CN105607075A - Road safety monitoring method and apparatus thereof - Google Patents
Road safety monitoring method and apparatus thereof Download PDFInfo
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- CN105607075A CN105607075A CN201510564932.3A CN201510564932A CN105607075A CN 105607075 A CN105607075 A CN 105607075A CN 201510564932 A CN201510564932 A CN 201510564932A CN 105607075 A CN105607075 A CN 105607075A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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Abstract
Embodiments of the invention disclose a road safety monitoring method and an apparatus thereof and belong to the road transportation safety field. The method comprises the following steps of using laser beams emitted by a plurality of laser scanning equipment to carry out continuous scanning back and forth on a preset area and acquiring multi-frame data; based on each frame of data, acquiring position information of a barrier in the preset area; according to the position information of the barrier and a pre-stored subordinate object, determining a degree of membership of the barrier and acquiring the subordinate object corresponding to the barrier whose degree of membership exceeds a preset degree of membership threshold in the preset area; if a dangerous barrier is determined to exist in the preset area according to the acquired subordinate object and pre-stored early warning information corresponding to the subordinate object, emitting early warning indication information and acquiring image information of the barrier in the preset area; and if the barrier in the preset area is determined to be the dangerous barrier according to the acquired image information, emitting an alarm instruction. By using the method and the apparatus, road safety detection efficiency can be increased.
Description
Technical field
The present invention relates to road transport security fields, particularly a kind of monitoring method of road safety and device.
Background technology
Road transport safety more and more receives people's concern, and especially safety of railway traffic problem, becomesFor the important component part of system-wide system works. Because railway is extensive across region, circuit circumstance complication,Normal operation and maintenance aspect, has more particularity than other communications and transportation mode, when driving accident, hasThere is Subgrade Subsidence, highway railway grade separation bridge that landslide, mud-rock flow, snowslide, flood etc. causeHow the foreign body intrusions such as junk can, to the consequence of bringing on a disaster property of train, therefore, improve safety of railway trafficSafeguards system, prevention and farthest reduce driving accident, will become the weight that railway modernization is builtPoint work.
In order to improve safety of railway traffic, conventionally, in the region of more easily causing danger, camera is installed, pass throughCamera is taken the image in respective regions, then, the image of taking is arrived to Surveillance center by Internet Transmission,Technical staff has determined whether that by the image receiving dangerous situation occurs, for example, in rainy season or falling rocks season occurred frequently,Determine whether to occur the dangerous situations such as landslide, mud-rock flow, flood by technical staff observation site image, enterAnd carry out respective handling based on actual conditions.
Realizing in process of the present invention, inventor finds that prior art at least exists following problem:
Said method just replaces human eye with camera, and a large amount of information sifting and information processing works still needManually complete, people's workload is very large, and technical staff needs the same time that notice is completeConcentrate on several or more image or Video Events, increased labour intensity, reduced road safety inspectionThe efficiency of surveying.
Summary of the invention
In order to solve the problem of prior art, the embodiment of the present invention provides a kind of monitoring method of road safetyAnd device. Described technical scheme is as follows:
First aspect, provides a kind of monitoring method of road safety, and described method comprises:
By being distributed in the road that is parallel to of launching apart from multiple Laser Scanning Equipments of predeterminable area predetermined thresholdThe laser beam on surface comes and goes continuously scanning to described predeterminable area, obtains that repeatedly to come and go continuously scanning described pre-If the multiframe data that obtain behind region, and the position that obtains barrier in described predeterminable area based on each frame dataPut information, wherein, described data are the arrival barrier that the laser beam launched by described Laser Scanning Equipment recordsHinder the distance value of thing;
According to the positional information of barrier and pre-stored person in servitude in described predeterminable area corresponding to each frame dataBelong to object, determine the degree of membership of barrier in described predeterminable area;
Obtain barrier in the described predeterminable area that degree of membership exceedes default degree of membership threshold value corresponding be subordinate to rightResemble;
If be subordinate to object and pre-stored be subordinate to the early warning information that object is corresponding according to what get, determiningIn described predeterminable area, there is dangerous obstacles, send early warning indication information, and obtain described predeterminable areaThe image information of interior barrier;
If determine that according to the image information getting in described predeterminable area, barrier is dangerous obstacles,Send alarm command.
Alternatively, described laser beam is apart from road surface based on pilot for vehicle apart from the height of road surfaceHeight and arrange.
Alternatively, the described positional information of obtaining barrier in described predeterminable area based on each frame data, bagDraw together:
Based on each frame data obtain barrier in described predeterminable area positional information, movement properties information andPhysical aspect information; Wherein, described movement properties information comprises movement velocity, acceleration and the direction of motion,Described physical aspect information comprises width, length;
Described according to the positional information of barrier in described predeterminable area corresponding to each frame data and pre-storedBe subordinate to object, determine the degree of membership of barrier in described predeterminable area, comprising:
According to the positional information getting, movement properties information, physical aspect information and pre-stored being subordinate toObject, determines the degree of membership of barrier in described predeterminable area.
Alternatively, described in obtain the image information of barrier in described predeterminable area, comprising:
By 940 nanometer light filling cameras, obtain the image information of barrier in described predeterminable area.
Alternatively, described method also comprises:
If according to the positional information getting and the pre-stored object that is subordinate to, determined in described predeterminable areaBarrier does not belong to the pre-stored object that is subordinate to, according to the positional information that gets create new be subordinate to rightResemble, and storage.
