehicle exists in a current video frame of a shot monitoring road section and the position of the vehicle is a preset trigger position, sending a trigger instruction aiming at a light-emitting guide facility corresponding to the trigger position to a server in communication connection with the camera;
s802: and sending a fifth control instruction to the light-emitting guide facility corresponding to the trigger position according to the first trigger instruction so as to enable the light-emitting guide facility corresponding to the trigger position to work according to the fifth control instruction.
By applying the embodiment shown in fig. 8, the server receives the first trigger instruction sent by the camera, and sends a fifth control instruction to the corresponding light-emitting guiding facility to control the light-emitting guiding facility to send the rear-end collision prevention warning color light according to the fifth control instruction, and keeps the preset time length to provide the rear-end collision prevention warning for the vehicle. In the process, the server receives the trigger instruction sent by the camera after detecting the position of the vehicle to control the light-emitting guide facility, and detection devices such as laser, infrared, microwave and geomagnetism are not used, so that road guide is provided for the vehicle, and meanwhile, the cost caused by laying of the detection devices such as the laser, the infrared, the microwave and the geomagnetism in the prior art is reduced.
In one embodiment, the server may further receive a second trigger instruction for the lighting guidance facility sent by the camera; the second trigger instruction is as follows: when the camera detects that a plurality of vehicles exist in a current video frame of a shot monitoring road section and the distance between a rear vehicle and a front vehicle in the plurality of vehicles is less than a preset vehicle-to-vehicle distance, a trigger instruction aiming at a luminous guide facility with the shortest distance between the front side and the rear vehicle of the rear vehicle is sent to a server in communication connection with the camera;
and according to the second trigger instruction, sending a sixth control instruction to the light-emitting guide facility with the shortest distance between the front side of the rear vehicle and the rear vehicle so as to enable the light-emitting guide facility with the shortest distance between the front side of the rear vehicle and the rear vehicle to work according to the sixth control instruction.
In practical application, the light-emitting guiding facility closest to the rear vehicle in front of the rear vehicle may be made to operate according to a sixth control instruction, and the light-emitting guiding facility closest to the rear vehicle in front of the rear vehicle may be made to emit light with a warning color for indicating that the vehicle is passing by, and flicker at a preset frequency.
In this embodiment, the server receives the second trigger instruction sent by the camera, and sends a sixth control instruction to the corresponding light-emitting guiding facility to control the light-emitting guiding facility to emit light with a color close to the following vehicle, and the light flashes at a preset frequency to provide warning that the following vehicle is close to the following vehicle for the vehicle.
In one case, the server may further be connected to an environment detection device, such as an ambient light detector or a visibility detector, so that the server may receive, in real time, an ambient light parameter of the monitored road section detected by the environment detection device; judging whether the ambient light parameter is lower than a preset first threshold value or not;
and if the ambient light parameter is lower than a preset first threshold value, executing a step of sending a fifth control instruction to the light-emitting guide facility corresponding to the trigger position according to the first trigger instruction, and/or executing a step of sending a sixth control instruction to the light-emitting guide facility in front of the rear vehicle and closest to the rear vehicle according to the second trigger instruction.
That is, when the ambient light parameter is lower than the preset first threshold, the server sends a fifth control instruction to the light-emitting guide facility corresponding to the trigger position according to the first trigger instruction, so that the light-emitting guide facility corresponding to the trigger position sends a preset rear-end collision prevention warning color light and continues for a preset time length to provide a rear-end collision prevention warning for the vehicle, and/or sends a sixth control instruction to the light-emitting guide facility in front of the rear vehicle and closest to the rear vehicle according to the second trigger instruction, so that the light-emitting guide facility in front of the rear vehicle and closest to the rear vehicle sends a preset rear-vehicle passing near color light and flashes at a preset frequency to provide vehicle passing near guidance.
Under another condition, the server receives the ambient light parameter of the monitored road section detected by the ambient detection equipment in real time, and after the ambient light parameter is judged to be lower than a preset first threshold value, whether the ambient light parameter is higher than a preset second threshold value can also be judged; the second threshold is less than the first threshold;
if the ambient light parameter is higher than a preset second threshold value, sending a seventh control instruction to all the light-emitting guiding facilities so that all the light-emitting guiding facilities emit preset road contour intensified color light;
and if the ambient light parameter is not higher than a preset second threshold value, sending an eighth control instruction to all the light-emitting guide facilities so that all the light-emitting guide facilities emit preset driving active guide color light and flicker at a preset frequency.
Further, another flowchart of the method for controlling the lighting guiding facility applied to the server in communication connection with the camera is provided in the embodiment of the present invention, as shown in fig. 9. The server obtains the position information of the vehicle shot by the camera, judges the position of the vehicle as a trigger position according to the position information of the vehicle, and then sends a control instruction to the corresponding light-emitting guide facility so as to control the working state of the light-emitting guide facility. Specifically, the method may include:
s901: obtaining position information of a vehicle shot by a camera in a monitored road section thereof;
s902: judging whether the position of the vehicle is a preset trigger position or not; if so, executing S903;
s903: and sending a ninth control instruction to the light-emitting guide facility corresponding to the trigger position so that the light-emitting guide facility corresponding to the trigger position works according to the ninth control instruction.
In practical application, the light-emitting guide facility corresponding to the trigger position is enabled to work according to the ninth control instruction, and the light-emitting guide facility corresponding to the trigger position can emit preset rear-end collision prevention warning color light and continuously preset duration to perform rear-end collision prevention warning on the vehicle.
By applying the embodiment shown in fig. 9, the server obtains the position information of the vehicle shot by the camera, judges the position of the vehicle as the trigger position according to the position information of the vehicle, and sends a control instruction to the corresponding light-emitting guiding facility to control the light-emitting guiding facility to work according to the control instruction. In the process, the vehicle position is detected by using the camera or the server, and detection devices such as laser, infrared, microwave, geomagnetism and the like are not used, so that road guidance is provided for the vehicle, and meanwhile, the cost caused by laying the detection devices such as the laser, the infrared, the microwave, the geomagnetism and the like in the prior art is reduced.
In one case, the position information of the vehicle shot by the camera in the monitored road section thereof is obtained in S901, and the server may receive the position information of the vehicle shot by the camera in the monitored road section thereof; the position information of the vehicle is: the camera carries out vehicle detection on the shot current video frame; when the vehicle is detected, obtaining the position information of the vehicle;
or the server receives a current video frame of a camera monitoring road section shot currently sent by the camera; carrying out vehicle detection on the current video frame; when the presence of the vehicle is detected, position information of the vehicle is obtained.
