CN113592888B - Height limiting frame early warning method, device, equipment and storage medium - Google Patents
Height limiting frame early warning method, device, equipment and storage medium Download PDFInfo
- Publication number
- CN113592888B CN113592888B CN202110754323.XA CN202110754323A CN113592888B CN 113592888 B CN113592888 B CN 113592888B CN 202110754323 A CN202110754323 A CN 202110754323A CN 113592888 B CN113592888 B CN 113592888B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- height
- warned
- image set
- early
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 52
- 238000013507 mapping Methods 0.000 claims abstract description 37
- 238000007781 pre-processing Methods 0.000 claims abstract description 9
- 230000003287 optical effect Effects 0.000 claims description 10
- 238000012545 processing Methods 0.000 claims description 9
- 238000004458 analytical method Methods 0.000 claims description 8
- 238000001914 filtration Methods 0.000 claims description 8
- 238000003708 edge detection Methods 0.000 claims description 7
- 230000008569 process Effects 0.000 description 10
- 238000004891 communication Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 238000013016 damping Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000006378 damage Effects 0.000 description 2
- 238000012886 linear function Methods 0.000 description 2
- 230000003245 working effect Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009499 grossing Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/13—Edge detection
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
- G06T7/85—Stereo camera calibration
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
Landscapes
- Engineering & Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Image Processing (AREA)
- Image Analysis (AREA)
Abstract
The invention relates to the technical field of road facilities, and discloses a height limiting frame early warning method, a device, equipment and a storage medium. When the distance between the target image set and the vehicle to be pre-warned is detected to be in a preset range, an initial image set of the vehicle to be pre-warned in a preset road section is obtained through a binocular camera arranged on a height limiting frame, then images in the initial image set are preprocessed to obtain a target image set, then feature information of each image in the target image set is obtained, the real height of the vehicle to be pre-warned is determined according to the feature information and a preset two-dimensional mapping table, and pre-warning is carried out when the real height exceeds the limit height of the height limiting frame. The vehicle body outline of the vehicle to be early-warned in each image can be clearer by preprocessing the initial image set, then the real height of the vehicle to be early-warned can be more accurately determined by presetting the two-dimensional mapping table according to the characteristic information of each image, and therefore the height of the vehicle to be early-warned is more accurate.
Description
Technical Field
The invention relates to the technical field of road facilities, in particular to a height limiting frame early warning method, a device, equipment and a storage medium.
Background
In the road facility process, a height limiting frame is usually arranged according to road conditions, and the purpose of the height limiting frame is to limit the passing of ultrahigh vehicles, so that two points exist, namely, a bridge crossing a highway exists in front of a road, and the traveling vehicles cannot exceed the height of the bridge; secondly, in order to protect the road or bridge in front, a height limiting method is adopted to inhibit the running of large overweight vehicles, ensure the smooth road and reduce the road surface damage. However, because the driver is not concentrated in the driving process and does not drive according to the specification, accidents caused by the height-limiting frames are endlessly layered, even pay for life, and the whole body of many height-limiting frames is of a steel structure, the impact on the impacted vehicles is very large, the danger coefficient is high, and the vehicles and the height-limiting frames are greatly damaged.
The foregoing is provided merely for the purpose of facilitating understanding of the technical solutions of the present invention and is not intended to represent an admission that the foregoing is prior art.
Disclosure of Invention
The invention mainly aims to provide a height limiting frame early warning method, a device, equipment and a storage medium, and aims to solve the technical problem that in the prior art, when a vehicle is ultrahigh, accurate early warning cannot be provided.
In order to achieve the above purpose, the invention provides a height-limiting frame early warning method, which comprises the following steps:
when the distance between the vehicle to be pre-warned and the vehicle to be pre-warned is detected to be in a preset range, acquiring an initial image set of the vehicle to be pre-warned on a preset road section through a binocular camera arranged on a height limiting frame;
preprocessing images in the initial image set to obtain a target image set;
acquiring characteristic information of each image in the target image set, and determining the real height of the vehicle to be early-warned according to the characteristic information and a preset two-dimensional mapping table;
and early warning is carried out when the real height exceeds the limit height of the height limiting frame.
Preferably, the step of preprocessing the images in the initial image set to obtain a target image set specifically includes:
conducting guided filtering on the images in the initial image set to obtain a filtered image set;
and performing Blob analysis on the images in the filtered image set to obtain a target image set.
Preferably, the step of performing Blob analysis on the images in the filtered image set to obtain a target image set specifically includes:
binarizing images in the filtered image set to obtain a binary image set;
extracting features of each image in the binary image set to obtain a body image of the vehicle to be early-warned in each image;
and detecting the connected areas of the vehicle body images to obtain a target image set.
Preferably, the step of acquiring the feature information of each image in the target image set and determining the real height of the vehicle to be pre-warned according to the feature information and a preset two-dimensional mapping table specifically includes:
determining characteristic information of each image in the target image set according to a Canny edge detection operator;
determining the projection height of the vehicle to be pre-warned according to the characteristic information and a preset two-dimensional mapping table;
and determining the real height of the vehicle to be early-warned according to the projection height.
