CN109444871A - Pedestrian and animal detection method, device, computer equipment and storage medium - Google Patents
Pedestrian and animal detection method, device, computer equipment and storage medium Download PDFInfo
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- CN109444871A CN109444871A CN201811293897.6A CN201811293897A CN109444871A CN 109444871 A CN109444871 A CN 109444871A CN 201811293897 A CN201811293897 A CN 201811293897A CN 109444871 A CN109444871 A CN 109444871A
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/52—Discriminating between fixed and moving objects or between objects moving at different speeds
- G01S13/56—Discriminating between fixed and moving objects or between objects moving at different speeds for presence detection
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/64—Devices characterised by the determination of the time taken to traverse a fixed distance
- G01P3/66—Devices characterised by the determination of the time taken to traverse a fixed distance using electric or magnetic means
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
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Abstract
The present invention relates to pedestrian and animal detection method, device, computer equipment and storage medium, this method includes the sensor detection signal for obtaining multiple nodes on detection road surface；The sensor detection signal of multiple nodes is screened, to obtain the sensor detection signal of first node；Pedestrian is judged whether there is according to the sensor detection signal of first node and/or animal passes through；If so, handling current time, to obtain stabbing at the first time；To first time, the storage time of stamp adds up, to obtain the cumulative time；Judge whether the cumulative time is not more than preset threshold；It is stabbed at the first time if it is not, removing；If so, obtaining the sensor detection signal of next adjacent node of first node；Pedestrian and/or animal are judged whether there is by detection road according to the sensor detection signal of next adjacent node；If so, calculating the movement speed of pedestrian and/or animal；It is stabbed at the first time if it is not, removing.The present invention, which realizes, improves Detection accuracy and reliability.
Description
Technical field
The present invention relates to pedestrian and animal detection methods, more specifically refer to pedestrian and animal detection method, device, meter
Calculate machine equipment and storage medium.
Background technique
Under the promotion of contemporary society's rapid economic development, global traffic is also rapidly developed, however, in the same of transport development
When also bring the traffic problems of many very severes, for example, the construction of road infrastructure can not catch up with the quick-fried of number of vehicles
Fried formula increases, and which results in traffic jam issues, to bring, traffic efficiency is low, traffic safety factor reduces, environment
A series of problems, such as seriously polluted.To solve the above-mentioned problems, many countries start to have turned to sight construction of high-tech traffic system with
And wisdom highway construction, it is desirable to intelligence, the high efficiency of traffic system are realized by introducing information technology, to improve traffic
Efficiency promotes traffic safety.With the development of current information technology and computer technology, automatic Pilot technology is gradually mentioned
Upper schedule becomes the topic that all circles researcher discusses warmly.Just at present, although automatic Pilot technology developed more at
It is ripe, still, still there are many problems, mainly travel safety problem, major depot is also Frequent Accidents in testing.Needle
To the above problem, many scholars propose the construction of wisdom highway, and thinking is exactly by wisdom highway and automatic Pilot technology
In conjunction with coefficient is enhanced road safety, net connectionization, the intelligence of traffic system are really realized, pedestrian detecting system is public as wisdom
, there is outstanding meaning in one of most important part to the construction of wisdom highway, by pedestrian detection, can give way in the construction of road
Trackside issues early warning information to vehicle termination in time, thus can greatly improve road friendship to avoid most of traffic accident
Logical safety.
Detection method in existing pedestrian detecting system be all based on mostly it is single device, based on realizing of Robot Vision,
These detection methods have some disadvantages: first, the detection method general device higher cost based on machine vision, in short-term
Realize that large scale deployment is acquired a certain degree of difficulty using tool in phase；Second, the detection method of machine vision by environmental conditions more
Seriously, especially in dense fog, rain and snow weather, evening lighting condition is not good environment, and due to objects such as high-lager buildings
Blocking for body and cause the environment such as light condition difference, the verification and measurement ratio of the detection mode in above-mentioned environment based on machine vision will
It is greatly reduced or even thoroughly loses its detectability；Third, the detection method omission factor with higher based on individual module；Its
In, influence of the environmental aspect to pedestrian detecting system is more obvious, so the omission factor of individual equipment can be big under complex environment
Width rises, and directly affects the performance of whole system.
Therefore, it is necessary to design a kind of new method, realizes and improve Detection accuracy and reliability.
Summary of the invention
It is an object of the invention to overcome the deficiencies of existing technologies, pedestrian and animal detection method, device, computer are provided
Equipment and storage medium.
To achieve the above object, the invention adopts the following technical scheme: pedestrian and animal detection method, comprising:
Obtain the sensor detection signal of multiple nodes on detection road surface；
The sensor detection signal of multiple nodes is screened, to obtain the sensor detection signal of first node；
Pedestrian and/or animal are judged whether there is by detection road according to the sensor detection signal of first node；
If so, handling current time, to obtain stabbing at the first time；
To first time, the storage time of stamp adds up, to obtain the cumulative time；
Judge whether the cumulative time is not more than preset threshold；
It is stabbed at the first time if it is not, then removing；
If so, obtaining the sensor detection signal of next adjacent node of first node；
Pedestrian and/or animal are judged whether there is by detection road according to the sensor detection signal of next adjacent node；
If so, calculating the movement speed of pedestrian and/or animal；
It is stabbed at the first time if it is not, then returning to the removing.
