CN102724484A - Bus stop people monitoring device and monitoring method thereof - Google Patents
Bus stop people monitoring device and monitoring method thereof Download PDFInfo
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Abstract
The invention discloses a bus stop people monitoring device which comprises a video acquisition module and a video processing module; the video acquisition module is used for acquiring the real-time video data of a bus stop; and the video processing module is connected with the video acquisition module for pre-processing and analyzing the video data which is acquired by the video acquisition module so as to obtain the people state information of the bus stop and send the people state information to a remote control center. According to the invention, the people state information refers to people crowdedness information or the motion and abnormal behavior information of the people. According to the invention, the automatic detection for the state information of waiting passengers is completed by acquiring the video information from the bus stop, the manpower monitoring for the bus stop through eye observation is replaced, so that the coverage, the detection precision and the real-time performance of a bus stop monitoring system are improved, the basic information acquired by an existing bus dispatching management system is effectively supplemented, and the requirements of bus dispatching management on function optimization are met.
Description
Technical field
The invention belongs to video analysis and detection technique field, be specifically related to be used for the video monitoring apparatus and the method for intelligent public traffic scheduling and contingency management, especially for the crowd's supervising device and the method for supervising thereof of public transport platform.
Background technology
Public transport is being undertaken more and more important effect in urban transportation, advanced bus dispatching and management system have all been set up in cities such as Beijing, Shanghai, Guangzhou.But the function that realizes at present also mainly is limited to the management of Back ground Information, and the intelligent scheduling of bus and management function also realize far away.In denomination of invention is in a plurality of Chinese invention patent ublic specification of application of " city bus intelligent dispatch management system and method " (application number is 200910052817.2), " a kind of method of intelligent bus dispatching " (application number is 201110130988.X), " intelligent public transportation dispatching and management system " (application number is 201010189056.8), " a kind of intelligent public transportation system " (application number is 200510036198.X), " based on the bus dispatching and the Bus information application system of mobile communications network " (application number is 200710151875.1), " a kind of intelligent public transportation system " (application number is 200510036198.X); Multiple bus dispatching system and method is disclosed; But the enforcement of the technical scheme of these patent applications all will be based upon on the basis that on-the-spot bus and public transport platform state information are in time gathered.
At present; About how adding up Customer information on the bus; A plurality of mandates or disclosed patent application have been arranged, and for example denomination of invention is the Chinese invention patent application of " public traffice passenger flow statistical method " (application number is 201010195212.1), " a kind of moving target that in bus passenger flow statistical system, uses extracts and the multiple target dividing method " (application number is 201010152072.X), " public traffic dynamic information collection is handled and radio transmitting method " (application number is 200910243124.1), " public traffic vehicle passenger flow harvester and method " (application number is 20081 0052524.X).These patent applications can utilize means such as video, IC-card to detect Customer information on the bus, but also lack effective acquisition means for the state information of how to gather the bus stop.
On the other hand, video detecting device has been installed in a lot of cities on the public transport platform, but also lacks the automatic analytic function to video information, also will lean on the people to accomplish the monitoring function to public transport platform video through perusal.This not only can take a large amount of human and material resources, and limited coverage area, and the real-time of testing result and precision are not high, can't satisfy application requirements.Therefore, also can't effectively obtain the state information of public transport platform at present, this has limited the performance of intelligent bus dispatching system function.
Summary of the invention
The technical problem that (one) will solve
Technical problem to be solved by this invention is to reduce the monitoring cost of existing public transport platform supervisory control system; Improve monitoring real-time and accuracy; The quantity of the Back ground Information that effective increase bus dispatching management system can be gathered satisfies the system of bus dispatching management system to aspects such as coverage, function optimizations.
(2) technical scheme
For solving the problems of the technologies described above; The present invention proposes a kind of crowd's supervising device of public transport platform, comprises video acquiring module and video processing module, and said video acquiring module is used to obtain the real time video data of public transport platform; Said video processing module is connected with said video acquiring module; The video data that is used for video acquiring module is obtained carries out preliminary treatment and analysis, obtains crowd's state information of said public transport platform, and this crowd's state information is sent to a remote control center.
According to a preferred implementation of the present invention, said crowd's state information is crowded degree information, perhaps crowd's motion and abnormal behaviour information thereof.
According to a preferred implementation of the present invention, said video processing module is used for: extract foreground image from video data; Said foreground image is carried out rim detection and cuts apart, obtain representing single pedestrian or crowd's split image; The number of pixels that calculates said split image respectively and comprised, and calculate the number that each split image comprises according to this number of pixels, and calculate crowded degree according to this number.
