CN112580432A - Gate dislocation detection method and detection system - Google Patents
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Abstract
The invention discloses a gate dislocation detection method, which comprises the following steps: respectively installing gate dislocation identification signboards and video processing terminals on gates on the left side and the right side, and calculating an initial first pixel difference and an initial second pixel difference in a video image at the initial position of the completely closed gate; performing two-dimensional code recognition on a real-time video image acquired from a video processing terminal; if the identified two-dimension code information is preset two-dimension code information, the gate is closed; if the gate is closed, calculating a real-time first pixel difference average value and a real-time second pixel difference average value. If the real-time first pixel difference average value is not equal to the initial first pixel difference or the second pixel difference average value is not equal to the initial second pixel difference, the gate is misplaced. The invention can quickly and accurately judge whether the gate is misplaced.
Description
Technical Field
The invention relates to a gate dislocation detection method and a gate dislocation detection system, and belongs to the field of gate detection.
Background
The ship lock consists of a lock head with a gate and a valve, a lock chamber for holding the ship, an upstream and downstream navigation channel for guiding the ship into the lock chamber, a water delivery system for filling and draining water into the lock chamber, and a gate and valve opening and closing mechanism and control system. The procedure of the ship driving upwards through the gate from the downstream approach channel is that a water delivery system is utilized to enable the water level of a room to be flush with the water level in the downstream approach channel, a lower gate head gate is opened, the ship drives into the gate room, the lower gate head gate is closed, the gate room is filled with water until the water level is flush with the water level of the upstream approach channel, an upper gate head gate is opened, and the ship drives into the upstream approach channel. The ship lock utilizes the buoyancy of water when the channel ship of the communicating vessel runs from the upstream approach channel to the downstream approach channel, the ship stopped in the lock chamber rises and falls along with the water level of the lock chamber and is flush with the upstream or downstream water surface, thereby achieving the purpose of overcoming the water level difference. The key content of ship lock safe operation management is that the gate management is, the situation that the gate is misplaced may occur due to the influence of the ultra-high water pressure of the water level difference between the upstream and the downstream in the long-time operation of the gate, so that the gate cannot be completely closed, the water leakage phenomenon occurs, the ship entering the lock chamber cannot enter the high water level upstream through the lifting water level, meanwhile, the water in the lock chamber is too fast due to the water leakage, and the risk that the ship is damaged due to the fact that the ship collides the lock wall exists.
In the prior art, the application methods of the technology for detecting the centering and dislocation conditions of the gate are few, and the technology mainly comprises a laser centering detection technology and manual detection. However, the detection precision of the laser centering detection technology is low and the laser centering detection technology is easy to damage; and manual detection is time-consuming and labor-consuming, is easily influenced by the environment, and cannot be detected in severe rain and fog weather.
Disclosure of Invention
The invention provides a method for detecting the dislocation of a gate, which can quickly and accurately judge whether the gate is dislocated or not.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows: a gate dislocation detection method comprises the following steps: carrying out image preprocessing on a real-time video image collected in a video processing terminal, wherein the video processing terminal is arranged on a gate on one side; calculating a real-time first pixel difference average value or a real-time second pixel difference average value in response to the gate being closed; the real-time first pixel difference mean value is the mean value of the pixel differences between the first characteristic color rectangle and the reference position in the real-time video image, and the real-time second pixel difference mean value is the mean value of the pixel differences between the second characteristic color rectangle and the reference position; the first characteristic color rectangle and the second characteristic color rectangle are both positioned on the gate dislocation identification signboard arranged on the gate on the other side; if the real-time first pixel difference average value is not equal to the initial first pixel difference or the second pixel difference average value is not equal to the initial second pixel difference, the gate is judged to be dislocated; the initial first pixel difference is the pixel difference between a first characteristic color rectangle on the gate dislocation identification signboard and a reference position pixel of the video image in the video image at the initial position of the gate complete closing, and the initial second pixel difference is the pixel difference between a second characteristic color rectangle and the reference position pixel.
Further, the image preprocessing comprises image graying, image denoising and distortion correction are carried out by adopting median filtering, and binaryzation is carried out by adopting a maximum inter-class variance theory.