In one embodiment, the server obtains the position information, and if the number of vehicles is more than one, according to the position information of each vehicle, whether the distance between the rear vehicle and the front vehicle is less than a preset vehicle-to-vehicle distance is judged; if so, a tenth control command is sent to the light-emitting guide facility with the shortest distance between the front side of the rear vehicle and the rear vehicle, so that the light-emitting guide facility with the shortest distance between the front side of the rear vehicle and the rear vehicle operates according to the tenth control command.
In practical application, the light-emitting guiding facility closest to the rear vehicle in front of the rear vehicle may be made to operate according to a tenth control instruction, and the light-emitting guiding facility closest to the rear vehicle in front of the rear vehicle may be made to emit preset following passing near-color light and flash at a preset frequency.
In this embodiment, the server obtains the position information of the plurality of vehicles shot by the cameras, and sends a tenth control instruction to the corresponding light-emitting guiding facilities to control the light-emitting guiding facilities to emit light with a color close to the following vehicle, and the light flashes at a preset frequency to provide warning of the following vehicle.
In one case, in the embodiment shown in fig. 9, the server may further be connected to an environment detection device, such as an environment light detector, or a visibility detector, so that the server may receive, in real time, the environment light parameter of the monitored road section detected by the environment detection device; judging whether the ambient light parameter is lower than a preset first threshold value or not;
the step of obtaining position information of the vehicle photographed by the camera in its monitored section is performed if the ambient light parameter is lower than a preset first threshold.
After the position information of the vehicle shot by the camera in the monitoring road section of the vehicle is obtained, judging whether the position of the vehicle is a preset trigger position or not, if so, sending a ninth control instruction to a luminous guide facility corresponding to the trigger position so that the luminous guide facility corresponding to the trigger position sends preset rear-end collision prevention warning color light for a preset time to provide rear-end collision prevention warning for the vehicle;
and/or judging whether the distance between the rear vehicle and the front vehicle is smaller than the preset distance between the vehicles, if so, sending a tenth control instruction to the luminous guide facility in front of the rear vehicle and closest to the rear vehicle so that the luminous guide facility in front of the rear vehicle and closest to the rear vehicle sends preset light with the color of passing close to the rear vehicle and flickers at a preset frequency so as to provide the vehicle with the guide of passing close to the rear vehicle.
In another case, in the embodiment shown in fig. 9, the server receives the ambient light parameter of the monitored road section detected by the ambient detection device in real time, and after determining that the ambient light parameter is lower than the preset first threshold, may also determine whether the ambient light parameter is higher than the preset second threshold; the second threshold is less than the first threshold;
if the ambient light parameter is higher than a preset second threshold value, an eleventh control instruction is sent to all the light-emitting guide facilities so that all the light-emitting guide facilities emit preset road contour intensified color light;
and if the ambient light parameter is not higher than a preset second threshold value, sending a twelfth control instruction to all the light-emitting guide facilities so that all the light-emitting guide facilities emit preset driving active guide color light and flicker at a preset frequency.
Corresponding to the embodiment of the method shown in fig. 1, the embodiment of the present invention further provides a control device of a lighting guiding facility, as shown in fig. 10, the device includes:
a first obtaining module 1001, configured to obtain a current video frame of a monitored road section captured by a camera;
a first detection module 1002, configured to perform vehicle detection on a current video frame;
the first judging module 1003 is configured to, when a vehicle is detected, judge whether a position where the vehicle is located is a preset trigger position;
the first sending module 1004 is configured to send a first control instruction to the light-emitting guiding facility corresponding to the trigger position when the vehicle is detected and the position where the vehicle is located is determined to be the preset trigger position, so that the light-emitting guiding facility corresponding to the trigger position operates according to the first control instruction.
Specifically, in this embodiment, the first determining module 1003 is specifically configured to determine whether a position of the vehicle matches a trigger position corresponding to one of the plurality of light-emitting guiding facilities; wherein each lighting guiding facility corresponds to a triggering position.
Specifically, in the present embodiment, the plurality of light emitting guide facilities are sequentially installed at one side or both sides of the road at preset intervals;
the triggering positions corresponding to the light-emitting guide facilities are as follows: the method comprises the following steps of calibrating the position of a trigger line in a video frame, or the position corresponding to a pixel coordinate meeting a preset functional relationship;
the trigger line is as follows: a line connecting a mark point in a road section in a video frame with the light-emitting guide facility, or a line having a preset distance from the light-emitting guide facility;
the first determining module 1003 is specifically configured to determine whether a pixel point where the vehicle head is located on the trigger line, or whether a coordinate of the pixel point meets the preset functional relationship.
Specifically, in this embodiment, the apparatus may further include:
a first position acquisition module (not shown) for acquiring position information of each vehicle when a plurality of vehicles are detected;
a first vehicle distance judging module (not shown) for judging whether the distance between the rear vehicle and the front vehicle is less than a preset vehicle distance according to the position information of each vehicle;
and the first instruction sending module (not shown) is used for sending a second control instruction to the light-emitting guide facility which is in front of the rear vehicle and is closest to the rear vehicle when the distance between the rear vehicle and the front vehicle is judged to be smaller than the preset vehicle-to-vehicle distance, so that the light-emitting guide facility which is in front of the rear vehicle and is closest to the rear vehicle works according to the second control instruction.
Specifically, in this embodiment, the apparatus may further include:
a first parameter obtaining module (not shown) for obtaining an ambient light parameter of the monitored road section detected by the ambient detection device in real time;
a first threshold determining module (not shown) for determining whether the ambient light parameter is lower than a preset first threshold; if yes, executing the step of acquiring the current video frame of the monitored road section shot by the camera;
the first sending module 1004 is specifically configured to send a first control instruction to the light-emitting guiding facility corresponding to the trigger position, so that the light-emitting guiding facility corresponding to the trigger position sends a preset rear-end collision prevention warning color light and lasts for a preset duration;
the first instruction sending module (not shown) is specifically configured to send a second control instruction to the light-emitting guiding facility closest to the rear vehicle in front of the rear vehicle, so that the light-emitting guiding facility closest to the rear vehicle in front of the rear vehicle sends preset light with a color close to that of the rear vehicle, and the light-emitting guiding facility flickers at a preset frequency.
Specifically, in this embodiment, the apparatus further includes:
a second threshold determination module (not shown) configured to determine whether the ambient light parameter is higher than a preset second threshold after determining that the ambient light parameter is lower than the preset first threshold; the second threshold is less than the first threshold;
a second instruction sending module (not shown) for determining that the ambient light parameter is higher than a preset second threshold value, and sending a third control instruction to all the light-emitting guiding facilities so that all the light-emitting guiding facilities emit preset road contour intensified color light;
and the third instruction sending module (not shown) is used for judging that the ambient light parameter is not higher than a preset second threshold value, and sending a fourth control instruction to all the light-emitting guiding facilities so that all the light-emitting guiding facilities emit preset driving active guiding color light and flicker at a preset frequency.