According to a preferred implementation of the present invention, said video processing module is used for: extract foreground image from video data; Said foreground image is carried out rim detection and cuts apart, obtain representing single pedestrian or crowd's split image; The split image of a frame of video data and the split image of previous frame are carried out object matching, and calculate behavior or crowd's translational speed according to matching structure, with this pedestrian or crowd's translational speed as crowd's motion and abnormal behaviour information thereof.
The present invention also proposes a kind of crowd's method for supervising of public transport platform, comprises the steps: to obtain the real time video data of public transport platform; From video data, extract foreground image; Said foreground image is carried out rim detection and cuts apart, obtain representing single pedestrian or crowd's split image; The number of pixels that calculates said split image respectively and comprised, and calculate the number that each split image comprises according to this number of pixels, and calculate crowded degree according to this number.
According to a preferred implementation of the present invention, before the step of from said video data, extracting foreground image, also comprise this video data is carried out pretreated step, to improve the quality of video image.
According to a preferred implementation of the present invention; The mode of calculating the number that each split image comprises is: as S1 during greater than threshold values T; The number that comprises in the split image is (S1/S) * PMAX; Wherein S1 is the number of pixels of split image, and S is the number of pixels that whole platform image is comprised, and PMAX is the maximum number that said public transport platform can hold; As S1 during less than threshold values T, the profile of human body calculates the number that is comprised according to the profile number of human body.
According to a preferred implementation of the present invention, said T is 60% of a whole platform number of pixels that image comprises.
The present invention also proposes a kind of crowd's method for supervising of public transport platform, comprises the steps: to obtain the real time video data of public transport platform; From video data, extract foreground image; Said foreground image is carried out rim detection and cuts apart, obtain representing single pedestrian or crowd's split image; The split image of a frame of video data and the split image of previous frame are carried out object matching, and calculate behavior or crowd's translational speed according to matching structure, with this pedestrian or crowd's translational speed as crowd's motion and abnormal behaviour information thereof.
According to a preferred implementation of the present invention, before the step of from said video data, extracting foreground image, also comprise this video data is carried out pretreated step, to improve the quality of video image.
(3) beneficial effect
The present invention accomplishes the automatic detection to the passenger status information of waiting through gathering video information from the public transport platform; Replaced the people through the monitoring of naked eyes to the public transport platform; Coverage, accuracy of detection and the real-time of public transport platform supervisory control system have been improved; Replenished the Back ground Information that existing bus dispatching management system is gathered effectively, satisfied the demand of bus dispatching management optimizational function.
Description of drawings
Fig. 1 is that Fig. 1 is that the basic module that is used for crowd's supervising device of public transport platform of the present invention constitutes sketch map;
Fig. 2 is that the concrete module of the crowd's supervising device that is used for the public transport platform of a specific embodiment of the present invention is formed sketch map;
Fig. 3 is the flow chart that is used for the crowded degree method for supervising of public transport platform of the present invention;
Fig. 4 is the crowd's motion of public transport platform and the flow chart of abnormal behaviour method for supervising thereof of being used for of the present invention;
Fig. 5 is the scheme of installation that is used for crowd's supervising device of public transport platform of the present invention.
Embodiment
For making the object of the invention, technical scheme and advantage clearer,, and, the present invention is done further detailed description with reference to accompanying drawing below in conjunction with specific embodiment.
Generally speaking, the present invention utilizes the means of Video Detection, and a kind of apparatus and method of gathering public transport platform state on the public transport platform that are installed in are provided, and realizes the real-time collection to public transport platform crowd state information.And send to the public traffic management control centre through network.The information of being gathered can be replenished the deficiency of existing public traffic management system-based data, for public transit vehicle intelligent scheduling and contingency management provide data basic.
Fig. 1 is that the basic module that is used for crowd's supervising device of public transport platform of the present invention constitutes sketch map.As shown in Figure 1, crowd's supervising device of the present invention comprises video acquiring module and video processing module.
Said video acquiring module is used to obtain the real time video data of public transport platform.It can be realized with the video deriving means that forms video data by any consecutive image that can obtain, and for example is a video camera, such as the video monitoring video camera of special use etc.This video deriving means should comprise a camera and an imageing sensor at least.According to an embodiment of the present invention, imageing sensor 109 for example can adopt cmos digital imageing sensor or CCD digital image sensor.
