CN112435479B - Target object violation detection method and device, computer equipment and system - Google Patents
Target object violation detection method and device, computer equipment and system Download PDFInfo
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- CN112435479B CN112435479B CN202011237806.4A CN202011237806A CN112435479B CN 112435479 B CN112435479 B CN 112435479B CN 202011237806 A CN202011237806 A CN 202011237806A CN 112435479 B CN112435479 B CN 112435479B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
- G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
- G06T7/292—Multi-camera tracking
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- G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
- G06V20/54—Surveillance or monitoring of activities, e.g. for recognising suspicious objects of traffic, e.g. cars on the road, trains or boats
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
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- G08G1/042—Detecting movement of traffic to be counted or controlled using inductive or magnetic detectors
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Abstract
The application relates to a method, a device, computer equipment and a system for detecting violation of target objects, wherein the method comprises the following steps: acquiring first target object information detected by a radio frequency device and second target object information detected by a first camera in a detection period; mapping the first target object information and the second target object information to obtain a mapping result; acquiring a violation target object, and acquiring first information of the violation target object in the first target object information and/or second information of the violation target object in the second target object information according to the violation target object and a mapping result; and sending the first information and/or the second information to a second camera so that the second camera tracks the violation target object according to the first information and/or the second information. Through the method and the device, the illegal vehicle can be effectively and quickly grabbed in a complex scene.
Description
Technical Field
The application relates to the field of vehicle violation detection, in particular to a target object violation detection method, a target object violation detection device, a computer device and a target object violation detection system.
Background
The vehicle is an important transportation tool in daily life of people, brings great convenience to people's lives, but traffic accidents caused by violation of regulations of the vehicle are frequent, and great pressure is brought to a national traffic management information system. With the increasing number of vehicles on the road and the increasing traffic jam, on one hand, motor vehicles running on red light running, lane changing and non-motor vehicle lanes can bring huge accident potential to other vehicles running normally and pedestrians; on the other hand, the illegal behaviors of non-motor vehicles such as electric bicycles, etc. such as running in the wrong direction, running red light, occupying motor vehicle lanes, etc. are getting more and more serious. Therefore, an effective method or technical means is urgently needed to capture the evidence of the vehicle violation behaviors and carry out corresponding warning and punishment on violation personnel in combination with related policies so as to fundamentally restrict the violation behaviors of drivers.
At present, the existing detection system for the vehicle violation behaviors is not perfect enough, and the violation behaviors of the vehicle are determined by adopting a scheme of combining video detection and an RFID (radio frequency identification) technology. The video detection is to shoot the violation behaviors of the vehicle through a camera, and the position information, the speed, the license plate information and other information of the violation vehicle can be obtained through video recording and picture capturing, but the camera cannot rotate due to fixed angle, so that a plurality of vehicle targets cannot be continuously tracked and captured. The RFID technology is characterized in that an active or passive electronic tag is mounted on a vehicle in advance, and the position information of the vehicle and the information of a driver and a license plate of the vehicle in the tag can be acquired in an effective detection area by utilizing the radio frequency technology. However, under complex scenes of simultaneous processing of multiple targets, high target movement speed and the like, illegal vehicles are difficult to rapidly and effectively grab for information matching and verification, and the problems of target omission or illegal path loss are easy to occur.
Disclosure of Invention
The embodiment of the application provides a method, a device, computer equipment and a system for detecting violation of a target object, and aims to at least solve the problem that the violation target is missed or the violation path is lost in the related technology.
In a first aspect, an embodiment of the present application provides a target object violation detection method, including:
acquiring first target object information detected by a radio frequency device and second target object information detected by a first camera in a detection period;
mapping the first target object information and the second target object information to obtain a mapping result;
acquiring a violation target object, and acquiring first information of the violation target object in the first target object information and/or second information of the violation target object in the second target object information according to the violation target object and a mapping result;
and sending the first information and/or the second information to a second camera so that the second camera tracks the violation target object according to the first information and/or the second information.
In some embodiments, the acquiring, in one detection period, before the first target object information detected by the radio frequency device and the second target object information detected by the first camera, further includes:
acquiring a first coordinate system of a radio frequency device detection plane and a second coordinate system of a first camera detection plane;
registering the first coordinate system with a second coordinate system.
In some embodiments, mapping the first target object information and the second target object information to each other to obtain a mapping result includes:
determining first quantity information of the target objects according to the first target object information;
determining second quantity information of the target object according to the second target object information;
and comparing and mapping the first quantity information and the second quantity information to obtain a mapping result.
In some embodiments, the obtaining of the violation target object, and according to the violation target object and the mapping result, the obtaining of the first information of the violation target object in the first target object information and/or the second information of the violation target object in the second target object information includes:
when the mapping result shows that the first quantity information is different from the second quantity information, acquiring each violation target object based on a radio frequency device, and acquiring first information of the violation target object in the first target object information according to the violation target object; the first information is coordinate information of a violation target object in a second coordinate system, and a radio frequency tag is arranged on the target object; and/or the presence of a gas in the gas,
and when the mapping result is that the first quantity information is the same as the second quantity information, acquiring each violation target object based on a first camera, and acquiring second information of the violation target object in the second target object information according to the violation target object, wherein the second information is coordinate information of the violation target object in a second coordinate system.