By applying the embodiment shown in fig. 10, the video frame of the monitored road section is acquired, the position of the vehicle is detected, the first control instruction is sent to the light-emitting guiding facility, and the light-emitting guiding facility is controlled to switch the working state, so that the purpose of guiding the vehicle is achieved. Because detection devices such as laser, infrared, microwave and earth magnetism are not needed in the process, the cost caused by laying the detection devices such as laser, infrared, microwave and earth magnetism in the prior art is reduced while road guidance is provided for the vehicle.
Corresponding to the embodiment of the method shown in fig. 7, the embodiment of the present invention further provides a control device for a lighting guiding facility, which is applied to a camera, as shown in fig. 11, and the device includes:
a second obtaining module 1101, configured to obtain a current video frame of a shot monitoring road segment;
a second detection module 1102, configured to perform vehicle detection on a current video frame;
a second judging module 1103, configured to, when a vehicle is detected, judge whether a position of the vehicle is a preset trigger position;
a second sending module 1104, configured to send, when a vehicle is detected and it is determined that a position where the vehicle is located is a preset trigger position, a first trigger instruction for a light-emitting guidance facility corresponding to the trigger position to a server in communication connection with the camera; and enabling the server to send a fifth control instruction to the light-emitting guiding facility corresponding to the trigger position according to the first trigger instruction, so that the light-emitting guiding facility corresponding to the trigger position works according to the fifth control instruction.
Specifically, in this embodiment, the apparatus further includes:
a second position obtaining module (not shown) for obtaining position information of each vehicle when a plurality of vehicles are detected;
a second vehicle distance judging module (not shown) for judging whether the distance between the rear vehicle and the front vehicle is less than the preset vehicle distance according to the position information of each vehicle;
a fourth instruction sending module (not shown in the figure), configured to send, to a server in communication connection with the camera, a second trigger instruction for a light-emitting guidance facility that is closest to a rear vehicle in front of the rear vehicle when it is determined that a distance between the rear vehicle and a front vehicle is smaller than a preset inter-vehicle distance; and enabling the server to send a sixth control instruction to the light-emitting guide facility with the shortest distance between the front side of the rear vehicle and the rear vehicle according to the second trigger instruction, so that the light-emitting guide facility with the shortest distance between the front side of the rear vehicle and the rear vehicle works according to the sixth control instruction.
By applying the embodiment shown in fig. 11, the camera acquires the video frame, detects the position of the vehicle in the video frame, and sends a trigger instruction to the server, so that the server sends a control instruction to the light-emitting guiding facility to control the light-emitting guiding facility to operate according to the control instruction, thereby providing guidance for the vehicle. Because the video frame is obtained in the process, the vehicle position is detected and the triggering instruction is sent by the camera, and no detection devices such as laser, infrared, microwave and geomagnetic are used, the cost caused by laying the detection devices such as laser, infrared, microwave and geomagnetic in the prior art is reduced while road guidance is provided for the vehicle.
Corresponding to the embodiment of the method shown in fig. 8, the embodiment of the present invention further provides a schematic structural diagram of a control apparatus of a lighting guiding facility applied to a server in communication connection with a camera, as shown in fig. 12, the apparatus includes:
a first receiving module 1201, configured to receive a first trigger instruction sent by the camera for a light-emitting guidance facility corresponding to the trigger position; the first trigger instruction is as follows: when the camera detects that a vehicle exists in a current video frame of a shot monitoring road section and the position of the vehicle is a preset trigger position, sending a trigger instruction aiming at a light-emitting guide facility corresponding to the trigger position to a server in communication connection with the camera;
a third sending module 1202, configured to send a fifth control instruction to the light-emitting guiding facility corresponding to the trigger position according to the first trigger instruction, so that the light-emitting guiding facility corresponding to the trigger position operates according to the fifth control instruction.
Specifically, in this embodiment, the apparatus further includes:
a second receiving module (not shown) for receiving a second trigger instruction for the lighting guide facility sent by the camera; the second trigger instruction is as follows: when the camera detects that a plurality of vehicles exist in a current video frame of a shot monitoring road section and the distance between a rear vehicle and a front vehicle in the plurality of vehicles is less than a preset vehicle-to-vehicle distance, a trigger instruction for a light-emitting guide facility with the shortest distance between the front side of the rear vehicle and the rear vehicle is sent to a server in communication connection with the camera;
and a fifth instruction sending module (not shown) for sending a sixth control instruction to the light-emitting guiding facility closest to the rear vehicle in front of the rear vehicle according to the second trigger instruction, so that the light-emitting guiding facility closest to the rear vehicle in front of the rear vehicle works according to the sixth control instruction.
Specifically, in this embodiment, the server is further connected to an environment detection device; the device, still include:
a second parameter obtaining module (not shown) for receiving the ambient light parameter of the monitored road section detected by the ambient detection device in real time;
a third threshold determining module (not shown) for determining whether the ambient light parameter is lower than a preset first threshold; if so, executing a step of sending a fifth control instruction to the light-emitting guide facility corresponding to the trigger position according to the first trigger instruction, and/or executing a step of sending a sixth control instruction to the light-emitting guide facility with the shortest distance between the front part and the rear part of the rear vehicle according to the second trigger instruction;
the third sending module 1202 is specifically configured to send a fifth control instruction to the light-emitting guiding facility corresponding to the trigger position according to the first trigger instruction, so that the light-emitting guiding facility corresponding to the trigger position sends a preset rear-end collision prevention warning color light and lasts for a preset duration;
and the fifth instruction sending module (not shown) is specifically configured to send a sixth control instruction to the light-emitting guiding facility closest to the rear vehicle in front of the rear vehicle according to the second trigger instruction, so that the light-emitting guiding facility closest to the rear vehicle in front of the rear vehicle sends preset light with a color close to that of the rear vehicle, and the light-emitting guiding facility flickers at a preset frequency.
Specifically, in this embodiment, the apparatus further includes:
a fourth threshold determination module (not shown) configured to determine whether the ambient light parameter is higher than a preset second threshold after determining that the ambient light parameter is lower than the preset first threshold;
a sixth instruction sending module (not shown in the figures), configured to send a seventh control instruction to all the light-emitting guiding facilities when it is determined that the ambient light parameter is higher than the preset second threshold, so that all the light-emitting guiding facilities emit preset road contour intensified color light;
and the seventh instruction sending module (not shown) is configured to send an eighth control instruction to all the light-emitting guiding facilities when it is determined that the ambient light parameter is not higher than the preset second threshold, so that all the light-emitting guiding facilities send out preset driving active guiding color light and flicker at a preset frequency.