Its further technical solution are as follows: it is described obtain detection road surface on multiple nodes sensor detection signal it
Before, further includes:
It is disposed according to the lower sideline of sensor and the road edge line of detection road arrangement interval in a certain angle
Several sensors.
Its further technical solution are as follows: the sensor detection signal to multiple nodes screens, to obtain first
The sensor detection signal of node, comprising:
The sensor detection signal of the node of sensor detection signal receiving time at first is obtained, to obtain first node
Sensor detection signal.
Its further technical solution are as follows: it is described that current time is handled, to obtain stabbing at the first time, comprising:
Obtain current time；
Current time is packaged, to form timestamp；
Temporary storage time stamp, is stabbed at the first time with being formed.
Its further technical solution are as follows: the movement speed for calculating pedestrian and/or animal, comprising:
Obtain the time of reception of the sensor detection signal of next adjacent node of first node；
The time of reception of the sensor detection signal of next adjacent node of first node is encapsulated as timestamp, to obtain
Second timestamp；
Obtain the time difference of stamp and the second timestamp at the first time；
According to first node at a distance from next adjacent node of first node；
The quotient of distance and time difference is obtained, to form the movement speed of pedestrian and/or animal.
Its further technical solution are as follows: after the movement speed for calculating pedestrian and/or animal, further includes:
Obtain request of data；
Extremely referred to according to movement speed, first time stamp and the second timestamp that request of data sends pedestrian and/or animal
Fixed control data corporation.
The present invention also provides pedestrian and animal detection devices, comprising:
First signal acquiring unit, for obtaining the sensor detection signal of multiple nodes on detection road surface；
Screening unit is screened for the sensor detection signal to multiple nodes, to obtain the sensing of first node
Device detects signal；
First judging unit judges whether there is pedestrian and/or animal for the sensor detection signal according to first node
By detecting road；
Stamp acquiring unit at the first time, for if so, handling current time, to obtain stabbing at the first time；
Accumulated unit adds up for the storage time to first time stamp, to obtain the cumulative time；
Time judging unit, for judging whether the cumulative time is not more than preset threshold；
Clearing cell, for being stabbed at the first time if it is not, then removing；
Second signal acquiring unit, for if so, the sensor for obtaining next adjacent node of first node detects letter
Number；
Second judgment unit, for according to the sensor detection signal of next adjacent node judge whether there is pedestrian and/or
Animal is by detection road；
Movement speed acquiring unit, for if so, calculating the movement speed of pedestrian and/or animal.
Its further technical solution are as follows: described device further include:
Deployment unit, the arrangement in a certain angle with the road edge line of detection road for the lower sideline according to sensor
Several sensors are disposed at mode interval.
The present invention also provides a kind of computer equipment, the computer equipment includes memory and processor, described to deposit
Computer program is stored on reservoir, the processor realizes above-mentioned method when executing the computer program.
The present invention also provides a kind of storage medium, the storage medium is stored with computer program, the computer journey
Sequence can realize above-mentioned method when being executed by processor.
Compared with the prior art, the invention has the advantages that: the present invention by multiple sensors carry out detection pedestrian and/
Or whether animal passes through the problem of detecting road, reducing single sensor missing inspection and occurs, and examines for the sensor being initially received
The sensor detection signal progress pedestrian and/or animal that node where surveying signal send first node as first node
Judgement, in conjunction within the set time, the sensor detection signal that next adjacent node of first node is sent carry out pedestrian and/
Or animal judgement as a result, carrying out calculating pedestrian and/or move by the timestamp that two nodes send sensor detection signals again
The movement speed of object is realized and improves Detection accuracy and reliability.
The invention will be further described in the following with reference to the drawings and specific embodiments.
Detailed description of the invention
Technical solution in order to illustrate the embodiments of the present invention more clearly, below will be to needed in embodiment description
Attached drawing is briefly described, it should be apparent that, drawings in the following description are some embodiments of the invention, general for this field
For logical technical staff, without creative efforts, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is the application scenarios schematic diagram one of pedestrian provided in an embodiment of the present invention and animal detection method；
Fig. 2 is the application scenarios signal two of pedestrian provided in an embodiment of the present invention and animal detection method；
Fig. 3 is the flow diagram of pedestrian provided in an embodiment of the present invention and animal detection method；
Fig. 4 is the sub-process schematic diagram of pedestrian provided in an embodiment of the present invention and animal detection method；
Fig. 5 is the sub-process schematic diagram of pedestrian provided in an embodiment of the present invention and animal detection method；
Fig. 6 be another embodiment of the present invention provides pedestrian and animal detection method flow diagram；
Fig. 7 be another embodiment of the present invention provides pedestrian and animal detection method flow diagram；
Fig. 8 is the schematic block diagram of pedestrian provided in an embodiment of the present invention and animal detection device；
Fig. 9 be another embodiment of the present invention provides pedestrian and animal detection device schematic block diagram；
Figure 10 be another embodiment of the present invention provides pedestrian and animal detection device schematic block diagram；
Figure 11 is the schematic block diagram of computer equipment provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are some of the embodiments of the present invention, instead of all the embodiments.Based on this hair
Embodiment in bright, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, shall fall within the protection scope of the present invention.