In some embodiments, when the mapping result indicates that the first quantity information and the second quantity information are different, obtaining each violation target object based on a radio frequency device, and obtaining first information of the violation target object in the first target object information according to the violation target object includes:
acquiring each violation target object based on a radio frequency device;
acquiring actual distance information between the violation target object and the radio frequency device based on a radio frequency signal sent by the violation target object and a preset distance signal model;
determining relative distance information between the violation target object and each radio frequency device in the registered second coordinate system based on the actual distance information;
and acquiring first information of the violation target object in the first target object information based on the relative distance information.
In some embodiments, when the radio frequency device is an RFID reader, obtaining first information of the violation target object in the first target object information based on the relative distance information includes:
acquiring an X-direction coordinate of the violation target object in a second coordinate system based on the relative distance information;
acquiring a driving lane of the violation target object according to the first camera to determine a Y-direction coordinate of the violation target object in a second coordinate system;
and determining first information of the violation target object in the first target object information based on the X-direction coordinate and the Y-direction coordinate.
In some embodiments, when the radio frequency device includes at least two RFID readers, obtaining first information of the violation target object in the first target object information based on the relative distance information includes:
establishing a distance identity equation based on the relative distance information and the PT coordinates of the radio frequency device in a second coordinate system;
and determining first information of the violation target object in the first target object information based on the distance identity equation.
In some of these embodiments, further comprising:
determining an RSSI value at a corresponding distance according to the distance between the target object and the radio frequency device and a radio frequency signal sent by a radio frequency tag on the target object at the corresponding distance;
and establishing a distance signal model according to the distance and the corresponding RSSI value.
In a second aspect, an embodiment of the present application provides a target object violation detection device, including:
the target object information detection unit is used for acquiring first target object information detected by the radio frequency device and second target object information detected by the first camera in a detection period;
the mapping unit is used for mapping the first target object information and the second target object information to each other to obtain a mapping result;
the information acquisition unit is used for acquiring a violation target object and acquiring first information of the violation target object in the first target object information and/or second information of the violation target object in the second target object information according to the violation target object and a mapping result;
and the tracking unit is used for sending the first information and/or the second information to the second camera so as to enable the second camera to track the violation target object according to the first information and/or the second information.
In a third aspect, the present application provides a computer device, including a memory, a processor and a computer program stored on the memory and operable on the processor, wherein the processor, when executing the computer program, implements the target object violation detection method according to the first aspect.
In a fourth aspect, an embodiment of the present application provides a target object violation detection system, including: a camera system, a radio frequency device and a computer apparatus as described above; the camera system comprises a panoramic camera, a tripod head and a detail camera, wherein the detail camera is carried on the tripod head and is electrically connected with the tripod head, and the panoramic camera, the radio frequency device and the tripod head are respectively connected with the computer equipment;
the radio frequency device is used for acquiring first target object information and violation target objects in a detection period;
the panoramic camera is used for acquiring second target object information and violation target objects in a detection period;
the detail camera is used for tracking the violation target object according to first information in the first target object information and/or second information in the second target object information;
the computer device is arranged to perform the target object violation detection method according to the first aspect above.
Compared with the prior art, the method, the device, the computer equipment and the system for detecting the violation of the target object provided by the embodiment of the application acquire the mapping result by mapping the first target object information and the second target object information with each other, and acquire the violation target object according to the violation target object and the mapping result, wherein the violation target object is the first information in the first target object information and/or the violation target object is the second information in the second target object information. The problem of the detection information of the radio frequency device and the first camera in the tracking of the violation vehicle under different mapping results is solved, effective and quick grabbing of the violation vehicle under complex scenes of multiple targets, high target movement speed and the like needing to be processed simultaneously is achieved, follow-up violation information matching and checking are facilitated, and the problem that the camera detects that the target object is easy to miss detection or the violation path is lost is avoided.
The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below to provide a more thorough understanding of the application.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a schematic flow chart of a target object violation detection method in one embodiment of the present application;
FIG. 2 is a schematic flow diagram of target object violation detection in one embodiment of the present application;
FIG. 3 is a schematic view of a scenario for target object violation detection in one embodiment of the present application;
FIG. 4 is a schematic view of a scenario for target object violation detection in a preferred embodiment of the present application;
FIG. 5 is a schematic flow chart of a target object violation detection method in another embodiment of the present application;
FIG. 6 is a block diagram of the structure of a target object violation detection device in one embodiment of the present application;
FIG. 7 is a schematic diagram of a computer device according to an embodiment of the present application;
fig. 8 is a schematic diagram of the configuration of a target object violation detection system in one embodiment of the present application.