By applying the embodiment shown in fig. 12, the server receives the first trigger instruction sent by the camera, and sends a fifth control instruction to the corresponding light-emitting guiding facility to control the light-emitting guiding facility to send the rear-end collision prevention warning color light according to the fifth control instruction, and keeps the preset time length to provide the rear-end collision prevention warning for the vehicle. In the process, the server receives the trigger instruction sent by the camera after detecting the position of the vehicle to control the light-emitting guide facility, and detection devices such as laser, infrared, microwave and geomagnetism are not used, so that road guide is provided for the vehicle, and meanwhile, the cost caused by laying of the detection devices such as the laser, the infrared, the microwave and the geomagnetism in the prior art is reduced.
Corresponding to the method embodiment shown in fig. 9, another schematic structural diagram of the control device of the light-emitting guiding facility applied to the server in communication connection with the camera is also provided in the embodiment of the present invention, as shown in fig. 13, the device includes:
a third obtaining module 1301, configured to obtain position information of a vehicle shot by a camera in a monitored road section thereof;
a third determining module 1302, configured to determine whether a position of the vehicle is a preset trigger position;
and a fourth sending module 1303, configured to send a ninth control instruction to the light-emitting guiding facility corresponding to the trigger position when it is determined that the position where the vehicle is located is the preset trigger position, so that the light-emitting guiding facility corresponding to the trigger position operates according to the ninth control instruction.
Specifically, in this embodiment, the third obtaining module 1301 includes:
a first receiving submodule (not shown) for receiving position information of the vehicle shot in the monitored road section from the camera; the position information of the vehicle is: the camera carries out vehicle detection on the shot current video frame; when the vehicle is detected, obtaining the position information of the vehicle; or,
a second receiving submodule (not shown in the figure) for receiving a current video frame of a currently shot camera monitoring road section sent by the camera;
a first detection submodule (not shown) for performing vehicle detection on the current video frame;
a first obtaining submodule (not shown) for obtaining position information of the vehicle when the presence of the vehicle is detected.
Specifically, in this embodiment, the apparatus further includes:
a third vehicle distance judgment module (not shown in the figure) for judging whether the distance between the rear vehicle and the front vehicle is less than the preset vehicle distance according to the position information of each vehicle when the number of the vehicles obtaining the position information is more than one;
and an eighth instruction sending module (not shown) for sending a tenth control instruction to the light-emitting guide facility in front of the rear vehicle and closest to the rear vehicle when judging that the distance between the rear vehicle and the front vehicle is smaller than the preset inter-vehicle distance, so that the light-emitting guide facility in front of the rear vehicle and closest to the rear vehicle works according to the tenth control instruction.
Specifically, in this embodiment, the apparatus further includes:
a third parameter obtaining module (not shown in the figure) for obtaining the ambient light parameter of the monitored road section detected by the ambient detection device in real time;
a fifth threshold determining module (not shown) for determining whether the ambient light parameter is lower than a preset first threshold; if yes, executing the step of obtaining the position information of the vehicle shot by the camera in the monitored road section;
the fourth sending module 1303 is specifically configured to send a ninth control instruction to the light-emitting guide facility corresponding to the trigger position, so that the light-emitting guide facility corresponding to the trigger position sends a preset rear-end collision prevention warning color light and lasts for a preset duration;
the eighth instruction sending module (not shown) is specifically configured to send a tenth control instruction to the light-emitting guidance facility in front of the rear vehicle and closest to the rear vehicle, so that the light-emitting guidance facility in front of the rear vehicle and closest to the rear vehicle emits preset light with a color close to that of the rear vehicle, and the light flashes at a preset frequency.
Specifically, in this embodiment, the apparatus further includes:
a sixth threshold determining module (not shown) for determining whether the ambient light parameter is higher than a preset second threshold after determining that the ambient light parameter is lower than the preset first threshold; the second threshold is less than the first threshold;
a ninth instruction sending module (not shown in the figures), configured to determine that the ambient light parameter is higher than a preset second threshold, and send an eleventh control instruction to all the light-emitting guiding facilities, so that all the light-emitting guiding facilities emit preset road contour intensified color light;
and the tenth instruction sending module (not shown) is configured to determine that the ambient light parameter is not higher than a preset second threshold, and send a twelfth control instruction to all the light-emitting guiding facilities, so that all the light-emitting guiding facilities emit preset driving active guiding color light and flicker at a preset frequency.
By applying the embodiment shown in fig. 13, the server obtains the position information of the vehicle shot by the camera, judges the position of the vehicle as the trigger position according to the position information of the vehicle, and sends a control instruction to the corresponding light-emitting guiding facility to control the light-emitting guiding facility to work according to the control instruction. In the process, the vehicle position is detected by using the camera or the server, and detection devices such as laser, infrared, microwave, geomagnetism and the like are not used, so that road guidance is provided for the vehicle, and meanwhile, the cost caused by laying the detection devices such as the laser, the infrared, the microwave, the geomagnetism and the like in the prior art is reduced.
The embodiment of the present invention further provides an electronic device, as shown in fig. 14, which includes a processor 1401, a communication interface 1402, a memory 1403, and a communication bus 1404, wherein the processor 1401, the communication interface 1402, and the memory 1403 complete communication with each other through the communication bus 1404,
a memory 1403 for storing a computer program;
a communication interface 1402 communicatively connected with the lighting guide facility;
the processor 1401, when executing the program stored in the memory 1403, implements the following steps:
acquiring a current video frame of a monitoring road section shot by a camera;
carrying out vehicle detection on the current video frame;
when a vehicle is detected, judging whether the position of the vehicle is a preset trigger position or not;
and if so, sending a first control instruction to the light-emitting guide facility corresponding to the trigger position so as to enable the light-emitting guide facility corresponding to the trigger position to work according to the first control instruction.
Therefore, in the scheme provided by the embodiment of the invention, the video frame of the monitored road section is obtained, the position of the vehicle is detected, the first control instruction is sent to the light-emitting guide facility, and the light-emitting guide facility is controlled to switch the working state, so that the aim of guiding the vehicle is fulfilled. Because detection devices such as laser, infrared, microwave and earth magnetism are not needed in the process, the cost caused by laying the detection devices such as laser, infrared, microwave and earth magnetism in the prior art is reduced while road guidance is provided for the vehicle.