It should be appreciated that ought use in this specification and in the appended claims, term " includes " and "comprising" instruction
Described feature, entirety, step, operation, the presence of element and/or component, but one or more of the other feature, whole is not precluded
Body, step, operation, the presence or addition of element, component and/or its set.
It is also understood that mesh of the term used in this description of the invention merely for the sake of description specific embodiment
And be not intended to limit the present invention.As description of the invention and it is used in the attached claims, unless on
Other situations are hereafter clearly indicated, otherwise " one " of singular, "one" and "the" are intended to include plural form.
It will be further appreciated that the term "and/or" used in description of the invention and the appended claims is
Refer to any combination and all possible combinations of one or more of associated item listed, and including these combinations.
It please refers to Fig.1 to Fig.3, Fig. 1 shows for the application scenarios of pedestrian provided in an embodiment of the present invention and animal detection method
It is intended to the application scenarios schematic diagram two that one, Fig. 2 is pedestrian provided in an embodiment of the present invention and animal detection method.Fig. 3 is this hair
The schematic flow chart of pedestrian and animal detection method that bright embodiment provides.The pedestrian and animal detection method are applied to service
In device.The server can be a server in Distributed Services platform, and pedestrian and animal inspection are deployed in the server
Platform is surveyed, the sensor detection signal respectively detected is sent to server by multiple sensors, which can first screen one
Node where a sensor detection signal being initially received forms reference standard, as first node with the first node
The preliminary judgement that sensor detection signal carries out pedestrian and/or animal passes through, further according to the lower adjacent node of the first node
Whether sensor detection signal judges to have pedestrian and/or animal to pass through, and is judged again, to improve Detection accuracy and reliably
Property.
It should be noted that only illustrating a server in Fig. 3, in the actual operation process, server can be right
The sensor detection signal of multiple sensors is judged.
Fig. 3 is the flow diagram of pedestrian provided in an embodiment of the present invention and animal detection method.As shown in figure 3, the party
Method includes the following steps S110 to S150.
S110, the sensor detection signal for obtaining multiple nodes on detection road surface.
In the present embodiment, a sensor treats as a node, and sensor detection signal refers to Doppler effect
After the microwave that microwave radar sensor is sent, the reflected signal of target is obtained.
Data acquisition is carried out based on the microwave radar sensor of Doppler effect, microwave radar sensor is at low cost and high
Degree integrates, is easy to dispose, and can be encapsulated in microwave radar sensor in one very small spike nail light by encapsulation technology,
It thus may be implemented to be deployed in any complex environment without being built on a large scale to deployed environment or secondary
Construction.Since the testing principle of microwave radar sensor is sending and receiving situation and carry out data acquisition using microwave,
There is higher detection reliability.
Microwave refers to frequency high frequency electromagnetic waves within the scope of 300M-300G, and wave-length coverage is from 1m-1mm.Microwave has
Straight line (sighting distance) is propagated, not by other Electromagnetic Interferences, the features such as bandwidth, system bulk is small.It is obtained first in the communications field
It is widely applied.Secondly, another important application of microwave technology surely belongs to radar, remote mobile target is carried out using microwave radar
It tests the speed, ranging, side coil etc..
S120, the sensor detection signal of multiple nodes is screened, to obtain the sensor detection letter of first node
Number.
In the present embodiment, above-mentioned first node refers to section where the sensor detection signal that server is connected at first
Point, the first node are to detect pedestrian and/node where the sensor that passes through at first of object at first, obtain first node be for
Improve the efficiency of detection.
Specifically, the sensor detection signal of sensor detection signal receiving time node at first is obtained, to obtain the
The sensor detection signal of one node.
The interrupt switch of server is in the open state, when getting the sensor detection signal transmitted at first, i.e.,
Only the sensor detection signal for accounting for interrupt resources is robbed to first, then using node transmitted by the sensor detection signal as
First node, the sensor detection signal no longer sent to other nodes are handled, in addition under adjacent to the first node
The sensor detection signal of one node is handled, to obtain movement speed.
By the sensor detection signal of the first node after screening, module is sent to other adjacent segments by wireless communication
It puts and at the car-mounted terminal within communication range, realizes the information exchange between multiple nodes.
In other embodiments, above-mentioned step S120 may include step S121~S123.