Description of the drawings: 201. a target object information detection unit; 202. a mapping unit; 203. an information acquisition unit; 204. a tracking unit; 30. a bus; 31. a processor; 32. a memory; 33. a communication interface; 41. a panoramic camera; 42. a holder; 43. a detail camera; 44. a radio frequency device; 45. a target object; 46. a computer device.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments provided in the present application without any inventive step are within the scope of protection of the present application.
It is obvious that the drawings in the following description are only examples or embodiments of the present application, and that it is also possible for a person skilled in the art to apply the present application to other similar contexts on the basis of these drawings without inventive effort. Moreover, it should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another.
Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the specification. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of ordinary skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments without conflict.
Unless defined otherwise, technical or scientific terms referred to herein shall have the ordinary meaning as understood by those of ordinary skill in the art to which this application belongs. Reference to "a," "an," "the," and similar words throughout this application are not to be construed as limiting in number, and may refer to the singular or the plural. The present application is directed to the use of the terms "including," "comprising," "having," and any variations thereof, which are intended to cover non-exclusive inclusions; for example, a process, method, system, article, or apparatus that comprises a list of steps or modules (elements) is not limited to the listed steps or elements, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. Reference to "connected," "coupled," and the like in this application is not intended to be limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The term "plurality" as referred to herein means two or more. "and/or" describes an association relationship of associated objects, meaning that three relationships may exist, for example, "A and/or B" may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. Reference herein to the terms "first," "second," "third," and the like, are merely to distinguish similar objects and do not denote a particular ordering for the objects.
An Intelligent Transportation System (ITS) is a comprehensive System which effectively and comprehensively applies advanced scientific technologies (information technology, computer technology, data communication technology, sensor technology, electronic control technology, automatic control theory, operational research, artificial intelligence and the like) to Transportation, service control and vehicle manufacturing, strengthens the relation among vehicles, users and supervision departments, improves the overall controllability, orderliness and operation efficiency of the Transportation System, reduces the accident rate and aims at reducing environmental pollution.
The method for detecting the violation of the target object can be used in an intelligent traffic system and used for detecting the violation of the road vehicle and tracking and shooting the violation of the road vehicle. Particularly, the method can be applied to tracking and shooting the violation behaviors of the vehicles under the conditions of complex traffic rules and road traffic, the shielding among the vehicles and unstable conditions such as dynamic background change, illumination change and shadow in the data acquisition process. Especially for the capture and supervision of the illegal behaviors of the drivers of non-motor vehicles with weak traffic rule consciousness, such as running in the wrong direction, running red light, occupying motor vehicle lanes and the like.
The embodiment provides a target object violation detection method. Fig. 1 is a flow chart of a target object violation detection method according to an embodiment of the application, and as shown in fig. 1, the flow chart includes the following steps:
step S101, first target object information detected by the radio frequency device 44 and second target object information detected by the first camera in a detection period are obtained.
The radio frequency device 44 may be one or more RFID readers, which may be installed at two sides of a detection road or at an intersection to detect a target object in an effective detection area. The first target object information includes the number, position and identification information of the vehicles obtained according to the radio frequency signals sent by the radio frequency tags installed on the vehicles. The second target object information includes the number, position, license plate, driving behavior, and the like of the vehicles obtained from the video image of the detected road section acquired by the camera. The vehicle may be a motor vehicle such as an automobile or a motorcycle, or may also be a non-motor vehicle such as a bicycle, an electric bicycle, or a tricycle, and the application is not limited specifically.
In this embodiment, detection periods can be predefined, and vehicle information detection is performed on each detection period through the combination of the radio frequency device 44 and the first camera, so that the combination of the vehicle information detected by the cameras and the actual vehicle information detected by the radio frequency device 44 is facilitated, the detection efficiency of the violation vehicles in a complex scene is improved, and a key vehicle violation evidence is formed.
Step S102, the first target object information and the second target object information are mapped with each other, and a mapping result is obtained.
In this embodiment, when the number of vehicles on the detected road section is large, a vehicle blocking behavior is likely to occur, and at this time, the second target object information detected by the first camera and the first target object information detected by the radio frequency module need to be mapped to each other to match and check the accuracy of the target object information.
Step S103, acquiring a violation target object, and acquiring first information of the violation target object in the first target object information and/or second information of the violation target object in the second target object information according to the violation target object and a mapping result.
And step S104, sending the first information and/or the second information to a second camera so that the second camera tracks the violation target object according to the first information and/or the second information.
The second camera can be a detail camera 43, the detail camera 43 is carried on the cloud deck 42, dynamic tracking snapshot of detail information of the violation target object is carried out, the moving speed of the cloud deck 42 is high, the violation target object moving at a high speed can be obtained in real time, and therefore a more accurate and clear target object picture can be obtained.