Further, the determination that the shutter is closed includes the steps of: identifying the gate dislocation identification signboard on the image subjected to image preprocessing; if the gate dislocation identification signboard is identified, identifying the two-dimensional code on the gate dislocation identification signboard; and if the identified two-dimension code information is the preset two-dimension code information, judging that the gate is closed.
Further, the gate dislocation identification signboard is identified by adopting an image feature matching method.
Further, the calculating a real-time first pixel difference mean value and a real-time second pixel difference mean value includes the following steps: converting the RGB video frame into a video frame with an HSV format, and detecting the positions of a first characteristic color rectangle and a second characteristic color rectangle in a real-time video image by setting three parameter values of hue, saturation and brightness of colors corresponding to the first characteristic color rectangle and the second characteristic color rectangle; calculating the pixel value of the position of the first characteristic color rectangle and the second characteristic color rectangle in the video image when the first characteristic color rectangle and the second characteristic color rectangle are detected through an image algorithm function; thereby obtaining a real-time first pixel difference between the first characteristic color rectangle and a pixel at a reference position of the video image, and a real-time second pixel difference between the second characteristic color rectangle and a pixel at a central position of the video image; and calculating the mean value of the real-time first pixel difference and the real-time second pixel difference to obtain the mean value of the real-time first pixel difference and the mean value of the real-time second pixel difference.
Further, the reference position pixel of the video image is the center position pixel of the video image, the first characteristic color rectangle is red, and the second characteristic color rectangle is green.
Further, the method also comprises the step of calculating and displaying the dislocation distance after the gate is dislocated, and the method specifically comprises the following steps: if the mean value of the real-time first pixel differences is smaller than the initial first pixel differences and the mean value of the real-time second pixel differences is larger than the initial second pixel differences, closing and staggering the gate, and converting the mean value of the real-time first pixel differences into an actual distance value through calculation and then displaying the actual distance value; and if the mean value of the real-time first pixel difference is larger than the initial first pixel difference and the mean value of the real-time second pixel difference is smaller than the initial second pixel difference, closing and dislocating the gate, and converting the mean value of the real-time second pixel difference into an actual distance value through calculation and then displaying the actual distance value.
A gate dislocation detection system comprises a video processing terminal, a gate dislocation identification signboard, a video image preprocessing module, a two-dimensional code identification module and a gate dislocation judgment module; the video processing terminal and the gate dislocation identification signboard are respectively arranged on the left gate and the right gate, and the gate dislocation identification signboard comprises an identification two-dimensional code, a first characteristic color rectangle and a second characteristic color rectangle; the video processing terminal is used for acquiring and storing video images and sending the video images to the video image preprocessing module; the video image preprocessing module is used for receiving and preprocessing a video image of the video processing terminal; the two-dimension code identification module is used for identifying a two-dimension code in the preprocessed video image; the gate dislocation judgment module is used for judging the dislocation of the gate in the video image.
Preferably, the system further comprises a gate dislocation calculation module and a display module, wherein the gate dislocation calculation module is used for calculating the dislocation distance of the gate, and the display module is used for displaying the dislocation distance of the gate and the dislocation distance of the gate.
The invention provides a gate dislocation detection method and a gate dislocation detection system, which are used for detecting and identifying whether a two-dimensional code appears in a video image in real time, judging that a gate is closed if the identified two-dimensional code meets the requirements, and then judging whether the gate is dislocated and calculating the dislocation distance according to the distance between a characteristic color rectangle in the video image and a central position pixel of the video image. The method can quickly and accurately judge whether the gate is dislocated or not, and can calculate the dislocation distance. Compared with the prior art, the video image preprocessing module, the two-dimensional code recognition module, the gate dislocation judgment module and other hardware resources occupy extremely low, can be transplanted into embedded equipment with low power consumption, and is low in cost and high in stability.
Drawings
Fig. 1 is a schematic flow chart of a gate misalignment detection method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a gate misalignment identification signboard according to an embodiment of the present invention;
fig. 3 is an installation diagram of the misalignment recognition signboard and the video processing terminal in the embodiment of the present invention.
The system comprises a left gate 1, a right gate 2, a video processing terminal 3, a gate dislocation identification signboard 4, a first characteristic color rectangle 5, a second characteristic color rectangle 6 and an origin coordinate 7.