S121, obtain multiple nodes sensor detection signal receiving time；
S122, it is ranked up according to sensor detection signal of the receiving time sequencing to multiple nodes；
S123, the sensor detection signal for obtaining the node of receiving time at first, to obtain the sensor inspection of first node
Survey signal.
The sensor detection signal of all nodes can be received simultaneously, then detects letter for the sensor of all multiple nodes
Number receiving time carry out the sequence of time order and function, and filter out transmitted by the earliest sensor detection signal of receiving time
Node is as first node.
S130, pedestrian and/or animal are judged whether there is according to the sensor detection signal of first node by detection road.
In the present embodiment, when the behavior that pedestrian and/or animal have street crossing and swarm into car lane occurs, it is located at road surface
Doppler microwave radar sensor by receiving echo, to obtain detection signal, detection signal is more faint, need to its into
Row amplification more accurately gets the changed Doppler's square wave of frequency in order to learn the frequency variation of detection signal
Signal.
The frequency of the sensor detection signal is calculated specifically in some cycles, for example setting a cycle is long
Degree carries out number statistics to the signal rising edge of the sensor detection signal in the cycle length, then obtains Doppler signal frequency
Rate, if the Doppler signal frequency is fallen in the given threshold section of differentiation, the given threshold section of the differentiation is set as 10~
1000, when the Doppler signal frequency of acquisition is at this section, differentiation current detection result is to have row human or animal process.It is based on
The above signal processing can effectively judge whether be pedestrian and/or animal compared with.
If it is not, return step S110.
S140, if so, handle current time, to obtain stabbing at the first time.
In the present embodiment, the time for referring to the sensor detection signal for receiving first node is stabbed at the first time.
In one embodiment, as shown in figure 4, above-mentioned step S140 may include step S141~S143.
S141, current time is obtained；
S142, current time is packaged, to form timestamp；
S143, temporary storage time stamp, are stabbed at the first time with being formed.
Specifically, when first node has detected that pedestrian passes through, server passes through access system clock first will be current
Moment is packaged into a timestamp, and sends this timestamp at next adjacent node of first node.Next phase
After neighbors receives the content of transmission, learn that this data is a timestamp by parsing data format, so being kept in
In memory.
S150, the storage time of first time stamp is added up, to obtain the cumulative time.
In the present embodiment, specifically starting timer carries out timing to the storage time that this is stabbed at the first time.
S160, judge whether the cumulative time is not more than preset threshold.
In the present embodiment, specifically in order to judge whether to reach timing time, if so, next regardless of first node
Adjacent node is detected again without pedestrian and/or animal process is detected, can all be removed and be stabbed at the first time automatically, to ensure to examine
The accuracy rate and reliability of survey.
There are pedestrian's process and/or animal to swarm at the certain point of detection road, and is now placed in one at this sensing
Device is not since certain environment reasons collect this information, then the case where missing inspection just has occurred in this, this, which will be directly affected, is
The reliability for entirety of uniting, if the detection method to be cooperated using multisensor, can effectively avoid the generation of above situation:
Multiple sensors are disposed in a fixed detection road.Reach the non-blind area covering to detection zone, when pedestrian and/or animal
When by detection road, one of sensor may have occurred missing inspection, but missing inspection situation occurs simultaneously for multiple sensors
Probability will be greatly reduced, can thus greatly improve the reliability of system.
S170, it is stabbed at the first time if it is not, then removing.
Removing stamp at the first time is in order to avoid detection next time interferes, to improve the accuracy rate detected every time.
S180, if so, obtain first node next adjacent node sensor detection signal；
S190, pedestrian and/or animal are judged whether there is according to the sensor detection signal of next adjacent node by detection
Road.
The deterministic process can refer to step S130, and details are not described herein again.
S200, if so, calculating the movement speed of pedestrian and/or animal.
In the present embodiment, the movement speed of pedestrian and/or animal is calculated, server can be accurate according to the movement speed
Inform that car-mounted terminal there are also how long pedestrian and/or animal are up to specified region, provides sufficiently long reaction for car-mounted terminal in ground
Time substantially reduces the probability of traffic accident generation.
In one embodiment, as shown in figure 5, above-mentioned step S200 may include step S201~S205.
S201, obtain first node next adjacent node sensor detection signal the time of reception；
S202, the time of reception of the sensor detection signal of next adjacent node of first node is encapsulated as timestamp,
To obtain the second timestamp；
S203, the time difference for obtaining stamp and the second timestamp at the first time；
S204, according to first node at a distance from next adjacent node of first node；
S205, the quotient for obtaining distance and time difference, to form the movement speed of pedestrian and/or animal.
According to the distance of two nodes and server receive the sensor detection signal timestamp of two nodes when
Between it is poor, the movement speed of pedestrian and/or animal can be calculated, it is simple and convenient.
If it is not, then returning to the step S170.