Specifically, in this embodiment, the mapping result includes matching and mismatching: when the mapping result is not matched, it indicates that the target object has an occlusion problem, and all valid first target object information is considered here, and since the first camera cannot detect the occlusion condition, the detection accuracy of the rf device 44 is higher. At this time, first information is obtained according to the first target object information detected by the radio frequency device 44, and the first information is sent to the second camera, so that the second camera tracks the violation target object according to the first information. When the mapping result is matching, the target object is not shielded, and all effective first target object information can be detected and acquired by using the first camera. At the moment, second information is obtained according to second target object information detected by the first camera, and the second information is sent to the second camera, so that the second camera tracks the violation target object according to the second information.
Of course, in this embodiment, when the mapping result is a match, the first information may also be obtained according to the first target object information detected by the radio frequency device 44, and the first information is sent to the second camera to track the violation target object.
In summary, according to the method, the device, the computer device and the system for detecting the violation of the target object, the first target object information and the second target object information are mapped with each other to obtain the mapping result, and the violation target object is obtained according to the violation target object and the mapping result, wherein the first information in the first target object information and/or the violation target object is the second information in the second target object information. The problem of the detection information of the radio frequency device and the first camera in the tracking of the violation vehicle under different mapping results is solved, effective and quick grabbing of the violation vehicle under complex scenes of multiple targets, high target movement speed and the like needing to be processed simultaneously is achieved, follow-up violation information matching and checking are facilitated, and the problem that the camera detects that the target object is easy to miss detection or the violation path is lost is avoided.
The embodiments of the present application are described and illustrated below by means of preferred embodiments.
In some embodiments, the acquiring, in one detection period, before the first target object information detected by the radio frequency device 44 and the second target object information detected by the first camera, further includes:
step S105, acquiring a first coordinate system of a detection plane of the radio frequency device 44 and a second coordinate system of a detection plane of the first camera;
and step S106, registering the first coordinate system and the second coordinate system.
In this embodiment, a first coordinate system of the detection plane of the radio frequency device 44 is established with the radio frequency device 44 as an origin, a second coordinate system of the detection plane of the first camera is established with the first camera as an origin, and the first coordinate system and the second coordinate system need to be registered and synchronized to the first camera before detection, so as to achieve synchronization of the first coordinate system and the second coordinate system. It should be noted that the error of the installation positions of the second camera and the first camera can be ignored, and the coordinate systems of the two cameras are synchronous.
In a specific embodiment, the first coordinate system and the second coordinate system may be registered by a detail camera 43. Specifically, the detail camera 43 is mounted on the pan/tilt head 42, and the zoom function of the pan/tilt head 42 is used to focus on the radio frequency device 44, so as to obtain coordinate information (PT information) of the radio frequency device 44 in the first camera, and further calculate distance information between the radio frequency device 44 and the detail camera 43 mapped to the first camera. And calibrating the position coordinates of the radio frequency device 44 according to the coordinate information and the distance information. Of course, in other embodiments, the first coordinate system and the second coordinate system may be registered in other manners as long as synchronization of the first coordinate system and the second coordinate system can be achieved, and the present application is not particularly limited.
In some embodiments, step S102 includes:
step S1021, determining first quantity information of the target objects according to the first target object information;
step S1022, determining second quantity information of the target object according to the second target object information;
step S1023, comparing and mapping the first quantity information and the second quantity information to obtain a mapping result.
In this embodiment, the first quantity information of the target object may be determined by the first target object information detected by the radio frequency device 44, and the second quantity information of the target object may be determined by the second target object information detected by the first camera. And comparing and mapping the first quantity information and the second quantity information, and judging the accuracy of the detection result so as to further judge whether the detected road section is shielded.
On the basis of the above embodiments, in some of the embodiments, the step S103 includes:
when the mapping result shows that the first quantity information is different from the second quantity information, acquiring each violation target object based on a radio frequency device 44, and acquiring first information of the violation target object in the first target object information according to the violation target object; the first information is coordinate information of the violation target object in a second coordinate system, and the target object is provided with a radio frequency tag.
In this embodiment, when the mapping result indicates that the first quantity information and the second quantity information are different, it indicates that an occluded target object exists. At this point each violation target object is first acquired based on the radio frequency device 44.
For example: on the detection road section, when the intensity of a radio frequency signal sent by a radio frequency tag on a target object, namely the change rate of the RSSI value is zero in a preset time period, the target object can be judged to be in an illegal parking state; when the strength of a radio frequency signal sent by a radio frequency tag on a target object, namely the change rate of the RSSI value is not zero, the vehicle is judged to be in a running state, the RSSI threshold value of the intersection is preset, the RSSI value determined based on the radio frequency signal is compared with the RSSI threshold value to judge whether the vehicle runs out of the intersection, and at the moment, a first camera is combined to obtain a signal lamp of the intersection to obtain a violation target. It can be understood that, in this embodiment, the violation target object may also be obtained by using other methods based on the radio frequency device 44, such as obtaining a retrograde-motion target object, and the methods are conventional technologies in the art and are not described herein again.