An embodiment of the present invention further provides a camera, as shown in fig. 15, including: a processor 1501, a communication interface 1502, a memory 1503 and a communication bus 1504, wherein the processor 1501, the communication interface 1502 and the memory 1503 complete communication with each other through the communication bus 1504;
the memory 1503 is used for storing computer programs;
the communication interface 1502 is in communication connection with a server;
the processor 1501 is configured to implement the following steps when executing the program stored in the memory:
acquiring a current video frame of a shot monitoring road section;
carrying out vehicle detection on the current video frame;
when a vehicle is detected, judging whether the position of the vehicle is a preset trigger position or not;
if yes, sending a first trigger instruction aiming at the light-emitting guide facility corresponding to the trigger position to a server in communication connection with the camera; and enabling the server to send a fifth control instruction to the light-emitting guiding facility corresponding to the trigger position according to the first trigger instruction, so that the light-emitting guiding facility corresponding to the trigger position works according to the fifth control instruction.
Therefore, in the scheme provided by the embodiment of the invention, the camera acquires the video frame, detects the position of the vehicle in the video frame, and sends the trigger instruction to the server, so that the server sends the control instruction to the light-emitting guide facility, and the light-emitting guide facility is controlled to work according to the control instruction to provide guidance for the vehicle. Because the video frame is obtained in the process, the vehicle position is detected and the triggering instruction is sent by the camera, and no detection devices such as laser, infrared, microwave and geomagnetic are used, the cost caused by laying the detection devices such as laser, infrared, microwave and geomagnetic in the prior art is reduced while road guidance is provided for the vehicle.
An embodiment of the present invention further provides a server, as shown in fig. 16, including: a processor 1601, a communication interface 1602, a memory 1603 and a communication bus 1604, wherein the processor 1601, the communication interface 1602, and the memory 1603 communicate with each other via the communication bus 1604;
the memory 1603 is used for storing computer programs;
the communication interface 1602, which is connected to the camera and the light-emitting guide facility in communication;
the processor 1601 is configured to, when executing the program stored in the memory, implement the following steps:
receiving a first trigger instruction which is sent by a camera and aims at the light-emitting guide facility; the first trigger instruction is as follows: when the camera detects that a vehicle exists in a current video frame of a shot monitoring road section and the position of the vehicle is a preset trigger position, sending a trigger instruction aiming at a light-emitting guide facility corresponding to the trigger position to a server in communication connection with the camera;
and sending a fifth control instruction to the light-emitting guiding facility corresponding to the trigger position according to the first trigger instruction, so that the light-emitting guiding facility corresponding to the trigger position works according to the fifth control instruction.
Therefore, in the scheme provided by the embodiment of the invention, the server receives the first trigger instruction sent by the camera and sends the fifth control instruction to the corresponding light-emitting guide facility so as to control the light-emitting guide facility to send the rear-end collision prevention warning color light according to the fifth control instruction, and the preset time length is kept so as to provide the rear-end collision prevention warning for the vehicle. In the process, the server receives the trigger instruction sent by the camera after detecting the position of the vehicle to control the light-emitting guide facility, and detection devices such as laser, infrared, microwave and geomagnetism are not used, so that road guide is provided for the vehicle, and meanwhile, the cost caused by laying of the detection devices such as the laser, the infrared, the microwave and the geomagnetism in the prior art is reduced.
An embodiment of the present invention further provides another server, as shown in fig. 17, including: a processor 1701, a communication interface 1702, a memory 1703 and a communication bus 1704, wherein the processor 1701, the communication interface 1702 and the memory 1703 communicate with each other through the communication bus 1704;
the memory 1703 is used for storing computer programs;
the communication interface 1702 is in communication connection with the camera and the light-emitting guide facility;
the processor 1701 is configured to, when executing the program stored in the memory, implement the following steps:
obtaining position information of a vehicle shot by a camera in a monitored road section thereof;
judging whether the position of the vehicle is a preset trigger position or not;
and if so, sending a ninth control instruction to the light-emitting guide facility corresponding to the trigger position so as to enable the light-emitting guide facility corresponding to the trigger position to work according to the ninth control instruction.
Therefore, in the scheme provided by the embodiment of the invention, the server obtains the position information of the vehicle shot by the camera, judges the position of the vehicle as the trigger position according to the position information of the vehicle, and sends a control instruction to the corresponding light-emitting guide facility so as to control the light-emitting guide facility to work according to the control instruction. In the process, the vehicle position is detected by using the camera or the server, and detection devices such as laser, infrared, microwave, geomagnetism and the like are not used, so that road guidance is provided for the vehicle, and meanwhile, the cost caused by laying the detection devices such as the laser, the infrared, the microwave, the geomagnetism and the like in the prior art is reduced.
The communication bus mentioned in the electronic device may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.
The communication interface is used for communication between the electronic equipment and other equipment.
The Memory may include a Random Access Memory (RAM) or a Non-Volatile Memory (NVM), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor.
The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components.
An embodiment of the present invention further provides a control system for a lighting guiding facility, including: road surveillance cameras and light guide facilities.
By applying the control system of the light-emitting guide facility provided by the embodiment of the invention, the position of the vehicle is detected by using the camera for shooting the road, the trigger instruction is transmitted to the light-emitting guide facility, and the light-emitting guide facility receives the trigger instruction and then controls the indicator lamp to adjust the working state according to the preset strategy. Because the camera for detecting the vehicle is a monitoring camera in the road, detection devices such as laser, infrared, microwave, geomagnetism and the like do not need to be laid, so that road guidance is provided for the vehicle, and meanwhile, the cost caused by the fact that the detection devices such as the laser, the infrared, the microwave, the geomagnetism and the like are laid in the prior art is reduced.
In an embodiment of the present invention, there is provided a light emitting guide system, which may include: the electronic device shown in fig. 14 and a light-emitting guide facility communicatively connected to the electronic device;
alternatively, it may include: the camera shown in fig. 15, the server shown in fig. 16, and a light guide facility communicatively connected to the server;
alternatively, it may include: the server shown in fig. 17, a camera communicatively connected to the server, and a light-emitting guide facility.
In a further embodiment provided by the present invention, there is also provided a computer-readable storage medium having stored therein instructions, which, when run on a computer, cause the computer to execute the method of controlling a lighting guiding facility as described in any of the above embodiments.
In a further embodiment provided by the present invention, there is also provided a computer program product containing instructions which, when run on a computer, cause the computer to perform the method of controlling a lighting guiding facility as described in any of the above embodiments.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website site, computer, server, or data center to another website site, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.

Claims (25)

1. A method of controlling a lighting guiding facility, the method comprising:
acquiring a current video frame of a monitoring road section shot by a camera;
carrying out vehicle detection on the current video frame;
when a vehicle is detected, judging whether the position of the vehicle is a preset trigger position or not;
if so, sending a first control instruction to the light-emitting guide facility corresponding to the trigger position so as to enable the light-emitting guide facility corresponding to the trigger position to work according to the first control instruction;
the step of judging whether the position of the vehicle is a preset trigger position comprises the following steps:
judging whether the position of the vehicle is matched with a trigger position corresponding to one of the plurality of light-emitting guide facilities; wherein each light emitting guide facility corresponds to a trigger position;
the plurality of light-emitting guide facilities are sequentially arranged on one side or two sides of the road at preset intervals;
the triggering positions corresponding to the light-emitting guide facilities are as follows: the method comprises the following steps of calibrating the position of a trigger line in a video frame, or the position corresponding to a pixel coordinate meeting a preset functional relationship;
the trigger line is as follows: a line connecting a mark point in a road section in a video frame with the light emitting guide facility, or a line having a preset distance from the light emitting guide facility.