By multiple sensor deployments and test point, to meet raising system global reliability, implement detection road without blind
The demands such as area's covering.Using the cooperation of multisensor, the verification and measurement ratio of system is substantially increased, whole system is made more safely may be used
It leans on.By disposing this detection module, the accurate detection to pedestrian is not only realized, and may be implemented to swarming into detection zone
Animal (such as pet, wild animal) realizes real-time detection and early warning, and can calculate the mobile speed of detection target in real time
Degree provides reliable data support for the analysis processing work of other systems.
A detection module is arranged in one node, which can also encapsulate multiple sensors, in conjunction with sensor
Antenna configuration parameters sensor is packaged in module bottom with fixed angle, in this way for single-sensor, Ke Yiti
The verification and measurement ratio of high detection module prevents a certain sensor from missing inspection situation occurring due to environment reason and when target occurs.
Above-mentioned pedestrian and animal detection method carries out detection pedestrian by multiple sensors and/or whether animal passes through
The problem of detecting road, reducing single sensor missing inspection occurs, for the section where the sensor detection signal being initially received
Point is used as first node, and the judgement of pedestrian and/or animal is carried out to the sensor detection signal that first node is sent, is incorporated in and sets
In fixing time, the sensor detection signal that next adjacent node of first node is sent carries out the knot of pedestrian and/or animal judgement
Fruit, then by the timestamp that two nodes send sensor detection signals calculate the movement speed of pedestrian and/or animal, it is real
Now improve Detection accuracy and reliability.
Fig. 6 be another embodiment of the present invention provides a kind of pedestrian and animal detection method flow diagram.Such as Fig. 6 institute
Show, the pedestrian of the present embodiment and animal detection method include step S210-S310.Wherein step S220-S310 and above-mentioned implementation
Step S110-S200 in example is similar, and details are not described herein.The following detailed description of in the present embodiment increase step S210.
S210, the arrangement interval in a certain angle according to the lower sideline of sensor and the road edge line of detection road
Dispose several sensors.
The detection method of multiple sensor cooperations, is not only able to reliably detect pedestrian, can also detect that other are dynamic
Object is swarmed into, and by this accurate detection and early warning, can make to drive automatically to provide the enough reaction time at vehicle termination
The realization sailed is more safe and reliable, is conducive to the intelligent construction of road traffic.
As long as there is any to collect dangerous information, dangerous information is broadcasted, so that other within communication range
Node and car-mounted terminal all receive this warning information, provide the sufficiently long reaction time for terminal side, substantially reduce friendship
Interpreter thus occur probability.
Fig. 7 be another embodiment of the present invention provides a kind of pedestrian and animal detection method flow diagram.Such as Fig. 7 institute
Show, the pedestrian of the present embodiment and animal detection method include step S410-S520.Wherein step S410-S500 and above-mentioned implementation
Step S110-S200 in example is similar, and details are not described herein.The following detailed description of in the present embodiment increase step S510~
S520。
S510, request of data is obtained；
S520, the movement speed that pedestrian and/or animal are sent according to request of data, at the first time stamp and the second timestamp
To specified data administrative center.
If system has request to need the movement speed using this group traveling together and/or animal, then server is according to receiving
This request of data after, immediately by the movement speed of pedestrian and/or animal, at the first time stamp and the second timestamp from memory
It takes out and sends specified data administrative center.
Fig. 8 is the schematic block diagram of a kind of pedestrian provided in an embodiment of the present invention and animal detection device 300.Such as Fig. 8 institute
Show, corresponds to the above pedestrian and animal detection method, the present invention also provides a kind of pedestrian and animal detection devices 300.The pedestrian
And animal detection device 300 includes the unit for executing above-mentioned pedestrian and animal detection method, which can be configured in
In server.
Specifically, referring to Fig. 8, the pedestrian and animal detection device 300 include:
First signal acquiring unit 302, for obtaining the sensor detection signal of multiple nodes on detection road surface；
Screening unit 303 is screened for the sensor detection signal to multiple nodes, to obtain the biography of first node
Sensor detects signal；
First judging unit 304 judges whether there is pedestrian for the sensor detection signal according to first node and/or moves
Object is by detection road；
Stamp acquiring unit 305 at the first time, for if so, handling current time, to obtain stabbing at the first time；
Accumulated unit 306 adds up for the storage time to first time stamp, to obtain the cumulative time；
Time judging unit 307, for judging whether the cumulative time is not more than preset threshold；
Clearing cell 308, for being stabbed at the first time if it is not, then removing；
Second signal acquiring unit 309, for if so, obtaining the sensor detection of next adjacent node of first node
Signal；
Second judgment unit 310, for according to the sensor detection signal of next adjacent node judge whether there is pedestrian and/
Or animal is by detection road；
Movement speed acquiring unit 311, for if so, calculating the movement speed of pedestrian and/or animal.
In one embodiment, the first time stamp acquiring unit 305 includes:
Current time obtains subelement, for obtaining current time；
First encapsulation subelement, for being packaged to current time, to form timestamp；
Temporary subelement, is stabbed for temporary storage time, is stabbed at the first time with being formed.