Then, the actual distance information between the violation target object and the radio frequency device 44 is obtained based on the radio frequency signal sent by the violation target object and the preset distance signal model. Specifically, the actual distance information output by the preset distance signal model can be obtained by using the strength of the radio frequency signal sent by the radio frequency tag, namely the RSSI value, as the input of the preset distance signal model. The preset distance signal model can be established by the following method: determining the RSSI value at the corresponding distance according to the distance between the target object and the radio frequency device 44 and the radio frequency signal sent by the radio frequency tag on the target object at the corresponding distance; and taking the RSSI value as the input of a distance signal model, taking the distance corresponding to the RSSI value as the output of the distance signal model, and training the distance signal model to establish a preset distance signal model.
Then, based on the actual distance information and a second coordinate system obtained by calibrating the position coordinates of the radio frequency device 44 through the coordinate information and the distance information, the relative distance information between the violation target object and each radio frequency device 44 is calculated and obtained by adopting a linear interpolation algorithm.
And finally, acquiring first information of the violation target object in the first target object information based on the relative distance information.
On the basis of the above embodiments, in some of the embodiments, fig. 2 is a schematic flow chart of the violation detection of the target object provided in the present embodiment, and fig. 3 is a schematic view of a scenario of the violation detection of the target object in the present embodiment. As shown in fig. 2 to 3, when the radio frequency device 44 is an RFID reader, obtaining the first information of the violation target object 45 in the first target object information based on the relative distance information includes:
acquiring the X-direction coordinate of the violation target object 45 in a second coordinate system based on the relative distance information; acquiring a driving lane of the violation target object 45 according to the first camera to determine a Y-direction coordinate of the violation target object 45 in a second coordinate system; and determining first information of the violation target object 45 in the first target object information based on the X-direction coordinate and the Y-direction coordinate.
In the embodiment, a plane coordinate system is established by the monitoring visual field of the first camera, an RFID reader-writer is arranged at the intersection, and the vehicle is supposed to run along the A-B lane. After the relative distance information between the violation target object 45 and the RFID reader-writer is obtained, the Y-direction coordinate of the violation target object 45 in the second coordinate system can be determined according to the Y-direction coordinate of the A-B lane; based on the relative distance information, the X-direction coordinate of the violation target object 45 in the second coordinate system can be obtained through a linear interpolation algorithm or through establishing an identity equation of the relative distance information between the violation target object 45 and the RFID reader-writer in the second coordinate system after registration, and then the first information of the violation target object 45 in the first target object information is determined based on the X-direction coordinate and the Y-direction coordinate.
On the basis of the above embodiments, in some preferred embodiments, fig. 4 is a scene schematic diagram of the violation detection of the target object in the present embodiment. As shown in fig. 4, when the radio frequency device 44 includes at least two RFID readers, obtaining the first information of the violation target object 45 in the first target object information based on the relative distance information includes:
establishing a distance identity equation based on the relative distance information and the PT coordinates of the radio frequency device 44 in the second coordinate system; first information of the violation target object 45 in the first target object information is determined based on the distance identity equation.
In a specific embodiment, the radio frequency device 44 includes four RFID readers M1、M2、M3And M4Their PT coordinates in the first camera are respectively: m1(XRFID1,YRFID1)，M2(XRFID2,YRFID2)，M3(XRFID3,YRFID3) And M4(XRFID4,YRFID4) And a communication network is formed among the four RFID readers, and the number of the non-motor vehicles and the license plate information in the effective area which are respectively responsible for the four RFID readers are monitored. Violation target object 45 and four RFID reader-writers M1、M2、M3And M4Respectively, is d1、d2、d3And d4. Suppose that the coordinate information of the violation target object 45 in the second coordinate system is (X)id,Yid) The distance identity equation can be obtained as follows:
d1 2＝(Xid-XRFID1)2+(Yid-YRFID1)2 (1)
d2 2＝(Xid-XRFID2)2+(Yid-YRFID2)2 (2)
d3 2＝(Xid-XRFID3)2+(Yid-YRFID3)2 (3)
d4 2＝(Xid-XFRID4)2+(Yid-YFRID4)2 (4)
the coordinate information of the violation target object 45 in the second coordinate system is calculated by simultaneous equations (1), (2), (3) and (4) as (X)id,Yid) Thereby forming a relational mapping of the position information of the violation target object 45 in the first coordinate system to the second coordinate system.
It should be noted that more or fewer distance identity equations can be listed according to the number of the RFID readers, and coordinate information (X) can be obtained by combining any two of the equationsid,Yid). When the radio frequency device 44 includes a plurality of RFID readers, that is, the number of equations is greater than two, a plurality of coordinate information can be solved, and the coordinate information (X) of the violation target object 45 in the second coordinate system is determined according to the average value of the plurality of coordinate informationid,Yid)。
In some of these embodiments, step S103 further comprises:
and when the mapping result is that the first quantity information is the same as the second quantity information, acquiring each violation target object 45 based on the first camera, and acquiring second information of the violation target object 45 in the second target object information according to the violation target object 45, wherein the second information is coordinate information of the violation target object 45 in a second coordinate system.