Preferably, the step of determining the projection height of the vehicle to be pre-warned according to the feature information and a preset two-dimensional mapping table specifically includes:
extracting characteristic points of the vehicle to be early-warned according to the characteristic information, and selecting a roof characteristic point from the characteristic points as a characteristic corner point of the vehicle to be early-warned;
acquiring each image pixel position of the characteristic corner point, and searching each scene point position of the characteristic corner point from a preset two-dimensional mapping table according to each image pixel position;
determining the movement speed and the projection speed of the vehicle to be pre-warned according to each scene point of the characteristic angular points;
and determining the projection height of the vehicle to be early-warned according to the movement speed, the projection speed and the vertical distance between the optical center of the binocular camera and the road surface.
Preferably, the step of determining the real height of the vehicle to be pre-warned according to the projection height specifically includes:
acquiring two-dimensional coordinate values of characteristic corner points of the vehicle to be pre-warned in each image of the target image set through the binocular camera;
determining a real coordinate value of the vehicle to be early-warned according to the two-dimensional coordinate value and the vertical distance;
and determining the real height of the vehicle to be early-warned according to the real coordinate value.
Preferably, before the step of acquiring the initial image set of the vehicle to be pre-warned in the preset road section by the binocular camera arranged on the height limiting frame when the distance between the vehicle to be pre-warned and the vehicle to be pre-warned is detected to be in the preset range, the method further comprises:
position calibration is carried out through the binocular camera, and the corresponding relation between the image pixel position and the scene point position is determined according to the calibration result;
and constructing a preset two-dimensional mapping table according to the corresponding relation.
In addition, in order to achieve the above purpose, the present invention also provides a height-limiting frame early warning device, which includes:
the image acquisition module is used for acquiring an initial image set of the vehicle to be early-warned in a preset road section through a binocular camera arranged on the height limiting frame when the distance between the vehicle to be early-warned and the vehicle to be early-warned is detected to be in a preset range;
the image processing module is used for preprocessing the images in the initial image set to obtain a target image set;
the height acquisition module is used for acquiring characteristic information of each image in the target image set and determining the real height of the vehicle to be pre-warned according to the characteristic information and a preset two-dimensional mapping table;
and the height limiting frame early warning module is used for carrying out early warning when the real height exceeds the limit height of the height limiting frame.
In addition, in order to achieve the above purpose, the present invention also provides a height-limiting frame early warning device, which includes: the system comprises a memory, a processor and an overhead warning program stored on the memory and capable of running on the processor, wherein the overhead warning program is configured to realize the steps of the overhead warning method.
In addition, in order to achieve the above object, the present invention also proposes a storage medium having stored thereon a limited overhead warning program which, when executed by a processor, implements the steps of the overhead warning method as described above.
When the distance between the target image set and the vehicle to be pre-warned is detected to be in a preset range, an initial image set of the vehicle to be pre-warned in a preset road section is obtained through a binocular camera arranged on a height limiting frame, then images in the initial image set are preprocessed to obtain a target image set, then feature information of each image in the target image set is obtained, the real height of the vehicle to be pre-warned is determined according to the feature information and a preset two-dimensional mapping table, and pre-warning is carried out when the real height exceeds the limit height of the height limiting frame. According to the invention, the initial image set is preprocessed, so that the outline of the vehicle body of the vehicle to be pre-warned in each image is clearer, then the real height of the vehicle to be pre-warned is determined through the preset two-dimensional mapping table according to the characteristic information of each image, and the height of the vehicle to be pre-warned can be more accurately determined, so that the height-limiting frame pre-warning is more accurate.
Drawings
FIG. 1 is a schematic diagram of a hardware operating environment of an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a first embodiment of the height-limiting frame warning method of the present invention;
FIG. 3 is a schematic view of the height limiting frame of the present invention;
FIG. 4 is a working effect diagram of the height limiting frame of the present invention;
FIG. 5 is a flow chart of a second embodiment of the overhead warning method of the present invention;
FIG. 6 is a flow chart of a third embodiment of an overhead warning method of the present invention;
fig. 7 is a block diagram of a first embodiment of the height-limiting frame warning device of the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an overhead warning device in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the height-limiting stand early warning device may include: a processor 1001, such as a central processing unit (Central Processing Unit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, a memory 1005. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may further include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a Wireless interface (e.g., a Wireless-Fidelity (WI-FI) interface). The Memory 1005 may be a high-speed random access Memory (Random Access Memory, RAM) or a stable nonvolatile Memory (NVM), such as a disk Memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.
It will be appreciated by those skilled in the art that the configuration shown in fig. 1 is not limiting of the overhead warning device and may include more or fewer components than shown, or may be combined with certain components, or may be arranged in a different arrangement of components.
As shown in fig. 1, an operating system, a data storage module, a network communication module, a user interface module, and an overhead warning program may be included in the memory 1005 as one type of storage medium.