Detailed Description
For a better understanding of the nature of the invention, its description is further set forth below in connection with the specific embodiments and the drawings.
A gate dislocation detection system comprises a video processing terminal 3, a gate dislocation identification signboard 4, a video image preprocessing module, a two-dimensional code identification module and a gate dislocation calculation module; the video processing terminal 3 and the gate dislocation identification signboard 4 are respectively installed on a left gate and a right gate, and the gate dislocation identification signboard 4 comprises an identification two-dimensional code, a first characteristic color rectangle 5, a second characteristic color rectangle 6 and an origin coordinate 7; the video processing terminal 3 is used for collecting and storing video images and sending the video images to a video image preprocessing module; the video image preprocessing module is used for receiving and preprocessing the video image of the video processing terminal 3; the two-dimension code identification module is used for identifying a two-dimension code in the preprocessed video image; the gate dislocation judgment module is used for judging the dislocation of the gate in the video image. The system further comprises a gate dislocation calculation module and a display module, wherein the gate dislocation calculation module is used for calculating the dislocation distance of the gate, and the display module is used for displaying the dislocation distance of the gate and the dislocation distance of the gate.
The gate dislocation identification signboard 4 is shown in fig. 2 and comprises a title, a two-dimensional identification code, centimeter scale marks, a first characteristic color rectangle 5, a second characteristic color rectangle 6, origin coordinates 7, an identification shape and the like. The characteristic color rectangle of the first characteristic color rectangle 5 may be selected to be red, and the characteristic color rectangle of the second characteristic color rectangle 6 may be selected to be green.
As shown in fig. 3, the installation positions of the gate misalignment recognition signboard 4 and the video processing terminal 3 are specifically: the central position pixel of the video image is taken as a reference, when the gate is closed without dislocation, the installation position of the gate dislocation identification signboard 4 is adjusted, and the origin coordinate 7 of the gate dislocation identification signboard 4 is overlapped with the central position pixel of the video image.
The invention discloses a gate dislocation detection method, which specifically comprises the following steps as shown in figure 1:
step one, respectively installing a gate dislocation identification signboard 4 and a video processing terminal 3, and calculating an initial first pixel difference between a first characteristic color rectangle 5 and a video image central position pixel, and an initial second pixel difference between a second characteristic color rectangle 6 and the video image central position pixel in a video image at a gate initial position.
And step two, performing image preprocessing on the real-time video image acquired from the video processing terminal 3. Since the identification process of the signboard and the two-dimensional code is easily affected by environmental factors and is difficult to identify, preprocessing is often required to improve the image quality and the identification environment.
1. Graying of an image: and carrying out gray processing on the video image collected in the video processing terminal 3, and converting the video image into a gray image.
2. Denoising: the influence of noise can lead the feature positioning of the two-dimensional code to be inaccurate and the decoding of the data stage to be wrong, so the median filtering is adopted to carry out the denoising processing on the image, and the specific steps are as follows: (1) traversing gray values of all pixel points in the image; (2) sorting the gray values from small to large; (3) and selecting the intermediate value of the sequencing result, and taking the intermediate value as the gray value of the central pixel point of the template.
3. And (3) distortion correction: the wide-angle camera head has great distortion, and the deformation of the image is bigger closer to the edge of the visual angle, so that for the image with great distortion, the proportion relation of the characteristics of the two-dimensional code is not adjusted, and the data in the data area has no standard module size, so that the accurate decoding cannot be realized. Therefore, the image needs to be corrected by a distortion model to be an undistorted image.
4. Binarization: the method adopts the maximum between-class variance theory to carry out binarization, and specifically comprises the following steps: a threshold t is set which divides a gray image into two groups, one group corresponding to the target image in gray and the other group corresponding to the background image. Assuming that the gray value of the gray image is 0-k level, T starts to take a value from 0 until k, when T = T makes the inter-class variance of the two groups of gray values maximum and the intra-class variance minimum, the difference between the target image and the background image is maximized, and if the threshold value T at this time is taken as the threshold value of binarization, the optimal binarization effect is obtained.