In this embodiment, when the mapping result is that the first quantity information and the second quantity information are the same, and there is no shielded target object, the first camera directly obtains the coordinate information in the second coordinate system and sends the coordinate information to the second camera, so that the second camera tracks the violation target object according to the second information.
In one preferred embodiment, fig. 5 is a schematic flow chart of the violation detection of the target object provided in this embodiment, and includes:
first, system initialization is performed, i.e., initialization of the first camera, the second camera, and the detection module such as the rf device 44. Wherein for initialization of the radio frequency device 44, a valid identification distance at the monitored road segment is obtained. The first coordinate system of the detection plane of the radio frequency device 44 is then registered with the second coordinate system of the detection plane of the first camera to achieve synchronization of the first and second coordinate systems.
In a detection period, when a target object is acquired, mapping the first target object information and the second target object information with each other by using the first target object information detected by the radio frequency device 44 and the second target object information detected by the first camera, and determining whether the number information of the target objects is consistent. And when the mapping result shows that the first quantity information is different from the second quantity information, each target object is obtained based on the radio frequency device 44, and after the violation event is detected, the radio frequency device 44 obtains the coordinate information of the violation target object in the second coordinate system and sends the coordinate information to the detail camera 43 for tracking. And when the mapping result is that the first quantity information is the same as the second quantity information, acquiring the violation target object based on the first camera, and when the violation event is detected, acquiring the coordinate information of the violation target object in the second coordinate system by the first camera and sending the coordinate information to the detail camera 43 for tracking.
It should be noted that the steps illustrated in the above-described flow diagrams or in the flow diagrams of the figures may be performed in a computer system, such as a set of computer-executable instructions, and that, although a logical order is illustrated in the flow diagrams, in some cases, the steps illustrated or described may be performed in an order different than here.
The embodiment also provides a device for detecting violation of a target object, which is used for implementing the above embodiments and preferred embodiments, and the description of the device is omitted. As used hereinafter, the terms "module," "unit," "subunit," and the like may implement a combination of software and/or hardware for a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware, or a combination of software and hardware is also possible and contemplated.
Fig. 6 is a block diagram of a structure of a target object violation detection device according to an embodiment of the present application, and as shown in fig. 6, the device includes: a target object information detection unit 201, a mapping unit 202, an information acquisition unit 203, and a tracking unit 204, wherein,
a target object information detection unit 201, configured to obtain first target object information detected by the radio frequency device 44 and second target object information detected by the first camera in a detection period;
a mapping unit 202, configured to map the first target object information and the second target object information with each other, and obtain a mapping result;
the information acquisition unit 203 is used for acquiring a violation target object and acquiring first information of the violation target object in the first target object information and/or second information of the violation target object in the second target object information according to the violation target object and a mapping result;
the tracking unit 204 is configured to send the first information and/or the second information to the second camera, so that the second camera tracks the violation target object according to the first information and/or the second information.
The target object violation detection device further comprises: a coordinate system acquisition unit and a coordinate system registration unit.
A coordinate system obtaining unit, configured to obtain a first coordinate system of a detection plane of the radio frequency device 44 and a second coordinate system of a detection plane of the first camera;
and the coordinate system registration unit is used for registering the first coordinate system and the second coordinate system.
The mapping unit 202 includes: a first quantity information acquisition module, a second quantity information acquisition module, and a mapping module, wherein,
the first quantity information acquisition module is used for determining first quantity information of the target object according to the first target object information;
the second quantity information acquisition module is used for determining second quantity information of the target object according to the second target object information;
and the mapping module is used for comparing and mapping the first quantity information and the second quantity information to obtain a mapping result.
The information acquisition unit 203 includes: the device comprises a first information acquisition module and a second information acquisition module.
A first information obtaining module, configured to, when the mapping result is that the first quantity information and the second quantity information are different, obtain each violation target object based on the radio frequency device 44, and obtain, according to the violation target object, first information of the violation target object in the first target object information; the first information is coordinate information of a violation target object in a second coordinate system, and a radio frequency tag is arranged on the target object;
and the second information acquisition module is used for acquiring each violation target object based on the first camera when the mapping result is that the first quantity information is the same as the second quantity information, and acquiring second information of the violation target object in the second target object information according to the violation target object, wherein the second information is coordinate information of the violation target object in a second coordinate system.
A first information acquisition module comprising: the system comprises a violation target acquisition module, an actual distance information acquisition module, a relative distance information acquisition module and a first information calculation module.
A violation target acquisition module for acquiring each violation target object based on the radio frequency device 44;
the actual distance information acquisition module is used for acquiring actual distance information between the violation target object and the radio frequency device 44 based on the radio frequency signal sent by the violation target object and a preset distance signal model;
a relative distance information obtaining module for determining the relative distance information of the violation target object and each radio frequency device 44 in the registered second coordinate system based on the actual distance information;
and the first information calculation module is used for acquiring first information of the violation target object in the first target object information based on the relative distance information.
When the radio frequency device 44 is an RFID reader, the first information calculating module includes: the device comprises an X-direction coordinate acquisition module, a Y-direction coordinate acquisition module and a first information determination module.