Second aspect, provides a kind of monitoring device of road safety, and described device comprises:
The first acquisition module, for establishing by being distributed in apart from multiple laser scannings of predeterminable area predetermined thresholdWhat preparation was penetrated is parallel to the laser beam of road surface to the round scanning continuously of described predeterminable area, obtains repeatedlyCome and go continuously the multiframe data that obtain after the described predeterminable area of scanning, and obtain described pre-based on each frame dataIf the positional information of barrier in region, wherein, described data are to launch by described Laser Scanning EquipmentThe distance value of the arrival barrier that laser beam records;
Determination module, for according to the positional information of barrier in described predeterminable area corresponding to each frame dataWith the pre-stored object that is subordinate to, determine the degree of membership of barrier in described predeterminable area;
The second acquisition module, exceedes for obtaining degree of membership the described predeterminable area cataract or glaucoma of presetting degree of membership threshold valueHinder thing corresponding be subordinate to object;
Sending module, if for according to get be subordinate to object and pre-stored to be subordinate to object correspondingEarly warning information, determines in described predeterminable area and has dangerous obstacles, sends early warning indication information, and obtainsGet the image information of barrier in described predeterminable area;
Described sending module, if also for determining described predeterminable area cataract or glaucoma according to the image information gettingHindering thing is dangerous obstacles, sends alarm command.
Alternatively, described laser beam is apart from road surface based on pilot for vehicle apart from the height of road surfaceHeight and arrange.
Alternatively, described the first acquisition module, for:
Based on each frame data obtain barrier in described predeterminable area positional information, movement properties information andPhysical aspect information; Wherein, described movement properties information comprises movement velocity, acceleration and the direction of motion,Described physical aspect information comprises width, length;
Described determination module, for:
According to the positional information getting, movement properties information, physical aspect information and pre-stored being subordinate toObject, determines the degree of membership of barrier in described predeterminable area.
Alternatively, described sending module, for:
By 940 nanometer light filling cameras, obtain the image information of barrier in described predeterminable area.
Alternatively, described device also comprises creation module, for:
If according to the positional information getting and the pre-stored object that is subordinate to, determined in described predeterminable areaBarrier does not belong to the pre-stored object that is subordinate to, according to the positional information that gets create new be subordinate to rightResemble, and storage.
The beneficial effect that the technical scheme that the embodiment of the present invention provides is brought is:
In the embodiment of the present invention, by being distributed in the multiple Laser Scanning Equipments apart from predeterminable area predetermined thresholdThe laser beam that is parallel to road surface of transmitting comes and goes and scans continuously predeterminable area, obtains repeatedly past continuouslyReturn the multiframe data that obtain after scanning predeterminable area, and obtain barrier in predeterminable area based on each frame dataPositional information, wherein, these data are the arrival obstacle that the laser beam launched by Laser Scanning Equipment recordsThe distance value of thing, according to the positional information of barrier in predeterminable area corresponding to each frame data and pre-storedBe subordinate to object, determine the degree of membership of barrier in predeterminable area, obtain degree of membership and exceed default degree of membership thresholdWhat in the predeterminable area of value, barrier was corresponding is subordinate to object, if be subordinate to object and deposit in advance according to what getStorage be subordinate to the early warning information that object is corresponding, determine in predeterminable area and have dangerous obstacles, send early warningIndication information, and obtain the image information of barrier in predeterminable area, if according to the image information gettingDetermine that in predeterminable area, barrier is dangerous obstacles, send alarm command, like this, server can enterA large amount of information sifting and the information processing operation of row, has reduced people's workload, can improve road safety inspectionThe efficiency of surveying.
Brief description of the drawings
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, institute in describing embodiment belowNeed the accompanying drawing using to be briefly described, apparently, the accompanying drawing in the following describes is only the present inventionSome embodiment, for those of ordinary skill in the art, do not paying under the prerequisite of creative work,Can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the monitoring method flow chart of a kind of road safety of providing of the embodiment of the present invention;
Fig. 2 is the monitoring device structural representation of a kind of road safety of providing of the embodiment of the present invention;
Fig. 3 is the structural representation of a kind of server of providing of the embodiment of the present invention.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing to the present inventionEmbodiment is described in further detail.
Embodiment mono-
The embodiment of the present invention provides a kind of monitoring method of road safety, as shown in Figure 1, and the locating of the methodReason flow process can comprise following step:
Step 101, by being distributed in launch apart from multiple Laser Scanning Equipments of predeterminable area predetermined threshold flatRow scans continuous the coming and going of predeterminable area in the laser beam of road surface, and server obtains repeatedly and comes and goes continuouslyThe multiframe data that scanning obtains after predeterminable area, and obtain barrier in predeterminable area based on each frame dataPositional information, wherein, these data are the arrival barrier that the laser beam launched by Laser Scanning Equipment recordsDistance value.
Step 102, server is according to the positional information of barrier in predeterminable area corresponding to each frame data and pre-First storage be subordinate to object, determine the degree of membership of barrier in above-mentioned predeterminable area.
Step 103, server obtains the interior barrier of above-mentioned predeterminable area that degree of membership exceedes default degree of membership threshold valueThe corresponding object that is subordinate to.
Step 104, if be subordinate to object and pre-stored be subordinate to the early warning letter that object is corresponding according to what getBreath, determines in above-mentioned predeterminable area and has dangerous obstacles, server sends early warning indication information, and obtainsGet the image information of barrier in above-mentioned predeterminable area.