Step three: and if the gate dislocation identification signboard 4 is detected in the preprocessed video image, performing two-dimensional code identification and judging whether the gate is completely closed. The method specifically comprises the following steps:
1. the gate dislocation identification signboard 4 is detected by adopting an image feature matching mode: and (3) searching the matching degree of the pre-shot signboard feature image and the video image, and if the matching degree exceeds 90%, identifying the signboard 4 by gate dislocation in the video image.
2. After detecting gate dislocation recognition mark tablet 4 in the video image, discern the detection to the two-dimensional code on gate dislocation recognition mark tablet 4: through calling an open source dll, namely a Zxing control, two-dimensional code information on the signboard is identified, and if the two-dimensional code can be identified and the identified information is 'gate centering monitoring system', the gate is closed.
Step four: under the condition that the gate is closed, the dislocation distance between the left gate 1 and the right gate 2 is calculated, and the method specifically comprises the following steps:
1. the RGB video frame is converted into a video frame with HSV format, and the color area position needing to be calibrated is screened out by setting three parameter values of H (hue), S (saturation) and V (brightness). The red region value is Hmin 0, Hmax 33, Smin 100, Smax 255, Vmin 73, Vmax 255; the positions of the first characteristic color rectangle 5 and the second characteristic color rectangle 6 in the real-time video image can be detected by setting the green region values Hmin to 31, Hmax to 91, Smin to 123, Smax to 255, Vmin to 97, and Vmax to 255.
2. The pixel values of the detected first and second characteristic color rectangles 5, 6 are calculated.
The pixel values of the positions of the first characteristic color rectangle 5 and the second characteristic color rectangle 6 in the video image can be calculated by the image algorithm function at the same time when the first characteristic color rectangle and the second characteristic color rectangle are detected. Thereby obtaining a real-time first pixel difference between the first characteristic color rectangle 5 and the pixel at the central position of the video image, and a real-time second pixel difference between the second characteristic color rectangle 6 and the pixel at the central position of the video image, and performing mean value calculation on the real-time first pixel difference and the real-time second pixel difference to obtain a mean value of the real-time first pixel difference and a mean value of the real-time second pixel difference. Comparing the mean value of the real-time first pixel difference and the mean value of the real-time second pixel difference with the initial first pixel difference and the initial second pixel difference respectively, and judging whether the gate is dislocated or not:
if the mean value of the real-time first pixel difference is equal to the initial first pixel difference and the mean value of the real-time second pixel difference is equal to the initial second pixel difference, the gate is closed without dislocation;
if the real-time first pixel difference average value is not equal to the initial first pixel difference or the second pixel difference average value is not equal to the initial second pixel difference, the gate is staggered, and the gate dislocation condition is displayed at the same time:
if the mean value of the real-time first pixel differences is smaller than the initial first pixel differences and the mean value of the real-time second pixel differences is larger than the initial second pixel differences, closing and dislocating the gate, and converting the mean value of the real-time first pixel differences into an actual distance value for displaying;
and if the mean value of the real-time first pixel difference is larger than the initial first pixel difference and the mean value of the real-time second pixel difference is smaller than the initial second pixel difference, closing and dislocating the gate, and converting the mean value of the real-time second pixel difference into an actual distance value for displaying.
It should be noted that while the invention has been described in terms of the above-mentioned embodiments, there are many other embodiments of the invention. It will be apparent to those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention, and it is intended that all such changes and modifications be covered by the appended claims and their equivalents.
Claims (9)
1. A gate dislocation detection method is characterized by comprising the following steps:
carrying out image preprocessing on a real-time video image collected in a video processing terminal, wherein the video processing terminal is arranged on a gate on one side;
calculating a real-time first pixel difference average value or a real-time second pixel difference average value in response to the gate being closed; the real-time first pixel difference mean value is the mean value of the pixel differences between the first characteristic color rectangle and the reference position in the real-time video image, and the real-time second pixel difference mean value is the mean value of the pixel differences between the second characteristic color rectangle and the reference position; the first characteristic color rectangle and the second characteristic color rectangle are both positioned on the gate dislocation identification signboard arranged on the gate on the other side;
if the real-time first pixel difference average value is not equal to the initial first pixel difference or the second pixel difference average value is not equal to the initial second pixel difference, the gate is judged to be dislocated; the initial first pixel difference is the pixel difference between a first characteristic color rectangle on the gate dislocation identification signboard and a reference position pixel of the video image in the video image at the initial position of the gate complete closing, and the initial second pixel difference is the pixel difference between a second characteristic color rectangle and the reference position pixel.