2. The method of claim 1,
the step of judging whether the position of the vehicle is matched with the trigger position corresponding to one of the plurality of light-emitting guide facilities comprises the following steps:
and judging whether the pixel point where the vehicle head is located on the trigger line or not, or whether the coordinate of the pixel point meets the preset functional relation or not.
3. The method of claim 1, further comprising:
when a plurality of vehicles are detected, obtaining the position information of each vehicle;
judging whether the distance between the rear vehicle and the front vehicle is smaller than a preset workshop distance or not according to the position information of each vehicle;
if so, sending a second control command to the light-emitting guide facility with the shortest distance between the front side of the rear vehicle and the rear vehicle so as to enable the light-emitting guide facility with the shortest distance between the front side of the rear vehicle and the rear vehicle to work according to the second control command.
4. The method of claim 3, further comprising:
acquiring an ambient light parameter of the monitored road section detected by an ambient detection device in real time;
judging whether the ambient light parameter is lower than a preset first threshold value or not;
if yes, executing the step of acquiring the current video frame of the monitored road section shot by the camera;
the step of sending a first control instruction to the light-emitting guide facility corresponding to the trigger position so that the light-emitting guide facility corresponding to the trigger position operates according to the first control instruction includes:
sending a first control instruction to the light-emitting guide facility corresponding to the trigger position so that the light-emitting guide facility corresponding to the trigger position sends preset rear-end collision prevention warning color light for a preset duration;
the step of sending a second control instruction to the light-emitting guide facility with the shortest distance between the front side of the rear vehicle and the rear vehicle so that the light-emitting guide facility with the shortest distance between the front side of the rear vehicle and the rear vehicle works according to the second control instruction comprises the following steps:
and sending a second control instruction to the luminous guide facility with the shortest distance between the front part of the rear vehicle and the rear vehicle so that the luminous guide facility with the shortest distance between the front part of the rear vehicle and the rear vehicle sends preset following and passing light and flickers at a preset frequency.
5. The method of claim 4,
after the determining that the ambient light parameter is lower than the preset first threshold, the method further includes:
judging whether the ambient light parameter is higher than a preset second threshold value or not; the second threshold is less than the first threshold;
if the ambient light parameter is higher than a preset second threshold value, sending a third control instruction to all the light-emitting guiding facilities so that all the light-emitting guiding facilities emit preset road contour intensified color light;
and if the ambient light parameter is not higher than a preset second threshold value, sending a fourth control instruction to all the light-emitting guide facilities so that all the light-emitting guide facilities emit preset driving active guide color light and flicker at a preset frequency.
6. A method of controlling a lighting guide facility, applied to a camera, the method comprising:
acquiring a current video frame of a shot monitoring road section;
carrying out vehicle detection on the current video frame;
when a vehicle is detected, judging whether the position of the vehicle is a preset trigger position or not;
if yes, sending a first trigger instruction aiming at the light-emitting guide facility corresponding to the trigger position to a server in communication connection with the camera; enabling the server to send a fifth control instruction to the light-emitting guide facility corresponding to the trigger position according to the first trigger instruction, so that the light-emitting guide facility corresponding to the trigger position works according to the fifth control instruction;
the step of judging whether the position of the vehicle is a preset trigger position comprises the following steps:
judging whether the position of the vehicle is matched with a trigger position corresponding to one of the plurality of light-emitting guide facilities; wherein each light emitting guide facility corresponds to a trigger position;
the plurality of light-emitting guide facilities are sequentially arranged on one side or two sides of the road at preset intervals;
the triggering positions corresponding to the light-emitting guide facilities are as follows: the method comprises the following steps of calibrating the position of a trigger line in a video frame, or the position corresponding to a pixel coordinate meeting a preset functional relationship;
the trigger line is as follows: a line connecting a mark point in a road section in a video frame with the light emitting guide facility, or a line having a preset distance from the light emitting guide facility.
7. The method of claim 6, further comprising:
when a plurality of vehicles are detected, obtaining the position information of each vehicle;
judging whether the distance between the rear vehicle and the front vehicle is smaller than a preset workshop distance or not according to the position information of each vehicle;
if yes, sending a second trigger instruction aiming at a light-emitting guide facility with the shortest distance between the front part and the rear part of the vehicle to a server in communication connection with the camera; and enabling the server to send a sixth control instruction to the light-emitting guide facility with the shortest distance between the front side of the rear vehicle and the rear vehicle according to the second trigger instruction, so that the light-emitting guide facility with the shortest distance between the front side of the rear vehicle and the rear vehicle works according to the sixth control instruction.
8. A control method for a lighting guidance facility, applied to a server connected in communication with a camera, the method comprising:
receiving a first trigger instruction which is sent by a camera and aims at the light-emitting guide facility; the first trigger instruction is as follows: when the camera detects that a vehicle exists in a current video frame of a shot monitoring road section and the position of the vehicle is a preset trigger position, sending a trigger instruction aiming at a light-emitting guide facility corresponding to the trigger position to a server in communication connection with the camera;
according to the first trigger instruction, sending a fifth control instruction to the light-emitting guide facility corresponding to the trigger position, so that the light-emitting guide facility corresponding to the trigger position works according to the fifth control instruction;
when the position that the vehicle is located is preset trigger position, include:
the position of the vehicle is matched with a trigger position corresponding to one of the plurality of light-emitting guide facilities; wherein each light emitting guide facility corresponds to a trigger position;
the plurality of light-emitting guide facilities are sequentially arranged on one side or two sides of the road at preset intervals;
the triggering positions corresponding to the light-emitting guide facilities are as follows: the method comprises the following steps of calibrating the position of a trigger line in a video frame, or the position corresponding to a pixel coordinate meeting a preset functional relationship;
the trigger line is as follows: a line connecting a mark point in a road section in a video frame with the light emitting guide facility, or a line having a preset distance from the light emitting guide facility.