Step 105, if determine that according to the image information getting in above-mentioned predeterminable area, barrier is dangerous barrierHinder thing, server sends alarm command.
In the embodiment of the present invention, by being distributed in the multiple Laser Scanning Equipments apart from predeterminable area predetermined thresholdThe laser beam that is parallel to road surface of transmitting comes and goes and scans continuously predeterminable area, obtains repeatedly past continuouslyReturn the multiframe data that obtain after scanning predeterminable area, and obtain barrier in predeterminable area based on each frame dataPositional information, wherein, these data are the arrival obstacle that the laser beam launched by Laser Scanning Equipment recordsThe distance value of thing, according to the positional information of barrier in predeterminable area corresponding to each frame data and pre-storedBe subordinate to object, determine the degree of membership of barrier in predeterminable area, obtain degree of membership and exceed default degree of membership thresholdWhat in the predeterminable area of value, barrier was corresponding is subordinate to object, if be subordinate to object and deposit in advance according to what getStorage be subordinate to the early warning information that object is corresponding, determine in predeterminable area and have dangerous obstacles, send early warningIndication information, and obtain the image information of barrier in predeterminable area, if according to the image information gettingDetermine that in predeterminable area, barrier is dangerous obstacles, send alarm command, like this, server can enterA large amount of information sifting and the information processing operation of row, has reduced people's workload, can improve road safety inspectionThe efficiency of surveying.
Embodiment bis-
The embodiment of the present invention provides a kind of monitoring method of road safety, and the executive agent of the method is serviceDevice or terminal. Wherein, server can be the server for monitoring road safety, and terminal can be notesThis computer, desktop computer etc. In the embodiment of the present invention, carry out the detailed of scheme using server as executive agentIllustrate, the processing mode using terminal as executive agent can be identical therewith.
Below in conjunction with detailed description of the invention, the handling process shown in Fig. 1 is described in detail to contentCan be as follows:
Step 101, by being distributed in launch apart from multiple Laser Scanning Equipments of predeterminable area predetermined threshold flatRow scans continuous the coming and going of predeterminable area in the laser beam of road surface, and server obtains repeatedly and comes and goes continuouslyThe multiframe data that scanning obtains after predeterminable area, and obtain barrier in predeterminable area based on each frame dataPositional information, wherein, these data are the arrival barrier that the laser beam launched by Laser Scanning Equipment recordsDistance value.
Wherein, positional information can be geographical coordinate, can be also the distance of Laser Scanning Equipment to barrier.
In force, the road of driving has certain width conventionally, especially railway, the embodiment of the present inventionIn road describe as an example of railway example, technical staff can be in the both sides of rail every predetermined preset distanceA Laser Scanning Equipment is installed, for launching the laser beam that is parallel to rail of railway, this Laser Scanning EquipmentCan only launch beam of laser bundle, then, can be by this laser beam around certain rotating shaft fast rotational, thus shapeBecome scanning area. Laser Scanning Equipment is a set of electro-optical system for laser measurement, and this equipment is by laserLight beam in one plane scans the environment of periphery, thereby generates two-dimentional polar coordinates, when Laser Scanning EquipmentWhen the pulsed light beam that diode sends is incident on certain object, light beam can, by by the surface reflection of this object, swashOptical scanning device can detect by photodiode the reflection of light beam, and then Laser Scanning Equipment just canDetermine the data of the form such as distance and direction of this object, Laser Scanning Equipment can be by these data to establish in advanceFixed transmission frequency is transferred to server, and server can pass through these data, determines and belongs in predeterminable areaCorresponding data, and use these data to calculate accordingly, obtain the position letter of barrier in predeterminable areaBreath. Wherein, the laser beam of most of object reflections can spread to all directions, if laser beam is verticalPenetrate at body surface, beam reflection is now best reflection, the energy maximum getting; If swashedLight light beam is during with certain angle incident, and corresponding energy and sweep limits have minimizing in various degree, therefore,The sweep limits of Laser Scanning Equipment depends on the reflectivity of object to be detected, and surface reflection is better, and laser is sweptThe scope of retouching device scan is larger. Laser Scanning Equipment is in the time scanning predeterminable area, every certain angleDegree carries out spot measurement, the angular resolution that interval angle is laser scanner, and angular resolution is higher, surveysMeasure more accurate. But, along with the increase of distance, the distance between single scanning element also increase, measurement point itBetween distance depend on the setting of angular resolution. Distance between light beam and detection distance and selected angleResolution ratio is relevant, wherein, uses large resolution ratio distance larger, uses little resolution ratio distance less.
It should be noted that, in order barrier to be detected reliably, beam of laser light beam must be incident upon completelyOn barrier. Only have in the time that the size of barrier acquires a certain degree, this barrier could be detected completely.
Wherein, the distance between diameter=laser beam diameter+laser beam of barrier can be detected. CauseThis, only have in the time that the diameter of barrier is greater than the diameter that barrier can be detected, this barrier of guaranteeCan be detected by Laser Scanning Equipment.
Alternatively, Laser Scanning Equipment can also be used for measuring secondary reflection pulse. For example, while, raining, will produceRaw secondary reflection pulse, wherein, rainwater is the energy of reflecting part laser beam, its remaining part of laser beamPoint energy is propagated forward continuing and by the surface reflection of barrier (second reflects).