In the overhead warning device shown in fig. 1, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the height-limiting frame early-warning device can be arranged in the height-limiting frame early-warning device, and the height-limiting frame early-warning device calls the height-limiting frame early-warning program stored in the memory 1005 through the processor 1001 and executes the height-limiting frame early-warning method provided by the embodiment of the invention.
The embodiment of the invention provides an elevation limit warning method, and referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of the elevation limit warning method.
In this embodiment, the height limiting frame early warning method includes the following steps:
step S10: when the distance between the vehicle to be pre-warned and the vehicle to be pre-warned is detected to be in a preset range, acquiring an initial image set of the vehicle to be pre-warned on a preset road section through a binocular camera arranged on a height limiting frame;
it should be noted that, the execution body of the embodiment may be the overhead warning device with the functions of image processing, network communication and program running, or may be other devices capable of implementing the same or similar functions, which is not limited in this embodiment. In actual operation, the device can be arranged on the height limiting frame, and the height limiting frame can be controlled remotely.
Further, referring to fig. 3, fig. 3 is a schematic structural view of the height limiting frame of the present invention.
As shown in fig. 3, the height limiting frame includes: the system comprises a top end beam, a 2-bolt, a 3-first connecting plate, a 4-first binocular camera, a 5-first warning lamp and alarm, a 6-left upright, a 7-first laser receiving host, an 8-first support frame, a 9-first laser sensor, a 10-beam, an 11-damping spring, a 12-second laser sensor, a 13-display screen, a 14-third laser sensor, a 15-second connecting plate, a 16-second binocular camera, a 17-second warning lamp and alarm, a 18-right upright, a 19-second laser receiving host and a 20-second support frame, and further comprises a height limiting frame warning device (not shown in fig. 3).
The connection mode of limit for height frame is that top crossbeam and left and right stand pass through first, two connecting plates are connected, and the top crossbeam is connected with first, two connecting plates with hexagonal bolt, and first, two connecting plates are welded structure with the stand, and first, two warning light are adsorption type, and powerful magnet is behind the back, and the change of being convenient for, crossbeam and left and right stand have the interval, and every damping spring card is in the recess of crossbeam, blocks it with the plasticity of plastic material, and power cord etc. are worn out from the afterbody, and first, two laser receiving host computers are installed in the customization box, and the position is fixed at the intermediate level of stand, bottom half bolt and stand, with the box fixed. The upright post and the bottom supporting frame are poured by cement.
It is understood that the binocular camera in this embodiment may be the first binocular camera in the height limiting frame structure or the second binocular camera, which is not particularly limited in this embodiment.
It should be understood that the preset range may be set by an administrator according to the actual situation, for example, 60 meters, 70 meters, 80 meters, etc., which is not particularly limited in this embodiment.
In a specific implementation, when the distance between the vehicle to be early-warned and the height-limiting frame is detected to be out of a preset range, the vehicle can be further arranged at a distance of 300 meters from the height-limiting frame, when the roof of the vehicle to be early-warned is higher than the height-limiting frame, laser is emitted by laser sensing heads in laser sensors uniformly distributed at the lower end of a cross beam to irradiate the roof of the vehicle, then the laser sensors convert optical signals into electric signals and send the electric signals to a radio receiver in a laser receiving host, then the laser receiving host sends the electric signals to an alarm lamp connected with the host, and the alarm lamp is turned on to give an alarm, when the vehicle is close to the height-limiting frame, the signal received by the laser sensors is stronger, the alarm sound is enhanced, and when the vehicle exits from a road, the alarm is stopped only when the vehicle is far away from the height-limiting frame.
Step S20: preprocessing images in the initial image set to obtain a target image set;
it will be appreciated that the purpose of the image preprocessing in this embodiment is to eliminate extraneous information in the image, resulting in useful real information.
Step S30: acquiring characteristic information of each image in the target image set, and determining the real height of the vehicle to be early-warned according to the characteristic information and a preset two-dimensional mapping table;
the feature information refers to contour information of the vehicle body in each image, and may include an upper boundary and a lower boundary of the vehicle body.
Further, before the step S10, the method further includes: position calibration is carried out through the binocular camera, and the corresponding relation between the image pixel position and the scene point position is determined according to the calibration result; and constructing a preset two-dimensional mapping table according to the corresponding relation.
It should be noted that, performing position calibration by using the binocular camera refers to restoring an object in space by using an image captured by the camera, that is, determining a correspondence between an image position and an actual position.
It can be understood that the image pixel positions are different relative to the scene point positions, but have a certain proportional relationship, so that calibration is required, calibration can be performed according to images collected by the history of the binocular camera, and a reference object which cannot move, such as a telegraph pole at the roadside, can be selected, and the specific calibration method is not limited in this embodiment.
Step S40: and early warning is carried out when the real height exceeds the limit height of the height limiting frame.