In one embodiment, the movement speed acquiring unit 311 includes:
The time of reception obtains subelement, and the sensor detection signal of next adjacent node for obtaining first node connects
Time receiving carves；
Second encapsulation subelement, for by the time of reception of the sensor detection signal of next adjacent node of first node
It is encapsulated as timestamp, to obtain the second timestamp；
Time difference obtains subelement, for obtaining the time difference of stamp and the second timestamp at the first time；
Distance obtain subelement, for according to first node at a distance from next adjacent node of first node；
Operation subelement, for obtaining quotient of the distance with the time difference, to form the movement speed of pedestrian and/or animal.
Fig. 9 be another embodiment of the present invention provides a kind of pedestrian and animal detection device 300 schematic block diagram.Such as figure
Shown in 9, the pedestrian of the present embodiment and animal detection device 300 are to increase deployment unit 301 on the basis of above-described embodiment.
Deployment unit 301, the road edge line for lower sideline and detection road according to sensor are in a certain angle
Several sensors are disposed at arrangement interval.
Figure 10 be another embodiment of the present invention provides a kind of pedestrian and animal detection device 300 schematic block diagram.Such as
Shown in Figure 10, the pedestrian of the present embodiment and animal detection device 300 are to increase request list on the basis of above-described embodiment
Member 312 and data transmission unit 313.
Request unit 312, for obtaining request of data；
Data transmission unit 313, for sending movement speed, the first time of pedestrian and/or animal according to request of data
Stamp and the second timestamp are to specified data administrative center.
It should be noted that it is apparent to those skilled in the art that, above-mentioned pedestrian and animal detection dress
The specific implementation process of 300 and each unit is set, it can be with reference to the corresponding description in preceding method embodiment, for convenience of description
With it is succinct, details are not described herein.
Above-mentioned pedestrian and animal detection device 300 can be implemented as a kind of form of computer program, the computer program
It can be run in computer equipment as shown in figure 11.
Figure 11 is please referred to, Figure 11 is a kind of schematic block diagram of computer equipment provided by the embodiments of the present application.The calculating
Machine equipment 500 can be server, and wherein server can be independent server, be also possible to the clothes of multiple server compositions
Business device cluster.
Refering to fig. 11, which includes processor 502, memory and the net connected by system bus 501
Network interface 505, wherein memory may include non-volatile memory medium 503 and built-in storage 504.
The non-volatile memory medium 503 can storage program area 5031 and computer program 5032.The computer program
5032 include program instruction, which is performed, and processor 502 may make to execute a kind of pedestrian and animal detection side
Method.
The processor 502 is for providing calculating and control ability, to support the operation of entire computer equipment 500.
The built-in storage 504 provides environment for the operation of the computer program 5032 in non-volatile memory medium 503, should
When computer program 5032 is executed by processor 502, processor 502 may make to execute a kind of pedestrian and animal detection method.
The network interface 505 is used to carry out network communication with other equipment.It will be understood by those skilled in the art that in Figure 11
The structure shown, only the block diagram of part-structure relevant to application scheme, does not constitute and is applied to application scheme
The restriction of computer equipment 500 thereon, specific computer equipment 500 may include more more or fewer than as shown in the figure
Component perhaps combines certain components or with different component layouts.
Wherein, the processor 502 is for running computer program 5032 stored in memory, to realize following step
It is rapid:
Obtain the sensor detection signal of multiple nodes on detection road surface；
The sensor detection signal of multiple nodes is screened, to obtain the sensor detection signal of first node；
Pedestrian and/or animal are judged whether there is by detection road according to the sensor detection signal of first node；
If so, handling current time, to obtain stabbing at the first time；
To first time, the storage time of stamp adds up, to obtain the cumulative time；
Judge whether the cumulative time is not more than preset threshold；
It is stabbed at the first time if it is not, then removing；
If so, obtaining the sensor detection signal of next adjacent node of first node；
Pedestrian and/or animal are judged whether there is by detection road according to the sensor detection signal of next adjacent node；
If so, calculating the movement speed of pedestrian and/or animal；
It is stabbed at the first time if it is not, then returning to the removing.
In one embodiment, processor 502 is realizing the sensor inspection for obtaining multiple nodes on detection road surface
It surveys before signals step, also realization following steps:
It is disposed according to the lower sideline of sensor and the road edge line of detection road arrangement interval in a certain angle
Several sensors.
In one embodiment, processor 502 is screened in the realization sensor detection signal to multiple nodes, with
When obtaining the sensor detection signal step of first node, it is implemented as follows step:
The sensor detection signal of the node of sensor detection signal receiving time at first is obtained, to obtain first node
Sensor detection signal.
In one embodiment, processor 502 realize it is described current time is handled, with obtain at the first time stab step
When rapid, it is implemented as follows step:
Obtain current time；
Current time is packaged, to form timestamp；
Temporary storage time stamp, is stabbed at the first time with being formed.