Alternatively, can certain height be set to detect the barrier that exceedes this height for Laser Scanning Equipment,Concrete processing mode can comprise following content: above-mentioned laser beam is based on car apart from the height of road surfacePilot is apart from the height of road surface and arrange.
In force, in the time of laser beam High Rotation Speed, Laser Scanning Equipment has finally formed a laser beamAperture plate, in the time of the height that reaches laser beam aperture plate of the height of object, this object can be identified. Can be by notAffect the height of traffic safety as minimum identification height, be the height of laser beam aperture plate. Should in realityWith in, if the height of object lower than pilot for vehicle height, this object can be to the driving safety of vehicleImpact, therefore, can carry out setting laser light beam aperture plate height by the height based on pilot for vehicle, for example,Laser beam aperture plate height can be identical with the height of pilot for vehicle, and laser beam aperture plate height can be higher thanPilot for vehicle preset height etc. Can be according to actual conditions, and can establish with reference to pilot for vehicle height(in the present embodiment, laser beam is apart from the height of road surface apart from the height of road surface to install laser beamBe the height of laser beam apart from rail of railway), wherein, laser beam apart from the height of road surface can beIn certain altitude range, can (like this, can facilitate user according to actual needs freely by freely regulated heightAdjusting laser beam is apart from the height of road surface), for example, laser beam can be one apart from the height of road surfaceCan free adjustment in fixed altitude range, its adjustable range can be 40 millimeters～120 millimeters. When the height of objectWhile spending lower than laser beam aperture plate height, there is no laser beam irradiation to this object, therefore this object can notBe caught in, if the height of object is higher than the height of pilot for vehicle height laser bundle aperture plate, object meetingLaser beam irradiation by laser beam aperture plate arrives, and body surface can produce reflection, thereby this object can be by laserScanning device captures, then, by the analysis of multiframe data, determine this object be whether barrier (orDangerous obstacles). Alternatively, can utilize the area applications of Laser Scanning Equipment, set foreign body intrusion safetyThe scope of monitoring, when there being the foreign matter such as falling rocks to invade the scope of security monitorings, and higher than the scanning aperture plate of laser beamTime, trigger alarm. In the embodiment of the present invention, Laser Scanning Equipment can be by network and server or terminalConnect, can set in advance for it information such as corresponding IP address.
Step 102, server is according to the positional information of barrier in predeterminable area corresponding to each frame data and pre-First storage be subordinate to object, determine the degree of membership of barrier in above-mentioned predeterminable area.
Wherein, degree of membership can belong to some degree or probability that is subordinate to object for barrier. Be subordinate to objectCan be dangerous obstacles, as be still in stone, round log etc. on road.
In force, server can receive the data that Laser Scanning Equipment repeatedly sends, and server can be in order toThe positional information of calculating barrier in predeterminable area by these data, then, server can will repeatedly receiveThe positional information of the barrier that calculates of data merge, and remove expired barrier (if i.e. clothesBusiness device does not receive new data for a long time for a barrier, judges that this barrier is as expired obstacleThing), and then obtain the characteristic information such as shape of barrier in predeterminable area. Technical staff can be pre-at serverMultiple object information that are subordinate to are first set, as rock, animal etc., wherein, can be in advance at each object that is subordinate toVarious features information is set. Server is determined after the characteristic information of barrier in above-mentioned predeterminable area, canItself and the pre-stored characteristic information that is subordinate to object are analyzed, determine above-mentioned predeterminable area cataract or glaucomaHinder thing to belong to the above-mentioned degree of membership that is subordinate to object.
The processing procedure of above-mentioned steps 101 can be varied, and a kind of optional processing mode is below provided,Specifically can comprise following content: the sweeping of the Preset Time interval of predeterminable area being carried out by horizontal laser beamRetouch, obtain positional information, movement properties information and the physical aspect information of barrier in above-mentioned predeterminable area;Wherein, movement properties information comprises movement velocity, acceleration and the direction of motion, and physical aspect information comprises wideDegree, length.
Wherein, Preset Time interval can be set in advance by user or technical staff, as, Preset Time intervalIt can be 40 milliseconds etc.
In force, Laser Scanning Equipment can carry out laser beam to predeterminable area every Preset Time intervalScanning, and the multiframe data that scanning is obtained send to server. Can be by Laser Scanning Equipment to defaultThe data that the single pass in region obtains are defined as frame data, and like this, server can pass through these frame data,After calculating, obtain the size, shape of barrier and apart from the information such as the distance of Laser Scanning Equipment, serviceDevice can carry out distance range corresponding with predeterminable area the distance of arrival barrier corresponding each dataRelatively, obtain the size, shape of barrier in predeterminable area and apart from information such as the distances of Laser Scanning Equipment,Further, can use identical method, determine barrier in predeterminable area by each frame dataSize, shape and apart from information such as the distances of Laser Scanning Equipment, then, by multiframe data are combinedClose to analyze and judge, can determine the movement locus of barrier in predeterminable area, like this, pass through related dataCan calculate the geographical coordinate of barrier in above-mentioned predeterminable area or the Laser Scanning Equipment distance to barrierFrom information such as movement velocity, acceleration, the direction of motion, width and the length of, barrier.
Accordingly, the processing procedure of above-mentioned steps 102 can comprise following content: according to the position gettingInformation, movement properties information, physical aspect information and the pre-stored object that is subordinate to, determine above-mentioned preset areasThe degree of membership of barrier in territory.