It will be appreciated that the defined height may be necessarily smaller than the actual height of the current height limiter according to a specific analysis of the specific height limiter, but may be set by itself according to the actual situation for safety, and this embodiment is not particularly limited thereto.
Further, referring to fig. 4, fig. 4 is a working effect diagram of the height limiting frame of the present invention.
As shown in fig. 4, 21 represents a road surface, and 22 represents a vehicle to be warned. In a specific implementation, when the vehicle to be early-warned is overturned, the real height of the vehicle is displayed on a display screen, and an alarm is sent out, at the moment, a driver can know own illegal information in real time, if the vehicle is out of control in the running process, the vehicle cannot stop immediately, so that the roof collides with the height limiting frame, and as the damping spring is arranged in the middle of the height limiting frame in the embodiment, the impact of the vehicle and the height limiting frame can be reduced as much as possible, and the secondary injury of vehicle personnel is reduced.
When the distance between the target image set and the vehicle to be pre-warned is detected to be in a preset range, an initial image set of the vehicle to be pre-warned on a preset road section is obtained through a binocular camera arranged on a height limiting frame, then images in the initial image set are preprocessed to obtain a target image set, then feature information of each image in the target image set is obtained, the real height of the vehicle to be pre-warned is determined according to the feature information and a preset two-dimensional mapping table, and pre-warning is carried out when the real height exceeds the limit height of the height limiting frame. According to the method, the initial image set is preprocessed, the outline of the vehicle body of the vehicle to be early-warned in each image is clearer, then the real height of the vehicle to be early-warned is determined through the preset two-dimensional mapping table according to the characteristic information of each image, and the height of the vehicle to be early-warned can be determined more accurately, so that the height-limiting frame early-warning is more accurate.
Referring to fig. 5, fig. 5 is a schematic flow chart of a second embodiment of the height-limiting frame early warning method of the present invention.
Based on the first embodiment, in this embodiment, the step S20 includes:
step S201: conducting guided filtering on the images in the initial image set to obtain a filtered image set;
it should be noted that, the guiding filtering belongs to a filtering which can keep edges, and can be used in aspects of noise reduction, detail smoothing, matting, defogging, joint sampling and the like, when the guiding filtering is performed, a guiding image is needed, and a linear relation exists between the guiding image and an output image, so that the information provided by the guiding image can be set to be mainly used for indicating which edges are, and the final result is to try to keep the edge information. Therefore, the preconditions for the guided filtering are: it makes sense when the guide image and the output image satisfy a linear relationship.
It can be understood that, in this embodiment, after the input image is guided and filtered, a value of a certain pixel point of the output image can be obtained through a preset formula, where the preset formula is:
wherein I and k are pixel indexes, qi is the value of the ith pixel point of the output image, I i To guide the value of the ith pixel point of the image, w k For a window with a center bit at k, a and b are invariant coefficients of the linear function when the window center is at k.
It can be seen from deriving the first preset formula that the output image will only appear with edges when there are edges in the input image. In order to solve the coefficients a and b in the first preset formula, assuming that p is the result before q is filtered and the difference between q and p is minimum, the method according to unconstrained image restoration can be converted into an optimization problem, and the cost function is the preset formula, wherein the preset formula is as follows:
where i and k are pixel indexes, wk is a window with a center bit at k, a and b are invariant coefficients of the linear function when the center of the window is at k, ii is the value of the ith pixel point of the guide image, and pi is the value of the ith pixel point of the degraded image after noise pollution of the output image q.
Then solving the preset equation to obtain the values of ak and bk, namely
Wherein mu k Is to guide the image I in the window w k Is used as a mean value of the (c),is to guide the image I in the window w k In (a) and/w is window w k Number of pixels in>Is the degraded image p in window w k Is a mean value of (c). After obtaining the values of ak and bk, the value qi in the preset formula can be obtained as follows:
it should be understood that the ratio of q i As can be seen from the values of (a), there is a linear relationship between the guide image and the output image, and when the guideIt makes sense that the image and the output image satisfy a linear relationship.
Step S202: and performing Blob analysis on the images in the filtered image set to obtain a target image set.
Further, the step S202 includes: binarizing images in the filtered image set to obtain a binary image set; extracting features of each image in the binary image set to obtain a body image of the vehicle to be early-warned in each image; and detecting the connected areas of the vehicle body images to obtain a target image set.
It should be noted that, image binarization is a process of setting the gray value of a pixel point on an image to 0 or 255, that is, displaying an obvious black-white effect on the whole image, and the binarization of the image greatly reduces the data amount in the image, so that the outline of the object can be highlighted.
It can be understood that after the image is subjected to binarization processing, the image may be segmented to obtain a foreground and a background, that is, the vehicle body in the embodiment and the background except the vehicle body in the image, in this process, the obtained vehicle body image may be in a non-connected condition, so that the connected region needs to be detected, and if the vehicle body is detected to exist in the background, the connected region needs to be added to the vehicle body image.