9. The method of claim 8, further comprising:
receiving a second trigger instruction sent by the camera and aiming at a light-emitting guide facility; the second trigger instruction is as follows: when the camera detects that a plurality of vehicles exist in a current video frame of a shot monitoring road section and the distance between a rear vehicle and a front vehicle in the plurality of vehicles is less than a preset vehicle-to-vehicle distance, a trigger instruction for a light-emitting guide facility with the shortest distance between the front side of the rear vehicle and the rear vehicle is sent to a server in communication connection with the camera;
and according to the second trigger instruction, sending a sixth control instruction to the light-emitting guide facility with the shortest distance between the front part of the rear vehicle and the rear vehicle so as to enable the light-emitting guide facility with the shortest distance between the front part of the rear vehicle and the rear vehicle to work according to the sixth control instruction.
10. The method of claim 9,
the server is also connected with the environment detection equipment;
the method further comprises the following steps:
receiving the ambient light parameters of the monitored road section detected by the ambient detection equipment in real time;
judging whether the ambient light parameter is lower than a preset first threshold value or not;
if so, executing a step of sending a fifth control instruction to the light-emitting guide facility corresponding to the trigger position according to the first trigger instruction, and/or executing a step of sending a sixth control instruction to the light-emitting guide facility with the shortest distance between the front part and the rear part of the rear vehicle according to the second trigger instruction;
the step of sending a fifth control instruction to the light-emitting guiding facility corresponding to the trigger position according to the first trigger instruction so that the light-emitting guiding facility corresponding to the trigger position works according to the fifth control instruction includes:
according to the first trigger instruction, sending a fifth control instruction to the light-emitting guide facility corresponding to the trigger position, so that the light-emitting guide facility corresponding to the trigger position sends preset rear-end collision prevention warning color light for a preset duration;
the step of sending a sixth control instruction to the light-emitting guide facility with the closest distance between the front side and the rear side of the vehicle behind according to the second trigger instruction so that the light-emitting guide facility with the closest distance between the front side and the rear side of the vehicle behind works according to the sixth control instruction comprises the following steps:
and sending a sixth control instruction to the light-emitting guide facility with the shortest distance between the front part of the rear vehicle and the rear vehicle according to the second trigger instruction so as to enable the light-emitting guide facility with the shortest distance between the front part of the rear vehicle and the rear vehicle to send preset light with the color of passing by the rear vehicle and flicker at a preset frequency.
11. The method of claim 10,
after the step of determining that the ambient light parameter is lower than the preset first threshold, the method further includes:
judging whether the ambient light parameter is higher than a preset second threshold value or not;
if the ambient light parameter is higher than a preset second threshold value, sending a seventh control instruction to all the light-emitting guiding facilities so that all the light-emitting guiding facilities send out preset road contour intensified color light;
and if the ambient light parameter is not higher than a preset second threshold value, sending an eighth control instruction to all the light-emitting guide facilities so that all the light-emitting guide facilities send out preset driving active guide color light and flicker at a preset frequency.
12. A control method for a lighting guidance facility, applied to a server connected in communication with a camera, the method comprising:
obtaining position information of a vehicle shot by a camera in a monitored road section thereof;
judging whether the position of the vehicle is a preset trigger position or not;
if so, sending a ninth control instruction to the light-emitting guide facility corresponding to the trigger position so as to enable the light-emitting guide facility corresponding to the trigger position to work according to the ninth control instruction;
the step of judging whether the position of the vehicle is a preset trigger position comprises the following steps:
judging whether the position of the vehicle is matched with a trigger position corresponding to one of the plurality of light-emitting guide facilities; wherein each light emitting guide facility corresponds to a trigger position;
the plurality of light-emitting guide facilities are sequentially arranged on one side or two sides of the road at preset intervals;
the triggering positions corresponding to the light-emitting guide facilities are as follows: the method comprises the following steps of calibrating the position of a trigger line in a video frame, or the position corresponding to a pixel coordinate meeting a preset functional relationship;
the trigger line is as follows: a line connecting a mark point in a road section in a video frame with the light emitting guide facility, or a line having a preset distance from the light emitting guide facility.
13. The method of claim 12,
the obtaining of the position information of the vehicle shot by the camera in the monitored road section thereof includes:
receiving position information of a vehicle shot in a monitored road section of the vehicle, which is sent by the camera; the position information of the vehicle is: the camera carries out vehicle detection on the shot current video frame; when the vehicle is detected, obtaining the position information of the vehicle; or,
receiving a current video frame of a camera monitoring road section shot currently sent by the camera;
carrying out vehicle detection on the current video frame;
when the presence of the vehicle is detected, position information of the vehicle is obtained.
14. The method of claim 13,
the method further comprises the following steps:
when the number of the vehicles obtaining the position information is more than one, judging whether the distance between the rear vehicle and the front vehicle is less than the preset workshop distance or not according to the position information of each vehicle;
if so, sending a tenth control command to the light-emitting guide facility with the shortest distance between the front side of the rear vehicle and the rear vehicle so as to enable the light-emitting guide facility with the shortest distance between the front side of the rear vehicle and the rear vehicle to work according to the tenth control command.
15. The method of claim 14, further comprising:
acquiring an ambient light parameter of the monitored road section detected by an ambient detection device in real time;
judging whether the ambient light parameter is lower than a preset first threshold value or not;
if yes, executing the step of obtaining the position information of the vehicle shot by the camera in the monitored road section;
the step of sending a ninth control instruction to the light-emitting guiding facility corresponding to the trigger position so that the light-emitting guiding facility corresponding to the trigger position operates according to the ninth control instruction includes:
a ninth control instruction is sent to the light-emitting guide facility corresponding to the trigger position, so that the light-emitting guide facility corresponding to the trigger position sends out preset rear-end collision prevention warning color light for a preset duration;
the step of sending a tenth control instruction to the light-emitting guide facility closest to the rear vehicle in front of the rear vehicle so that the light-emitting guide facility closest to the rear vehicle in front of the rear vehicle works according to the tenth control instruction comprises the following steps:
and sending a tenth control instruction to the luminous guide facility with the shortest distance between the front part of the rear vehicle and the rear vehicle so that the luminous guide facility with the shortest distance between the front part of the rear vehicle and the rear vehicle sends preset following and passing light and flickers at preset frequency.
16. The method of claim 15,
after the determining that the ambient light parameter is lower than the preset first threshold, the method further includes:
judging whether the ambient light parameter is higher than a preset second threshold value or not; the second threshold is less than the first threshold;
if the ambient light parameter is higher than a preset second threshold value, an eleventh control instruction is sent to all the light-emitting guide facilities so that all the light-emitting guide facilities emit preset road contour intensified color light;
and if the ambient light parameter is not higher than a preset second threshold value, sending a twelfth control instruction to all the light-emitting guide facilities so that all the light-emitting guide facilities emit preset driving active guide color light and flicker at a preset frequency.