In force, server can utilize the data that receive to calculate the position letter of barrier in predeterminable areaBreath, then, the positional information of the barrier that server can calculate the data that repeatedly receive is carried outMerge, and remove expired barrier, and movement properties information by barrier in the predeterminable area obtaining andThe information such as physical aspect information, determine the characteristic informations such as the size, shape, motion state of barrier. TechnologyPersonnel can set in advance multiple object information that are subordinate at server, as rock, animal etc., wherein, canAt each object that is subordinate to, various features information is set in advance. Server is determined barrier in above-mentioned predeterminable areaCharacteristic information after, itself and the pre-stored characteristic information that is subordinate to object can be analyzed, reallyIn fixed above-mentioned predeterminable area, barrier belongs to the above-mentioned degree of membership that is subordinate to object.
Step 103, server obtains the interior barrier of above-mentioned predeterminable area that degree of membership exceedes default degree of membership threshold valueThe corresponding object that is subordinate to.
In force, pre-stored in server have each degree of membership threshold value that object is corresponding that is subordinate to. ServerBarrier can be belonged to each and be subordinate to the numerical value of the degree of membership that object is corresponding and to be subordinate to accordingly object correspondingDegree of membership threshold, the numerical value that obtains degree of membership is greater than the above-mentioned predeterminable area of corresponding degree of membership threshold valueWhat interior barrier was corresponding is subordinate to object.
Step 104, if be subordinate to object and pre-stored be subordinate to the early warning letter that object is corresponding according to what getBreath, determines in above-mentioned predeterminable area and has dangerous obstacles, server sends early warning indication information, and obtainsGet the image information of barrier in above-mentioned predeterminable area.
Wherein, early warning information can represent whether certain is subordinate to object is dangerous object, this early warning informationCan be danger, safety etc. Early warning indication information can be for the pre-alarm of road safety observation process, in advanceAlert indication information can be varied, such as indicator lamp flicker, prompt tone etc.
In force, technical staff can arrange corresponding early warning information for each object that is subordinate to, and for example, is subordinate toBelonging to object is that the early warning information that train is corresponding is safety, is subordinate to object and is that to exceed the falling rocks of preset height correspondingEarly warning information is dangerous, as shown in table 1.
Table 1
| Be subordinate to object | Early warning information |
| Train | Safety |
| Exceed the falling rocks of preset height | Dangerous |
| Pedestrian | Safety |
If what server was determined is subordinate to object is the falling rocks that exceedes preset height, server can be determinedIn above-mentioned predeterminable area, there is dangerous obstacles, in server, can set in advance multiple indicator lamp, forDifferent early warning indication informations are shown, now, server can refer to representing that dangerous indicator lamp sendsShow the instruction of lamp flicker, server is lighted this indicator lamp, and indicator lamp is glimmered, meanwhile, and serverCan send image taking to the picture pick-up device that is arranged at barrier position place in above-mentioned predeterminable area pleaseAsk, this picture pick-up device receives after this image taking request, can start the shoot function of self, takes barrierHinder the image at thing position place, obtain corresponding image information, and send to server, server canReceive the image information of barrier in above-mentioned predeterminable area. If what server was determined is subordinate to object is train,Server can be determined not dangerous barrier in above-mentioned predeterminable area, and now, server can not enterAny operation of row.
Alternatively, above-mentioned picture pick-up device can be varied, and a kind of optional picture pick-up device is below provided,The above-mentioned processing procedure of obtaining the image information of barrier in above-mentioned predeterminable area, specifically can comprise followingContent: by 940 nanometer light filling cameras, obtain the image information of barrier in predeterminable area.
In force, if the only visible ray that the light compensating lamp of camera sends, it may be to driver'sDrive and form harm, for example, if light compensating lamp sends is red visible ray, driver may be by this benefitThe red light of being used as road warning of the ruddiness mistake that light modulation sends, and the processing of stopping, thus driving causedAccident. What 940 nanometer light filling cameras adopted is 940 nanometer light compensating lamps, and what it sent is black light, fromAnd can avoid allowing driver produce erroneous judgement, normally drive a vehicle to affect circuit.
Step 105, if determine that according to the image information getting in above-mentioned predeterminable area, barrier is dangerous barrierHinder thing, server sends alarm command.
In force, server can contrast adjacent multiple image informations, determines this barrierWhether characteristic information, as size, the direction of motion, speed etc., thereby determine the interior barrier of above-mentioned predeterminable areaFor dangerous obstacles, if barrier is dangerous obstacles in above-mentioned predeterminable area, server can be upwardsState the alarm lamp transmission alarm command that predeterminable area arranges, this alarm lamp can respond this warning and refer toAlarm operation is carried out in order, and meanwhile, the terminal that server can also use to corresponding road upkeep personnel is sent outThe alarming information of delivering newspaper, notice road upkeep personnel predeterminable area is dangerous, and notifies it to get rid of that road existsHazards.
Alternatively, if not belonging to pre-stored any one, the interior barrier of above-mentioned predeterminable area is subordinate to object,Corresponding processing mode can be varied, and a kind of optional processing mode is below provided, and specifically can wrapDraw together following content: if according to the positional information getting and the pre-stored object that is subordinate to, determine above-mentioned pre-If barrier does not belong to the pre-stored object that is subordinate in region, create new according to the positional information gettingBe subordinate to object, and storage.