According to the method, the device and the system, the images in the initial image set are guided and filtered to obtain the filtered image set, and then the images in the filtered image set are subjected to Blob analysis to obtain the target image set, so that the vehicle body images in the images can be more accurate, the height of the vehicle to be pre-warned can be more accurately determined, and pre-warning is carried out.
Referring to fig. 6, fig. 6 is a schematic flow chart of a third embodiment of the height-limiting frame early warning method of the present invention.
Based on the above embodiments, in this embodiment, the step S30 includes:
step S301: determining characteristic information of each image in the target image set according to a Canny edge detection operator;
it should be noted that, edge feature information of each image may be obtained through a Canny edge detection operator, and in this embodiment, roof feature information of a vehicle to be early-warned needs to be obtained.
Step S302: determining the projection height of the vehicle to be pre-warned according to the characteristic information and a preset two-dimensional mapping table;
it should be noted that the projection height refers to the height of the vehicle body of the vehicle to be pre-warned in the image.
The step S302 includes: extracting characteristic points of the vehicle to be early-warned according to the characteristic information, and selecting a roof characteristic point from the characteristic points as a characteristic corner point of the vehicle to be early-warned; acquiring each image pixel position of the characteristic corner point, and searching each scene point position of the characteristic corner point from a preset two-dimensional mapping table according to each image pixel position; determining the movement speed and the projection speed of the vehicle to be pre-warned according to each scene point of the characteristic angular points; and determining the projection height of the vehicle to be early-warned according to the movement speed, the projection speed and the vertical distance between the optical center of the binocular camera and the road surface.
It can be understood that the feature information refers to contour feature information of a vehicle body, and includes a plurality of feature points, and since the height of the vehicle to be pre-warned needs to be calculated in this embodiment, a roof feature point needs to be selected as a feature point, where the feature point may be any feature point of the roof, and may be specifically selected according to actual situations, and this embodiment is not limited specifically.
It should be noted that, the projection speed refers to a moving speed of the vehicle to be pre-warned in the image, and the moving speed refers to a driving speed of the vehicle to be pre-warned in an actual scene.
It should be understood that the characteristic corner points have image pixel positions in the images where the characteristic corner points are located, the corresponding scene point positions can be searched from a preset two-dimensional mapping table according to the image pixel positions, and the average speed of the vehicle to be early-warned in the period of time, namely the projection speed, can be obtained through the image pixel positions of the characteristic corner points of the initial image and the final image; similarly, the average speed of the vehicle to be early-warned in the period of time, namely the movement speed, can be obtained through the scene point positions of the characteristic angular points of the initial image and the final image.
In a specific implementation, the projection height of the vehicle to be early-warned can be determined through a first preset formula according to the movement speed, the projection speed and the vertical distance between the optical center of the binocular camera and the road surface, wherein the first preset formula is as follows:
wherein H is the vertical distance between the optical center of the binocular camera and the road surface, H p Is the projection height, v q Is the movement speed, v p Is the projection speed.
Step S303: and determining the real height of the vehicle to be early-warned according to the projection height.
It should be noted that the real height refers to a vehicle body height of the vehicle to be early-warned in a real scene.
The step S303 includes: acquiring two-dimensional coordinate values of characteristic corner points of the vehicle to be pre-warned in each image of the target image set through the binocular camera; determining a real coordinate value of the vehicle to be early-warned according to the two-dimensional coordinate value and the vertical distance; and determining the real height of the vehicle to be early-warned according to the real coordinate value.
It should be noted that, the two-dimensional coordinate values refer to coordinate values of the feature angular points of the vehicle to be pre-warned in the image, and the real coordinate values refer to coordinate values of the feature angular points of the vehicle to be pre-warned in the actual scene.
In specific implementation, the real coordinate value of the vehicle to be early-warned can be determined according to the two-dimensional coordinate value and the vertical distance through a second preset formula, wherein the second preset formula is as follows:
wherein H is the vertical distance from the optical center of the binocular camera to the road plane, H p Is the projection height, x' andy' is a two-dimensional coordinate value, and x and y are real coordinate values.
It can be understood that the ordinate of the true coordinate value is the true height after the true coordinate value is obtained.
According to the method, the characteristic information of each image in the target image set is determined according to the Canny edge detection operator, then the projection height of the vehicle to be early-warned is determined according to the characteristic information and a preset two-dimensional mapping table, and then the real height of the vehicle to be early-warned is determined according to the projection height. According to the method and the device for early warning, the projection height of the vehicle to be early warned is determined according to the characteristic information and the preset two-dimensional mapping table, and then the real height is determined according to the projection height, so that the real height of the vehicle to be early warned can be calculated according to the acquired image, real-time measurement is not needed, and therefore the height of the vehicle to be early warned can be determined more conveniently and accurately, and early warning is carried out.
In addition, the embodiment of the invention also provides a storage medium, wherein the storage medium is stored with a limited overhead early warning program, and the steps of the overhead early warning method are realized when the limited overhead early warning program is executed by a processor.
Referring to fig. 7, fig. 7 is a block diagram illustrating a first embodiment of an overhead warning device according to the present invention.