According to the present invention; Said video processing module is connected with said video acquiring module; The video data that is used for video acquiring module is obtained carries out preliminary treatment and analysis, obtaining crowd's state information of said public transport platform, and this crowd's state information is sent to a remote control center.Said preliminary treatment is in order to improve video quality, to be beneficial to the analysis of back to video data.For example the image in the video data is carried out filtering, to remove the noise in the image.
Fig. 2 is that the concrete module of the crowd's supervising device that is used for the public transport platform of a specific embodiment of the present invention is formed sketch map.In this embodiment, said video processing module is realized by a digital signal processor (DSP).Dsp processor for example is a TI TMS320DM642 chip, and still, the present invention is not limited to this, and this video processing module also can be realized by other ARM+DSP dual core processors such as TMS320DM640 and TMS320DM641.
According to this embodiment of the invention; Said video acquiring module is used to obtain the real time video data of public transport platform; Said video processing module is used for said real time video data is carried out the preliminary treatment analysis, and to obtain the crowded degree information of public transport platform, perhaps the crowd moves and abnormal behaviour information; And will send to remote control center through network, this remote control center for example is positioned at bus dispatching administrative center.
According to this embodiment of the invention, the crowd's supervising device that is used for the public transport platform also can comprise a master control module, and it links to each other with said video processing module, is used for the startup of control of video processing module.According to a preferred implementation of the present invention, said master control module is by a field programmable gate array (FPGA) realization, for example Altera EP2C35.But the present invention is not limited to this, and it also can be realized by programmable application-specific integrated circuit (ASIC) (ASIC) devices such as CPLD.
According to this embodiment of the invention; The crowd's supervising device that is used for the public transport platform can also comprise a Network Interface Module; This Network Interface Module is connected with said video processing module; With said crowded degree information, perhaps the crowd's said frequency processing module moves and abnormal behaviour information and send to remote control center via network through this network interface.
According to this embodiment of the invention, the crowd's supervising device that is used for the public transport platform can also comprise a cache module, and this cache module is connected with video processing module, is used for the video image that the buffer memory video acquiring module is gathered.
According to this embodiment of the invention, the crowd's supervising device that is used for the public transport platform can also comprise memory module, is used for preserving crowd's state information in this locality of video processing module, and it for example adopts non-volatile memory device, like SANDISK 4G Compact Flash.
In addition, when realizing embodiments of the invention, the crowd's supervising device that is used for the public transport platform also comprises power module, clock module etc.The annexation of these modules is the conventional techniques in this area with the concrete mode that realizes these modules, repeats no more at this.
Introduce the method for utilizing crowd's supervising device of the present invention to monitor crowd's state of public transport platform through Fig. 3 and Fig. 4 below.
Fig. 3 is the flow chart that is used for the crowded degree method for supervising of public transport platform of the present invention.This method may further comprise the steps:
At first, obtain the real time video data of public transport platform.According to embodiments of the invention, this step is undertaken by video acquiring module of the present invention.
Then, the video data that is obtained is carried out preliminary treatment.According to embodiments of the invention, the real time video data that said video processing module obtains said video acquiring module carries out preliminary treatment, to improve the quality of video image, is beneficial to the analysis of back to video data.This preliminary treatment for example is an image filtering, and video processing module utilizes the medium filtering filtered noise, forms filtered video data CFG;
Then, from video data, extract foreground image.According to embodiments of the invention; The gray value of the respective pixel of the gray value of each pixel among the filtered video data CFG and a background image CB is advanced to subtract each other; If the absolute value of difference is greater than preset threshold values, this pixel belongs to foreground image, otherwise belongs to background image; The pixel that will belong to foreground image all constitutes foreground image CF;
Then, foreground image is carried out rim detection and cuts apart, obtain representing single pedestrian or crowd's split image.Detect the image border among the foreground image CF, the method at detected image edge for example adopts Laplacian of Gaussian (LoG) operator detection algorithm, according to testing result foreground image CF is cut apart; Obtain segmentation result SP={P1, P2 ..; PN}, split image P1 wherein, P2; ..., PN representes the foreground image that single pedestrian or crowd constitute;
Then, the number of pixels that comprises in the computed segmentation image respectively.Promptly distinguish computed segmentation image P1, P2 ..., the number of pixels S1 that comprises among the PN, S2 ..., SN;
Then, the number that comprises in the computed segmentation image respectively according to the number of pixels that comprises in the split image.Calculate P1 respectively, P2 ..., the number that PN comprises.With P1 is example, if S1 then is calculated as follows the number that comprises among the P1 greater than preset threshold values T:
(S1/S)×PMAX
Wherein, S is the number of pixels that whole platform image is comprised, and PMAX is the maximum number that platform can hold.If S1 is not more than preset threshold values T, detect the profile of each human body, detection method adopts gradient orientation histogram (Histogram of Oriented Gradient is called for short HOG) method, calculates the number that comprises according to the human body contour outline number that detects again; (the threshold values T here needs rule of thumb to set in advance; For example T can be 60% of a whole platform number of pixels that image comprises; When the number of pixels that comprises in certain split image during greater than T; Occurred crowding to a certain degree on the expression platform, the pedestrian is serious shielding in image, can't detect the profile of each human body.)