17. A control device for a lighting guide facility, the device comprising:
the first acquisition module is used for acquiring a current video frame of a monitoring road section shot by a camera;
the first detection module is used for carrying out vehicle detection on the current video frame;
the first judgment module is used for judging whether the position of the vehicle is a preset trigger position or not when the vehicle is detected;
the first sending module is used for sending a first control instruction to the light-emitting guide facility corresponding to the trigger position when the vehicle is detected and the position of the vehicle is judged to be a preset trigger position, so that the light-emitting guide facility corresponding to the trigger position works according to the first control instruction;
the step of judging whether the position of the vehicle is a preset trigger position comprises the following steps:
judging whether the position of the vehicle is matched with a trigger position corresponding to one of the plurality of light-emitting guide facilities; wherein each light emitting guide facility corresponds to a trigger position;
the plurality of light-emitting guide facilities are sequentially arranged on one side or two sides of the road at preset intervals;
the triggering positions corresponding to the light-emitting guide facilities are as follows: the method comprises the following steps of calibrating the position of a trigger line in a video frame, or the position corresponding to a pixel coordinate meeting a preset functional relationship;
the trigger line is as follows: a line connecting a mark point in a road section in a video frame with the light emitting guide facility, or a line having a preset distance from the light emitting guide facility.
18. A control device for a light-emitting guide facility, for use with a camera, the device comprising:
the second acquisition module is used for acquiring the current video frame of the shot monitoring road section;
the second detection module is used for carrying out vehicle detection on the current video frame;
the second judgment module is used for judging whether the position of the vehicle is a preset trigger position or not when the vehicle is detected;
the second sending module is used for sending a first trigger instruction aiming at the light-emitting guide facility corresponding to the trigger position to a server in communication connection with the camera when the vehicle is detected and the position of the vehicle is judged to be the preset trigger position; enabling the server to send a fifth control instruction to the light-emitting guide facility corresponding to the trigger position according to the first trigger instruction, so that the light-emitting guide facility corresponding to the trigger position works according to the fifth control instruction;
the step of judging whether the position of the vehicle is a preset trigger position comprises the following steps:
judging whether the position of the vehicle is matched with a trigger position corresponding to one of the plurality of light-emitting guide facilities; wherein each light emitting guide facility corresponds to a trigger position;
the plurality of light-emitting guide facilities are sequentially arranged on one side or two sides of the road at preset intervals;
the triggering positions corresponding to the light-emitting guide facilities are as follows: the method comprises the following steps of calibrating the position of a trigger line in a video frame, or the position corresponding to a pixel coordinate meeting a preset functional relationship;
the trigger line is as follows: a line connecting a mark point in a road section in a video frame with the light emitting guide facility, or a line having a preset distance from the light emitting guide facility.
19. A control apparatus for a lighting guide facility, applied to a server communicatively connected to a camera, the apparatus comprising:
the first receiving module is used for receiving a first trigger instruction which is sent by the camera and aims at a light-emitting guide facility corresponding to a preset trigger position; the first trigger instruction is as follows: when the camera detects that a vehicle exists in a current video frame of a shot monitoring road section and the position of the vehicle is a preset trigger position, sending a trigger instruction aiming at a luminous guide facility corresponding to the preset trigger position to a server in communication connection with the camera;
a third sending module, configured to send a fifth control instruction to the light-emitting guiding facility corresponding to the preset trigger position according to the first trigger instruction, so that the light-emitting guiding facility corresponding to the preset trigger position operates according to the fifth control instruction;
when the position that the vehicle is located is preset trigger position, include:
the position of the vehicle is matched with a trigger position corresponding to one of the plurality of light-emitting guide facilities; wherein each light emitting guide facility corresponds to a trigger position;
the plurality of light-emitting guide facilities are sequentially arranged on one side or two sides of the road at preset intervals;
the triggering positions corresponding to the light-emitting guide facilities are as follows: the method comprises the following steps of calibrating the position of a trigger line in a video frame, or the position corresponding to a pixel coordinate meeting a preset functional relationship;
the trigger line is as follows: a line connecting a mark point in a road section in a video frame with the light emitting guide facility, or a line having a preset distance from the light emitting guide facility.
20. A control apparatus for a lighting guide facility, applied to a server communicatively connected to a camera, the apparatus comprising:
the third acquisition module is used for acquiring the position information of the vehicle shot by the camera in the monitored road section;
the third judgment module is used for judging whether the position of the vehicle is a preset trigger position or not;
the fourth sending module is used for sending a ninth control instruction to the light-emitting guide facility corresponding to the preset trigger position when the position of the vehicle is judged to be the preset trigger position, so that the light-emitting guide facility corresponding to the preset trigger position works according to the ninth control instruction;
the step of judging whether the position of the vehicle is a preset trigger position comprises the following steps:
judging whether the position of the vehicle is matched with a trigger position corresponding to one of the plurality of light-emitting guide facilities; wherein each light emitting guide facility corresponds to a trigger position;
the plurality of light-emitting guide facilities are sequentially arranged on one side or two sides of the road at preset intervals;
the triggering positions corresponding to the light-emitting guide facilities are as follows: the method comprises the following steps of calibrating the position of a trigger line in a video frame, or the position corresponding to a pixel coordinate meeting a preset functional relationship;
the trigger line is as follows: a line connecting a mark point in a road section in a video frame with the light emitting guide facility, or a line having a preset distance from the light emitting guide facility.
21. An electronic device, characterized in that the device comprises: the system comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus;
the memory is used for storing a computer program;
the communication interface is in communication connection with the light-emitting guide facility;
the processor is used for realizing the method of any one of claims 1 to 5 when executing the program stored in the memory.
22. A camera, characterized in that the camera comprises: the system comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus;
the memory is used for storing a computer program;
the communication interface is in communication connection with the server;
the processor is configured to implement the method according to any one of claims 6 to 7 when executing the program stored in the memory.
23. A server, characterized in that the server comprises: the system comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus;
the memory is used for storing a computer program;
the communication interface is in communication connection with the camera and the light-emitting guide facility;
the processor is configured to implement the method according to any one of claims 8 to 11 when executing the program stored in the memory.
24. A server, characterized in that the server comprises: the system comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus;
the memory is used for storing a computer program;
the communication interface is in communication connection with the camera and the light-emitting guide facility;
the processor is configured to implement the method according to any one of claims 12 to 16 when executing the program stored in the memory.
25. A lighting guidance system, comprising: the electronic device of claim 21 and a lighting guide facility communicatively connected to the electronic device; alternatively, it comprises: the camera of claim 22, the server of claim 23, and a lighting guide facility communicatively connected to the server; alternatively, it comprises: the server of claim 24, a camera communicatively connected to the server, and a lighting guide facility.
CN201811418128.4A 2018-11-26 2018-11-26 Control method and device of light-emitting guide facility, electronic equipment and system Active CN111218894B (en)

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