As shown in fig. 7, the height limiting frame early warning device provided by the embodiment of the invention includes:
the image acquisition module 701 is configured to acquire an initial image set of a vehicle to be pre-warned in a preset road section through a binocular camera arranged on a height limiting frame when the distance between the vehicle to be pre-warned and the vehicle is detected to be in a preset range;
the image processing module 702 is configured to pre-process the images in the initial image set to obtain a target image set;
the height acquisition module 703 is configured to acquire feature information of each image in the target image set, and determine a real height of the vehicle to be pre-warned according to the feature information and a preset two-dimensional mapping table;
and the height limiting frame early warning module 704 is used for carrying out early warning when the real height exceeds the limit height of the height limiting frame.
When the distance between the target image set and the vehicle to be pre-warned is detected to be in a preset range, an initial image set of the vehicle to be pre-warned on a preset road section is obtained through a binocular camera arranged on a height limiting frame, then images in the initial image set are preprocessed to obtain a target image set, then feature information of each image in the target image set is obtained, the real height of the vehicle to be pre-warned is determined according to the feature information and a preset two-dimensional mapping table, and pre-warning is carried out when the real height exceeds the limit height of the height limiting frame. According to the method, the initial image set is preprocessed, the outline of the vehicle body of the vehicle to be early-warned in each image is clearer, then the real height of the vehicle to be early-warned is determined through the preset two-dimensional mapping table according to the characteristic information of each image, and the height of the vehicle to be early-warned can be determined more accurately, so that the height-limiting frame early-warning is more accurate.
Based on the first embodiment of the height-limiting frame early warning device, a second embodiment of the height-limiting frame early warning device is provided.
In this embodiment, the image processing module 702 is further configured to perform guided filtering on the images in the initial image set to obtain a filtered image set; and performing Blob analysis on the images in the filtered image set to obtain a target image set.
Further, the image processing module 702 is further configured to binarize the images in the filtered image set to obtain a binary image set; extracting features of each image in the binary image set to obtain a body image of the vehicle to be early-warned in each image; and detecting the connected areas of the vehicle body images to obtain a target image set.
Further, the height obtaining module 703 is further configured to determine feature information of each image in the target image set according to a Canny edge detection operator; determining the projection height of the vehicle to be pre-warned according to the characteristic information and a preset two-dimensional mapping table; and determining the real height of the vehicle to be early-warned according to the projection height.
Further, the height obtaining module 703 is further configured to extract a feature point of the vehicle to be pre-warned according to the feature information, and select a roof feature point from the feature points as a feature corner point of the vehicle to be pre-warned; acquiring each image pixel position of the characteristic corner point, and searching each scene point position of the characteristic corner point from a preset two-dimensional mapping table according to each image pixel position; determining the movement speed and the projection speed of the vehicle to be pre-warned according to each scene point of the characteristic angular points; and determining the projection height of the vehicle to be early-warned according to the movement speed, the projection speed and the vertical distance between the optical center of the binocular camera and the road surface.
Further, the height obtaining module 703 is further configured to obtain, by using the binocular camera, two-dimensional coordinate values of the feature corner of the vehicle to be pre-warned in each image of the target image set; determining a real coordinate value of the vehicle to be early-warned according to the two-dimensional coordinate value and the vertical distance; and determining the real height of the vehicle to be early-warned according to the real coordinate value.
Further, the height limiting frame early warning device also comprises a position calibration module, wherein the position calibration module is used for calibrating the position through the binocular camera and determining the corresponding relation between the image pixel position and the scene point position according to the calibration result;
and constructing a preset two-dimensional mapping table according to the corresponding relation.
Other embodiments or specific implementation manners of the elevation limiting frame early warning device of the present invention may refer to the above method embodiments, and are not described herein.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system 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 system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. read-only memory/random-access memory, magnetic disk, optical disk), comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (8)
1. The height limiting frame early warning method is characterized by comprising the following steps of:
when the distance between the vehicle to be pre-warned and the vehicle to be pre-warned is detected to be in a preset range, acquiring an initial image set of the vehicle to be pre-warned on a preset road section through a binocular camera arranged on a height limiting frame;
preprocessing images in the initial image set to obtain a target image set;
acquiring characteristic information of each image in the target image set, and determining the real height of the vehicle to be early-warned according to the characteristic information and a preset two-dimensional mapping table, wherein the preset two-dimensional mapping table represents the corresponding relation between the pixel positions of the images and the scene point positions;
early warning is carried out when the real height exceeds the limit height of the height limiting frame;
the step of acquiring the characteristic information of each image in the target image set and determining the real height of the vehicle to be pre-warned according to the characteristic information and a preset two-dimensional mapping table specifically comprises the following steps:
determining characteristic information of each image in the target image set according to a Canny edge detection operator;
determining the projection height of the vehicle to be pre-warned according to the characteristic information and a preset two-dimensional mapping table;
determining the real height of the vehicle to be early-warned according to the projection height;
the step of determining the projection height of the vehicle to be pre-warned according to the characteristic information and a preset two-dimensional mapping table specifically comprises the following steps:
extracting characteristic points of the vehicle to be early-warned according to the characteristic information, and selecting a roof characteristic point from the characteristic points as a characteristic corner point of the vehicle to be early-warned;
acquiring each image pixel position of the characteristic corner point, and searching each scene point position of the characteristic corner point from a preset two-dimensional mapping table according to each image pixel position;
determining the movement speed and the projection speed of the vehicle to be pre-warned according to each scene point of the characteristic angular points;
and determining the projection height of the vehicle to be early-warned according to the movement speed, the projection speed and the vertical distance between the optical center of the binocular camera and the road surface.