2. The shutter misalignment detection method according to claim 1, wherein: the image preprocessing comprises image graying, image denoising and distortion correction are carried out by adopting median filtering, and binaryzation is carried out by adopting a maximum between-class variance theory.
3. The shutter misalignment detection method according to claim 1, wherein: the determination that the shutter is closed includes the steps of:
identifying the gate dislocation identification signboard on the image subjected to image preprocessing;
if the gate dislocation identification signboard is identified, identifying the two-dimensional code on the gate dislocation identification signboard;
and if the identified two-dimension code information is the preset two-dimension code information, judging that the gate is closed.
4. The shutter misalignment detection method according to claim 3, wherein: and identifying the gate dislocation identification signboard by adopting an image characteristic matching method.
5. The shutter misalignment detection method according to claim 1, wherein: the calculating of the real-time first pixel difference mean value and the real-time second pixel difference mean value comprises the following steps:
converting the RGB video frame into a video frame with an HSV format, and detecting the positions of a first characteristic color rectangle and a second characteristic color rectangle in a real-time video image by setting three parameter values of hue, saturation and brightness of colors corresponding to the first characteristic color rectangle and the second characteristic color rectangle;
calculating the pixel value of the position of the first characteristic color rectangle and the second characteristic color rectangle in the video image when the first characteristic color rectangle and the second characteristic color rectangle are detected through an image algorithm function;
thereby obtaining a real-time first pixel difference between the first characteristic color rectangle and a pixel at a reference position of the video image, and a real-time second pixel difference between the second characteristic color rectangle and a pixel at a central position of the video image; and calculating the mean value of the real-time first pixel difference and the real-time second pixel difference to obtain the mean value of the real-time first pixel difference and the mean value of the real-time second pixel difference.
6. The shutter misalignment detection method according to any one of claims 1 or 5, wherein: the reference position pixel of the video image is a central position pixel of the video image, the first characteristic color rectangle is red, and the second characteristic color rectangle is green.
7. The shutter misalignment detection method according to claim 1, wherein: the method also comprises the step of calculating and displaying the dislocation distance after the gate is dislocated, and the method specifically comprises the following steps:
if the mean value of the real-time first pixel differences is smaller than the initial first pixel differences and the mean value of the real-time second pixel differences is larger than the initial second pixel differences, closing and staggering the gate, and converting the mean value of the real-time first pixel differences into an actual distance value through calculation and then displaying the actual distance value;
and if the mean value of the real-time first pixel difference is larger than the initial first pixel difference and the mean value of the real-time second pixel difference is smaller than the initial second pixel difference, closing and dislocating the gate, and converting the mean value of the real-time second pixel difference into an actual distance value through calculation and then displaying the actual distance value.
8. The utility model provides a gate dislocation detecting system which characterized in that: the gate dislocation identification system comprises a video processing terminal, a gate dislocation identification signboard, a video image preprocessing module, a two-dimensional code identification module and a gate dislocation judgment module; the video processing terminal and the gate dislocation identification signboard are respectively arranged on the left gate and the right gate, and the gate dislocation identification signboard comprises an identification two-dimensional code, a first characteristic color rectangle and a second characteristic color rectangle; the video processing terminal is used for acquiring and storing video images and sending the video images to the video image preprocessing module; the video image preprocessing module is used for receiving and preprocessing a video image of the video processing terminal; the two-dimension code identification module is used for identifying a two-dimension code in the preprocessed video image; the gate dislocation judgment module is used for judging the dislocation of the gate in the video image.
9. The gate misalignment detection system of claim 8, wherein: the system further comprises a gate dislocation calculation module and a display module, wherein the gate dislocation calculation module is used for calculating the dislocation distance of the gate, and the display module is used for displaying the dislocation distance of the gate and the dislocation distance of the gate.
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| PCT/CN2021/120127 WO2022105420A1 (en) | 2020-11-23 | 2021-09-24 | Lock gate misalignment detection method and detection system |
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| WO2022105420A1 (en) | 2022-05-27 |
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