Then, with P1, P2 ... The number addition that comprises among the PN number of always being waited is always the ratio of wait number and the maximum galleryful of platform is exactly the platform degree of crowding.
At last, the said crowded degree and the number of waiting are sent to remote control center through network, for example the public traffic management control centre.According to one embodiment of present invention, the crowded degree and the number of waiting are sent to remote control center as testing result through network.Special, if said crowding surpasses a pre-set threshold value, also the video data with current platform sends simultaneously.
Fig. 4 is the crowd's motion of public transport platform and the flow chart of abnormal behaviour method for supervising thereof of being used for of the present invention, and this method may further comprise the steps:
At first, obtain the real time video data of public transport platform.According to embodiments of the invention, this step is undertaken by video acquiring module of the present invention.
Then, the video data that is obtained is carried out preliminary treatment.According to embodiments of the invention, the real time video data that said video processing module obtains said video acquiring module carries out preliminary treatment, to improve video quality, is beneficial to the analysis of back to video data.This preliminary treatment for example is an image filtering, and video processing module utilizes the medium filtering filtered noise, forms filtered video C image FG;
Then, from video data, extract foreground image.According to embodiments of the invention; The gray value of the respective pixel of the gray value of each pixel among the filtered video CFG and a background image CB is subtracted each other; If the absolute value of difference is greater than preset threshold values, this pixel belongs to foreground image, otherwise belongs to background image; The pixel that will belong to foreground image all constitutes foreground image CF;
Then, foreground image is carried out rim detection and cuts apart, obtain representing single pedestrian or crowd's split image.Detect the image border among the foreground image CF, the method at detected image edge for example adopts Laplacian of Gaussian (LoG) operator detection algorithm, according to testing result foreground image CF is cut apart; Obtain split image SP={P1, P2 ..; PN}, P1 wherein, P2; ..., PN representes the foreground image that single pedestrian or crowd constitute;
Then, split image and the previous frame with a frame of video data carries out object matching.According to the present invention, will detect target, promptly the result after color histogram, three-dimensional dimension, coordinate and the previous frame image segmentation of each element among pedestrian or crowd's the split image SP is mated; SQ={Q1 as a result after obtaining mating, Q2 ..; QM}, Q1 wherein, Q2; ..., QM representes that SP has the element of match objects in previous frame;
Then, calculate pedestrian or crowd's translational speed according to said matching result.According to the present invention; According to each element among the SQ in the matching result apart from the displacement of previous frame position; Calculate its translational speed; And calculate the average translational speed of all elements, be pedestrian or crowd's translational speed, with this pedestrian or crowd's translational speed as crowd's motion and abnormal behaviour information thereof.
At last, crowd's motion and abnormal behaviour information thereof are sent to remote control center through network, it for example is positioned at the public traffic management control centre.According to preferred implementation of the present invention; If the translational speed of certain element surpasses pre-set threshold value among the SQ; Upload a warning message simultaneously to the public traffic management control centre; And current video carried out record, the video of record can be kept at the memory module that is used for crowd's supervising device of public transport platform of the present invention.
Fig. 5 is the scheme of installation that is used for crowd's supervising device of public transport platform of the present invention; Wherein 201 is public transport platform zones; The 202nd, road area (bicycle arrives and car lane); 203 and 204 is street crossing zones, the 205th, and the crowd's supervising device that is used for the public transport platform of the present invention can be installed in the top or a side of public transport platform; 206,207 and 208 one or more cameras of being mounted on the public transport platform provide video source as the video acquiring module of supervising device of the present invention.
Before supervising device of the present invention uses; To adjust the angle and the focal length of a plurality of cameras earlier; For ensureing accuracy of detection; The field range that requires a camera is between 20～40 meters, and the optical axis of camera is identical with the direction of public transport platform as far as possible, and the field range of a plurality of cameras can cover whole public transport platform zone.