In force, if server, by above-mentioned relevant processing procedure, is determined above-mentioned predeterminable area cataract or glaucomaHinder thing not belong to pre-stored any one and be subordinate to object, the positional information that can break the barriers, reallyThe physical aspect information of fixed this barrier, can determine the new spy who is subordinate to object by this physical aspect informationReference breath, and be stored in server.
In the embodiment of the present invention, by being distributed in the multiple Laser Scanning Equipments apart from predeterminable area predetermined thresholdThe laser beam that is parallel to road surface of transmitting comes and goes and scans continuously predeterminable area, obtains repeatedly past continuouslyReturn the multiframe data that obtain after scanning predeterminable area, and obtain barrier in predeterminable area based on each frame dataPositional information, wherein, these data are the arrival obstacle that the laser beam launched by Laser Scanning Equipment recordsThe distance value of thing, according to the positional information of barrier in predeterminable area corresponding to each frame data and pre-storedBe subordinate to object, determine the degree of membership of barrier in predeterminable area, obtain degree of membership and exceed default degree of membership thresholdWhat in the predeterminable area of value, barrier was corresponding is subordinate to object, if be subordinate to object and deposit in advance according to what getStorage be subordinate to the early warning information that object is corresponding, determine in predeterminable area and have dangerous obstacles, send early warningIndication information, and obtain the image information of barrier in predeterminable area, if according to the image information gettingDetermine that in predeterminable area, barrier is dangerous obstacles, send alarm command, like this, server can enterA large amount of information sifting and the information processing operation of row, has reduced people's workload, can improve road safety inspectionThe efficiency of surveying.
Embodiment tri-
Based on identical technical conceive, the embodiment of the present invention also provides a kind of monitoring device of road safety,As shown in Figure 2, this device comprises:
The first acquisition module 210, for by being distributed in the multiple laser scannings apart from predeterminable area predetermined thresholdThe laser beam that is parallel to road surface of equipment transmitting comes and goes and scans continuously predeterminable area, obtains repeatedly and connectsContinuous coming and going scanned the multiframe data that obtain after predeterminable area, and obtains predeterminable area cataract or glaucoma based on each frame dataHinder the positional information of thing, wherein, these data are the arrival that the laser beam launched by Laser Scanning Equipment recordsThe distance value of barrier;
Determination module 220, for according to the positional information of barrier in predeterminable area corresponding to each frame data andThe pre-stored object that is subordinate to, determines the degree of membership of barrier in described predeterminable area;
The second acquisition module 230, exceedes for obtaining degree of membership in the described predeterminable area of default degree of membership threshold valueWhat barrier was corresponding is subordinate to object;
Sending module 240, if for being subordinate to object and the pre-stored object correspondence that is subordinate to according to what getEarly warning information, determine in described predeterminable area and have dangerous obstacles, send early warning indication information, andObtain the image information of barrier in described predeterminable area;
Described sending module 240, if also for determining in described predeterminable area according to the image information gettingBarrier is dangerous obstacles, sends alarm command.
Alternatively, described laser beam is apart from road surface based on pilot for vehicle apart from the height of road surfaceHeight and arrange.
Alternatively, described the first acquisition module 210, for:
Based on each frame data obtain barrier in described predeterminable area positional information, movement properties information andPhysical aspect information; Wherein, described movement properties information comprises movement velocity, acceleration and the direction of motion,Described physical aspect information comprises width, length;
Described determination module 220, for:
According to the positional information getting, movement properties information, physical aspect information and pre-stored being subordinate toObject, determines the degree of membership of barrier in described predeterminable area.
Alternatively, described sending module 240, for:
By 940 nanometer light filling cameras, obtain the image information of barrier in described predeterminable area.
Alternatively, described device also comprises creation module, for:
If according to the positional information getting and the pre-stored object that is subordinate to, determined in described predeterminable areaBarrier does not belong to the pre-stored object that is subordinate to, according to the positional information that gets create new be subordinate to rightResemble, and storage.
In the embodiment of the present invention, by being distributed in the multiple Laser Scanning Equipments apart from predeterminable area predetermined thresholdThe laser beam that is parallel to road surface of transmitting comes and goes and scans continuously predeterminable area, obtains repeatedly past continuouslyReturn the multiframe data that obtain after scanning predeterminable area, and obtain barrier in predeterminable area based on each frame dataPositional information, wherein, these data are the arrival obstacle that the laser beam launched by Laser Scanning Equipment recordsThe distance value of thing, according to the positional information of barrier in predeterminable area corresponding to each frame data and pre-storedBe subordinate to object, determine the degree of membership of barrier in predeterminable area, obtain degree of membership and exceed default degree of membership thresholdWhat in the predeterminable area of value, barrier was corresponding is subordinate to object, if be subordinate to object and deposit in advance according to what getStorage be subordinate to the early warning information that object is corresponding, determine in predeterminable area and have dangerous obstacles, send early warningIndication information, and obtain the image information of barrier in predeterminable area, if according to the image information gettingDetermine that in predeterminable area, barrier is dangerous obstacles, send alarm command, like this, server can enterA large amount of information sifting and the information processing operation of row, has reduced people's workload, can improve road safety inspectionThe efficiency of surveying.