2. The method for pre-warning the height limit frame according to claim 1, wherein the step of preprocessing the images in the initial image set to obtain the target image set specifically comprises the following steps:
conducting guided filtering on the images in the initial image set to obtain a filtered image set;
and performing Blob analysis on the images in the filtered image set to obtain a target image set.
3. The method for pre-warning the height limit frame according to claim 2, wherein the step of performing Blob analysis on the images in the filtered image set to obtain the target image set specifically comprises:
binarizing images in the filtered image set to obtain a binary image set;
extracting features of each image in the binary image set to obtain a body image of the vehicle to be early-warned in each image;
and detecting the connected areas of the vehicle body images to obtain a target image set.
4. The method for warning the height limit frame according to claim 1, wherein the step of determining the actual height of the vehicle to be warned according to the projection height specifically comprises the following steps:
acquiring two-dimensional coordinate values of characteristic corner points of the vehicle to be pre-warned in each image of the target image set through the binocular camera;
determining a real coordinate value of the vehicle to be early-warned according to the two-dimensional coordinate value and the vertical distance;
and determining the real height of the vehicle to be early-warned according to the real coordinate value.
5. The method for pre-warning an overhead line according to any one of claims 1 to 4, wherein, when the distance between the vehicle and the vehicle to be pre-warned is detected to be within a preset range, before the step of acquiring the initial image set of the vehicle to be pre-warned on the preset road section by using a binocular camera arranged on the overhead line, the method further comprises:
position calibration is carried out through the binocular camera, and the corresponding relation between the image pixel position and the scene point position is determined according to the calibration result;
and constructing a preset two-dimensional mapping table according to the corresponding relation.
6. The utility model provides a limit for height frame early warning device which characterized in that, limit for height frame early warning device includes:
the image acquisition module is used for acquiring an initial image set of the vehicle to be early-warned in a preset road section through a binocular camera arranged on the height limiting frame when the distance between the vehicle to be early-warned and the vehicle to be early-warned is detected to be in a preset range;
the image processing module is used for preprocessing the images in the initial image set to obtain a target image set;
the height acquisition module is used for acquiring characteristic information of each image in the target image set, determining the real height of the vehicle to be early-warned according to the characteristic information and a preset two-dimensional mapping table, wherein the preset two-dimensional mapping table represents the corresponding relation between the pixel positions of the images and the scene point positions;
the height limiting frame early warning module is used for carrying out early warning when the real height exceeds the limit height of the height limiting frame;
the height acquisition module is further used for determining characteristic information of each image in the target image set according to a Canny edge detection operator; determining the projection height of the vehicle to be pre-warned according to the characteristic information and a preset two-dimensional mapping table; determining the real height of the vehicle to be early-warned according to the projection height;
the height acquisition module is further used for extracting characteristic points of the vehicle to be early-warned according to the characteristic information, and selecting a roof characteristic point from the characteristic points as a characteristic corner point of the vehicle to be early-warned; acquiring each image pixel position of the characteristic corner point, and searching each scene point position of the characteristic corner point from a preset two-dimensional mapping table according to each image pixel position; determining the movement speed and the projection speed of the vehicle to be pre-warned according to each scene point of the characteristic angular points; and determining the projection height of the vehicle to be early-warned according to the movement speed, the projection speed and the vertical distance between the optical center of the binocular camera and the road surface.
7. The utility model provides a limit for height frame early warning equipment which characterized in that, limit for height frame early warning equipment includes: a memory, a processor and an overhead warning program stored on the memory and operable on the processor, the overhead warning program configured to implement the steps of the overhead warning method of any one of claims 1 to 5.