After supervising device of the present invention starts, the serial ports configuration-system parameter that at first carry through this supervising device.For example, system parameters mainly comprises three types, and the first kind is a camera parameters, comprises the camera number, and the installation site of each camera, highly, coverage etc.; Second type is public transport platform parameter, comprises platform area, maximum seating capacity etc.; The 3rd type is the measuring ability parameter, mainly comprises platform degree of crowding threshold values, the quick running speed threshold values of the passenger that waits, sense cycle (generally being 10 seconds), captures picture format, IP address, control centre etc.
After the above-mentioned supervising device installation; Can the crowded degree method for supervising that be used for the public transport platform according to the present invention monitor, thereby promote the intelligent management of public traffic management control centre with the crowd's motion that is used for the public transport platform and abnormal behaviour method for supervising thereof crowd to the public transport state.
Above-described specific embodiment; The object of the invention, technical scheme and beneficial effect have been carried out further explain, it should be understood that the above is merely specific embodiment of the present invention; Be not limited to the present invention; All within spirit of the present invention and principle, any modification of being made, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. crowd's supervising device of a public transport platform; It is characterized in that comprise video acquiring module and video processing module, said video acquiring module is used to obtain the real time video data of public transport platform; Said video processing module is connected with said video acquiring module; The video data that is used for video acquiring module is obtained carries out preliminary treatment and analysis, obtains crowd's state information of said public transport platform, and this crowd's state information is sent to a remote control center.
2. crowd's supervising device of public transport platform as claimed in claim 1 is characterized in that, said crowd's state information is crowded degree information, perhaps crowd's motion and abnormal behaviour information thereof.
3. crowd's supervising device of public transport platform as claimed in claim 2 is characterized in that, said video processing module is used for:
From video data, extract foreground image;
Said foreground image is carried out rim detection and cuts apart, obtain representing single pedestrian or crowd's split image;
The number of pixels that calculates said split image respectively and comprised, and calculate the number that each split image comprises according to this number of pixels, and calculate crowded degree according to this number.
4. crowd's supervising device of public transport platform as claimed in claim 2 is characterized in that, said video processing module is used for:
From video data, extract foreground image;
Said foreground image is carried out rim detection and cuts apart, obtain representing single pedestrian or crowd's split image;
The split image of a frame of video data and the split image of previous frame are carried out object matching, and calculate behavior or crowd's translational speed according to matching structure, with this pedestrian or crowd's translational speed as crowd's motion and abnormal behaviour information thereof.
5. crowd's method for supervising of a public transport platform is characterized in that, comprises the steps:
Obtain the real time video data of public transport platform;
From video data, extract foreground image;
Said foreground image is carried out rim detection and cuts apart, obtain representing single pedestrian or crowd's split image;
The number of pixels that calculates said split image respectively and comprised, and calculate the number that each split image comprises according to this number of pixels, and calculate crowded degree according to this number.
6. crowd's method for supervising of public transport platform as claimed in claim 5 is characterized in that, before the step of from said video data, extracting foreground image, also comprises this video data is carried out pretreated step, to improve the quality of video image.
7. crowd's method for supervising of public transport platform as claimed in claim 6 is characterized in that,
The mode of calculating the number that each split image comprises is:
As S1 during greater than threshold values T, the number that comprises in the split image is (S1/S) * PMAX, and wherein S1 is the number of pixels of split image, and S is the number of pixels that whole platform image is comprised, and PMAX is the maximum number that said public transport platform can hold;
As S1 during less than threshold values T, the profile of human body calculates the number that is comprised according to the profile number of human body.
8. crowd's method for supervising of public transport platform as claimed in claim 7 is characterized in that, said T is 60% of a whole platform number of pixels that image comprises.
9. crowd's method for supervising of a public transport platform is characterized in that, comprises the steps:
Obtain the real time video data of public transport platform;
From video data, extract foreground image;
Said foreground image is carried out rim detection and cuts apart, obtain representing single pedestrian or crowd's split image;
The split image of a frame of video data and the split image of previous frame are carried out object matching, and calculate behavior or crowd's translational speed according to matching structure, with this pedestrian or crowd's translational speed as crowd's motion and abnormal behaviour information thereof.
10. crowd's method for supervising of public transport platform as claimed in claim 8 is characterized in that, before the step of from said video data, extracting foreground image, also comprises this video data is carried out pretreated step, to improve the quality of video image.
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