In one embodiment, processor 502 is when realizing the movement speed step for calculating pedestrian and/or animal, tool
Body realizes following steps:
Obtain the time of reception of the sensor detection signal of next adjacent node of first node；
The time of reception of the sensor detection signal of next adjacent node of first node is encapsulated as timestamp, to obtain
Second timestamp；
Obtain the time difference of stamp and the second timestamp at the first time；
According to first node at a distance from next adjacent node of first node；
The quotient of distance and time difference is obtained, to form the movement speed of pedestrian and/or animal.
In one embodiment, processor 502 is after realizing the movement speed step for calculating pedestrian and/or animal,
Also realize following steps:
Obtain request of data；
Extremely referred to according to movement speed, first time stamp and the second timestamp that request of data sends pedestrian and/or animal
Fixed control data corporation.
It should be appreciated that in the embodiment of the present application, processor 502 can be central processing unit (Central
Processing Unit, CPU), which can also be other general processors, digital signal processor (Digital
Signal Processor, DSP), specific integrated circuit (Application Specific Integrated Circuit,
ASIC), ready-made programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic
Device, discrete gate or transistor logic, discrete hardware components etc..Wherein, general processor can be microprocessor or
Person's processor is also possible to any conventional processor etc..
Those of ordinary skill in the art will appreciate that be realize above-described embodiment method in all or part of the process,
It is that relevant hardware can be instructed to complete by computer program.The computer program includes program instruction, computer journey
Sequence can be stored in a storage medium, which is computer readable storage medium.The program instruction is by the department of computer science
At least one processor in system executes, to realize the process step of the embodiment of the above method.
Therefore, the present invention also provides a kind of storage mediums.The storage medium can be computer readable storage medium.This is deposited
Storage media is stored with computer program, and processor is made to execute following steps when wherein the computer program is executed by processor:
Obtain the sensor detection signal of multiple nodes on detection road surface；
The sensor detection signal of multiple nodes is screened, to obtain the sensor detection signal of first node；
Pedestrian and/or animal are judged whether there is by detection road according to the sensor detection signal of first node；
If so, handling current time, to obtain stabbing at the first time；
To first time, the storage time of stamp adds up, to obtain the cumulative time；
Judge whether the cumulative time is not more than preset threshold；
It is stabbed at the first time if it is not, then removing；
If so, obtaining the sensor detection signal of next adjacent node of first node；
Pedestrian and/or animal are judged whether there is by detection road according to the sensor detection signal of next adjacent node；
If so, calculating the movement speed of pedestrian and/or animal；
It is stabbed at the first time if it is not, then returning to the removing.
In one embodiment, the processor realizes the acquisition detection road surface executing the computer program
Before the sensor detection signal step of upper multiple nodes, following steps are also realized:
It is disposed according to the lower sideline of sensor and the road edge line of detection road arrangement interval in a certain angle
Several sensors.
In one embodiment, the processor realizes the sensing to multiple nodes executing the computer program
Device detection signal is screened, and when obtaining the sensor detection signal step of first node, is implemented as follows step:
The sensor detection signal of the node of sensor detection signal receiving time at first is obtained, to obtain first node
Sensor detection signal.
In one embodiment, the processor execute the computer program and realize it is described to current time at
Reason is implemented as follows step when obtaining stabbing step at the first time:
Obtain current time；
Current time is packaged, to form timestamp；
Temporary storage time stamp, is stabbed at the first time with being formed.
In one embodiment, the processor is realized the calculating pedestrian in the execution computer program and/or is moved
When the movement speed step of object, it is implemented as follows step:
Obtain the time of reception of the sensor detection signal of next adjacent node of first node；
The time of reception of the sensor detection signal of next adjacent node of first node is encapsulated as timestamp, to obtain
Second timestamp；
Obtain the time difference of stamp and the second timestamp at the first time；
According to first node at a distance from next adjacent node of first node；
The quotient of distance and time difference is obtained, to form the movement speed of pedestrian and/or animal.
In one embodiment, the processor is realized the calculating pedestrian in the execution computer program and/or is moved
After the movement speed step of object, following steps are also realized:
Obtain request of data；
Extremely referred to according to movement speed, first time stamp and the second timestamp that request of data sends pedestrian and/or animal
Fixed control data corporation.
The storage medium can be USB flash disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), magnetic disk
Or the various computer readable storage mediums that can store program code such as CD.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, in order to clearly demonstrate hardware
With the interchangeability of software, each exemplary composition and step are generally described according to function in the above description.This
A little functions are implemented in hardware or software actually, the specific application and design constraint depending on technical solution.Specially
Industry technical staff can use different methods to achieve the described function each specific application, but this realization is not
It is considered as beyond the scope of this invention.
In several embodiments provided by the present invention, it should be understood that disclosed device and method can pass through it
Its mode is realized.For example, the apparatus embodiments described above are merely exemplary.For example, the division of each unit, only
Only a kind of logical function partition, there may be another division manner in actual implementation.Such as multiple units or components can be tied
Another system is closed or is desirably integrated into, or some features can be ignored or not executed.