It should be noted that: the monitoring device of the road safety that above-described embodiment provides is carrying out road safety prisonWhen survey, be only illustrated with the division of above-mentioned each functional module, in practical application, can be as requiredCompleted by different functional modules and above-mentioned functions is distributed, be divided into difference by the internal structure of serverFunctional module, to complete all or part of function described above. In addition, above-described embodiment providesThe monitoring device of road safety and the monitoring method embodiment of road safety belong to same design, its specific implementationProcess refers to embodiment of the method, repeats no more here.
Embodiment tetra-
Please refer to Fig. 3, it shows the structural representation of the related server of the embodiment of the present invention, this serviceDevice can be for the monitoring method of the road safety providing in above-described embodiment be provided. Specifically:
Server 1000 can because of configuration or performance is different produces larger difference, can comprise one or oneIndividual above central processing unit (centralprocessingunits, CPU) 1022 (for example, one or one withUpper processor) and memory 1032, one or more storage application programs 1042 or data 1044Storage medium 1030 (for example one or more mass memory units). Wherein, memory 1032 and depositingStorage media 1030 can be of short duration storage or storage lastingly. The program that is stored in storage medium 1030 can be wrappedDraw together one or more modules (illustrating not shown), each module can comprise a series of in serverCommand operating. Further, central processing unit 1022 can be set to communicate by letter with storage medium 1030,On server 1000, carry out a series of command operatings in storage medium 1030. Server 1000 is all rightComprise one or more power supplys 1026, one or more wired or wireless network interfaces 1050,Individual or more than one input/output interface 1058, one or more keyboards 1056, and/or, one or oneIndividual above operating system 1041, for example WindowsServerTM, MacOSXTM, UnixTM,LinuxTM, FreeBSDTM etc. Specifically in the present embodiment, server includes memory, andOne or more program, one of them or more than one program are stored in memory, and oneOr more than one program can comprise one or more modules, and each module can comprise serviceA series of command operatings in device, and be configured to by more than one or one processor carry out this orMore than one program package of person contains for carrying out the instruction of following operation:
By being distributed in the road that is parallel to of launching apart from multiple Laser Scanning Equipments of predeterminable area predetermined thresholdThe laser beam on surface comes and goes continuously scanning to described predeterminable area, obtains that repeatedly to come and go continuously scanning described pre-If the multiframe data that obtain behind region, and the position that obtains barrier in described predeterminable area based on each frame dataPut information, wherein, described data are the arrival barrier that the laser beam launched by described Laser Scanning Equipment recordsHinder the distance value of thing;
According to the positional information of barrier and pre-stored person in servitude in described predeterminable area corresponding to each frame dataBelong to object, determine the degree of membership of barrier in described predeterminable area;
Obtain barrier in the described predeterminable area that degree of membership exceedes default degree of membership threshold value corresponding be subordinate to rightResemble;
If be subordinate to object and pre-stored be subordinate to the early warning information that object is corresponding according to what get, determiningIn described predeterminable area, there is dangerous obstacles, send early warning indication information, and obtain described predeterminable areaThe image information of interior barrier;
If determine that according to the image information getting in described predeterminable area, barrier is dangerous obstacles,Send alarm command.
Alternatively, described laser beam is apart from road surface based on pilot for vehicle apart from the height of road surfaceHeight and arrange.
Alternatively, the described positional information of obtaining barrier in described predeterminable area based on each frame data, bagDraw together:
Based on each frame data obtain barrier in described predeterminable area positional information, movement properties information andPhysical aspect information; Wherein, described movement properties information comprises movement velocity, acceleration and the direction of motion,Described physical aspect information comprises width, length;
Described according to the positional information of barrier in described predeterminable area corresponding to each frame data and pre-storedBe subordinate to object, determine the degree of membership of barrier in described predeterminable area, comprising:
According to the positional information getting, movement properties information, physical aspect information and pre-stored being subordinate toObject, determines the degree of membership of barrier in described predeterminable area.
Alternatively, described in obtain the image information of barrier in described predeterminable area, comprising:
By 940 nanometer light filling cameras, obtain the image information of barrier in described predeterminable area.
Alternatively, described method also comprises:
If according to the positional information getting and the pre-stored object that is subordinate to, determined in described predeterminable areaBarrier does not belong to the pre-stored object that is subordinate to, according to the positional information that gets create new be subordinate to rightResemble, and storage.
In the embodiment of the present invention, by being distributed in the multiple Laser Scanning Equipments apart from predeterminable area predetermined thresholdThe laser beam that is parallel to road surface of transmitting comes and goes and scans continuously predeterminable area, obtains repeatedly past continuouslyReturn the multiframe data that obtain after scanning predeterminable area, and obtain barrier in predeterminable area based on each frame dataPositional information, wherein, these data are the arrival obstacle that the laser beam launched by Laser Scanning Equipment recordsThe distance value of thing, according to the positional information of barrier in predeterminable area corresponding to each frame data and pre-storedBe subordinate to object, determine the degree of membership of barrier in predeterminable area, obtain degree of membership and exceed default degree of membership thresholdWhat in the predeterminable area of value, barrier was corresponding is subordinate to object, if be subordinate to object and deposit in advance according to what getStorage be subordinate to the early warning information that object is corresponding, determine in predeterminable area and have dangerous obstacles, send early warningIndication information, and obtain the image information of barrier in predeterminable area, if according to the image information gettingDetermine that in predeterminable area, barrier is dangerous obstacles, send alarm command, like this, server can enterA large amount of information sifting and the information processing operation of row, has reduced people's workload, can improve road safety inspectionThe efficiency of surveying.