The X-direction coordinate acquisition module is used for acquiring the X-direction coordinate of the violation target object in a second coordinate system based on the relative distance information;
the Y-direction coordinate acquisition module is used for acquiring a driving lane of the violation target object according to the first camera so as to determine a Y-direction coordinate of the violation target object in a second coordinate system;
and the first determining module is used for determining first information of the violation target object in the first target object information based on the X-direction coordinate and the Y-direction coordinate.
When the radio frequency device 44 includes at least two RFID readers, the first information calculating module includes:
a distance identity equation establishing unit, configured to establish a distance identity equation based on the relative distance information and the PT coordinate of the radio frequency device 44 in the second coordinate system;
and the second determination module is used for determining the first information of the violation target object in the first target object information based on the distance identity equation.
The target object violation detection device further comprises:
a parameter obtaining unit, configured to determine, according to a distance between the target object and the radio frequency device 44 and a radio frequency signal sent by a radio frequency tag on the target object at the corresponding distance, an RSSI value at the corresponding distance;
and the model establishing unit is used for establishing a distance signal model according to the distance and the corresponding RSSI value.
The above modules may be functional modules or program modules, and may be implemented by software or hardware. For a module implemented by hardware, the modules may be located in the same processor; or the modules can be respectively positioned in different processors in any combination.
Additionally, the target object violation detection method of the embodiments of the present application described in connection with FIG. 1 may be implemented by the computer device 46. Fig. 7 is a schematic hardware configuration diagram of the computer device 46 according to the embodiment of the present application.
The computer device 46 may include a processor 31 and a memory 32 storing computer program instructions.
Specifically, the processor 31 may include a Central Processing Unit (CPU), or A Specific Integrated Circuit (ASIC), or may be configured to implement one or more Integrated circuits of the embodiments of the present Application.
The memory 32 may be used to store or cache various data files that need to be processed and/or used for communication, as well as possible computer program instructions executed by the processor 31.
The processor 31 implements any of the target object violation detection methods of the embodiments described above by reading and executing computer program instructions stored in the memory 32.
In some of these embodiments, computer device 46 may also include a communication interface 33 and a bus 30. As shown in fig. 8, the processor 31, the memory 32, and the communication interface 33 are connected via the bus 30 to complete mutual communication.
The communication interface 33 is used for implementing communication between modules, devices, units and/or equipment in the embodiment of the present application. The communication interface 33 may also enable communication with other components such as: the data communication is carried out among external equipment, image/data acquisition equipment, a database, external storage, an image/data processing workstation and the like.
The computer device 46 may execute the target object violation detection method in the embodiment of the present application based on the acquired computer program, thereby implementing the target object violation detection method described in conjunction with fig. 1.
As shown in fig. 8, the present embodiment further provides a system for detecting violation of a target object, including: a camera system, a radio frequency device 44 and a computer apparatus 46 as described above; wherein the content of the first and second substances,
the camera system comprises a panoramic camera 41, a cloud deck 42 and a detail camera 43, wherein the panoramic camera 41 and the detail camera 43 are integrally or separately arranged at the same position of a detection road section. The detail camera 43 is mounted on the cradle head 42 and electrically connected with the cradle head 42, and the detail camera 43 is used for tracking the violation target object according to the first information and/or the second information. The detail camera 43 is used for dynamically tracking and capturing the detail information of the violation target object, the moving speed of the cloud deck 42 is high, and the accurate and clear non-motor vehicle target photo of the violation target object moving at a high speed can be obtained in real time. The panoramic camera 41 may monitor a wide-range road scene picture, and perform target identification and detection on a moving target object to obtain second target object information and a violation target object in a detection period, so that the second camera tracks the violation target object according to second information in the second target object information.
The radio frequency device 44 is configured to obtain information of a first target object and a violation target object in a detection period, so that the second camera tracks the violation target object according to the first information in the information of the first target object.
The panoramic camera 41, the radio frequency device 44 and the pan-tilt 42 are respectively connected to the computer device 46, and the computer device 46 is configured to execute the target object violation detection method.
In addition, in combination with the target object violation detection method in the foregoing embodiment, the embodiment of the present application may be implemented by providing a computer-readable storage medium. The computer readable storage medium having stored thereon computer program instructions; the computer program instructions, when executed by the processor, implement any of the target object violation detection methods of the embodiments described above.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (11)
1. A target object violation detection method, comprising:
acquiring first target object information detected by a radio frequency device and second target object information detected by a first camera in a detection period;
mapping the first target object information and the second target object information to obtain a mapping result;
acquiring a violation target object, and acquiring first information of the violation target object in the first target object information and/or second information of the violation target object in the second target object information according to the violation target object and a mapping result; when the mapping result is not matched, first information is obtained according to the first target object information detected by the radio frequency device; when the mapping result is matching, second information is obtained according to second target object information detected by the first camera;
sending the first information and/or the second information to a second camera so that the second camera tracks the violation target object according to the first information and/or the second information; when the mapping result is not matched, the first information is sent to a second camera, so that the second camera tracks the violation target object according to the first information; and when the mapping result is matching, the second information is sent to a second camera, so that the second camera tracks the violation target object according to the second information.