The steps in the embodiment of the present invention can be sequentially adjusted, merged and deleted according to actual needs.This hair
Unit in bright embodiment device can be combined, divided and deleted according to actual needs.In addition, in each implementation of the present invention
Each functional unit in example can integrate in one processing unit, is also possible to each unit and physically exists alone, can also be with
It is that two or more units are integrated in one unit.
If the integrated unit is realized in the form of SFU software functional unit and when sold or used as an independent product,
It can store in one storage medium.Based on this understanding, technical solution of the present invention is substantially in other words to existing skill
The all or part of part or the technical solution that art contributes can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a
People's computer, terminal or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can readily occur in various equivalent modifications or replace
It changes, these modifications or substitutions should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with right
It is required that protection scope subject to.
Claims (10)
1. pedestrian and animal detection method characterized by comprising
Obtain the sensor detection signal of multiple nodes on detection road surface；
The sensor detection signal of multiple nodes is screened, to obtain the sensor detection signal of first node；
Pedestrian and/or animal are judged whether there is by detection road according to the sensor detection signal of first node；
If so, handling current time, to obtain stabbing at the first time；
To first time, the storage time of stamp adds up, to obtain the cumulative time；
Judge whether the cumulative time is not more than preset threshold；
It is stabbed at the first time if it is not, then removing；
If so, obtaining the sensor detection signal of next adjacent node of first node；
Pedestrian and/or animal are judged whether there is by detection road according to the sensor detection signal of next adjacent node；
If so, calculating the movement speed of pedestrian and/or animal；
It is stabbed at the first time if it is not, then returning to the removing.
2. pedestrian according to claim 1 and animal detection method, which is characterized in that on the acquisition detection road surface
Before the sensor detection signal of multiple nodes, further includes:
It is several according to the arrangement interval deployment in a certain angle of the lower sideline of sensor and the road edge line of detection road
A sensor.
3. pedestrian according to claim 1 and animal detection method, which is characterized in that the sensor to multiple nodes
Detection signal is screened, to obtain the sensor detection signal of first node, comprising:
The sensor detection signal of the node of sensor detection signal receiving time at first is obtained, to obtain the sensing of first node
Device detects signal.
4. pedestrian according to claim 3 and animal detection method, which is characterized in that it is described to current time at
Reason, to obtain stabbing at the first time, comprising:
Obtain current time；
Current time is packaged, to form timestamp；
Temporary storage time stamp, is stabbed at the first time with being formed.
5. pedestrian according to claim 4 and animal detection method, which is characterized in that the calculating pedestrian and/or animal
Movement speed, comprising:
Obtain the time of reception of the sensor detection signal of next adjacent node of first node；
The time of reception of the sensor detection signal of next adjacent node of first node is encapsulated as timestamp, to obtain second
Timestamp；
Obtain the time difference of stamp and the second timestamp at the first time；
According to first node at a distance from next adjacent node of first node；
The quotient of distance and time difference is obtained, to form the movement speed of pedestrian and/or animal.
6. pedestrian according to claim 1 and animal detection method, which is characterized in that the calculating pedestrian and/or animal
Movement speed after, further includes:
Obtain request of data；
Movement speed, at the first time stamp and the second timestamp of pedestrian and/or animal are sent to specified according to request of data
Control data corporation.
7. pedestrian and animal detection device characterized by comprising
First signal acquiring unit, for obtaining the sensor detection signal of multiple nodes on detection road surface；
Screening unit is screened for the sensor detection signal to multiple nodes, to obtain the sensor inspection of first node
Survey signal；
First judging unit judges whether there is pedestrian for the sensor detection signal according to first node and/or animal passes through
Detect road；
Stamp acquiring unit at the first time, for if so, handling current time, to obtain stabbing at the first time；
Accumulated unit adds up for the storage time to first time stamp, to obtain the cumulative time；
Time judging unit, for judging whether the cumulative time is not more than preset threshold；
Clearing cell, for being stabbed at the first time if it is not, then removing；
Second signal acquiring unit, for if so, obtaining the sensor detection signal of next adjacent node of first node；
Second judgment unit, for judging whether there is pedestrian and/or animal according to the sensor detection signal of next adjacent node
By detecting road；
Movement speed acquiring unit, for if so, calculating the movement speed of pedestrian and/or animal.
8. pedestrian according to claim 7 and animal detection device, which is characterized in that described device further include:
Deployment unit, the arrangement in a certain angle with the road edge line of detection road for the lower sideline according to sensor
Several sensors are disposed at interval.
9. a kind of computer equipment, which is characterized in that the computer equipment includes memory and processor, on the memory
It is stored with computer program, the processor is realized as described in any one of claims 1 to 6 when executing the computer program
Method.
10. a kind of storage medium, which is characterized in that the storage medium is stored with computer program, the computer program quilt
Processor can be realized when executing such as method described in any one of claims 1 to 6.
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