One of ordinary skill in the art will appreciate that all or part of step that realizes above-described embodiment can pass throughHardware completes, and also can carry out the hardware that instruction is relevant by program and complete, and described program can be stored inIn a kind of computer-readable recording medium, the above-mentioned storage medium of mentioning can be read-only storage, disk orCD etc.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all of the present inventionWithin spirit and principle, any amendment of doing, be equal to replacement, improvement etc., all should be included in of the present inventionWithin protection domain.
Claims (10)
1. a monitoring method for road safety, is characterized in that, described method comprises:
By being distributed in the road that is parallel to of launching apart from multiple Laser Scanning Equipments of predeterminable area predetermined thresholdThe laser beam on surface comes and goes continuously scanning to described predeterminable area, obtains that repeatedly to come and go continuously scanning described pre-If the multiframe data that obtain behind region, and the position that obtains barrier in described predeterminable area based on each frame dataPut information, wherein, described data are the arrival barrier that the laser beam launched by described Laser Scanning Equipment recordsHinder the distance value of thing;
According to the positional information of barrier and pre-stored person in servitude in described predeterminable area corresponding to each frame dataBelong to object, determine the degree of membership of barrier in described predeterminable area;
Obtain barrier in the described predeterminable area that degree of membership exceedes default degree of membership threshold value corresponding be subordinate to rightResemble;
If be subordinate to object and pre-stored be subordinate to the early warning information that object is corresponding according to what get, determiningIn described predeterminable area, there is dangerous obstacles, send early warning indication information, and obtain described predeterminable areaThe image information of interior barrier;
If determine that according to the image information getting in described predeterminable area, barrier is dangerous obstacles,Send alarm command.
2. method according to claim 1, is characterized in that, described laser beam is apart from road surfaceHighly to arrange apart from the height of road surface based on pilot for vehicle.
3. method according to claim 1, is characterized in that, describedly obtains institute based on each frame dataThe positional information of stating barrier in predeterminable area, comprising:
Based on each frame data obtain barrier in described predeterminable area positional information, movement properties information andPhysical aspect information; Wherein, described movement properties information comprises movement velocity, acceleration and the direction of motion,Described physical aspect information comprises width, length;
Described according to the positional information of barrier in described predeterminable area corresponding to each frame data and pre-storedBe subordinate to object, determine the degree of membership of barrier in described predeterminable area, comprising:
According to the positional information getting, movement properties information, physical aspect information and pre-stored being subordinate toObject, determines the degree of membership of barrier in described predeterminable area.
4. method according to claim 1, is characterized in that, described in obtain described predeterminable area cataract or glaucomaThe image information that hinders thing, comprising:
By 940 nanometer light filling cameras, obtain the image information of barrier in described predeterminable area.
5. method according to claim 1, is characterized in that, described method also comprises:
If according to the positional information getting and the pre-stored object that is subordinate to, determined in described predeterminable areaBarrier does not belong to the pre-stored object that is subordinate to, according to the positional information that gets create new be subordinate to rightResemble, and storage.
6. a monitoring device for road safety, is characterized in that, described device comprises:
The first acquisition module, for establishing by being distributed in apart from multiple laser scannings of predeterminable area predetermined thresholdWhat preparation was penetrated is parallel to the laser beam of road surface to the round scanning continuously of described predeterminable area, obtains repeatedlyCome and go continuously the multiframe data that obtain after the described predeterminable area of scanning, and obtain described pre-based on each frame dataIf the positional information of barrier in region, wherein, described data are to launch by described Laser Scanning EquipmentThe distance value of the arrival barrier that laser beam records;
Determination module, for according to the positional information of barrier in described predeterminable area corresponding to each frame dataWith the pre-stored object that is subordinate to, determine the degree of membership of barrier in described predeterminable area;
The second acquisition module, exceedes for obtaining degree of membership the described predeterminable area cataract or glaucoma of presetting degree of membership threshold valueHinder thing corresponding be subordinate to object;
Sending module, if for according to get be subordinate to object and pre-stored to be subordinate to object correspondingEarly warning information, determines in described predeterminable area and has dangerous obstacles, sends early warning indication information, and obtainsGet the image information of barrier in described predeterminable area;
Described sending module, if also for determining described predeterminable area cataract or glaucoma according to the image information gettingHindering thing is dangerous obstacles, sends alarm command.
7. device according to claim 6, is characterized in that, described laser beam is apart from road surfaceHighly to arrange apart from the height of road surface based on pilot for vehicle.
8. device according to claim 6, is characterized in that, described the first acquisition module, for:
Based on each frame data obtain barrier in described predeterminable area positional information, movement properties information andPhysical aspect information; Wherein, described movement properties information comprises movement velocity, acceleration and the direction of motion,Described physical aspect information comprises width, length;
Described determination module, for:
According to the positional information getting, movement properties information, physical aspect information and pre-stored being subordinate toObject, determines the degree of membership of barrier in described predeterminable area.
9. device according to claim 6, is characterized in that, described sending module, for:
By 940 nanometer light filling cameras, obtain the image information of barrier in described predeterminable area.
10. device according to claim 6, is characterized in that, described device also comprises creation module,Be used for:
If according to the positional information getting and the pre-stored object that is subordinate to, determined in described predeterminable areaBarrier does not belong to the pre-stored object that is subordinate to, according to the positional information that gets create new be subordinate to rightResemble, and storage.
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