2. The target object violation detection method of claim 1 wherein the obtaining of the first target object information detected by the radio frequency device and the second target object information detected by the first camera within a detection period is preceded by:
acquiring a first coordinate system of a radio frequency device detection plane and a second coordinate system of a first camera detection plane;
registering the first coordinate system with a second coordinate system.
3. The target object violation detection method of claim 2 wherein mapping the first target object information and the second target object information to each other to obtain a mapping result comprises:
determining first quantity information of the target objects according to the first target object information;
determining second quantity information of the target object according to the second target object information;
and comparing and mapping the first quantity information and the second quantity information to obtain a mapping result.
4. The target object violation detection method of claim 3 wherein obtaining a violation target object and obtaining first information of the violation target object in the first target object information and/or second information of the violation target object in the second target object information based on the violation target object and the mapping result comprises:
when the mapping result shows that the first quantity information is different from the second quantity information, acquiring each violation target object based on a radio frequency device, and acquiring first information of the violation target object in the first target object information according to the violation target object; the first information is coordinate information of a violation target object in a second coordinate system, and a radio frequency tag is arranged on the target object; and/or the presence of a gas in the gas,
and when the mapping result is that the first quantity information is the same as the second quantity information, acquiring each violation target object based on a first camera, and acquiring second information of the violation target object in the second target object information according to the violation target object, wherein the second information is coordinate information of the violation target object in a second coordinate system.
5. The target object violation detection method of claim 4 wherein obtaining each violation target object based on a radio frequency device and obtaining first information of the violation target object in the first target object information based on the violation target object when the mapping result is that the first quantity information and the second quantity information are different comprises:
acquiring each violation target object based on a radio frequency device;
acquiring actual distance information between the violation target object and the radio frequency device based on a radio frequency signal sent by the violation target object and a preset distance signal model;
determining relative distance information between the violation target object and each radio frequency device in the registered second coordinate system based on the actual distance information;
and acquiring first information of the violation target object in the first target object information based on the relative distance information.
6. The target object violation detection method of claim 5 wherein obtaining first information of the violation target object in the first target object information based on the relative distance information when the radio frequency device is an RFID reader comprises:
acquiring an X-direction coordinate of the violation target object in a second coordinate system based on the relative distance information;
acquiring a driving lane of the violation target object according to the first camera to determine a Y-direction coordinate of the violation target object in a second coordinate system;
and determining first information of the violation target object in the first target object information based on the X-direction coordinate and the Y-direction coordinate.
7. The target object violation detection method of claim 5 wherein obtaining first information of the violation target object in the first target object information based on the relative distance information when the radio frequency device includes at least two RFID readers comprises:
establishing a distance identity equation based on the relative distance information and the PT coordinates of the radio frequency device in a second coordinate system;
and determining first information of the violation target object in the first target object information based on the distance identity equation.
8. The target object violation detection method of claim 5 further comprising:
determining an RSSI value at a corresponding distance according to the distance between the target object and the radio frequency device and a radio frequency signal sent by a radio frequency tag on the target object at the corresponding distance;
and establishing a distance signal model according to the distance and the corresponding RSSI value.
9. A target object violation detection device, comprising:
the target object information detection unit is used for acquiring first target object information detected by the radio frequency device and second target object information detected by the first camera in a detection period;
the mapping unit is used for mapping the first target object information and the second target object information to each other to obtain a mapping result;
the information acquisition unit is used for acquiring a violation target object and acquiring first information of the violation target object in the first target object information and/or second information of the violation target object in the second target object information according to the violation target object and a mapping result; when the mapping result is not matched, first information is obtained according to the first target object information detected by the radio frequency device; when the mapping result is matching, second information is obtained according to second target object information detected by the first camera;
the tracking unit is used for sending the first information and/or the second information to the second camera so that the second camera can track the violation target object according to the first information and/or the second information; when the mapping result is not matched, the first information is sent to a second camera, so that the second camera tracks the violation target object according to the first information; and when the mapping result is matching, the second information is sent to a second camera, so that the second camera tracks the violation target object according to the second information.
10. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the computer program implements a target object violation detection method as recited in any one of claims 1-8.
11. A target object violation detection system comprising: a camera system, a radio frequency device, and the computer apparatus of claim 10; the camera system comprises a panoramic camera, a tripod head and a detail camera, wherein the detail camera is carried on the tripod head and is electrically connected with the tripod head, and the panoramic camera, the radio frequency device and the tripod head are respectively connected with the computer equipment;
the radio frequency device is used for acquiring first target object information and violation target objects in a detection period;
the panoramic camera is used for acquiring second target object information and violation target objects in a detection period;
the detail camera is used for tracking the violation target object according to first information in the first target object information and/or second information in the second target object information;
the computer device is adapted to perform the target object violation detection method of any one of claims 1-8.
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