8. A storage medium, wherein a limited overhead warning program is stored on the storage medium, and the steps of the overhead warning method according to any one of claims 1 to 5 are implemented when the limited overhead warning program is executed by a processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110754323.XA CN113592888B (en) | 2021-07-01 | 2021-07-01 | Height limiting frame early warning method, device, equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110754323.XA CN113592888B (en) | 2021-07-01 | 2021-07-01 | Height limiting frame early warning method, device, equipment and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113592888A CN113592888A (en) | 2021-11-02 |
| CN113592888B true CN113592888B (en) | 2024-02-02 |
Family
ID=78245697
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110754323.XA Active CN113592888B (en) | 2021-07-01 | 2021-07-01 | Height limiting frame early warning method, device, equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113592888B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117115760A (en) * | 2023-07-21 | 2023-11-24 | 中铁十局集团第三建设有限公司 | Engineering vehicle height limit detection method and system based on video picture |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105225482A (en) * | 2015-09-02 | 2016-01-06 | 上海大学 | Based on vehicle detecting system and the method for binocular stereo vision |
| CN108615369A (en) * | 2018-06-19 | 2018-10-02 | 国家电网公司 | A kind of road limit for height method for early warning, device and terminal device |
| CN109409311A (en) * | 2018-11-07 | 2019-03-01 | 上海为森车载传感技术有限公司 | A kind of limit for height method for early warning based on binocular stereo vision |
| CN110069990A (en) * | 2019-03-18 | 2019-07-30 | 北京中科慧眼科技有限公司 | A kind of height-limiting bar detection method, device and automated driving system |
| CN110164142A (en) * | 2019-05-20 | 2019-08-23 | 广州市建筑科学研究院有限公司 | A kind of road limit for height system and method |
| CN110207650A (en) * | 2019-05-31 | 2019-09-06 | 重庆迪星天科技有限公司 | Automobile-used highway height-limiting frame height measurement method and device based on binocular vision |
| CN111339956A (en) * | 2020-02-28 | 2020-06-26 | 北京中科慧眼科技有限公司 | Height-limiting early warning method, device and system based on binocular camera and storage medium |
-
2021
- 2021-07-01 CN CN202110754323.XA patent/CN113592888B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105225482A (en) * | 2015-09-02 | 2016-01-06 | 上海大学 | Based on vehicle detecting system and the method for binocular stereo vision |
| CN108615369A (en) * | 2018-06-19 | 2018-10-02 | 国家电网公司 | A kind of road limit for height method for early warning, device and terminal device |
| CN109409311A (en) * | 2018-11-07 | 2019-03-01 | 上海为森车载传感技术有限公司 | A kind of limit for height method for early warning based on binocular stereo vision |
| CN110069990A (en) * | 2019-03-18 | 2019-07-30 | 北京中科慧眼科技有限公司 | A kind of height-limiting bar detection method, device and automated driving system |
| CN110164142A (en) * | 2019-05-20 | 2019-08-23 | 广州市建筑科学研究院有限公司 | A kind of road limit for height system and method |
| CN110207650A (en) * | 2019-05-31 | 2019-09-06 | 重庆迪星天科技有限公司 | Automobile-used highway height-limiting frame height measurement method and device based on binocular vision |
| CN111339956A (en) * | 2020-02-28 | 2020-06-26 | 北京中科慧眼科技有限公司 | Height-limiting early warning method, device and system based on binocular camera and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113592888A (en) | 2021-11-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US7046822B1 (en) | Method of detecting objects within a wide range of a road vehicle | |
| CN102862574B (en) | The method of vehicle active safety is realized based on smart mobile phone | |
| CN113376654A (en) | Three-dimensional laser-based truck collection anti-smashing detection method and device and computer equipment | |
| JP4171501B2 (en) | Vehicle periphery monitoring device | |
| KR101464489B1 (en) | Method and system for detecting an approaching obstacle based on image recognition | |
| JP5223675B2 (en) | Vehicle detection device, vehicle detection method, and vehicle detection program | |
| CN110909705B (en) | Road side parking space sensing method and system based on vehicle-mounted camera | |
| DE102005026875A1 (en) | Vehicle environment monitoring device | |
| US9928429B2 (en) | Image processing apparatus and image processing method | |
| KR20110037180A (en) | System and method for road visibility measurement using camera | |
| CN113160527A (en) | Road height limiting early warning system and method | |
| CN111046797A (en) | Oil pipeline warning method based on personnel and vehicle behavior analysis | |
| CN113592888B (en) | Height limiting frame early warning method, device, equipment and storage medium | |
| CN112896159A (en) | Driving safety early warning method and system | |
| JP3456339B2 (en) | Object observation method, object observation device using the method, traffic flow measurement device and parking lot observation device using the device | |
| CN109635700B (en) | Obstacle recognition method, device, system and storage medium | |
| JP3328711B2 (en) | Vehicle height measuring device and vehicle monitoring system using the same | |
| JP6678552B2 (en) | Vehicle type identification device and vehicle type identification method | |
| CN107290738A (en) | A kind of method and apparatus for measuring front vehicles distance | |
| CN110660226A (en) | Method, system and equipment for detecting vehicle safety standard and storage device | |
| KR101762126B1 (en) | Danger Avoidance System of Road Worker and Method Thereof | |
| KR20180136601A (en) | Pothole detector and Pothole management system | |
| JP4813304B2 (en) | Vehicle periphery monitoring device | |
| JP3228603B2 (en) | Image monitoring device and its use | |
| KR102115792B1 (en) | Monitoring System by cameras installed in traffic lights |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |